CN215709908U

CN215709908U - Four-axis manipulator

Info

Publication number: CN215709908U
Application number: CN202121098043.XU
Authority: CN
Inventors: 吴子立; 陈永泉; 王泽宇
Original assignee: Zhengzhou Bosheng Technology Co ltd
Current assignee: Zhengzhou Bosheng Technology Co ltd
Priority date: 2021-05-19
Filing date: 2021-05-19
Publication date: 2022-02-01
Anticipated expiration: 2031-05-19

Abstract

The utility model provides a four-axis manipulator which comprises a rack, wherein a blank conveying device, a blank lifting device, a finished product conveying device and a moving manipulator are arranged on the rack, the blank conveying device and the finished product conveying device are fixed through a mounting rack and are horizontally arranged, the moving manipulator comprises a moving rack, a rotating arm, a swinging arm and a manipulator, the blank conveying device comprises a device shell, the device shell is in two plate shapes, is horizontally arranged and parallel and is formed after being fixed with the mounting rack, a blank conveying belt is arranged in the middle of the device shell and is driven by a motor, a blank track plate is arranged at the upper end of the blank conveying belt, and the blank track plate is fixedly connected with the device shell; the automatic feeding device not only can automatically feed materials, but also has high automation degree, reasonable structure and convenient operation.

Description

Four-axis manipulator

Technical Field

The utility model relates to the technical field of manipulators, in particular to a four-shaft manipulator.

Background

At present, the feeding and discharging of many products in enterprise production is mainly still manual operation, for example in machining center, digit control machine tool, gear hobbing machine, the grinding machine trade, mainly the manual work goes on going up the unloading, and the manual work goes up unloading operational environment poor, and workman's intensity of labour is very big, and the workman is tired easily, and production efficiency is unstable, takes place the incident easily. And with the problem of the structure of the age of China aggravating continuously, the supply of young labour force is continuously reduced, and it is a necessary trend to adopt intelligent mechanical hands to replace manual feeding and discharging.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a four-axis manipulator, which not only can automatically feed materials, but also has high automation degree, reasonable structure and convenient operation.

In order to solve the technical problem, the utility model provides a four-axis manipulator which comprises a rack, wherein a blank conveying device, a blank lifting device, a finished product conveying device and a moving manipulator are arranged on the rack, the blank conveying device and the finished product conveying device are fixed through a mounting frame and are horizontally arranged, and the moving manipulator comprises a moving frame, a rotating arm, a swinging arm and a manipulator.

Further, blank conveyer includes the device casing, the device casing is two slabby, and the level is placed, and is parallel, forms after fixed with the mounting bracket, blank transport area is installed to the intermediate position of device casing to drive through the motor, the upper end in blank transport area is provided with blank track board, fixed connection between blank track board and the device casing.

Furthermore, the blank track plate is formed by arranging two plates in parallel and is consistent with the moving direction of the blank conveying belt.

Further, blank hoisting device is including the fixed mounting panel that sets up on the mounting bracket, be provided with the telescopic cylinder of vertical setting on the mounting panel, telescopic motor fixed connection has revolving cylinder, finger cylinder is installed to revolving cylinder's tip, finger cylinder's end connection has the finger clamping piece.

Further, finished product conveyer is including the fixed baffle that sets up on the mounting bracket, the board is installed to the both sides of baffle, and the level sets up, forms the casing for install the finished product conveyer belt.

Furthermore, the upper end of frame is provided with sharp module, be provided with the removal frame that can remove on the sharp module, the side of removing the frame is provided with the expansion bracket, the side of expansion bracket is provided with the horizontally rotor arm, the other end of rotor arm is connected with the swing arm, the side of swing arm is provided with the manipulator.

Furthermore, the manipulator is connected with the swing arm through a rotating cylinder, and the rotating cylinder is fixedly connected with the swing arm.

Furthermore, the telescopic frame is connected with the rotating arm through a bearing, and the rotating arm is connected with a motor arranged on the telescopic frame through a belt and drives the rotating arm to rotate.

Furthermore, the lower part of the rack is provided with a foot rest and a fixed plate, and the fixed plate is a right angle and is fixed on the ground through a bolt.

The technical scheme of the utility model has the following beneficial effects:

the technical effects herein may be totaled, as enumerated

1. Convenient operation is used for the transport of blank through blank conveyer, and the workman only need place the blank in the centre of blank track board can.

2. The structure is simple, and automatic feeding and material changing can be completed through the simple structure.

3. The automation degree is high, the whole process adopts automatic control, and the blank conveying, the material changing, the finished product conveying and the like can be finished automatically.

Drawings

Fig. 1 is a schematic structural view of a four-axis manipulator according to the present invention;

fig. 2 is a partially enlarged view of fig. 1.

1. A frame; 2. a blank conveying device; 21. a device shell 22 and a blank track plate; 23. a blank conveyer belt; 3. a mounting frame; 4. a baffle plate; 5. a finished product conveyer belt; 6. a linear module; 7. a movable frame; 8. a telescopic frame; 9. a rotating arm; 10. a swing arm; 11. a manipulator; 12. a foot rest; 13. a fixing plate; 14. mounting a plate; 15. a telescopic cylinder; 16. a rotating cylinder; 17. a finger cylinder; 18. a finger clip.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1-2 of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the utility model, are within the scope of the utility model.

As shown in fig. 1-2: the utility model provides a four-axis manipulator, includes frame 1, install blank conveyer, blank hoisting device, finished product conveyer and removal manipulator in the frame 1, blank conveyer and finished product conveyer pass through mounting bracket 3 fixedly, and the level sets up, it is including removing frame 7, rotor arm 9, swing arm 10 and manipulator 11 to remove the manipulator.

Specifically, the frame 1 is a hollow rectangle, an electric appliance element is placed in the frame, a blank conveying device, a blank lifting device, a finished product conveying device and a moving manipulator are arranged on the upper end face of the frame 1, the blank conveying device is used for conveying blanks, a worker puts blank materials on the blank conveying device, and the blank conveying device automatically conveys the blanks to the lifting device; the finished product after processing is taken down by the manipulator 11, and is conveyed to a finished product conveying device after a blank is replaced.

Example 1

Blank conveyer includes device casing 21, device casing 21 is two slabby, and the level is placed, and is parallel, forms with mounting bracket 3 fixed back, blank transportation area is installed to the intermediate position of device casing 21 to drive through the motor, the upper end in blank transportation area is provided with blank track board 22, fixed connection between blank track board 22 and the device casing 21, blank track board 22 is two board parallel arrangement, and is unanimous with the direction of motion of blank conveyer belt 23.

In this embodiment, blank conveyor 2 includes device casing 21, and device casing 21 constitutes for the two blocks of boards that the level was placed, and one end accessible is platelike fixed, forms upper and lower open-ended box, then fixes on mounting bracket 3, installs the transportation area at both ends to drive through the motor, fixedly on device casing 21 being provided with blank track board 22, and blank track board 22 sets up in the top of blank transportation area, and is concrete, and the workman places the blank in the centre of blank track board 22.

Example 2

Further, blank hoisting device is including fixed mounting panel 14 that sets up on mounting bracket 3, be provided with the telescopic cylinder 15 of vertical setting on the mounting panel 14, telescopic motor fixed connection has revolving cylinder 16, finger cylinder 17 is installed to revolving cylinder 16's tip, finger cylinder 17's end connection has the finger clamping piece. 18

In this embodiment, after the blank conveyer transported the other end with the blank, carried the blank by the blank and put the device and carry the blank into, it is concrete, control the finger clamping piece through finger cylinder 17 and carry the blank, then control telescopic cylinder 15, promote the back, through revolving cylinder 16, rotatory with the blank, for 180 rotations, then manipulator 11 comes the back, carries the blank, transports the blank to the numerical control machine tool on processing again.

Example 3

Further, finished product conveyer is including fixed baffle 4 that sets up on mounting bracket 3, the board is installed to the both sides of baffle 4, and the level sets up, forms the casing for install finished product conveyer belt 5.

In this embodiment, be provided with finished product transportation area and baffle 4 on the finished product conveyer, baffle 4 sets up at the tip, and the benefit lies in transporting the finished product when manipulator 11 and 4 departments back of baffle, owing to install the shell fragment on manipulator 11, loosens manipulator 11 the back, and the spring pops out the finished product, directly pops up on baffle 4, then falls on finished product conveyer belt 5, and finished product conveyer belt 5 transports the other end with the finished product, treats the vanning.

Example 4

Further, the upper end of frame 1 is provided with sharp module 6, be provided with the removal frame 7 that can remove on the sharp module 6, the side of removing frame 7 is provided with expansion bracket 8, the side of expansion bracket 8 is provided with horizontally rotor arm 9, the other end of rotor arm 9 is connected with swing arm 10, the side of swing arm 10 is provided with manipulator 11, and is further, manipulator 11 connects swing arm 10 through rotatory cylinder, and fixed connection between rotatory cylinder and the swing arm 10, and is further, bearing connection between expansion bracket 8 and the rotor arm 9, and rotor arm 9 passes through the belt and connects the motor that sets up on expansion bracket 8 to it rotates to drive rotor arm 9.

In this embodiment, the movable frame 7 moves through the linear module 6, that is, the movable frame 7 can move back and forth on the linear module 6, a lead screw is installed in the linear module 6, a belt is driven by a motor and drives the lead screw to rotate, so as to realize the back and forth movement of the movable frame 7, the movable frame 7 is fixedly provided with a vertically arranged telescopic frame 8, the telescopic frame 8 can be of a customized size and is suitable for different numerical control machines, the telescopic frame 8 is designed to have the advantage of being applicable to numerical control machines of different heights, and the telescopic frame 8 is selected to be not telescopic in this embodiment; then, a motor is arranged on the side face of the telescopic frame 8, the motor is provided with a gear through a belt to rotate, the gear is arranged inside the telescopic frame 8, the output end of the gear is connected with a rotating arm 9, and the other end of the rotating arm 9 is fixedly connected with a swinging arm 10.

Example 5

Further, a foot rest 12 and a fixing plate 13 are arranged at the lower part of the frame 1, and the fixing plate 13 is a right angle and is fixed on the ground through a bolt.

In this embodiment, a foot rest 12 and a fixing plate 13 are provided to keep the frame 1 stable.

The working principle of the utility model is as follows:

in this technique, the workman places the blank material in the intermediate position of blank track board 22 earlier, under the drive of blank conveyer belt 23, the blank motion is at the other end, it is the blank department of lifting, then the blank is held by finger cylinder 17 operation finger clip, promote through telescopic cylinder 15, then it is rotatory with the blank through revolving cylinder 16, rotatory back, wait for manipulator 11 to snatch, snatch the back, send into the digit control machine tool with the blank in, manipulator 11 is when sending into the blank, take off the finished product, the finished product after taking off is sent into on finished product conveyer belt 5, then repeat above operation, in the above technique, automatic control's mode is through PLC control program.

In the present invention, unless otherwise explicitly specified or limited, for example, it may be fixedly attached, detachably attached, or integrated; can be mechanically or electrically connected; the terms may be directly connected or indirectly connected through an intermediate, and may be communication between two elements or interaction relationship between two elements, unless otherwise specifically limited, and the specific meaning of the terms in the present invention will be understood by those skilled in the art according to specific situations.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the utility model as defined in the appended claims.

Claims

1. The utility model provides a four-axis manipulator, includes frame (1), its characterized in that: install blank conveyer, blank hoisting device, finished product conveyer and removal manipulator (11) on frame (1), blank conveyer and finished product conveyer pass through mounting bracket (3) and fix, and the level sets up, remove manipulator (11) including removing frame (7), rotor arm (9), swing arm (10) and manipulator (11).

2. The four-axis robot of claim 1, wherein: blank conveyer includes device casing (21), device casing (21) are two slabby, and the level is placed, and parallel, forms with mounting bracket (3) fixed back, blank transportation area is installed to the intermediate position of device casing (21) to drive through the motor, the upper end in blank transportation area is provided with blank track board (22), fixed connection between blank track board (22) and device casing (21).

3. The four-axis robot of claim 2, wherein: the blank track plate (22) is formed by arranging two plates in parallel and is consistent with the moving direction of the blank conveying belt (23).

4. The four-axis robot of claim 1, wherein: blank hoisting device is including fixed mounting panel (14) that sets up on mounting bracket (3), be provided with telescopic cylinder (15) of vertical setting on mounting panel (14), telescopic cylinder (15) fixed connection has revolving cylinder (16), finger cylinder (17) are installed to the tip of revolving cylinder (16), the end connection of finger cylinder (17) has finger clamping piece (18).

5. The four-axis robot of claim 4, wherein: the finger cylinder (17) is horizontally arranged and driven by the rotary cylinder (16) to rotate in the vertical plane.

6. The four-axis robot of claim 1, wherein: finished product conveyer is including fixed baffle (4) that set up on mounting bracket (3), the board is installed to the both sides of baffle (4), and the level sets up, forms the casing for install finished product conveyer belt (5).

7. The four-axis robot of claim 1, wherein: the upper end of frame (1) is provided with sharp module (6), be provided with the removal frame (7) that can remove on sharp module (6), the side of removing frame (7) is provided with expansion bracket (8), the side of expansion bracket (8) is provided with horizontally rotor arm (9), the other end of rotor arm (9) is connected with swing arm (10), the side of swing arm (10) is provided with manipulator (11).

8. The four-axis robot of claim 7, wherein: the manipulator (11) is connected with the swing arm (10) through a rotating cylinder, and the rotating cylinder is fixedly connected with the swing arm (10).

9. The four-axis robot of claim 7, wherein: the telescopic frame (8) is connected with the rotating arm (9) through a bearing, and the rotating arm (9) is connected with a motor arranged on the telescopic frame (8) through a belt and drives the rotating arm (9) to rotate.

10. The four-axis robot of claim 1, wherein: the lower part of the rack (1) is provided with a foot rest (12) and a fixing plate (13), wherein the fixing plate (13) is a right angle and is fixed on the ground through bolts.