CN210282289U - Four-axis manipulator and automatic system comprising same - Google Patents
Four-axis manipulator and automatic system comprising same Download PDFInfo
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- CN210282289U CN210282289U CN201821801522.1U CN201821801522U CN210282289U CN 210282289 U CN210282289 U CN 210282289U CN 201821801522 U CN201821801522 U CN 201821801522U CN 210282289 U CN210282289 U CN 210282289U
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Abstract
The utility model provides a four-axis manipulator reaches automatic system including this manipulator. The four-shaft mechanical arm comprises a first shaft, a second shaft, a third shaft and a fourth shaft; the first shaft, the second shaft and the fourth shaft are rotating motors, and the third shaft is a linear motor; the output end of the first shaft is fixedly connected with the second shaft through a first connecting piece; the output end of the second shaft is fixedly connected with the third shaft; the output end of the third shaft is fixedly connected with the fourth shaft through a second connecting piece. Adopt the technical scheme of the utility model, replace rotating electrical machines driven roller lead screw structure as one of them axle of four-axis manipulator through adopting linear electric motor, have under some circumstances acceleration higher, the precision is higher and noise advantage such as less.
Description
Technical Field
The utility model relates to a four-axis manipulator technical field, concretely relates to four-axis manipulator reaches automatic system including this manipulator.
Background
The four-shaft mechanical arm is widely applied to the field of automation of various industries, and is a serial four-shaft mechanical arm formed by connecting four driving shafts and connecting pieces in series. In the existing four-axis manipulator, a first axis, a second axis, a third axis and a fourth axis are rotating motors, the third axis is a ball screw transmission structure, and the linear motion of the third axis is realized through the ball screw structure. The four-shaft manipulator adopting the structure has the defects that the third shaft is in a transmission structure of a ball screw, so that the manipulator with the third shaft is slow in acceleration, high in noise, low in control precision and the like due to the conversion of the transmission structure.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model provides a four-axis manipulator and including the automatic system of this manipulator.
The utility model provides a four-axis manipulator, four-axis manipulator includes: a first shaft, a second shaft, a third shaft and a fourth shaft; wherein,
one of the first shaft, the second shaft, the third shaft and the fourth shaft is a linear motor; and the other three of the first shaft, the second shaft, the third shaft and the fourth shaft are rotating motors.
Further, the linear motor is a direct-drive linear motor; and/or
The rotating motor is a direct-drive rotating motor.
Further, the first shaft, the second shaft and the fourth shaft are rotating motors, and the third shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft through a first connecting piece;
the output end of the second shaft is fixedly connected with the third shaft;
the output end of the third shaft is fixedly connected with the fourth shaft through a second connecting piece.
Furthermore, the first connecting piece and the second connecting piece are formed by splicing one whole or a plurality of connecting pieces.
Further, the rotation axes of the first shaft, the second shaft and the fourth shaft are parallel to each other; the direction of movement of the output end of the third shaft is parallel to the axis of rotation.
Further, the first shaft, the third shaft and the fourth shaft are rotating motors, and the second shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft;
the output end of the second shaft is fixedly connected with the third shaft through the first connecting piece;
the output end of the third shaft is fixedly connected with the fourth shaft through the second connecting piece.
Furthermore, the first connecting piece and the second connecting piece are formed by splicing one whole or a plurality of connecting pieces.
Further, the rotation axes of the first, third and fourth axes are parallel to each other; the direction of movement of the output end of the second shaft is parallel to the axis of rotation.
Further, the four-axis manipulator comprises a first axis, a second axis, a third axis and a fourth axis; the second shaft, the third shaft and the fourth shaft are rotating motors, and the first shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft through a first connecting piece;
the output end of the second shaft is fixedly connected with the third shaft through a second connecting piece;
the output end of the third shaft is fixedly connected with the fourth shaft through a third connecting piece.
Furthermore, the first connecting piece, the second connecting piece and the third connecting piece are formed by splicing one whole or a plurality of connecting pieces.
Further, the rotation axes of the second shaft, the third shaft and the fourth shaft are parallel to each other; the direction of motion of the output end of the first shaft is parallel to the axis of rotation.
Further, the four-axis manipulator comprises a first axis, a second axis, a third axis and a fourth axis; the first shaft, the second shaft and the third shaft are rotating motors, and the fourth shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft through a first connecting piece;
the output end of the second shaft is fixedly connected with the third shaft through a second connecting piece;
the output end of the third shaft is fixedly connected with the fourth shaft.
Furthermore, the first connecting piece and the second connecting piece are formed by splicing one whole or a plurality of connecting rods.
Further, the rotation axes of the first, second and third shafts are parallel to each other; the direction of motion of the output of the fourth shaft is parallel to the axis of rotation.
The utility model discloses the second aspect provides an automatic system, automatic system include any above at least one four-axis manipulator.
Adopt the utility model discloses a four-axis manipulator reaches automatic system including this manipulator has following main beneficial effect:
a linear motor is adopted to replace a roller screw structure driven by a rotating motor to serve as one shaft of the four-shaft manipulator, and the four-shaft manipulator has the advantages of being higher in acceleration, higher in precision, lower in noise and the like under some conditions.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments and the prior art 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 it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a first structural block diagram of an embodiment of a four-axis manipulator provided by the present invention.
Fig. 2 is a first structural schematic diagram of an embodiment of the four-axis manipulator provided by the present invention.
Fig. 3 is a second structural block diagram of an embodiment of the four-axis manipulator provided by the present invention.
Fig. 4 is a second schematic structural diagram of an embodiment of the four-axis manipulator provided by the present invention.
Fig. 5 is a third structural block diagram of an embodiment of the four-axis manipulator provided by the present invention.
Fig. 6 is a third structural schematic diagram of an embodiment of the four-axis manipulator provided by the present invention.
Fig. 7 is a fourth structural block diagram of the embodiment of the four-axis manipulator provided by the present invention.
Fig. 8 is a fourth schematic structural diagram of an embodiment of the four-axis manipulator provided by the present invention.
Fig. 9 is a fifth structural block diagram of an embodiment of the peripheral manipulator provided by the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of 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 of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
The embodiment of the utility model provides a four-axis manipulator through adopting linear electric motor as linear drive portion, has under some circumstances acceleration advantage such as higher, the precision is higher and the noise is littleer.
Fig. 1 is a first structural block diagram of an embodiment of a four-axis manipulator provided by the present invention. Fig. 2 is a first structural schematic diagram of an embodiment of the four-axis manipulator provided by the present invention.
In some embodiments, the present invention provides a four-axis robot comprising a first axis J1, a second axis J2, a third axis J3, and a fourth axis J4. The output end of the fourth shaft J4 is connected to various types of end effectors (not shown), the amount of motion of each shaft is calculated by a four-shaft manipulator inverse kinematics equation and the like according to the position and posture of the target, and the end effectors are driven to move to the target position by the movement of the shafts in cooperation with each other.
One of the first shaft J1, the second shaft J2, the third shaft J3 and the fourth shaft J4 is a linear motor; the other three of the first, second, third and fourth shafts J1, J2, J3 and J4 are rotating electric machines. The rotary motor comprises a stator and a rotor, wherein the stator is relatively fixed, and the rotor is controlled to rotate relative to the stator around a rotating shaft according to the electromagnetic reaction principle. The linear motor also comprises a stator and a rotor respectively, the stator is relatively fixed, and the rotor is controlled to linearly move relative to the stator according to the electromagnetic reaction principle.
A linear motor is adopted to replace a roller screw transmission structure driven by a rotating motor to serve as one shaft of the four-shaft manipulator; therefore, there are advantages in some cases such as higher acceleration, higher accuracy, and less noise.
On the other hand, the third axis and thus the entire robot structure can be simplified.
In some preferred embodiments, the linear motor is a direct drive linear motor; and/or the rotating motor is a direct-drive rotating motor. Direct drive refers to direct drive, and mainly refers to that a motor does not need to be driven by a transmission device (such as a belt or a gear) when driving a load.
As shown in fig. 1 and 2, in some embodiments, the output end of the first shaft J1 (i.e., the mover output end) is fixedly connected to the second shaft J2 (i.e., the stator) through a first connecting element L1, and the second shaft J2 is rotated by the rotation of the output end of the first shaft J1. The lower end of the stator of the first shaft J1 is fixed to a four-shaft robot support (not shown), thereby fixing the entire four-shaft robot to the support.
The output end of the second shaft J2 is fixedly connected to the third shaft J3 through a second connecting member L2, and the third shaft J3 is driven to rotate by the rotation of the second shaft J2.
The output end of the third shaft J3 is fixedly connected to the fourth shaft J4, and the linear motion of the output end of the third shaft J3 drives the fourth shaft J4 to move linearly.
Fig. 3 is a second structural block diagram of an embodiment of the four-axis manipulator provided by the present invention. Fig. 4 is a second schematic structural diagram of an embodiment of the four-axis manipulator provided by the present invention.
As shown in fig. 2 and 3, in some embodiments, the present invention provides a four-axis robot including a first axis J1, a second axis J2, a third axis J3, and a fourth axis J4. The output end of the 4 th shaft J4 is connected to various types of end effectors (not shown), the amount of movement of each shaft is calculated by a four-shaft manipulator inverse kinematics equation and the like according to the target position, and the end effectors are driven to move to the target position by the mutually matched movement of each shaft.
Among them, the first shaft J1, the second shaft J2, and the fourth shaft J4 are rotary motors, and the third shaft J3 is a linear motor. The rotary motor comprises a stator and a rotor, wherein the stator is relatively fixed, and the rotor is controlled to rotate relative to the stator around a rotating shaft according to the electromagnetic reaction principle. The linear motor also comprises a stator and a rotor respectively, the stator is relatively fixed, and the rotor is controlled to linearly move relative to the stator according to the electromagnetic reaction principle.
The output end (i.e. the mover output end) of the first shaft J1 is fixedly connected to the second shaft J2 (i.e. the stator) through a first connecting piece L1, and the second shaft J2 is driven to rotate by the rotation of the output end of the first shaft J1. The lower end of the stator of the first shaft J1 is fixed to a four-shaft robot support (not shown), thereby fixing the entire four-shaft robot to the support.
The output end of the second shaft J2 is fixedly connected with the third shaft J3, and the third shaft J3 is driven to rotate by the rotation of the second shaft J2.
The output end of the third shaft J3 is fixedly connected to the fourth shaft J4 through a second connecting member L2, and the linear motion of the output end of the third shaft J3 drives the fourth shaft J4 to move linearly.
Because the third shaft J3 linear electric motor is great in mass, when the linear electric motor rotates at a high speed, the burden of the first shaft J1 and the second shaft J2 rotary electric motors is great, the third shaft linear electric motor is directly fixed at the output end of the second shaft by adjusting the position of the linear electric motor, the whole gravity center of the manipulator is moved towards the direction of the support seat by the scheme, so that the rotary inertia of the first shaft and the second shaft rotary electric motor during rotation is smaller, higher acceleration can be achieved under the condition of the same torque, and the unit takt time is prolonged.
On the other hand, the risk of deformation and damage of the first and second shaft rotating electrical machines can be reduced; and then can improve the precision of four-axis manipulator control to a certain extent.
As further shown in fig. 2 and 3, in some embodiments, the rotational axes of the first, second and fourth shafts J1, J2, J4 are parallel to one another; the direction of movement of the output end of the third shaft J3 is also parallel to the other axes of rotation. In addition, the various axes may be laid out in any other way as desired, such as: the axes of rotation of the first shaft J1 and the shaft J2 are perpendicular or at any desired angle (not shown).
It should be noted that the first connecting member and the second connecting member may be designed into any shape as required, for example: sheet-like and bent. Each connecting piece can be a whole or formed by splicing a plurality of components.
As shown in fig. 3, in some embodiments, in order to reduce the mass of the motor, the third link L2 may be designed to be formed by splicing a plurality of links, which may reduce the mass of the whole four-axis robot.
For other relevant descriptions of the four-axis manipulator, reference is made to the above embodiments, and the description is not repeated here.
Fig. 5 is a third structural block diagram of an embodiment of the four-axis manipulator provided by the present invention. Fig. 6 is a third structural schematic diagram of an embodiment of the four-axis manipulator provided by the present invention.
As shown in fig. 5 and 6, in some embodiments, the present invention provides a four-axis robot 10, where the four-axis robot 10 includes a first axis J1, a second axis J2, a third axis J3, and a fourth axis J4. The output end of the 4 th shaft J4 is connected to an end effector (not shown).
Among them, the first shaft J1, the third shaft J3, and the fourth shaft J4 are rotary motors, and the second shaft J2 is a linear motor.
The output end of the first shaft J1 is fixedly connected with the second shaft J2, and the second shaft J2 is driven to rotate by the rotation of the output end of the first shaft J1.
The output end of the second shaft J2 is fixedly connected with the third shaft J3, and the linear motion of the second shaft J2 drives the third shaft J3 to move linearly. In some embodiments, the output end of the second shaft J2 is fixedly connected to the third shaft J3 by a first connector L1.
The output end of the third shaft J3 is fixedly connected to the fourth shaft J4, and the fourth shaft J4 is driven to rotate by the rotation of the book outlet end of the third shaft J3. In some embodiments, the output end of the third shaft J3 is fixedly connected to the fourth shaft J4 by a second connecting member L2.
By adopting the scheme of the embodiment, the whole gravity center of the manipulator moves towards the support, and the second shaft and the third shaft of the embodiment are exchanged, so that the load of the third shaft is particularly small, the required output torque is greatly reduced, and the size of a motor of the third shaft can be reduced. Meanwhile, the weight of the first connecting piece L1 and the second connecting piece L2 can be reduced; and then reduced the holistic volume of four-axis manipulator and weight.
On the other hand, because the risks of deformation and damage of the first shaft and the third shaft rotating motor are reduced, the control precision of the four-shaft manipulator can be improved to a certain extent.
On the other hand, because the linear motor is used as the second shaft, compared with the embodiment, the burden of the third shaft is further reduced, the rotating motor with relatively smaller torque can be selected for the third shaft, the requirement on the rotating motor of the shaft is reduced, and the cost is saved.
As further shown in fig. 5 and 6, in some embodiments, the rotational axes of the first, third and fourth axes J1, J3, J4 are parallel to each other, and the direction of movement of the output end of the second axis J2 is also parallel to the other rotational axes. In addition, the various axes may be laid out in any other way as desired, such as: the axes of rotation of the first shaft J1 and the shaft J3 are perpendicular or at any desired angle (not shown).
It should be noted that the first connecting member and the second connecting member may be designed into any shape as required, for example: sheet-like and bent. Each connecting piece can be a whole or formed by splicing a plurality of components.
For other relevant descriptions of the four-axis manipulator, reference is made to the above embodiments, and the description is not repeated here.
Fig. 7 is a fourth structural block diagram of the embodiment of the four-axis manipulator provided by the present invention. Fig. 8 is a fourth schematic structural diagram of an embodiment of the four-axis manipulator provided by the present invention.
As shown in fig. 7 and 8, in some embodiments, the present invention provides a four-axis robot 10, where the four-axis robot 10 includes a first axis J1, a second axis J2, a third axis J3, and a fourth axis J4. The output end of the 4 th shaft J4 is connected to an end effector (not shown).
Among them, the second shaft J2, the third shaft J3, and the fourth shaft J4 are rotary motors, and the first shaft J1 is a linear motor.
The output end of the first shaft J1 is fixedly connected with the second shaft J2, and the linear motion of the output end of the first shaft J1 drives the second shaft J2 to move linearly. In some embodiments, the output end of the first shaft J1 is fixedly connected to the second shaft J2 by a first connector L1.
The output end of the second shaft J2 is fixedly connected to the third shaft J3, and the third shaft J3 is driven to rotate by the rotation of the second shaft J2. In some embodiments, the output end of the second shaft J2 is fixedly connected to the third shaft J3 by a second connector L2.
The output end of the third shaft J3 is fixedly connected to the fourth shaft J4, and the fourth shaft J4 is driven to rotate by the rotation of the book outlet end of the third shaft J3. In some embodiments, the output end of the third shaft J3 is fixedly connected to the fourth shaft J4 by a second connecting member L2.
By adjusting the position of the linear motor, i.e., moving the linear motor to the position of the first shaft, the rotational acceleration of the rotational motor can be very large because the rotational motor is located in two, three, or four shafts by moving the linear motor to the first shaft.
On the other hand, the risks of deformation and damage of the second shaft and the third shaft rotating motor are reduced; and then can improve the precision of four-axis manipulator control to a certain extent.
In addition, the embodiment adopting the scheme is suitable for the situations of small load, small acceleration of the up-down stroke and large planar stroke acceleration.
Continuing with fig. 7 and 8, in some embodiments, the axes of rotation of the second, third and fourth shafts J2, J3, J4 are parallel to each other, and the direction of movement of the output end of the first shaft is also parallel to the other axes of rotation. In addition, the various axes may be laid out in any other way as desired, such as: the axes of rotation of the second shaft J2 and the shaft J3 are perpendicular or at any desired angle (not shown).
It should be noted that the first connecting member, the second connecting member, and the third connecting member may be designed into any shape as required, for example: sheet-like and bent. Each connecting piece can be a whole or formed by splicing a plurality of components.
For other relevant descriptions of the four-axis manipulator, reference is made to the above embodiments, and the description is not repeated here.
Fig. 9 is a fifth structural block diagram of an embodiment of the peripheral manipulator provided by the present invention.
As shown in fig. 9, in some embodiments, embodiments of the present invention provide a robot 10, the robot 10 including a first axis J1, a second axis J2, a third axis J3, and a fourth axis J4. The output end of the 4 th shaft J4 is connected to an end effector (not shown).
Wherein the first, second, and third shafts J1, J2, and J3 are rotary motors and the fourth shaft J4 is a linear motor.
The output end of the first shaft J1 is fixedly connected with the second shaft J2, and the second shaft J2 is driven to rotate by the rotation of the output end of the first shaft J1. In some embodiments, the output end of the first shaft J1 is fixedly connected to the second shaft J2 by a first connector L1.
The output end of the second shaft J2 is fixedly connected to the third shaft J3, and the third shaft J3 is driven to rotate by the rotation of the second shaft J2. In some embodiments, the output end of the second shaft J2 is fixedly connected to the third shaft J3 by a second connector L2.
The output end of the third shaft J3 is fixedly connected to the fourth shaft J4, and the fourth shaft J4 is driven to rotate by the rotation of the book outlet end of the third shaft J3. In some embodiments, the output end of the third shaft J3 is directly fixedly connected to the fourth shaft J4.
With the robot having such a configuration, the load on the linear driving unit is reduced, and therefore the acceleration of the robot in the vertical direction can be increased.
Continuing with FIG. 9, in some embodiments, the axes of rotation of the first, second and third shafts J1, J2, J3 are parallel to each other, and the direction of motion of the output end of the fourth shaft is also parallel to the other axes of rotation. In addition, the various axes may be laid out in any other way as desired, such as: the axes of rotation of the second shaft J2 and the shaft J3 are perpendicular or at any desired angle (not shown).
It should be noted that the first connecting member, the second connecting member, and the third connecting member may be designed into any shape as required, for example: sheet-like and bent. Each connecting piece can be a whole or formed by splicing a plurality of components.
For other relevant descriptions of the manipulator, reference is made to the above embodiments, and further description is not repeated here.
In some embodiments, the present invention also provides an automated system comprising at least one four-axis robot as described in the various embodiments above.
When an element is referred to as being "secured to" or "fixedly coupled to" another element, it can be directly on the other element or intervening elements may be present, e.g., preformed integrally with the other element. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The term "and/or" herein is merely an association relationship describing an associated object, and means that three relationships may exist, for example: a and/or B may mean that A is present alone, A and B are present simultaneously, and B is present alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The terms "first," "second," "third," and the like in the claims, in the description and in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprising," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example: a process, method, system, article, or robot that comprises a list of steps or modules is not necessarily limited to those steps or modules explicitly listed, but includes other steps or modules not explicitly listed or inherent to such process, method, system, article, or robot.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
It should be noted that, as those skilled in the art should also appreciate, the embodiments described in the specification are preferred embodiments, and the structures and modules involved are not necessarily essential to the invention.
The above is right the embodiment of the utility model provides a four-axis manipulator and automatic system introduce in detail, but the description of the above embodiment is only used for helping understanding the utility model discloses a method and core thought thereof, it is not understood as right the utility model discloses a restriction. The technical scope of the present invention is to cover the changes or substitutions easily conceivable by those skilled in the art according to the idea of the present invention.
Claims (14)
1. The utility model provides a four-axis manipulator, its characterized in that, four-axis manipulator includes: a first shaft, a second shaft, a third shaft and a fourth shaft; the first shaft, the second shaft and the fourth shaft are rotating motors, and the third shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft through a first connecting piece;
the output end of the second shaft is fixedly connected with the third shaft;
the output end of the third shaft is fixedly connected with the fourth shaft through a second connecting piece.
2. The four-axis manipulator according to claim 1, wherein the linear motor is a direct-drive linear motor; and/or
The rotating motor is a direct-drive rotating motor.
3. The four-axis manipulator according to claim 1, wherein the first connecting member and the second connecting member are formed by splicing one or more connecting members.
4. The four-axis robot of claim 1, wherein the rotation axes of the first, second, and fourth axes are parallel to each other; the direction of movement of the output end of the third shaft is parallel to the axis of rotation.
5. The utility model provides a four-axis manipulator, its characterized in that, four-axis manipulator includes: a first shaft, a second shaft, a third shaft and a fourth shaft; the first shaft, the third shaft and the fourth shaft are rotating motors, and the second shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft;
the output end of the second shaft is fixedly connected with the third shaft through the first connecting piece;
the output end of the third shaft is fixedly connected with the fourth shaft through the second connecting piece.
6. The four-axis manipulator according to claim 5, wherein the first connecting member and the second connecting member are formed by splicing one or more connecting members.
7. The four-axis robot of claim 5, wherein the rotation axes of the first, third and fourth axes are parallel to each other; the direction of movement of the output end of the second shaft is parallel to the axis of rotation.
8. The utility model provides a four-axis manipulator, its characterized in that, four-axis manipulator includes: a first shaft, a second shaft, a third shaft and a fourth shaft; the second shaft, the third shaft and the fourth shaft are rotating motors, and the first shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft through a first connecting piece;
the output end of the second shaft is fixedly connected with the third shaft through a second connecting piece;
the output end of the third shaft is fixedly connected with the fourth shaft through a third connecting piece.
9. The four-axis manipulator according to claim 8, wherein the first connecting member, the second connecting member and the third connecting member are formed by splicing one or more connecting members.
10. The four-axis robot of claim 8, wherein the axes of rotation of the second, third and fourth axes are parallel to one another; the direction of motion of the output end of the first shaft is parallel to the axis of rotation.
11. The utility model provides a four-axis manipulator, its characterized in that, four-axis manipulator includes: a first shaft, a second shaft, a third shaft and a fourth shaft; the first shaft, the second shaft and the third shaft are rotating motors, and the fourth shaft is a linear motor;
the output end of the first shaft is fixedly connected with the second shaft through a first connecting piece;
the output end of the second shaft is fixedly connected with the third shaft through a second connecting piece;
the output end of the third shaft is fixedly connected with the fourth shaft.
12. The manipulator according to claim 11, wherein the first link and the second link are formed by splicing one or more connecting rods.
13. The robot hand of claim 11, wherein the rotation axes of the first, second and third axes are parallel to each other; the direction of motion of the output of the fourth shaft is parallel to the axis of rotation.
14. An automated system comprising at least one four-axis robot as claimed in any one of claims 1 to 13.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821801522.1U CN210282289U (en) | 2018-11-02 | 2018-11-02 | Four-axis manipulator and automatic system comprising same |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821801522.1U CN210282289U (en) | 2018-11-02 | 2018-11-02 | Four-axis manipulator and automatic system comprising same |
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| Publication Number | Publication Date |
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| CN210282289U true CN210282289U (en) | 2020-04-10 |
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| CN201821801522.1U Active CN210282289U (en) | 2018-11-02 | 2018-11-02 | Four-axis manipulator and automatic system comprising same |
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2018
- 2018-11-02 CN CN201821801522.1U patent/CN210282289U/en active Active
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Effective date of registration: 20200528 Address after: 518173 Henggang street, Longgang, Shenzhen, Guangdong, six A, 5F 28, Qin Fu Road, Jintang industrial area. Co-patentee after: GAOYIDA TECHNOLOGY (SHENZHEN) Co.,Ltd. Patentee after: ROBOTICS ROBOTICS (SHENZHEN) Ltd. Address before: 518173 Henggang street, Longgang, Shenzhen, Guangdong, six A, 5F 28, Qin Fu Road, Jintang industrial area. Patentee before: ROBOTICS ROBOTICS (SHENZHEN) Ltd. |