CN107901034A - A kind of four axis robots - Google Patents
A kind of four axis robots Download PDFInfo
- Publication number
- CN107901034A CN107901034A CN201711098985.6A CN201711098985A CN107901034A CN 107901034 A CN107901034 A CN 107901034A CN 201711098985 A CN201711098985 A CN 201711098985A CN 107901034 A CN107901034 A CN 107901034A
- Authority
- CN
- China
- Prior art keywords
- motor
- slide unit
- straight line
- line slide
- fixed disk
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims description 6
- 239000003638 chemical reducing agent Substances 0.000 claims description 3
- 230000017525 heat dissipation Effects 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 11
- 230000007246 mechanism Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of four axis robots, including cabinet, straight line slide unit and fixed disk, cabinet side is equipped with cover board, cover board is equipped with heat emission hole, rotation axis top connects straight line slide unit, and straight line slide unit is equipped with sliding slot, and travelling arm left end is clamped with sliding slot, second motor connects fixed disk, and fixed disk side surface is respectively equipped with sucker, fixed claw, magnechuck and hook.The present invention designs advantages of simple in structure, use easy to operate, practicality is very high, the present invention relates to a kind of four axis robots, during work, heat emission hole lifting device service life, under the action of the 3rd motor and retarder, rotation axis is rotated and moved up and down, under the action of rotation axis, straight line slide unit horizontal 360-degree rotates, under the action of the first motor, travelling arm is moved horizontally, fixed disk is equipped with sucker, fixed claw, magnechuck and four kinds of fetching tools of hook are available, effectively lifting present apparatus adaptability, flexibility ratio and work efficiency.
Description
Technical field
The present invention relates to a kind of manipulator, is specifically a kind of four axis robots.
Background technology
Manipulator is a kind of some holding functions that can imitate human hand and arm, to be captured by fixed routine, carry object
Or the automatic pilot of operation instrument.The executing agency of manipulator is divided into hand, arm, trunk, and hand is installed on arm
Front end, the effect of arm is that guiding finger catches workpiece exactly, and is transported on desired position, in order to enable manipulator
Correctly work, 3 frees degree of arm will be precisely located, and trunk trunk is installation arm, power source and various execution
The stent of mechanism.Feature is that various expected operations can be completed by programming, although manipulator is clever like that not as good as human hand
It is living, but it have can constantly repeated work and work, do not know fatigue, be fearless of danger, the strength of snatch weight is bigger than people hand-power
Feature, while it is also the embodiment that industrial manufacturing automation, precise treatment, intelligent level lifting and product quality improve, therefore,
Manipulator is paid attention to be subject to many departments, and is applied more and more widely.Existing manipulator exists to turn to mostly moves
Dynamic dumb, function is more single, and the hand that particularly works usually only is arranged to single grasp mode, and applicability is low.
Therefore, those skilled in the art provide a kind of four axis robots, to solve proposed in the above background technology ask
Topic.
The content of the invention
It is an object of the invention to provide a kind of four axis robots, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides following technical solution：
A kind of four axis robots, including cabinet, straight line slide unit and fixed disk, the cabinet bottom is equipped with Convenient table, described
Cabinet side is equipped with cover board, and the cover board is equipped with heat emission hole, and the cabinet inner bottom is equipped with the 3rd motor, the 3rd electricity
Machine upper end is connected with retarder by transmission shaft, and the retarder upper end connects rotation axis, and the rotation axis passes through vertical guide rail
Cabinet is connected, the rotation axis top connects straight line slide unit, and the straight line slide unit left end is equipped with the first motor, the straight line slide unit
Sliding slot is equipped with, the travelling arm left end is clamped with sliding slot, and the travelling arm upper end is equipped with status indicator lamp, and the travelling arm is right
End is equipped with the second motor, second motor by being driven axis connection fixed disk, the fixed disk side surface be respectively equipped with sucker,
Fixed claw, magnechuck and hook.
As the further scheme of the present invention：First motor, the second motor and the 3rd motor select servomotor.
As further scheme of the invention：The retarder uses harmonic speed reducer.
As further scheme of the invention：The sucker, fixed claw, magnechuck and hook are in fixed disk side surface
It is isodistantly spaced circumferential array.
As further scheme of the invention：The heat emission hole is set to linear array on the cover board.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention designs advantages of simple in structure, uses easy to operate, and practicality is very high, and the present invention relates to one kind
Four axis robots, during work, the running of three servomotors is controlled by control device, is passed through Convenient table and is fixed the present apparatus, lid
Plate detachably facilitates equipment maintenance, and heat emission hole elevating mechanism service life is real under the action of the 3rd motor and retarder
The rotation of existing rotation axis and the movement of above-below direction, by vertical guide rail improving stability, under the action of rotation axis, are realized straight
The 360 degree of rotations of line slide unit in the horizontal plane, under the action of the first motor, travelling arm is carried out in horizontal direction along sliding slot
It is mobile so that the present apparatus is simple in structure, and movement is flexible, and the degree of automation is high, and the second motor drives fixation to spiral by transmission shaft
Modulation section, fixed disk are equipped with sucker, and fixed claw, four kinds of fetching tools of magnechuck and hook, can carry out according to different material
Selection, effectively lifts present apparatus adaptability and work efficiency.
Brief description of the drawings
Fig. 1 is the structure diagram of four axis robots.
Fig. 2 is the structure diagram of handgrip in four axis robots.
Fig. 3 is the operating diagram of rotation axis in four axis robots.
In figure：1- cabinets, 2- rotation axis, the first motors of 3-, 4- straight lines slide unit, 5- status indicator lamps, 6- travelling arms, 7-
Two motors, 8- fixed disks, 9- suckers, 10- hooks, 11- magnechucks, 12- fixed claws, 13- fix move back, the 3rd motors of 14-,
15- retarders, 16- vertical guide rails, 17- cover boards, 18- heat emission holes.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
Please refer to Fig.1~3, in the embodiment of the present invention, a kind of four axis robots, including cabinet 1, straight line slide unit 4 and fixed
Disk 8,1 bottom of cabinet are equipped with Convenient table 13, and 1 side of cabinet is equipped with cover board 17, and the cover board 17, which is equipped with, to be dissipated
Hot hole 18,1 inner bottom of cabinet are equipped with the 3rd motor 14, and 14 upper end of the 3rd motor is connected with deceleration by transmission shaft
Device 15,15 upper end of retarder connect rotation axis 2, and the rotation axis 2 connects cabinet 1, the rotation by vertical guide rail 16
2 top of axis connection straight line slide unit 4,4 left end of straight line slide unit is equipped with the first motor 3, and the straight line slide unit 4 is equipped with sliding slot,
6 left end of travelling arm is clamped with sliding slot, and 6 upper end of travelling arm is equipped with status indicator lamp 5, and 6 right end of travelling arm is equipped with
Second motor 7, second motor 7 by being driven axis connection fixed disk 8,8 side surface of fixed disk be respectively equipped with sucker 9,
Fixed claw 12, magnechuck 11 and hook 10.
First motor 3, the second motor 7 and the 3rd motor 14 select servomotor.
The retarder 15 uses harmonic speed reducer.
The sucker 9, fixed claw 12, magnechuck 11 and hook 10 are isodistantly spaced circumferential array in 8 side surface of fixed disk.
The heat emission hole 18 is set to linear array on cover board 17.
The present invention operation principle be：
The present invention relates to a kind of four axis robots, the present apparatus is used to carry out picking and placeing operation at a high speed, during work, passes through control device control
The running of three servomotors to be made, the present apparatus is fixed by Convenient table 13, status indicator lamp 5 can be appreciated that present apparatus operating status,
Cover board 17 detachably facilitates equipment maintenance, 18 elevating mechanism service life of heat emission hole, in the 3rd motor 14 and retarder 15
Under the action of, the rotation of rotation axis 2 and the movement of above-below direction are realized, by 16 improving stability of vertical guide rail, in rotation axis 2
Under the action of, realize in the horizontal plane the 360 degree rotations of straight line slide unit 4, under the action of the first motor 3, travelling arm 6 is along cunning
Groove carries out the movement in horizontal direction so that the present apparatus is simple in structure, and movement is flexible, and the degree of automation is high, and the second motor 7 passes through
Transmission shaft drives the rotation of fixed disk 8 to adjust, and fixed disk 8 is equipped with 10 4 kinds of sucker 9, fixed claw 12, magnechuck 11 and hook
Fetching tool, can make choice according to different material, effectively lift present apparatus adaptability and work efficiency.
The present invention designs advantages of simple in structure, uses easy to operate, and practicality is very high, the present invention relates to
A kind of four axis robots, the present apparatus are used to carry out picking and placeing operation at a high speed, during work, pass through control device and control three servomotors
Running, the present apparatus is fixed by Convenient table, cover board detachably facilitates equipment maintenance, and heat emission hole elevating mechanism uses the longevity
Life, under the action of the 3rd motor and retarder, realizes the rotation of rotation axis and the movement of above-below direction, is carried by vertical guide rail
Stability is risen, under the action of rotation axis, the 360 degree of rotations of straight line slide unit in the horizontal plane are realized, in the effect of the first motor
Under, travelling arm carries out moving in horizontal direction along sliding slot so that the present apparatus is simple in structure, and movement is flexible, the degree of automation
Height, the second motor drive fixed disc spins to adjust by transmission shaft, and fixed disk is equipped with sucker, fixed claw, magnechuck and extension
Four kinds of fetching tools of hook, can make choice according to different material, effectively lift present apparatus adaptability and work efficiency.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
Claims (5)
1. a kind of four axis robots, including cabinet (1), straight line slide unit (4) and fixed disk (8), it is characterised in that the cabinet
(1) bottom is equipped with Convenient table (13), and cabinet (1) side is equipped with cover board (17), and the cover board (17) is equipped with heat dissipation
Hole (18), cabinet (1) inner bottom are equipped with the 3rd motor (14), and the 3rd motor (14) upper end is by being driven axis connection
There are retarder (15), retarder (15) the upper end connection rotation axis (2), the rotation axis (2) is connected by vertical guide rail (16)
Receive at the counter body (1), rotation axis (2) the top connection straight line slide unit (4), straight line slide unit (4) left end is equipped with the first motor
(3), the straight line slide unit (4) is equipped with sliding slot, and travelling arm (6) left end is clamped with sliding slot, and travelling arm (6) upper end is set
Stateful indicator light (5), travelling arm (6) right end are equipped with the second motor (7), and second motor (7) is connected by transmission shaft
Fixed disk (8) is connect, fixed disk (8) side surface is respectively equipped with sucker (9), fixed claw (12), magnechuck (11) and hook
(10)。
2. four axis robot according to claim 1, it is characterised in that first motor (3), the second motor (7) and
3rd motor (14) selects servomotor.
3. four axis robot according to claim 1, it is characterised in that the retarder (15) uses harmonic speed reducer.
4. four axis robot according to claim 1, it is characterised in that the sucker (9), fixed claw (12), electromagnetism are inhaled
Disk (11) and hook (10) are isodistantly spaced circumferential array in fixed disk (8) side surface.
5. four axis robot according to claim 1, it is characterised in that the heat emission hole (18) is set on cover board (17)
Linear array.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711098985.6A CN107901034A (en) | 2017-11-09 | 2017-11-09 | A kind of four axis robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711098985.6A CN107901034A (en) | 2017-11-09 | 2017-11-09 | A kind of four axis robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107901034A true CN107901034A (en) | 2018-04-13 |
Family
ID=61844661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711098985.6A Pending CN107901034A (en) | 2017-11-09 | 2017-11-09 | A kind of four axis robots |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107901034A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108408662A (en) * | 2018-05-12 | 2018-08-17 | 华北理工大学 | A kind of building outer layer translating hoist |
| CN108483363A (en) * | 2018-05-12 | 2018-09-04 | 华北理工大学 | A kind of building outer layer translating hoist rack |
| CN108506618A (en) * | 2018-04-17 | 2018-09-07 | 广东科捷龙机器人有限公司 | Gas circuit conversion equipment and paper matrix multi-joint device for paper matrix multi-joint device |
| CN109228254A (en) * | 2018-09-18 | 2019-01-18 | 云南唯佳塑业有限公司 | A kind of full automatic plastic bottle processing method |
| CN110918902A (en) * | 2018-09-20 | 2020-03-27 | 黄山市黄山区金球耐磨材料有限公司 | Novel wear-resisting steel ball easy demoulding automatic molding machine |
| CN110978019A (en) * | 2019-12-11 | 2020-04-10 | 安徽瞬达信息科技有限公司 | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2566310A1 (en) * | 1984-06-25 | 1985-12-27 | Etude Rech Produits Sepro | Gripping accessories for manipulators and robots |
| CN204725490U (en) * | 2015-05-14 | 2015-10-28 | 无锡艾度科技有限公司 | A kind of punching press transfer manipulator |
| CN205096420U (en) * | 2015-07-20 | 2016-03-23 | 中山亚力菲自动化设备有限公司 | Punching press four -axis manipulator |
| CN205238045U (en) * | 2015-12-31 | 2016-05-18 | 浙江天运机电科技有限公司 | Snatch machine |
| CN106313089A (en) * | 2016-10-21 | 2017-01-11 | 苏州哈工海渡工业机器人有限公司 | Composite fixture for industrial robot |
| CN206335061U (en) * | 2016-12-19 | 2017-07-18 | 福建通用机器人科技有限公司 | A kind of four axle stamping mechanical arms |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| CN207930669U (en) * | 2017-11-09 | 2018-10-02 | 无锡百禾工业机器人有限公司 | A kind of four axis robots |
-
2017
- 2017-11-09 CN CN201711098985.6A patent/CN107901034A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2566310A1 (en) * | 1984-06-25 | 1985-12-27 | Etude Rech Produits Sepro | Gripping accessories for manipulators and robots |
| CN204725490U (en) * | 2015-05-14 | 2015-10-28 | 无锡艾度科技有限公司 | A kind of punching press transfer manipulator |
| CN205096420U (en) * | 2015-07-20 | 2016-03-23 | 中山亚力菲自动化设备有限公司 | Punching press four -axis manipulator |
| CN205238045U (en) * | 2015-12-31 | 2016-05-18 | 浙江天运机电科技有限公司 | Snatch machine |
| CN106313089A (en) * | 2016-10-21 | 2017-01-11 | 苏州哈工海渡工业机器人有限公司 | Composite fixture for industrial robot |
| CN206335061U (en) * | 2016-12-19 | 2017-07-18 | 福建通用机器人科技有限公司 | A kind of four axle stamping mechanical arms |
| CN107253189A (en) * | 2017-07-25 | 2017-10-17 | 芜湖超源力工业设计有限公司 | A kind of transfer robot with sucked type handgrip |
| CN207930669U (en) * | 2017-11-09 | 2018-10-02 | 无锡百禾工业机器人有限公司 | A kind of four axis robots |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108506618A (en) * | 2018-04-17 | 2018-09-07 | 广东科捷龙机器人有限公司 | Gas circuit conversion equipment and paper matrix multi-joint device for paper matrix multi-joint device |
| CN108408662A (en) * | 2018-05-12 | 2018-08-17 | 华北理工大学 | A kind of building outer layer translating hoist |
| CN108483363A (en) * | 2018-05-12 | 2018-09-04 | 华北理工大学 | A kind of building outer layer translating hoist rack |
| CN108483363B (en) * | 2018-05-12 | 2023-07-18 | 华北理工大学 | Outer translation lift frame of building |
| CN108408662B (en) * | 2018-05-12 | 2023-10-31 | 江苏帜飞建设有限公司 | Building outer layer translation lift |
| CN109228254A (en) * | 2018-09-18 | 2019-01-18 | 云南唯佳塑业有限公司 | A kind of full automatic plastic bottle processing method |
| CN109228254B (en) * | 2018-09-18 | 2021-04-20 | 云南唯佳塑业有限公司 | Full-automatic plastic bottle processing method |
| CN110918902A (en) * | 2018-09-20 | 2020-03-27 | 黄山市黄山区金球耐磨材料有限公司 | Novel wear-resisting steel ball easy demoulding automatic molding machine |
| CN112008704A (en) * | 2019-05-31 | 2020-12-01 | 昆山怡德鑫精密机械有限公司 | Product transmission mechanical arm |
| CN110978019A (en) * | 2019-12-11 | 2020-04-10 | 安徽瞬达信息科技有限公司 | Manipulator structure capable of realizing double-mode switching of adsorption and clamping and robot |
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