CN215149104U - Four-axis rotary manipulator - Google Patents
Four-axis rotary manipulator Download PDFInfo
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- CN215149104U CN215149104U CN202121204253.2U CN202121204253U CN215149104U CN 215149104 U CN215149104 U CN 215149104U CN 202121204253 U CN202121204253 U CN 202121204253U CN 215149104 U CN215149104 U CN 215149104U
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- driving motor
- synchronizing wheel
- shaft arm
- arm
- shaft
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Abstract
The utility model discloses a four-axis rotary manipulator, including unable adjustment base, primary shaft arm, secondary shaft arm, third shaft arm and transmission shaft, first driving motor and second driving motor are installed respectively to unable adjustment base's inside both sides, and the terminal inside of secondary shaft arm is provided with third driving motor, installs fourth driving motor on the third shaft arm, is connected with the mounting panel on fourth driving motor's the drive end. This four-axis rotary manipulator's overall structure design is brief, and practicality is stronger with the pertinence for in the board equipment that receive and releases of difference, can also adjust rotation angle according to actual demand, the advantage surpasss traditional triaxial manipulator far, and operating speed is fast, and different mechanisms of arranging on the mounting panel can be applicable to many size range's plate, has improved production efficiency greatly.
Description
Technical Field
The utility model relates to a circuit board production facility's technical field especially relates to a four-axis rotary manipulator.
Background
The trade development trend of circuit board preparation is intelligent increasingly, automation and high output direction draw close together, and automation equipment function centralization also is more and more important, and the development of trade has proposed higher requirement to equipment research and development, and under such development environment, intellectuality and automation equipment have replaced the artificial action gradually, and driven triaxial manipulator can only be simple the translation action of realization plate, can't appoint the receipts board of pan feeding direction according to actual demand.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an aim at: the utility model provides a four-axis rotary manipulator for solve the problem that prior art exists.
To achieve the purpose, the utility model adopts the following technical proposal:
a four-axis rotary manipulator comprises a fixed base, a first axis arm, a second axis arm, a third axis arm and a transmission shaft, wherein a first driving motor and a second driving motor are respectively installed on two sides of the inside of the fixed base, a driving end of the first driving motor is connected with a first synchronizing wheel in a transmission manner, a first rotary disc is rotatably connected to the outer side of the fixed base, the first synchronizing wheel is fixedly connected with the first rotary disc, the first rotary disc is locked at the front end of the first axis arm, a driving end of the second driving motor is connected with a second synchronizing wheel in a transmission manner, a third synchronizing wheel is arranged inside the front end of the first axis arm, the transmission shaft penetrates through the rotary disc, two ends of the transmission shaft are respectively connected with the second synchronizing wheel and the third synchronizing wheel, a fourth synchronizing wheel is arranged inside the tail end of the first axis arm, and the third synchronizing wheel is connected with the fourth synchronizing wheel through a belt, the end of the first shaft arm and be connected with the second carousel between the front end of second shaft arm, the fourth synchronizing wheel with second carousel fixed connection, the terminal inside of second shaft arm is provided with third driving motor, third driving motor's drive end transmission is connected with the third carousel, the third carousel with third shaft arm fixed connection, install fourth driving motor on the third shaft arm, be connected with the mounting panel on fourth driving motor's the drive end.
As a preferred technical scheme, an L-shaped limiting block for limiting the rotation angle of the mounting plate is arranged on the third shaft arm.
As a preferred technical scheme, be fixed with photoelectric sensor on the third axle arm, the top of mounting panel is provided with the response piece, photoelectric sensor with response piece signal connection.
As a preferred technical scheme, a wave tube fixing frame is further fixed on the third shaft arm.
The utility model has the advantages that: the utility model provides a four-axis rotary manipulator, this four-axis rotary manipulator's overall structure design is brief, and practicality is stronger with the pertinence for in the board equipment that receive and releases of difference, can also adjust rotation angle according to the actual demand, the advantage surpasss traditional triaxial manipulator far, and operating speed is fast, and different mechanisms of arranging on the mounting panel can be applicable to many size range's plate, has improved production efficiency greatly.
Drawings
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Fig. 1 is a schematic overall structure diagram of a four-axis rotary manipulator according to an embodiment;
FIG. 2 is an internal structural view of the first and second arms according to the embodiment;
FIG. 3 is a first block diagram of a third and fourth arm according to an embodiment;
FIG. 4 is a second structural diagram of the third and fourth arms according to the embodiment.
In fig. 1 to 4:
1. a fixed base; 2. a first shaft arm; 3. a second shaft arm; 4. a third axis arm; 5. a drive shaft; 6. a first drive motor; 7. a second drive motor; 8. a first synchronizing wheel; 9. a first turntable; 10. a second synchronizing wheel; 11. a third synchronizing wheel; 12. a fourth synchronizing wheel; 13. a second turntable; 14. a third drive motor; 15. a third turntable; 16. a fourth drive motor; 17. mounting a plate; 18. an L-shaped limiting block; 19. a photoelectric sensor; 20. an induction sheet; 21. a wave pipe fixing frame; 22. a belt.
Detailed Description
The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.
As shown in fig. 1 to 4, in this embodiment, a four-axis rotary manipulator includes a fixed base 1, a first axis arm 2, a second axis arm 3, a third axis arm 4 and a transmission shaft 5, a first driving motor 6 and a second driving motor 7 are respectively installed at two sides inside the fixed base 1, a driving end of the first driving motor 6 is connected with a first synchronizing wheel 8 in a transmission manner, a first rotating disc 9 is rotatably connected to an outer side of the fixed base 1, the first synchronizing wheel 8 is fixedly connected to the first rotating disc 9, the first rotating disc 9 is locked at a front end of the first axis arm 2, a driving end of the second driving motor 7 is connected with a second synchronizing wheel 10 in a transmission manner, a third synchronizing wheel 11 is installed inside a front end of the first axis arm 2, the transmission shaft 5 passes through the rotating discs, two ends of the transmission shaft 5 are respectively connected to the second synchronizing wheel 10 and the third synchronizing wheel 11, the inside fourth synchronizing wheel 12 that is provided with in end of primary shaft arm 2, third synchronizing wheel 11 with belt 22 connects between the fourth synchronizing wheel 12, the end of primary shaft arm 2 with be connected with second carousel 13 between the front end of secondary shaft arm 3, fourth synchronizing wheel 12 with second carousel 13 fixed connection, the inside third driving motor 14 that is provided with in end of secondary shaft arm 3, the drive end transmission of third driving motor 14 is connected with third carousel 15, third carousel 15 with third shaft arm 4 fixed connection, install fourth driving motor 16 on the third shaft arm 4, be connected with mounting panel 17 on the drive end of fourth driving motor 16.
Specifically, an L-shaped limiting block 18 for limiting the rotation angle of the mounting plate 17 is arranged on the third shaft arm 4. And a photoelectric sensor 19 is fixed on the third shaft arm 4, a sensing sheet 20 is arranged above the mounting plate 17, and the photoelectric sensor 19 is in signal connection with the sensing sheet 20. The third shaft arm 4 is also fixed with a wave tube fixing frame 21.
When the three-dimensional space is operated, the first driving motor 6 works, the first synchronizing wheel 8 and the first rotating disc 9 control the first axial arm 2 to rotate within a wide angle range, the second driving motor 7 works, power is transmitted from the second synchronizing wheel 10 and the transmission shaft 5 to the third synchronizing wheel 11 and then is transmitted to the fourth synchronizing wheel 12 through the third synchronizing wheel 11 and a belt 22, the fourth synchronizing wheel 12 and the second rotating disc 13 control the second axial arm 3 to rotate, then the third driving motor 14 works, the third rotating disc 15 controls the third axial arm 4 to rotate, the fourth driving motor 16 controls the mounting plate 17 to rotate, different gripping plate structures are mounted on the mounting plate 17 to work, the application range is wide, and three-dimensional, and also has a rotation function to form four-axis motion.
In the working process of the fourth driving motor 16, the mounting plate 17 rotates, the L-shaped limiting block 18 ensures that the fourth shaft is in a safe working range, and when the fourth shaft operates, the induction sheet 20 interacts with the photoelectric sensor 19, so that the rotation angle of the fourth shaft is accurate.
It should be noted that the above embodiments are only preferred embodiments of the present invention and the technical principles applied, and any changes or substitutions which can be easily conceived by those skilled in the art within the technical scope of the present invention are covered by the protection scope of the present invention.
Claims (4)
1. A four-axis rotary manipulator is characterized by comprising a fixed base, a first shaft arm, a second shaft arm, a third shaft arm and a transmission shaft, wherein a first driving motor and a second driving motor are respectively installed on two sides of the inside of the fixed base, a first synchronizing wheel is connected to the driving end of the first driving motor in a transmission manner, a first rotary disc is rotatably connected to the outer side of the fixed base, the first synchronizing wheel is fixedly connected with the first rotary disc, the first rotary disc is locked at the front end of the first shaft arm, a second synchronizing wheel is connected to the driving end of the second driving motor in a transmission manner, a third synchronizing wheel is arranged inside the front end of the first shaft arm, the transmission shaft penetrates through the rotary disc, two ends of the transmission shaft are respectively connected with the second synchronizing wheel and the third synchronizing wheel, a fourth synchronizing wheel is arranged inside the tail end of the first shaft arm, the third synchronizing wheel with the belt is connected between the fourth synchronizing wheel, the end of primary shaft arm with be connected with the second carousel between the front end of secondary shaft arm, the fourth synchronizing wheel with second carousel fixed connection, the inside third driving motor that is provided with in end of secondary shaft arm, third driving motor's drive end transmission is connected with the third carousel, the third carousel with third shaft arm fixed connection, install fourth driving motor on the third shaft arm, be connected with the mounting panel on fourth driving motor's the drive end.
2. The four-axis rotary manipulator according to claim 1, wherein the third axis arm is provided with an L-shaped limiting block for limiting the rotation angle of the mounting plate.
3. The four-axis rotary manipulator according to claim 1, wherein a photoelectric sensor is fixed on the third axis arm, a sensing piece is arranged above the mounting plate, and the photoelectric sensor is in signal connection with the sensing piece.
4. The four-axis rotary manipulator according to claim 1, wherein the third axis arm further comprises a wave tube fixing frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121204253.2U CN215149104U (en) | 2021-05-31 | 2021-05-31 | Four-axis rotary manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121204253.2U CN215149104U (en) | 2021-05-31 | 2021-05-31 | Four-axis rotary manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215149104U true CN215149104U (en) | 2021-12-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121204253.2U Active CN215149104U (en) | 2021-05-31 | 2021-05-31 | Four-axis rotary manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN215149104U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
-
2021
- 2021-05-31 CN CN202121204253.2U patent/CN215149104U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114851216A (en) * | 2022-04-18 | 2022-08-05 | 湖南宁庆航空航天智能装备有限公司 | Multi freedom reclaimer manipulator |
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