CN217123175U

CN217123175U - Four-axis device and have four-axis device's manipulator

Info

Publication number: CN217123175U
Application number: CN202220851701.6U
Authority: CN
Inventors: 谢中银
Original assignee: Chint Intelligent Manufacturing Equipment Shenzhen Co ltd
Current assignee: Chint Intelligent Manufacturing Equipment Shenzhen Co ltd
Priority date: 2022-04-13
Filing date: 2022-04-13
Publication date: 2022-08-05
Anticipated expiration: 2032-04-13

Abstract

The utility model relates to a processing equipment technical field especially relates to a four-axis device and have four-axis device's manipulator. The four-axis device comprises a first movement mechanism, a second movement mechanism, a third movement mechanism, a grabbing mechanism and a driving mechanism, wherein the first movement mechanism can drive the second movement mechanism to move along a first direction, the second movement mechanism can drive the third movement mechanism to move along a second direction, the third movement mechanism is pivoted with an output end of the second movement mechanism, the third movement mechanism can drive the grabbing mechanism to move along a third direction, the driving mechanism can drive the third movement mechanism to rotate around the first direction relative to the second movement mechanism and is arranged between the second movement mechanism and the third movement mechanism, compact arrangement of all mechanisms in the four-axis device is achieved, the four-axis device is small in overall occupied space and low in cost, and the four-axis device can be applied to a narrow space. This manipulator with four shaft device is through using above-mentioned four shaft device, and occupation space is little and with low costs.

Description

Four-axis device and have four-axis device's manipulator

Technical Field

The utility model relates to a processing equipment technical field especially relates to a four-axis device and have four-axis device's manipulator.

Background

The four-axis device can drive the grabbing mechanism on the four-axis device to move along the X direction, the Y direction and the Z direction, and can also rotate around one of the axes. In current four-axis device, directly purchase four-axis robot on market usually, it is loose to arrange between each module in the four-axis robot of purchase on the market, leads to the whole occupation space of four-axis robot big and whole with high costs, causes the waste of space and cost, leads to current four-axis robot can't use in narrow and small space.

Therefore, a four-axis device and a manipulator with the same are urgently needed to be designed to solve the problems that the four-axis device occupies a large space, is high in overall cost and cannot be applied to a narrow space.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a four-axis device can realize the compactness between each mechanism and arrange, and the whole occupation space of four-axis device is little and with low costs, and can use in narrow and small space.

In order to achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a four-axis device, includes first motion, second motion, third motion, snatchs mechanism and actuating mechanism, first motion can drive second motion moves along first direction, second motion can drive third motion moves along the second direction, third motion with second motion's output pin joint, third motion can drive snatch mechanism and move along the third direction, actuating mechanism sets up second motion and can drive between the third motion is relative second motion winds first direction rotates, first direction the second direction and third direction mutually perpendicular.

Preferably, the driving mechanism includes:

the linear driving assembly is arranged at the output end of the second movement mechanism, and the output end of the linear driving assembly can reciprocate along the second direction; and

and one end of the connecting rod is pivoted with the output end of the linear driving assembly, and the other end of the connecting rod is pivoted with the third movement mechanism.

Preferably, the linear driving assembly includes:

the mounting seat is arranged on the output end of the second motion mechanism;

the screw rod nut assembly comprises a screw rod and a nut, the screw rod is pivoted with the mounting seat and extends along the second direction, and the nut is pivoted with the screw rod;

the driving motor is arranged on the mounting seat and can drive the lead screw to rotate;

the sliding block is connected with the nut and can slide relative to the mounting seat; and

and the connecting piece is connected with the sliding block and is pivoted with the connecting rod.

Preferably, the relative position of the connecting piece and the sliding block along the second direction is adjustable.

Preferably, the linear driving assembly further includes:

and one of the connecting piece and the output end of the second movement mechanism is provided with a long hole extending along the second direction, the other of the connecting piece and the output end of the second movement mechanism is provided with a through hole, and the fixing piece sequentially penetrates through the long hole and is locked in the through hole.

Preferably, the connector includes:

the connecting piece body is connected with the sliding block; and

two linking arms, set up on the connecting piece body and be located the connecting rod is followed the both sides of first direction, two the linking arm respectively with the connecting rod pin joint.

Preferably, the connecting piece body is provided with lightening holes.

Preferably, the third motion mechanism includes:

the mounting plate is pivoted with the output end of the second motion mechanism;

the third motor is arranged on the mounting plate; and

the transmission assembly comprises two transmission wheels and an annular transmission belt, the two transmission wheels are arranged along a third direction and are pivoted with the mounting plate, the annular transmission belt is sleeved on the peripheries of the two transmission wheels and tensions the two annular transmission belts together, and the grabbing mechanism is connected with the annular transmission belt.

Preferably, the third motor and the second moving mechanism are arranged at intervals along the third direction, and the driving mechanism is arranged between the third motor and the second moving mechanism along the third direction.

Preferably, the third motion mechanism further includes:

the direction subassembly, including guide rail and sliding block, the guide rail sets up just follow on the mounting panel the third direction extends, the sliding block with snatch the mechanism and be connected and with guide rail sliding connection.

The utility model aims at providing a manipulator with four-axis device, occupation space is little and with low costs.

the manipulator with the four-axis device comprises a rack and further comprises the four-axis device, and the four-axis device is arranged on the rack.

The utility model has the advantages that:

the utility model provides a four-axis device includes first motion, the second motion, the third motion, snatch mechanism and actuating mechanism, first motion can drive the motion of second motion along the first direction, the second motion can drive the motion of third motion along the second direction, the output pin joint of third motion and second motion, the third motion can drive and snatch the motion of mechanism along the third direction, actuating mechanism can drive the relative second motion of third motion and rotate around the first direction, thereby realize that the four-axis device drive snatchs the mechanism along the first direction, the removal of second direction and third direction and around the rotation of first direction. Wherein, actuating mechanism sets up between second motion and third motion, can the narrow and small space between rational utilization second motion and the third motion, realizes the compact of each mechanism in the four-axis device and arranges, and the whole occupation space of four-axis device is little and with low costs, and can use in narrow and small space.

The utility model provides a manipulator with four-axis device, through using above-mentioned four-axis device, occupation space is little and with low costs.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a manipulator with a four-axis device according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a third motion mechanism and a grabbing mechanism provided by the embodiment of the present invention.

The figures are labeled as follows:

a 100-four axis device; 200-a frame; 300-a member to be grasped;

10-a first motion mechanism; 11-a first base; 12-a first electric machine; 13-a first slider assembly;

20-a second motion mechanism; 21-a second base; 22-a second electric machine; 23-a second slider assembly;

30-a third motion mechanism; 31-a mounting plate; 32-a third motor; 33-a transmission assembly; 331-a transmission wheel; 332-endless drive belt; 34-a guide assembly; 341-sliding block; 342-a guide rail;

40-a gripping mechanism; 41-connecting plate; 42-finger cylinder;

50-a drive mechanism; 51-a linear drive assembly; 511-a mount; 513-a drive motor; 514-a slider; 515-a connector; 5151-connector body; 51511-lightening holes; 51512-slotted hole; 5152-linking arm; 52-connecting rod.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1, the present embodiment provides a robot having a four-axis device, which includes a four-axis device 100 and a frame 200, and the four-axis device 100 is disposed on the frame 200. Specifically, as shown in fig. 1, the four-axis device 100 includes a first moving mechanism 10, a second moving mechanism 20, a third moving mechanism 30, and a grabbing mechanism 40, the first moving mechanism 10 can drive the second moving mechanism 20 to move along an X direction (a first direction), the second moving mechanism 20 can drive the third moving mechanism 30 to move along a Y direction (a second direction), the third moving mechanism 30 is pivotally connected to an output end of the second moving mechanism 20, and the third moving mechanism 30 can drive the grabbing mechanism 40 to move along a Z direction (a third direction), so that the four-axis device 100 drives the grabbing mechanism 40 to move along the X direction, the Y direction, and the Z direction. Further, as shown in fig. 1, the four-axis device 100 further includes a driving mechanism 50, and the driving mechanism 50 can drive the third moving mechanism 30 to rotate in the X direction with respect to the second moving mechanism 20. Wherein, snatch mechanism 40 and be used for waiting to snatch a 300, particularly, as shown in fig. 1 and fig. 2, snatch mechanism 40 and include connecting plate 41 and finger cylinder 42, finger cylinder 42 sets up on connecting plate 41, and connecting plate 41 is connected with the output of third motion 30, and wherein, finger cylinder 42 simple structure can realize waiting to snatch the accurate effect of snatching of a 300.

However, the arrangement among the modules in the conventional four-axis device 100 is loose, which results in large overall occupied space and high overall cost of the four-axis device 100, resulting in waste of space and cost, and thus the conventional four-axis device 100 cannot be applied to a narrow space.

In order to solve the above problem, as shown in fig. 1, the driving mechanism 50 is disposed between the second movement mechanism 20 and the third movement mechanism 30, so that a narrow space between the second movement mechanism 20 and the third movement mechanism 30 can be reasonably utilized, the compact arrangement of each mechanism in the four-axis device 100 is realized, the whole occupied space of the four-axis device 100 is small, the cost is low, and the four-axis device 100 can be applied to the narrow space.

The structure of the driving mechanism 50 is described with reference to fig. 1, as shown in fig. 1, the driving mechanism 50 includes a linear driving assembly 51 and a connecting rod 52, the linear driving assembly 51 is disposed at an output end of the second moving mechanism 20, an output end of the linear driving assembly 51 can reciprocate along the Y direction, one end of the connecting rod 52 is pivotally connected to the output end of the linear driving assembly 51, and the other end of the connecting rod 52 is pivotally connected to the third moving mechanism 30, and by matching the linear driving assembly 51 and the connecting rod 52, the linear motion output by the output end of the linear driving assembly 51 can be converted into the rotation of the third moving mechanism 30 around the X direction relative to the second moving mechanism 20. In addition, as shown in fig. 1, the pivot position of the output end of the linear driving assembly 51 and the connecting rod 52 is a first pivot shaft, the pivot position of the output end of the third moving mechanism 30 and the output end of the second moving mechanism 20 is a second pivot shaft, and the first pivot shaft and the second pivot shaft are arranged at intervals, so that the output end of the linear driving assembly 51 only extends out a small distance along the Y direction by using the lever principle, and the third moving mechanism 30 can rotate at a large angle relative to the second moving mechanism 20, the driving mechanism 50 has small energy consumption and small overall occupied space, and the driving mechanism 50 can be arranged in a narrow space.

Preferably, as shown in fig. 1, the linear driving assembly 51 includes a mounting base 511, a screw nut assembly, a driving motor 513, a sliding block 514, and a connecting member 515, the mounting base 511 is disposed on an output end of the second moving mechanism 20, the screw nut assembly includes a screw and a nut, the screw is pivoted with the mounting base 511 and extends along the Y direction, the nut is pivoted with the screw, the driving motor 513 is disposed on the mounting base 511 and can drive the screw to rotate, the sliding block 514 is connected with the nut and can slide relative to the mounting base 511, and the connecting member 515 is connected with the sliding block 514 and is pivoted with the connecting rod 52. When the driving motor 513 is operated, the driving motor 513 drives the lead screw to rotate, the nut can reciprocate along the extending direction (Y direction) of the lead screw, and the nut drives the sliding block 514 and the connecting piece 515 to move along the Y direction. The screw nut assembly has the advantages of simple structure, convenience in processing, low manufacturing cost and self-locking function, and can lock the position of the connecting piece 515 at the adjusted position.

Preferably, as shown in fig. 1, the relative position of the connecting element 515 and the sliding block 514 along the Y direction is adjustable, so as to adjust the maximum angle of rotation of the third motion mechanism 30 relative to the second motion mechanism 20, so as to match different application scenarios of different manipulators with four-axis devices. Specifically, the linear driving assembly 51 further includes a fixing member, the connecting member 515 is provided with a long hole 51512 extending along the Y direction, the output end of the second moving mechanism 20 is provided with a through hole, the fixing member sequentially penetrates through the long hole 51512, the fixing member can slide along the long hole 51512 by adjusting the relative position of the connecting member 515 with respect to the output end of the second moving mechanism 20 along the Y direction, and the fixing member is locked in the through hole, so that the fixing of the connecting member 515 and the output end of the second moving mechanism 20 is realized. Illustratively, the fasteners may be screws, pins, or the like. In other embodiments, a through hole may be formed in the connecting member 515, and a long hole 51512 extending in the Y direction may be formed in the output end of the second motion mechanism 20.

Preferably, as shown in fig. 1, the connecting member 515 includes a connecting member body 5151 and two connecting arms 5152, the connecting member body 5151 is connected to the slider 514, the two connecting arms 5152 are disposed on the connecting member body 5151 and located on two sides of the connecting rod 52 along the X direction, and the two connecting arms 5152 are respectively pivoted to the connecting rod 52, so that a better pivoting effect of the connecting member 515 and the connecting rod 52 is ensured, and the connecting arm 5152 and the connecting rod 52 can be prevented from being separated from each other. Preferably, as shown in fig. 1, the connector body 5151 is provided with a lightening hole 51511, so that the driving mechanism 50 can be designed to be light.

The structure of the first moving mechanism 10 is described with reference to fig. 1, as shown in fig. 1, the first moving mechanism 10 includes a first base 11, a first lead screw nut assembly, a first motor 12 and a first sliding block assembly 13, the first base 11 is disposed on the rack 200, the first lead screw nut assembly includes a first lead screw and a first nut, the first lead screw is pivoted with the first base 11 and extends along the X direction, the first nut is pivoted with the first lead screw, the first motor 12 is disposed on the first base 11 and can drive the first lead screw to rotate, the first sliding block assembly 13 is connected with the first nut and can slide relative to the first base 11, and the second moving mechanism 2 is connected with the first sliding block assembly 13. When the first motor 12 works, the first motor 12 drives the first lead screw to rotate, the first nut can reciprocate along the extending direction (X direction) of the first lead screw, and the first nut drives the second movement mechanism 2 to move along the X direction. The first lead screw nut assembly is simple in structure, convenient to machine, low in manufacturing cost and has a self-locking function, and the position of the second movement mechanism 2 in the adjusted position can be locked.

The structure of the second moving mechanism 20 is described with reference to fig. 1, as shown in fig. 1, the second moving mechanism 20 includes a second base 21, a second lead screw nut assembly, a second motor 22 and a second slider assembly 23, the second base 21 is disposed on the first slider assembly 13, the second lead screw nut assembly includes a second lead screw and a second nut, the second lead screw is pivoted with the second base 21 and extends along the Y direction, the second nut is pivoted with the second lead screw, the second motor 22 is disposed on the second base 21 and can drive the second lead screw to rotate, the second slider assembly 23 is connected with the second nut and can slide relative to the second base 21, the third moving mechanism 30 is pivoted with the second slider assembly 23, and the mounting seat 511 is disposed on the second slider assembly 23. When the second motor 22 works, the second motor 22 drives the second lead screw to rotate, the second nut can reciprocate along the extending direction (Y direction) of the second lead screw, and the second nut drives the third moving mechanism 30 and the driving mechanism 50 to move along the Y direction. The second lead screw nut assembly is simple in structure, convenient to machine, low in manufacturing cost and has a self-locking function, and the positions of the third movement mechanism 30 and the driving mechanism 50 which are adjusted can be locked.

Referring to fig. 1 and 2, the structure of the third moving mechanism 30 is described, as shown in fig. 1 and 2, the third moving mechanism 30 includes a mounting plate 31, a third motor 32 and a transmission assembly 33, the mounting plate 31 is pivoted with the second slider assembly 23, the third motor 32 is disposed on the mounting plate 31, the transmission assembly 33 includes two transmission wheels 331 and an annular transmission belt 332, the two transmission wheels 331 are arranged along the Z direction and pivoted with the mounting plate 31, the annular transmission belt 332 is sleeved on the peripheries of the two transmission wheels 331 and tensions the two annular transmission belts 332 together, and the grabbing mechanism 40 is connected with the annular transmission belt 332. When the third motor 32 is operated, the third motor 32 drives the transmission wheel 331 and the annular transmission belt 332 to rotate, and the annular transmission belt 332 drives the grabbing mechanism 40 to reciprocate along the Z direction. The cooperation of the driving wheel 331 and the endless belt 332 enables smooth movement of the gripping mechanism 40.

As shown in fig. 1, the third motor 32 and the second moving mechanism 20 are arranged at intervals along the Z direction, and in order to realize compact arrangement of each device in the four-axis device 100, the distance between the third motor 32 and the second moving mechanism 20 along the Z direction is small, and the linear driving assembly 51 in a long strip shape is just accommodated in the space, so that each narrow space is fully utilized.

Preferably, as shown in fig. 2, the third moving mechanism 30 further includes a guiding assembly 34, and the guiding assembly 34 is used for guiding the gripping mechanism 40 so as to make the gripping mechanism 40 move smoothly in the Z direction relative to the third moving mechanism 30. Specifically, as shown in fig. 2, the guide assembly 34 includes a guide rail 342 and a slide block 341, the guide rail 342 is disposed on the mounting plate 31 and extends in the Z direction, and the slide block 341 is connected to the grasping mechanism 40 and slidably connected to the guide rail 342, so as to achieve a better guiding function for the grasping mechanism 40.

The working principle of the four-axis device 100 is explained with reference to fig. 1 and 2:

as shown in fig. 1 and 2, when the first motor 12 is operated, the first movement mechanism 10 can drive the second movement mechanism 20 to move in the X direction. When the second motor 22 is operated, the second movement mechanism 20 can drive the third movement mechanism 30 and the drive mechanism 50 to move in the Y direction. When the driving motor 513 operates, if the connecting element 515 moves leftward, the connecting element 515 drives the connecting rod 52 to push the third moving mechanism 30 to rotate counterclockwise around the X direction; if the connecting element 515 moves to the right, the connecting element 515 drives the connecting rod 52 to pull the third moving mechanism 30 to rotate clockwise around the X direction. When the third motor 33 is operated, the endless belt 332 drives the grasping mechanism 40 to move in the Z direction. Through the combination of the above four modes of movement, the accurate alignment of the grabbing mechanism 40 and the piece 300 to be grabbed can be realized, and the accurate grabbing of the piece 300 to be grabbed by the grabbing mechanism 40 is facilitated.

It is noted that the basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration only, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.

Claims

1. A four-axis device is characterized by comprising a first motion mechanism (10), a second motion mechanism (20), a third motion mechanism (30), a grabbing mechanism (40) and a driving mechanism (50), wherein the first motion mechanism (10) can drive the second motion mechanism (20) to move along a first direction, the second motion mechanism (20) can drive the third motion mechanism (30) to move along a second direction, the third motion mechanism (30) is pivoted with an output end of the second motion mechanism (20), the third motion mechanism (30) can drive the grabbing mechanism (40) to move along a third direction, the driving mechanism (50) is arranged between the second motion mechanism (20) and the third motion mechanism (30) and can drive the third motion mechanism (30) to rotate around the first direction relative to the second motion mechanism (20), the first direction, the second direction and the third direction are perpendicular to each other.

2. Four-shaft device according to claim 1, wherein the drive mechanism (50) comprises:

the linear driving assembly (51) is arranged on the output end of the second motion mechanism (20), and the output end of the linear driving assembly (51) can reciprocate along the second direction; and

one end of the connecting rod (52) is pivoted with the output end of the linear driving component (51), and the other end of the connecting rod (52) is pivoted with the third movement mechanism (30).

3. Four-shaft device according to claim 2, wherein the linear drive assembly (51) comprises:

a mounting seat (511) arranged on an output end of the second movement mechanism (20);

the screw and nut assembly comprises a screw and a nut, the screw is pivoted with the mounting seat (511) and extends along the second direction, and the nut is pivoted with the screw;

the driving motor (513) is arranged on the mounting base (511) and can drive the lead screw to rotate;

a sliding block (514) which is connected with the nut and can slide relative to the mounting seat (511); and

and the connecting piece (515) is connected with the sliding block (514) and is pivoted with the connecting rod (52).

4. Four-axis device according to claim 3, wherein the relative position of the connecting member (515) and the slide (514) in the second direction is adjustable.

5. Four-shaft device according to claim 4, wherein the linear drive assembly (51) further comprises:

one of the output end of the connecting piece (515) and the output end of the second movement mechanism (20) is provided with a long hole (51512) extending along the second direction, the other one of the output end of the connecting piece and the output end of the second movement mechanism is provided with a through hole, and the fixing piece sequentially penetrates through the long hole (51512) and is locked in the through hole.

6. A four-axis device according to claim 3, wherein the connecting member (515) comprises:

a connector body (5151) connected to the slider (514); and

the connecting device comprises two connecting arms (5152) which are arranged on the connecting piece body (5151) and positioned on two sides of the connecting rod (52) along the first direction, and the two connecting arms (5152) are respectively pivoted with the connecting rod (52).

7. Four-axis device according to any one of claims 1 to 6, wherein the third kinematic mechanism (30) comprises:

the mounting plate (31) is pivoted with the output end of the second motion mechanism (20);

a third motor (32) provided on the mounting plate (31); and

the transmission assembly (33) comprises two transmission wheels (331) and an annular transmission belt (332), the two transmission wheels (331) are arranged along a third direction and are pivoted with the mounting plate (31), the annular transmission belt (332) is sleeved on the peripheries of the two transmission wheels (331) and tensions the two annular transmission belts (332), and the grabbing mechanism (40) is connected with the annular transmission belt (332).

8. Four-shaft device according to claim 7, wherein the third motor (32) and the second movement mechanism (20) are spaced apart in the third direction, the drive mechanism (50) being arranged between the third motor (32) and the second movement mechanism (20) in the third direction.

9. Four-axis device according to claim 7, wherein the third kinematic mechanism (30) further comprises:

the guide assembly (34) comprises a guide rail (342) and a sliding block (341), the guide rail (342) is arranged on the mounting plate (31) and extends along the third direction, and the sliding block (341) is connected with the grabbing mechanism (40) and is in sliding connection with the guide rail (342).

10. A robot with a four-axis device comprising a frame (200), characterized in that it comprises a four-axis device according to any of claims 1 to 9, which is arranged on the frame (200).