CN217046419U

CN217046419U - Four-axis swing arm manipulator

Info

Publication number: CN217046419U
Application number: CN202220675828.7U
Authority: CN
Inventors: 奚伟民; 李新伟; 刘亮亮
Original assignee: Changzhou Jinyan Precision Machinery Co ltd
Current assignee: Changzhou Jinyan Precision Machinery Co ltd
Priority date: 2022-03-26
Filing date: 2022-03-26
Publication date: 2022-07-26
Anticipated expiration: 2032-03-26

Abstract

The utility model discloses a four-axis swing arm manipulator, which relates to the technical field of manipulators and comprises a base, wherein a first rotating shaft is arranged in the base, a turntable is fixedly connected to the wall surface of the first rotating shaft, a steering device is arranged on the wall surface of the base, a fixed rod is fixedly connected to the wall surface of the turntable, a first slide block is slidably connected to the fixed rod, one side of the first slide block is communicated with a height adjusting device, a slide rail is fixedly connected to the other side wall of the first slide block, a third slide block is slidably connected to the slide rail, a pair of mounting frames is fixedly connected to the wall surface of the third slide block, a second rotating shaft is rotatably connected between the mounting frames, a second gear is fixedly connected to the second rotating shaft, a rack is fixedly connected to the wall surface of the slide rail, the rack is meshed with the second gear, a manipulator is fixedly connected to the wall surface of the third slide block, the manipulator is arranged on the lower wall of the third slide block, the manipulator is used for clamping articles at the lower position, the direction of the grabbing rod can not be adjusted.

Description

Four-axis swing arm manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a four-axis swing arm manipulator.

Background

The mechanical arm is an industrial robot which appears earliest and a modern robot which appears earliest, can replace heavy labor of people to realize mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to departments of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like, for example, in a utility model patent with the publication number of CN214081501U, the mechanical arm comprises a base, a rotary block, a support rod, a driving motor, a first hydraulic rod, a cross rod, an adjusting motor, a threaded rod, a vertical rod, a second hydraulic rod, a grabbing rod and a connecting rod, wherein the top end of the base is provided with a first object placing groove, the rotary block is arranged in the first object placing groove and is rotationally connected with the first object placing groove, the driving motor is arranged in the base, the output end of the driving motor is connected with the rotary block, the support rod is arranged at the top end of the rotary block, horizontal pole one end is articulated with the bracing piece top, and the horizontal pole other end sets up accommodate motor, first hydraulic stem one end is articulated with the bracing piece, and the first hydraulic stem other end is articulated with the horizontal pole, the horizontal pole embeds the regulation cavity, the threaded rod both ends are rotated with both ends lateral wall about adjusting the cavity respectively and are connected, the accommodate motor output is connected with the threaded rod, threaded rod suit screwed pipe, regulation cavity bottom set up the through-hole, the screwed pipe bottom articulates the montant, however, when the during operation is in centre gripping lower position article, snatchs the unable adjustment of pole direction, and the result of use is unsatisfactory.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a four-axis swing arm manipulator has solved current device and when the lower position article of centre gripping, snatchs the technical problem that the pole direction can't be adjusted.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: a four-axis swing arm manipulator comprises a base, wherein a first rotating shaft is installed in the base, a rotary disc is fixedly connected to the upper wall surface of the first rotating shaft, a steering device is installed on the upper wall surface of the base and located on one side of the rotary disc, a fixing rod is fixedly connected to the upper wall surface of the rotary disc, a first sliding block is slidably connected to the fixing rod, a height adjusting device is communicated to one side of the first sliding block, a sliding rail is fixedly connected to the other side wall of the first sliding block, a third sliding block is slidably connected to the sliding rail, a transverse plate is fixedly connected to one side wall of the third sliding block, a third motor is fixedly connected to the transverse plate, a pair of mounting frames is fixedly connected to the upper wall surface of the third sliding block, a second rotating shaft is rotatably connected between the pair of mounting frames, one end of the second rotating shaft is connected with the driving end of the third motor, a second gear is fixedly connected to the second rotating shaft and located between the pair of mounting frames, and a rack is fixedly connected to the upper wall surface of the sliding rail, the rack is meshed with the second gear, and a manipulator is fixedly connected to the lower wall surface of the third sliding block.

Preferably, the steering device comprises a second motor installed in the upper wall of the base, a first rotating shaft is fixedly connected to the driving end of the second motor, a first gear is fixedly connected to the upper wall surface of the first rotating shaft, and the first gear is meshed with the rotating disc.

Preferably, height adjusting device includes the rigid coupling and is in the mounting panel of wall on the dead lever, wall one side rigid coupling has first motor on the mounting panel, first motor drive end rigid coupling has the lead screw, and the lead screw of telling runs through the mounting panel rotates to be connected wall on the carousel, a first slider lateral wall rigid coupling has the second slider, the second slider connects soon on the lead screw.

Preferably, a reinforcing rib is fixedly connected between the lower wall surface of the slide rail and the side wall of the first slide block.

Preferably, the rotating shaft is rotatably connected with the base through a bearing.

Preferably, the other end of the sliding rail is fixedly connected with a baffle.

Advantageous effects

The utility model provides a four-axis swing arm manipulator, the following beneficial effect of can guarantee through the setting of turning to device and height adjusting device when all directions snatch article, the manipulator direction remains throughout vertical downwards, can not influence the result of use, and the overall stability of device can be guaranteed in the setting of strengthening rib, and the setting of baffle can prevent that the third slider from droing.

Drawings

Fig. 1 is a schematic view of the front view internal structure of the present invention.

Fig. 2 is a side view of the third slider according to the present invention.

In the figure: 1-a base; 2-a bearing; 3-a first rotating shaft; 4-fixing the rod; 5-a first slide block; 6, mounting a plate; 7-a first motor; 8-a second slide block; 9-a lead screw; 10-a first gear; 11-a second shaft; 12-a second electric machine; 13-a slide rail; 14-a rack; 15-a baffle; 16-a third slider; 17-a manipulator; 18-a transverse plate; 19-a third motor; 20-a mounting rack; 21-a second gear; 22-a turntable; 23-reinforcing ribs; 24-second axis of rotation.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides a technical solution: a four-axis swing arm manipulator comprises a base 1, wherein a first rotating shaft 3 is installed in the base 1, a rotating disc 22 is fixedly connected to the upper wall surface of the first rotating shaft 3, a steering device is installed on one side of the rotating disc 22 and on the upper wall surface of the base 1, a fixing rod 4 is fixedly connected to the upper wall surface of the rotating disc 22, a first slider 5 is slidably connected to the fixing rod 4, a height adjusting device is communicated with one side of the first slider 5, a sliding rail 13 is fixedly connected to the other side wall surface of the first slider 5, a third slider 16 is slidably connected to the sliding rail 13, a transverse plate 18 is fixedly connected to one side wall surface of the third slider 16, a third motor 19 is fixedly connected to the transverse plate 18, a pair of mounting frames 20 is fixedly connected to the upper wall surface of the third slider 16, a second rotating shaft 24 is rotatably connected between the pair of mounting frames 20, one end of the second rotating shaft 24 is connected with a driving end of the third motor 19, a second gear 21 is fixedly connected to the second rotating shaft 24 and between the pair of mounting frames 20, a rack 14 is fixedly connected to the upper wall surface of the sliding rail 13, the rack 14 is engaged with the second gear 21, and a manipulator 17 is fixedly connected to the lower wall surface of the third sliding block 16; the steering device comprises a second motor 12 arranged in the upper wall of the base 1, a driving end of the second motor 2 is fixedly connected with a first rotating shaft 11, the upper wall surface of the first rotating shaft 11 is fixedly connected with a first gear 10, and the first gear 10 is meshed with the rotating disc 22; the height adjusting device comprises a mounting plate 6 fixedly connected to the upper wall surface of the fixed rod 4, a first motor 7 is fixedly connected to one side of the upper wall surface of the mounting plate 6, a lead screw 9 is fixedly connected to the driving end of the first motor 7, the lead screw 9 penetrates through the mounting plate 6 and is rotatably connected to the upper wall surface of the rotary table 22, a second slide block 8 is fixedly connected to one side wall of the first slide block 5, and the second slide block 8 is rotatably connected to the lead screw 9; a reinforcing rib 23 is fixedly connected between the lower wall surface of the slide rail 14 and the side wall of the first slide block 5; the rotating shaft 3 is rotatably connected with the base 1 through a bearing 2; and a baffle 15 is fixedly connected to the other end of the slide rail 13.

All the electrical parts in the present case are connected with the power supply adapted to the electrical parts through a wire, and an appropriate controller should be selected according to actual conditions to meet control requirements, and specific connection and control sequence should be referred to the following working principle, in which the electrical parts are electrically connected in sequence, and the detailed connection means is a known technology in the art, and the following main description of the working principle and process is omitted for describing electrical control.

The embodiment is as follows: as can be seen from fig. 1-2 of the specification, when the device is used, the first motor 7, the second motor 12 and the third motor 19 are connected to an external power supply and an external controller through wires, the first motor 7 drives the screw 9 to rotate, the downward movement of the second slider 8 is adjusted to adjust the height of the manipulator 17, the third motor 19 drives the second gear 21 to rotate, the second gear 21 is meshed with the rack 14, the left and right movement of the manipulator 17 on the third slider 16 can be adjusted, the position is further adjusted, the second motor 12 drives the first gear 10 to rotate, and the first gear 10 is meshed with the turntable 22, so that the device can rotate left and right to carry articles.

1-a base; 2-a bearing; 3-a first rotating shaft; 4-fixing the rod; 5-a first slide block; 6, mounting a plate; 7-a first motor; 8-a second slide block; 9-a lead screw; 10-a first gear; 11-a second shaft; 12-a second electric machine; 13-a slide rail; 14-a rack; 15-a baffle; 16-a third slider; 17-a manipulator; 18-a transverse plate; 19-a third motor; 20-a mounting frame; 21-a second gear; 22-a turntable; 23-reinforcing ribs; 24-second axis of rotation

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. The use of the phrase "comprising" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the same.

Claims

1. The utility model provides a four-axis swing arm manipulator, includes base (1), its characterized in that, install first pivot (3) in base (1), the wall rigid coupling has carousel (22) on first pivot (3), the wall just is located on base (1) carousel (22) one side is installed and is turned to the device, the wall rigid coupling has dead lever (4) on carousel (22), sliding connection has first slider (5) on dead lever (4), first slider (5) one side intercommunication has height adjusting device, another lateral wall rigid coupling of first slider (5) has slide rail (13), sliding connection has third slider (16) on slide rail (13), a lateral wall rigid coupling of third slider (16) has diaphragm (18), the rigid coupling has third motor (19) on diaphragm (18), the wall rigid coupling has a pair of mounting bracket (20) on third slider (16), it is a pair of rotate between mounting bracket (20) and be connected with second pivot (24), second pivot (24) one end with third motor (19) drive end is connected, just it is a pair of to be located in second pivot (24) the rigid coupling has second gear (21) between mounting bracket (20), the wall rigid coupling has rack (14) on slide rail (13), rack (14) with second gear (21) mesh mutually, the wall rigid coupling has manipulator (17) under third slider (16).

2. The four-axis swing arm manipulator according to claim 1, wherein the steering device comprises a second motor (12) installed in the upper wall of the base (1), a first rotating shaft (11) is fixedly connected to the driving end of the second motor (12), a first gear (10) is fixedly connected to the upper wall of the first rotating shaft (11), and the first gear (10) is meshed with the rotating disc (22).

3. The four-axis swing arm manipulator of claim 1, wherein the height adjusting device comprises a mounting plate (6) fixedly connected to the upper wall surface of the fixing rod (4), a first motor (7) is fixedly connected to one side of the upper wall surface of the mounting plate (6), a lead screw (9) is fixedly connected to the driving end of the first motor (7), the lead screw (9) penetrates through the mounting plate (6) and is rotatably connected to the upper wall surface of the turntable (22), a second slider (8) is fixedly connected to one side wall of the first slider (5), and the second slider (8) is rotatably connected to the lead screw (9).

4. The four-axis swing arm manipulator according to claim 1, wherein a reinforcing rib (23) is fixedly connected between the lower wall surface of the slide rail (13) and the side wall of the first slide block (5).

5. The four-axis swing arm manipulator according to claim 1, wherein the rotating shaft (3) is rotatably connected with the base (1) through a bearing (2).

6. The four-axis swing arm manipulator according to claim 1, wherein a baffle (15) is fixedly connected to the other end of the slide rail (13).