CN221020993U

CN221020993U - Rail-mounted rotary four-axis transfer robot

Info

Publication number: CN221020993U
Application number: CN202322825657.9U
Authority: CN
Inventors: 唐越
Original assignee: Chengdu Aeronautic Polytechnic
Current assignee: Chengdu Aeronautic Polytechnic
Priority date: 2023-10-20
Filing date: 2023-10-20
Publication date: 2024-05-28
Anticipated expiration: 2033-10-20

Abstract

The utility model discloses a track type rotary four-axis transfer robot which comprises a base, wherein a guide rail is arranged on the base, a movable sliding table is arranged on the guide rail, a rotatable first shaft is arranged on the sliding table, a rotatable second shaft is arranged on the first shaft, the rotation axis of the second shaft is perpendicular to the rotation axis of the first shaft, a third shaft is arranged at one end, far away from the first shaft, of the second shaft, the rotation axis of the third shaft is parallel to the rotation axis of the second shaft, and a tail end clamping jaw is arranged at one end, far away from the second shaft, of the third shaft. The beneficial effects of the utility model are as follows: through setting up first axle, second shaft, third axle and fourth axle can make terminal clamping jaw motion nimble, has increased terminal clamping jaw's working range, and fourth axle can make terminal clamping jaw angle of adjustment make terminal clamping jaw's gesture change snatch the material moreover, and fourth axle and terminal clamping jaw adopt series connection simultaneously can improve terminal clamping jaw's holding strength to the material to effectively improve terminal clamping jaw's bearing capacity.

Description

Rail-mounted rotary four-axis transfer robot

Technical Field

The utility model relates to the technical field of industrial robots, in particular to a rail type rotary four-axis transfer robot.

Background

Industrial manipulators are a high-tech automated production facility developed in recent decades. Industrial robot is an important branch of industrial robots. The robot is characterized in that various expected operation tasks can be completed through programming, the movement range of some existing transfer robots is limited in the working process, the gesture change of the tail end manipulator is limited, the gesture of grabbing a transfer object is inflexible, and the tail end manipulator is inflexible and has poor bearing capacity.

Disclosure of utility model

The utility model aims to overcome the defects that the existing transfer robots are limited in movement range in the working process, so that the gesture change of the tail end manipulator is limited, the gesture of grabbing a transfer object is inflexible, the tail end manipulator is inflexible and the bearing capacity is poor, and provides a track type rotary four-axis transfer robot.

The aim of the utility model is achieved by the following technical scheme: the utility model provides a four transfer robots of rail mounted gyration, includes the base, installs the guide rail on the base, installs mobilizable slip table on the guide rail, installs mobilizable first axle on the slip table, installs mobilizable second axle on the first axle, and the rotation axial of second axle is mutually perpendicular with the rotation axial of first axle, and the third axle is installed to the one end that the first axle was kept away from to the second axle, and the rotation axial of third axle is parallel with the rotation axial of second axle, and the terminal clamping jaw is installed to the one end that the second axle was kept away from to the third axle.

In a further technical solution, a rotatable fourth shaft is mounted on the third shaft, and the end clamping jaw is mounted on the fourth shaft.

According to a further technical scheme, moving shaft motors corresponding to the first shaft, the second shaft and the third shaft are respectively arranged on the sliding table, the first shaft and the second shaft, and power output ends of the plurality of groups of moving shaft motors are respectively connected with the first shaft, the second shaft and the third shaft.

According to the further technical scheme, a servo motor is arranged on a base, a rotatable screw rod is arranged in the base, the power output end of the servo motor is connected with the screw rod, a screw rod sliding block is arranged on the screw rod, and a sliding table is arranged on the screw rod sliding block.

According to a further technical scheme, a power output end of the servo motor is connected with a lead screw through a bearing bush, and a sliding block baffle corresponding to the bearing bush is arranged on one side of the sliding table, which is close to the bearing bush.

The utility model has the following advantages: according to the utility model, the first shaft, the second shaft, the third shaft and the fourth shaft are arranged, so that the movement of the tail end clamping jaw is flexible, the working range of the tail end clamping jaw is enlarged, the fourth shaft can enable the adjusting angle of the tail end clamping jaw to enable the gesture of the tail end clamping jaw to change to grasp materials, meanwhile, the fourth shaft and the tail end clamping jaw are connected in series, so that the clamping strength of the tail end clamping jaw to the materials can be improved, the bearing capacity of the tail end clamping jaw is effectively improved, the carrying gestures of the first shaft, the second shaft and the third shaft are controlled through arranging a plurality of groups of moving shaft motors, the positioning precision of the tail end clamping jaw is higher, and the dynamic response characteristic of the manipulator is effectively improved.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic side view of the present utility model;

FIG. 3 is a schematic view of the internal structure of the base of the present utility model;

In the figure, 1, a base; 2. a guide rail; 3. a sliding table; 4. a motion axis motor; 5. a first shaft; 6. a second shaft; 7. a third shaft; 8. a fourth shaft; 9. a terminal jaw; 10. a slide block baffle; 11. a screw rod; 12. a servo motor; 13. a screw rod sliding block; 14. bearing bush.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.

In addition, the embodiments of the present utility model and the features of the embodiments may be combined with each other without collision.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, or are directions or positional relationships conventionally understood by those skilled in the art, are merely for convenience of describing the present utility model and for simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

As shown in fig. 1 to 3, a track type rotary four-axis transfer robot comprises a base 1, a guide rail 2 is arranged on the base 1, a movable sliding table 3 is arranged on the guide rail 2, a rotatable first shaft 5 is arranged on the sliding table 3, a rotatable second shaft 6 is arranged on the first shaft 5, the rotation axis of the second shaft 6 is perpendicular to the rotation axis of the first shaft 5, a third shaft 7 is arranged at one end of the second shaft 6 far away from the first shaft 5, the rotation axis of the third shaft 7 is parallel to the rotation axis of the second shaft 6, a tail end clamping jaw 9 is arranged at one end of the third shaft 7 far away from the second shaft 6, a rotatable fourth shaft 8 is arranged on the third shaft 7, the tail end clamping jaw 9 is arranged on the fourth shaft 8, the tail end clamping jaw 9 can flexibly move by arranging the first shaft 5, the second shaft 6, the third shaft 7 and the fourth shaft 8, the working range of the tail end clamping jaw 9 is enlarged, the fourth shaft 8 can lead the angle of the tail end clamping jaw 9 to be adjusted so as to lead the gesture of the tail end clamping jaw 9 to be changed to grasp materials, meanwhile, the fourth shaft 8 and the tail end clamping jaw 9 are connected in series, so that the clamping strength of the tail end clamping jaw 9 to the materials can be improved, the bearing capacity of the tail end clamping jaw 9 is effectively improved, the sliding table 3, the first shaft 5 and the second shaft 6 are respectively provided with a moving shaft motor 4 corresponding to the first shaft 5, the second shaft 6 and the third shaft 7, the power output ends of a plurality of groups of moving shaft motors 4 are respectively connected with the first shaft 5, the second shaft 6 and the third shaft 7, the carrying gesture of the first shaft 5, the second shaft 6 and the third shaft 7 is controlled by arranging a plurality of groups of moving shaft motors 4, the positioning accuracy of the tail end clamping jaw 9 is higher, the dynamic response characteristic of a manipulator is effectively improved, the base 1 is provided with a servo motor 12, the rotatable lead screw 11 is installed in the base 1, the power output end of the servo motor 12 is connected with the lead screw 11, the lead screw slider 13 is installed on the lead screw 11, the sliding table 3 is installed on the lead screw slider 13, the power output end of the servo motor 12 is connected with the lead screw 11 through the bearing bush 14, the sliding block baffle 10 corresponding to the bearing bush 14 is installed on one side of the sliding table 3, close to the bearing bush 14, and the sliding block baffle 10 is arranged to protect the sliding table 3 and the bearing bush 14 by providing the bearing bush 14 to play a friction protection role on the lead screw 11.

Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.

Claims

1. The utility model provides a rail mounted gyration four-axis transfer robot, includes base (1), its characterized in that: install guide rail (2) on base (1), install mobilizable slip table (3) on guide rail (2), install rotatable first axle (5) on slip table (3), install rotatable second axle (6) on first axle (5), the rotation axial of second axle (6) is perpendicular with the rotation axial of first axle (5), third axle (7) are installed to the one end that first axle (5) was kept away from to second axle (6), the rotation axial of third axle (7) is parallel with the rotation axial of second axle (6), terminal clamping jaw (9) are installed to the one end that second axle (6) was kept away from to third axle (7).

2. A track-type swing four-axis transfer robot as claimed in claim 1, wherein: the third shaft (7) is provided with a rotatable fourth shaft (8), and the end clamping jaw (9) is arranged on the fourth shaft (8).

3. A track-type swing four-axis transfer robot as claimed in claim 1, wherein: and the sliding table (3), the first shaft (5) and the second shaft (6) are respectively provided with a plurality of groups of moving shaft motors (4) corresponding to the first shaft (5), the second shaft (6) and the third shaft (7), and the power output ends of the moving shaft motors (4) are respectively connected with the first shaft (5), the second shaft (6) and the third shaft (7).

4. A track-type swing four-axis transfer robot as claimed in claim 1, wherein: install servo motor (12) on base (1), install rotatable lead screw (11) in base (1), the power take off end of servo motor (12) is connected with lead screw (11), install lead screw slider (13) on lead screw (11), slip table (3) are installed on lead screw slider (13).

5. The orbital rotary four-axis transfer robot of claim 4 wherein: the power output end of the servo motor (12) is connected with the screw rod (11) through the bearing bush (14), and a sliding block baffle (10) corresponding to the bearing bush (14) is arranged on one side of the sliding table (3) close to the bearing bush (14).