CN216729217U - Four-axis linkage manipulator assembly - Google Patents

Abstract

The utility model relates to the technical field of automatic production, and discloses a four-axis linkage manipulator assembly which comprises a first workbench, wherein the top of the first workbench is fixedly connected with a rotating device, the rotating device comprises a first rotating block, a first motor, a first rotating shaft, a first gear, a first open slot and a second gear, and the bottom of the first motor is fixedly connected with the outer wall of the first workbench. Through setting up rotating device, when first motor rotates, drive first pivot and rotate, reached and made things convenient for mechanical adjustment clamping device circumferential rotation, the circumferential rotation of being convenient for gets the purpose of work piece.

Description

Four-axis linkage manipulator assembly

Technical Field

The utility model relates to the technical field of automatic production, in particular to a four-axis linkage manipulator assembly.

Background

The stamping is a forming processing method for applying external force to plates, strips, pipes, profiles and the like by a press and a die to cause plastic deformation or separation, so as to obtain workpieces (stamped parts) with required shapes and sizes, wherein the stamped blanks are mainly hot-rolled and cold-rolled steel plates and steel strips, 60-70% of the steel materials in the world are plates, and most of the plates are stamped to be manufactured into finished products, such as automobile bodies, chassis, oil tanks, radiator sheets, steam drums of boilers, shells of containers, iron core silicon steel sheets of motors and electrical appliances and the like. And a large number of stamping parts are also arranged in products such as instruments, household appliances, bicycles, office machines, living vessels and the like which are used in daily life. In the processing punching press production of a part in mill, need arrange a workman between two stations of stamping equipment front and back connection and go to go up unloading, press from both sides and get the work piece and all need control up-and-down motion, the cost of labor will be high like this, and production efficiency is low, unload about carrying out stamping equipment, adopt the robot to go up the sheet material of unloading the stamping workpiece, automatic transformation is with high costs, disposable input is big, the fund recovery cycle is long, and it is big to take up an area of the space, consequently, need a four-axis linkage manipulator subassembly.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a four-axis linkage manipulator assembly to solve the problems in the prior art.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a four-axis linkage manipulator subassembly, includes first workstation, the top fixedly connected with rotating device of first workstation, rotating device includes first rotation piece, first motor, first pivot, first gear, first open slot, second gear, the bottom of first motor and the outer wall fixed connection of first workstation, the output of first motor passes through shaft coupling and first pivot fixed connection, the outer wall of first gear and the top fixed connection of first pivot, one side of second gear is connected with one side meshing of first gear, and the outer wall at first rotation piece is established to second gear fixed cover, the outer wall at first workstation is seted up to first open slot, the outer wall of first rotation piece and the inner wall movable contact of first open slot.

Preferably, the top of the first rotating block is fixedly connected with a moving device, the moving device comprises a second motor, a second open slot, a second sliding block, a fourth sliding block, a first threaded rod, a second threaded rod, a fifth open slot and a third motor, the bottom of the second open slot is fixedly connected with the top of the first rotating block, the bottom of the second motor is fixedly connected with the outer wall of the second open slot, the output end of the second motor is fixedly connected with the first threaded rod through a coupler, one side of the first threaded rod movably penetrates through the outer wall of the second open slot, one side of the first threaded rod extends to the inner wall of the second open slot, one side of the first threaded rod penetrates through the outer wall of the second sliding block, one side of the first threaded rod extends to the outer wall of the second sliding block, and the outer wall of the second sliding block is movably contacted with the inner wall of the second open slot, one side of first threaded rod rotates with the inner wall of second open slot to be connected, the outer wall of second sliding block and the outer wall fixed connection of fifth open slot, the one side of third motor and the outer wall fixed connection of fifth open slot, the output of third motor passes through shaft coupling and second threaded rod fixed connection, one side screw thread of second threaded rod runs through the outer wall of fifth open slot, one side of second threaded rod extends to the inner wall of fifth open slot, one side screw thread of second threaded rod runs through the outer wall of fourth sliding block, one side of second threaded rod extends to the outer wall of fourth sliding block, the inner wall of fifth open slot rotates with one side of second threaded rod to be connected, the outer wall of fourth sliding block and the inner wall swing joint of fifth open slot.

Preferably, a first support rod is fixedly connected to an outer wall of the fourth sliding block, a fourth motor is fixedly connected to one side of the first support rod, and an output end of the fourth motor is fixedly connected to the sixth rotating shaft through a coupler.

Preferably, one side of the sixth rotating shaft is fixedly connected with a rotating plate, so that the clamping device can conveniently rotate in an up-and-down circumferential mode.

Preferably, the outer wall fixed connection of rotor plate is connected with clamping device, clamping device includes first box, seventh motor, first clamp tight piece, the tight piece of second clamp, seventh opening groove, the double-thread bull stick of second, sixth through-hole, the outer wall of first box and the outer wall fixed connection of rotor plate, one side of seventh motor and the outer wall fixed connection of first box, the output of seventh motor passes through shaft coupling and the double-thread bull stick fixed connection of second, one side of the double-thread bull stick of second screw thread in proper order runs through the outer wall of the tight piece of second clamp and the outer wall of first clamp tight piece, one side of the double-thread bull stick of second extends to the outer wall of first clamp tight piece.

Preferably, one side of second double-thread bull stick is connected with the inner wall rotation of first box through the fifth bearing, the inner wall at first box is seted up in the seventh opening groove, the outer wall that the second pressed from both sides tight piece and the first tight piece of clamp all with the inner wall movable contact in seventh opening groove, the outer wall at first box is seted up in the sixth through-hole, the inner wall that the sixth through-hole was run through in the activity respectively of one side that the second pressed from both sides tight piece and the first tight piece of clamp, the outer wall that one side that first tight piece and the second pressed from both sides tight piece conveniently extends to first box is pressed from both sides, the inner wall of sixth through-hole all with the second press from both sides tight piece and the outer wall movable contact of the first tight piece of clamp.

The utility model provides a four-axis linkage manipulator assembly. The method has the following beneficial effects:

(1) by arranging the rotating device, when the first motor rotates, the first rotating shaft is driven to rotate, and the purposes of conveniently and mechanically adjusting the circumferential rotation of the clamping device and conveniently clamping workpieces by the circumferential rotation are achieved.

(2) By arranging the movable device, when the second motor rotates forwards and backwards, the mechanical adjusting clamping device can move left and right and up and down, the workpiece can be clamped conveniently, and the working efficiency can be improved.

(3) By arranging the clamping device, when the seventh motor rotates forwards and backwards, the purposes of conveniently clamping workpieces and improving the working efficiency are achieved.

Drawings

Fig. 1 is a front view of a four-axis linkage manipulator assembly according to the present invention.

Fig. 2 is a front view of a four-axis linkage manipulator assembly moving device provided by the utility model.

Fig. 3 is a cross-sectional view of the first box and a seventh open slot of the four-axis linkage manipulator assembly clamping device provided by the utility model.

FIG. 4 is a front view of a four-axis linkage manipulator assembly clamping device according to the present invention

Fig. 5 is a front view of a four-axis linkage manipulator assembly rotating device provided by the utility model.

In the figure: 1. a first table; 2. a rotating device; 201. a first rotating block; 202. a first motor; 203. a first rotating shaft; 204. a first gear; 205. a first open slot; 206. a second gear; 3. a mobile device; 301. a second motor; 302. a second open slot; 303. a second slider; 304. a fourth slider; 305. a first threaded rod; 306. a second threaded rod; 307. a fifth open slot; 308. a third motor; 4. a clamping device; 401. a first case; 402. a seventh motor; 403. a first clamping block; 404. a second clamping block; 405. a seventh open groove; 406. a second double-threaded rotating rod; 407. a sixth through hole; 5. a first support bar; 6. a fourth motor; 7. a sixth rotating shaft; 8. and rotating the plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.

In the present invention, unless otherwise explicitly stated or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as being permanently connected, detachably connected, or integral; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

As shown in fig. 1 to 5, the present invention provides a technical solution: a four-axis linkage manipulator assembly comprises a first workbench 1, wherein a rotating device 2 is fixedly connected to the top of the first workbench 1, the rotating device 2 comprises a first rotating block 201, a first motor 202, a first rotating shaft 203, a first gear 204, a first open slot 205 and a second gear 206, the bottom of the first motor 202 is fixedly connected with the outer wall of the first workbench 1, the output end of the first motor 202 is fixedly connected with the first rotating shaft 203 through a coupler, the outer wall of the first gear 204 is fixedly connected with the top of the first rotating shaft 203, one side of the second gear 206 is meshed with one side of the first gear 204, the second gear 206 is fixedly sleeved on the outer wall of the first rotating block 201, a movable device 3 is fixedly connected to the top of the first rotating block 201, and the movable device 3 comprises a second motor 301, a second open slot 302, a second sliding block 303 and a fourth sliding block 304, A first threaded rod 305, a second threaded rod 306, a fifth open slot 307 and a third motor 308, wherein the bottom of the second open slot 302 is fixedly connected with the top of the first rotating block 201, the bottom of the second motor 301 is fixedly connected with the outer wall of the second open slot 302, the output end of the second motor 301 is fixedly connected with the first threaded rod 305 through a coupler, one side of the first threaded rod 305 movably penetrates through the outer wall of the second open slot 302, one side of the first threaded rod 305 extends to the inner wall of the second open slot 302, one side of the first threaded rod 305 is screwed through the outer wall of the second sliding block 303, one side of the first threaded rod 305 extends to the outer wall of the second sliding block 303, the outer wall of the second sliding block 303 is movably contacted with the inner wall of the second open slot 302, one side of the first threaded rod 305 is rotatably connected with the inner wall of the second open slot 302, the outer wall of the second sliding block 303 is fixedly connected with the outer wall of the fifth open slot 307, one side of a third motor 308 is fixedly connected with the outer wall of a fifth opening groove 307, the output end of the third motor 308 is fixedly connected with a second threaded rod 306 through a coupler, one side of a second threaded rod 306 penetrates through the outer wall of the fifth opening groove 307, one side of the second threaded rod 306 extends to the inner wall of the fifth opening groove 307, one side of the second threaded rod 306 penetrates through the outer wall of a fourth sliding block 304, one side of the second threaded rod 306 extends to the outer wall of the fourth sliding block 304, the inner wall of the fifth opening groove 307 is rotatably connected with one side of the second threaded rod 306, the outer wall of the fourth sliding block 304 is movably contacted with the inner wall of the fifth opening groove 307, through arranging a movable device 3, when the second motor 301 rotates forwards and backwards, the left-right and up-down movement and the vertical movement of a mechanical adjusting clamping device 4 are achieved, the purpose of facilitating the work piece clamping work efficiency is improved, the outer wall of the fourth sliding block 304 is fixedly connected with a first supporting rod 5, one side of the first support rod 5 is fixedly connected with a fourth motor 6, the output end of the fourth motor 6 is fixedly connected with a sixth rotating shaft 7 through a coupler, one side of the sixth rotating shaft 7 is fixedly connected with a rotating plate 8 which is convenient for the clamping device 4 to rotate up and down circumferentially, the outer wall of the rotating plate 8 is fixedly connected with the clamping device 4, the clamping device 4 comprises a first box body 401, a seventh motor 402, a first clamping block 403, a second clamping block 404, a seventh opening groove 405, a second double-thread rotating rod 406 and a sixth through hole 407, the outer wall of the first box body 401 is fixedly connected with the outer wall of the rotating plate 8, one side of the seventh motor 402 is fixedly connected with the outer wall of the first box body 401, the output end of the seventh motor 402 is fixedly connected with the second double-thread rotating rod 406 through the coupler, one side of the second double-thread rotating rod 406 sequentially penetrates through the outer wall of the second clamping block 404 and the outer wall of the first clamping block 403, one side of the second double-thread rotating rod 406 extends to the outer wall of the first clamping block 403, one side of the second double-thread rotating rod 406 is rotatably connected with the inner wall of the first box 401 through a fifth bearing, a seventh open slot 405 is formed in the inner wall of the first box 401, the outer walls of the second clamping block 404 and the first clamping block 403 are both in movable contact with the inner wall of the seventh open slot 405, a sixth through hole 407 is formed in the outer wall of the first box 401, one sides of the second clamping block 404 and the first clamping block 403 are respectively and movably penetrated through the inner wall of the sixth through hole 407, one sides of the first clamping block 403 and the second clamping block 404 conveniently extend to the outer wall of the first box 401, the inner wall of the sixth through hole 407 is both in movable contact with the outer walls of the second clamping block 404 and the first clamping block 403, by arranging the clamping device 4, when the seventh motor 402 rotates positively and negatively, the purpose of facilitating the clamping of workpieces is achieved, the work efficiency is improved, the first clamping device 205 is formed in the outer wall of the first worktable 1, the outer wall of first rotation piece 201 and the inner wall movable contact of first open slot 205, through setting up rotating device 2, rotate as first motor 202, drive first pivot 203 and rotate, reached and made things convenient for mechanical regulation clamping device 4 circumferential rotation, the circumferential rotation of being convenient for gets the purpose of work piece.

When the clamping device is used, when the first motor 202 rotates to drive the first rotating shaft 203 to rotate, the first gear 204 is driven to rotate, the second gear 206 is driven to rotate, the first rotating block 201 is driven to rotate inside the first workbench 1, the purpose of facilitating circumferential rotation of the mechanical adjusting clamping device 4 is achieved, when the second motor 301 rotates forwards and backwards, the second sliding block 303 is driven to move up and down on the first threaded rod 305, the clamping device 4 is driven to move up and down, when the third motor 308 rotates forwards and backwards, the fourth sliding block 304 is driven to move left and right on the second threaded rod 306, the purpose of mechanically adjusting the left and right and up and down movement of the clamping device 4 is achieved, when the seventh motor 402 rotates forwards and backwards, the second double-threaded rotating rod 406 is driven to rotate forwards and backwards, the second clamping block 404 and the first clamping block 403 are driven to approach to each other and separate from each other inside the first box 401, and the fourth motor 6 is matched to rotate, the sixth rotating shaft 7 is driven to rotate, the rotating plate 8 is driven to rotate, the clamping device 4 is driven to rotate in the up-and-down circumferential direction, and the purpose of conveniently clamping workpieces is achieved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a reference structure" does not exclude the presence of other similar elements in a process, method, article, or apparatus that comprises the element.

Claims (6)

1. The utility model provides a four-axis linkage manipulator subassembly, includes first workstation (1), its characterized in that: the top of the first workbench (1) is fixedly connected with a rotating device (2), the rotating device (2) comprises a first rotating block (201), a first motor (202), a first rotating shaft (203), a first gear (204), a first open slot (205) and a second gear (206), the bottom of the first motor (202) is fixedly connected with the outer wall of the first workbench (1), the output end of the first motor (202) is fixedly connected with the first rotating shaft (203) through a coupler, the outer wall of the first gear (204) is fixedly connected with the top of the first rotating shaft (203), one side of the second gear (206) is meshed and connected with one side of the first gear (204), the second gear (206) is fixedly sleeved on the outer wall of the first rotating block (201), the first opening groove (205) is arranged on the outer wall of the first workbench (1), the outer wall of the first rotating block (201) is movably contacted with the inner wall of the first opening groove (205).

2. The four-axis linkage manipulator assembly according to claim 1, wherein: the top of first turning block (201) is fixedly connected with head (3), head (3) includes second motor (301), second open slot (302), second sliding block (303), fourth sliding block (304), first threaded rod (305), second threaded rod (306), fifth open slot (307), third motor (308), the bottom of second open slot (302) and the top fixed connection of first turning block (201), the bottom of second motor (301) and the outer wall fixed connection of second open slot (302), the output of second motor (301) passes through shaft coupling and first threaded rod (305) fixed connection, the outer wall of second open slot (302) is run through in the activity of one side of first threaded rod (305), one side of first threaded rod (305) extends to the inner wall of second open slot (302), the one side screw thread of first threaded rod (305) runs through the outer wall of second sliding block (303), the one side of first threaded rod (305) extends to the outer wall of second sliding block (303), the outer wall of second sliding block (303) and the inner wall movable contact of second open slot (302), the one side of first threaded rod (305) rotates with the inner wall of second open slot (302) and is connected, the outer wall of second sliding block (303) and the outer wall fixed connection of fifth open slot (307), the one side of third motor (308) and the outer wall fixed connection of fifth open slot (307), the output of third motor (308) passes through shaft coupling and second threaded rod (306) fixed connection, the one side screw thread of second threaded rod (306) runs through the outer wall of fifth open slot (307), the one side of second threaded rod (306) extends to the inner wall of fifth open slot (307), one side screw thread of second threaded rod (306) runs through the outer wall of fourth sliding block (304), one side of second threaded rod (306) extends to the outer wall of fourth sliding block (304), the inner wall of fifth open slot (307) is rotated with one side of second threaded rod (306) and is connected, the outer wall of fourth sliding block (304) and the inner wall movable contact of fifth open slot (307).

3. The four-axis linkage manipulator assembly according to claim 2, wherein: the outer wall fixedly connected with first bracing piece (5) of fourth sliding block (304), one side fixedly connected with fourth motor (6) of first bracing piece (5), the output of fourth motor (6) passes through shaft coupling and sixth axis of rotation (7) fixed connection.

4. The four-axis linkage manipulator assembly according to claim 3, wherein: one side of the sixth rotating shaft (7) is fixedly connected with a rotating plate (8).

5. The four-axis linkage manipulator assembly according to claim 4, wherein: the outer wall of the rotating plate (8) is fixedly connected with a clamping device (4), the clamping device (4) comprises a first box body (401), a seventh motor (402), a first clamping block (403), a second clamping block (404), a seventh opening groove (405), a second double-thread rotating rod (406) and a sixth through hole (407), the outer wall of the first box body (401) is fixedly connected with the outer wall of the rotating plate (8), one side of the seventh motor (402) is fixedly connected with the outer wall of the first box body (401), the output end of the seventh motor (402) is fixedly connected with a second double-thread rotating rod (406) through a coupler, one side of the second double-thread rotating rod (406) penetrates through the outer wall of the second clamping block (404) and the outer wall of the first clamping block (403) in a threaded mode in sequence, one side of the second double-thread rotating rod (406) extends to the outer wall of the first clamping block (403).

6. The four-axis linkage manipulator assembly according to claim 5, wherein: one side of the second double-thread rotating rod (406) is rotatably connected with the inner wall of the first box body (401) through a fifth bearing, the seventh opening groove (405) is formed in the inner wall of the first box body (401), the outer walls of the second clamping block (404) and the first clamping block (403) are in movable contact with the inner wall of the seventh opening groove (405), the sixth through hole (407) is formed in the outer wall of the first box body (401), one sides of the second clamping block (404) and the first clamping block (403) respectively and movably penetrate through the inner wall of the sixth through hole (407), one sides of the first clamping block (403) and the second clamping block (404) conveniently extend to the outer wall of the first box body (401), and the inner wall of the sixth through hole (407) is in movable contact with the outer walls of the second clamping block (404) and the first clamping block (403).

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