CN219705175U

CN219705175U - Four-axis cooperative manipulator

Info

Publication number: CN219705175U
Application number: CN202321436997.6U
Authority: CN
Inventors: 张波; 王志武
Original assignee: Shandong Dongyue Chemical Co ltd
Current assignee: Shandong Dongyue Green Cold Technology Co ltd
Priority date: 2023-06-07
Filing date: 2023-06-07
Publication date: 2023-09-19
Anticipated expiration: 2033-06-07

Abstract

The utility model relates to the technical field of manipulators and discloses a four-axis cooperative manipulator which comprises a base, wherein a lifting device is arranged on the base and comprises a stand column and a lifting frame, one side of the stand column is vertically provided with a lifting groove, a straight rack is vertically arranged in the lifting groove, two side walls of the lifting groove are provided with limiting sliding grooves, gears are rotatably arranged in the lifting frame, two sides of the lifting frame are provided with limiting sliding plates, the gears are meshed with the straight rack, one end of a gear rotating shaft penetrates through the lifting frame to be connected with the output end of a driving device, the limiting sliding plates are correspondingly arranged in the limiting sliding grooves, the outer part of the lifting frame is connected with a mechanical arm, and the mechanical arm is connected with the manipulator. The four-axis cooperative manipulator disclosed by the utility model can work in a narrow space, occupies a small space, effectively improves the use effect of the four-axis cooperative manipulator, and improves the working efficiency.

Description

Four-axis cooperative manipulator

Technical Field

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

Background

The manipulator can simulate some action functions of hands and arms, is an automatic operation device for grabbing and carrying objects or operating tools according to fixed programs, 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 environments to protect personal safety, and is widely applied to departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.

The prior art has at least the following problems: firstly, the existing four-axis cooperative manipulator is difficult to work in a narrow space, so that the production efficiency is reduced; secondly, the existing four-axis cooperative manipulator is large in size and large in occupied space.

Disclosure of Invention

Aiming at the defects of the prior art, the four-axis cooperative manipulator is developed, can work in a narrow space, occupies a small space, effectively improves the use effect of the four-axis cooperative manipulator, and improves the working efficiency.

The technical scheme for solving the technical problems is as follows: the utility model provides a four-axis cooperation manipulator, the on-line screen storage device comprises a base, be equipped with elevating gear on the base, elevating gear includes stand and crane, the vertical lift groove of having seted up in one side of stand, the vertical straight rack that is equipped with in the lift groove, the both sides wall of lift groove is equipped with spacing spout, the inside rotation of crane is equipped with the gear, the both sides of crane are equipped with spacing slide, gear and straight rack meshing, the one end of gear pivot passes the crane and is connected with drive arrangement's output, spacing slide corresponds the setting in spacing spout, the outside of crane is connected with the arm, the arm is connected with the manipulator.

As an optimization, the driving device comprises a heat dissipation shell and a driving motor, wherein the driving motor is arranged in the heat dissipation shell, and the output end of the driving motor penetrates through the shell and is connected with one end of the gear rotating shaft. By arranging the heat dissipation shell, the driving motor can be protected and heat dissipation can be assisted; through setting up driving motor, can provide power for the crane goes up and down.

As optimization, be equipped with the drive groove on the stand, drive groove and lift groove intercommunication, drive arrangement sets up in the drive groove. By providing the drive slot, the drive device can be accommodated without being hindered in lifting.

As the optimization, the arm includes mounting bracket, first arm and second arm, and the mounting bracket is connected with the crane, is equipped with first motor on the mounting bracket, and the output of first motor is connected with the one end of first arm, and the other end of first arm is connected with the one end of second arm through the second motor, and the other end of second arm is connected with the manipulator. The mechanical arm can be connected with the lifting frame through the installation frame; the first mechanical arm and the first motor are arranged, so that the first mechanical arm can rotate and swing in the horizontal plane, and the operation position of the mechanical arm can be adjusted; by arranging the second mechanical arm and the second motor, the second mechanical arm can rotate and swing in the horizontal plane, the operation range of the mechanical arm is further enlarged, and the mechanical arm can also operate in the radius range of the first mechanical arm.

As optimization, the manipulator comprises a protective shell, a telescopic device and a mechanical claw, wherein the telescopic device and the mechanical claw are arranged in the protective shell, the protective shell is connected with the other end of the second mechanical arm, and the telescopic end of the telescopic device is connected with the mechanical claw. By arranging the protective shell, the telescopic device can be protected; the mechanical claw can be lifted by arranging the telescopic device; by providing a gripper, the article can be grasped.

As optimization, the telescopic device is any one of a cylinder, an electric cylinder, a hydraulic cylinder and a cylinder push-pull electromagnet.

Compared with the prior art, the utility model has the following beneficial effects:

the lifting device can be installed and used in a narrow vertical space by arranging the base, so that the occupied space is small; through the arrangement of the lifting device, the mechanical arm and the mechanical arm can vertically lift; through setting up lift groove, straight rack and spacing spout, can hold the gear and mesh on straight rack and roll, drive the lift frame and go up and down in the lift inslot to slide, spacing slide makes the lift frame can stably go up and down to slide, reaches the effect that inside drive goes up and down, greatly reduced space occupation; the driving device is arranged to drive the gear to rotate, so that the lifting frame is lifted; the mechanical arm is arranged, so that the mechanical arm can be driven to move for operation; through setting up the manipulator, can snatch the article and carry out the operation.

Drawings

FIG. 1 is an overall schematic of an embodiment of the present utility model.

Fig. 2 is a schematic diagram of an internal structure of an embodiment of the present utility model.

Fig. 3 is a general block diagram of a lift, gears and limit skids in one embodiment of the utility model.

Fig. 4 is an internal schematic view of a driving device according to an embodiment of the utility model.

Fig. 5 is an internal schematic view of a manipulator according to an embodiment of the utility model.

1, a base; 2. a lifting device; 3. a driving device; 4. a mechanical arm; 5. a manipulator;

21. a column; 22. a lifting frame; 23. a lifting groove; 24. a straight rack; 25. limiting sliding grooves; 26. a gear; 27. a limit sliding plate; 28. a driving groove;

31. a heat dissipation housing; 32. a driving motor;

41. a mounting frame; 42. a first mechanical arm; 43. a second mechanical arm; 44. a first motor; 45. a second motor;

51. a protective shell; 52. a telescoping device; 53. and (5) a mechanical claw.

Detailed Description

In order to clearly illustrate the technical features of the present solution, the present utility model will be described in detail below with reference to the following detailed description and the accompanying drawings.

Examples

Fig. 1 to 5 are schematic diagrams of an embodiment of the present utility model, as shown in fig. 1, 2 and 3, a four-axis cooperative manipulator includes a base 1, a lifting device 2 is vertically disposed on the base 1, the lifting device 2 includes a stand column 21 and a lifting frame 22, a lifting groove 23 is vertically disposed on one side of the stand column 21, a straight rack 24 is vertically disposed in the lifting groove 23, two side walls of the lifting groove 23 are provided with a limit chute 25, the lifting frame 22 is a door, a gear 26 is rotatably disposed in one end of the lifting frame 22, two sides of the lifting frame 22 are provided with limit sliding plates 27, the gear 26 is meshed with the straight rack 24, one end of a rotating shaft of the gear 26 is connected with an output end of the driving device 3 through the lifting frame 22, the limit sliding plates 27 are correspondingly slidably disposed in the limit chute 25, an outer portion of the other end of the lifting frame 22 is connected with a mechanical arm 4, and the mechanical arm 4 is connected with the mechanical arm 5.

The lifting device 2 can be installed and used in a narrow vertical space by arranging the base 1, so that the occupied space is small; by arranging the lifting device 2, the mechanical arm 4 and the mechanical arm 5 can vertically lift; through the arrangement of the lifting groove 23, the straight rack 24 and the limiting sliding groove 25, the gear 26 can be accommodated to roll on the straight rack 24 in a meshed manner, the lifting frame 22 is driven to lift and slide in the lifting groove 23, and the limiting sliding plate 27 enables the lifting frame 22 to stably lift and slide; by arranging the driving device 3, the gear 26 can be driven to rotate, so that the lifting frame 22 can be lifted; the mechanical arm 4 is arranged, so that the mechanical arm 5 can be driven to move for operation; by providing the robot 5, the article can be grasped and worked.

As shown in fig. 4, the driving device 3 includes a heat dissipation case 31 and a driving motor 32, the driving motor 32 is disposed in the heat dissipation case 31, and an output end of the driving motor 32 passes through the case and is connected with one end of a rotation shaft of the gear 26. By providing the heat dissipation case 31, the driving motor 32 can be protected and heat dissipation can be assisted; by providing the drive motor 32, power can be provided to raise and lower the lift frame 22.

As shown in fig. 1 and 2, a driving groove 28 is vertically arranged on the upright post 21, the driving groove 28 is communicated with the lifting groove 23, and the driving device 3 is arranged in the driving groove 28. By providing the drive groove 28, the drive device 3 can be accommodated without impeding the lifting of the drive device 3.

As shown in fig. 1 and 2, the mechanical arm 4 includes a mounting frame 41, a first mechanical arm 42 and a second mechanical arm 43, the mounting frame 41 is connected with the lifting frame 22, a first motor 44 is arranged on the mounting frame 41, an output end of the first motor 44 is connected with one end of the first mechanical arm 42, the other end of the first mechanical arm 42 is connected with one end of the second mechanical arm 43 through a second motor 45, and the other end of the second mechanical arm 43 is connected with the mechanical arm 5. By providing the mounting frame 41, the robot arm 4 can be connected to the lifter 22; by providing the first robot arm 42 and the first motor 44, the first robot arm 42 can be rotated and swung in the horizontal plane, and the working position of the robot arm 5 can be adjusted; by providing the second robot arm 43 and the second motor 45, the second robot arm 43 can be rotated and swung in the horizontal plane, and the working range of the robot arm 5 can be further widened, and the robot arm 5 can be worked even in the radius range of the first robot arm 42.

As shown in fig. 5, the manipulator 5 includes a protective case 51, a telescopic device 52 and a gripper 53 provided in the protective case 51, the protective case 51 is connected to the other end of the second arm 43, and the telescopic end of the telescopic device 52 is connected to the gripper 53. By providing the protective case 51, the telescopic device 52 can be protected; by providing the telescopic device 52, the gripper 53 can be lifted and lowered; by providing the gripper 53, the article can be grasped.

The telescopic device 52 is any one of a cylinder, an electric cylinder, a hydraulic cylinder and a cylinder push-pull electromagnet.

In the use process, the telescopic device 52 adopts a cylindrical push-pull electromagnet, and comprises a cylindrical electromagnet and cylindrical iron arranged in the cylindrical electromagnet, and after the mechanical claw 53 grabs an object, the cylindrical electromagnet moves the cylindrical iron upwards to lift the object; then, the first motor 44 and the second motor 45 start to work, and the positions of the first mechanical arm 42 and the second mechanical arm 43 are respectively adjusted, if the first motor and the second motor work in a narrow space, the second motor 45 can rotate the second mechanical arm 43 inwards, namely, in the direction of the first mechanical arm 42, so that the probability of collision of an object with other objects is reduced; then the driving device 3 starts to work, the driving device 3 can not turn over in the ascending or descending process due to the position of the limiting heat dissipation shell 31 of the driving groove 28, the output end of the driving motor 32 rotates to drive the gear 26 to mesh and roll on the straight rack 24, the lifting frame 22 also ascends or descends along with the mesh and roll ascending or descending of the gear 26, and the limiting sliding plates 27 at the two sides of the lifting frame 22 slide in the limiting sliding grooves 25, so that the lifting frame 22 can always keep a horizontal state and can not incline; when the lifting frame 22 moves to a specified position, the mechanical arm 4 is unfolded, and the mechanical arm 5 puts down the object.

The description of the orientation or relative positional relationship of the structures in the present utility model, such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the structures referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.

Claims

1. The utility model provides a four-axis cooperation manipulator, includes base (1), characterized by: be equipped with elevating gear (2) on base (1), elevating gear (2) include stand (21) and crane (22), lifting groove (23) have been vertically seted up to one side of stand (21), vertical straight rack (24) that are equipped with in lifting groove (23), both sides wall of lifting groove (23) are equipped with spacing spout (25), the inside rotation of crane (22) is equipped with gear (26), both sides of crane (22) are equipped with spacing slide (27), gear (26) and straight rack (24) meshing, the one end of gear (26) pivot is passed crane (22) and is connected with the output of drive arrangement (3), spacing slide (27) correspond to be set up in spacing spout (25), the outside of crane (22) is connected with arm (4), arm (4) are connected with manipulator (5).

2. The four-axis cooperative robot of claim 1, wherein: the driving device (3) comprises a heat dissipation shell (31) and a driving motor (32), wherein the driving motor (32) is arranged in the heat dissipation shell (31), and the output end of the driving motor (32) penetrates through the shell and is connected with one end of a rotating shaft of the gear (26).

3. The four-axis cooperative robot of claim 2, wherein: the upright post (21) is provided with a driving groove (28), the driving groove (28) is communicated with the lifting groove (23), and the driving device (3) is arranged in the driving groove (28).

4. The four-axis cooperative robot of claim 1, wherein: the mechanical arm (4) comprises a mounting frame (41), a first mechanical arm (42) and a second mechanical arm (43), wherein the mounting frame (41) is connected with the lifting frame (22), a first motor (44) is arranged on the mounting frame (41), the output end of the first motor (44) is connected with one end of the first mechanical arm (42), the other end of the first mechanical arm (42) is connected with one end of the second mechanical arm (43) through a second motor (45), and the other end of the second mechanical arm (43) is connected with the mechanical arm (5).

5. The four-axis cooperative robot according to any one of claims 1 to 4, wherein: the manipulator (5) comprises a protective shell (51), a telescopic device (52) and a mechanical claw (53), wherein the telescopic device (52) and the mechanical claw (53) are arranged in the protective shell (51), the protective shell (51) is connected with the other end of the second mechanical arm (43), and the telescopic end of the telescopic device (52) is connected with the mechanical claw (53).

6. The four-axis cooperative robot of claim 5, wherein: the telescopic device (52) is any one of an air cylinder, an electric cylinder, a hydraulic cylinder and a cylinder push-pull electromagnet.