A four-axis telescopic manipulator

Abstract

The present invention discloses a four-axis telescopic manipulator, comprising a base, a vertical arm assembly, a horizontal arm assembly, a swing arm assembly and a rotating arm assembly. The upper end surface of the base is provided with a vertical arm assembly, and the vertical arm assembly and the horizontal arm assembly are slidably connected. The horizontal arm assembly can drive the flange to extend and retract. One end of the horizontal arm assembly is provided with a swing arm assembly, and the swing arm assembly can drive the flange to rotate with the rotating shaft as the radius. One end of the swing arm assembly is provided with a rotating arm assembly, and the rotating arm assembly can drive the flange to rotate with its own axis as the center of a circle. Due to the characteristic that the first telescopic arm, the second telescopic arm and the third telescopic arm can be nested with each other, the manipulator can be installed on the side of the processing equipment without taking up too much space, so that personnel can operate more conveniently on the front of the processing equipment during maintenance and debugging.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-axis manipulators, and in particular to a four-axis telescopic manipulator. Background Art

[0002] With the popularization and application of mechanical automation, mechanical drive devices have been widely used, and robots are often used in automated production. Robots are used to grab parts produced by processing equipment, thereby reducing production time during product production and improving the efficiency of automated production. However, existing six-axis robotic arms are usually installed in front of the processing equipment or hoisted above the processing equipment. Installing them in front of the processing equipment will cause the equipment to occupy too much site area, and hoisting them above the processing equipment requires reinstalling fixed brackets, which increases costs. In addition, when the six-axis robot transfers the parts processed in the processing equipment, it completes the transfer by driving the rotation of multiple joints. This type of movement requires a large movement space, and when there is insufficient space, the six-axis robot is difficult to operate efficiently. Summary of the Invention

[0003] In view of the shortcomings of existing manipulators, the purpose of the present invention is to provide a four-axis telescopic manipulator with the advantages of high flexibility, small space occupation, small movement space, and the ability to operate efficiently in limited space.

[0004] To achieve the above-mentioned object, a technical solution adopted by the present invention is: a four-axis telescopic manipulator, comprising a base, a vertical arm assembly, a horizontal arm assembly, a swing arm assembly and a rotating arm assembly, wherein the upper end surface of the base is provided with a vertical arm assembly, the vertical arm assembly comprises a vertical arm, a vertical slide rail and a vertical rack, a vertical slide rail and a vertical rack are provided on one side of the vertical arm, the vertical slide rail is arranged perpendicular to the mounting horizontal plane, and the vertical rack is arranged parallel to the vertical slide rail;

[0005] The horizontal arm assembly includes a fixed plate, a vertical slider, a vertical motor, a first reducer, a first gear, a telescopic arm assembly, a horizontal motor, a second reducer, a second gear and a first lubrication gear group. One end of the fixed plate is provided with a first lubrication gear group, and the first lubrication gear group is meshed with the vertical rack. One side of the fixed plate is provided with multiple vertical sliders, and the vertical slider is slidably connected to the vertical slide rail. The other side of the fixed plate is provided with a first reducer, a vertical motor, a second reducer, a horizontal motor and a telescopic arm assembly. The first reducer, the second reducer and the fixed plate are fixedly connected. The input end of the first reducer is provided with a vertical motor, the output end of the first reducer is provided with a first gear, the first gear is meshed with the vertical rack, the input end of the second reducer is provided with a horizontal motor, and the output end of the second reducer is provided with a second gear. One end of the telescopic arm assembly is provided with a swing arm assembly, and one end of the swing arm assembly is provided with a rotating arm assembly;

[0006] Preferably, the telescopic arm assembly includes a synchronous wheel, a first synchronous belt, a second synchronous belt, a first telescopic arm, a second telescopic arm, a third telescopic arm, a horizontal slide rail, a horizontal slider, a horizontal rack and a second lubricating gear set. The first telescopic arm is provided with a plurality of horizontal slide rails and a horizontal rack on the outside, the horizontal slide rail is arranged perpendicular to the vertical slide rail, the horizontal rack is arranged parallel to the horizontal slide rail, the horizontal rack and the second gear are meshed, the second lubricating gear set is meshed with the horizontal rack, the second lubricating gear set is rotatably connected to the fixed plate, the horizontal slide rail is slidably connected to the horizontal slider arranged on one side of the fixed plate, the first telescopic arm is provided with a second telescopic arm on the inside, and the second telescopic arm is provided with a There are multiple horizontal slide rails, which are slidably connected to a horizontal slider fixed inside the first telescopic arm, a first synchronous belt is fixed to one side of the second telescopic arm, and the first synchronous belt is fixedly connected to a fixed plate at the same time, and the first synchronous belt is straightened by rotating synchronous wheels connected to both ends of the first telescopic arm, a third telescopic arm is provided inside the second telescopic arm, and multiple horizontal slide rails are provided outside the third telescopic arm, and the horizontal slide rails are slidably connected to a horizontal slider fixed inside the second telescopic arm, a second synchronous belt is fixed to one side of the third telescopic arm, and the second synchronous belt is fixed to the inside of the first telescopic arm at the same time, and the second synchronous belt is straightened by rotating synchronous wheels connected to both ends of the second telescopic arm;

[0007] Further preferably, the first telescopic arm, the second telescopic arm and the third telescopic arm are hollow tubular structures, the outer diameter of the third telescopic arm is smaller than the inner diameter of the second telescopic arm, and the outer diameter of the second telescopic arm is smaller than the inner diameter of the first telescopic arm;

[0008] Further preferably, the first lubricating gear set and the second lubricating gear set have the same structure, both comprising an oil filling rod and a lubricating gear, the oil filling rod and the lubricating gear being rotatably connected, the oil filling rod having an oil filling port and a first oil circuit, the first oil circuit being arranged along the axis of the oil filling rod, the lubricating gear having a second oil circuit, an oil inlet and an oil outlet, the oil filling port being arranged at the center of the lubricating gear, a plurality of oil outlets being arranged at equal angles around the circumference of the gear, the first oil circuit and the second oil circuit connecting the oil filling port and the oil outlet;

[0009] Preferably, the swing arm assembly includes a swing bracket, a swing motor, a third reducer, a first bevel gear, a second bevel gear, a connecting plate, a swing arm and a rotating shaft, the swing bracket is fixedly connected to one end of the third telescopic arm, the third reducer is fixedly connected to the swing bracket, the third reducer input end is provided with a swing motor, the third reducer output end is provided with a first bevel gear, the second bevel gear is fixedly connected to the rotating shaft, the rotating shaft is rotatably connected to the swing bracket, the first bevel gear axis and the second bevel gear axis are perpendicular, the first bevel gear shaft and the second bevel gear are meshed, connecting plates are provided at both ends of the rotating shaft, and the connecting plate is fixedly connected to one end of the swing arm;

[0010] Preferably, the rotating arm assembly includes a rotating motor, a fourth reducer, a rotating seat, a first rotating gear, a second rotating gear and a flange, the rotating seat is fixedly connected to one end of the swing arm, the fourth reducer is fixedly connected to the rotating seat, the input end of the fourth reducer is provided with a rotating motor, the output end of the fourth reducer is provided with a first rotating gear, the first rotating gear and the second rotating gear are meshed, the second rotating gear is rotatably connected to the rotating seat, the flange and the second rotating gear are fixedly connected, and the flange axis and the rotating gear axis are coaxial;

[0011] Further preferably, the speed input-output ratio of the first reducer, the second reducer, the third reducer, and the fourth reducer is 1:1 to 100:1;

[0012] The beneficial effects of the present invention are: 1. Due to the characteristic that the first telescopic arm, the second telescopic arm and the third telescopic arm can be nested with each other, the robot can be installed on the side of the processing equipment without taking up too much space, so that personnel can operate more conveniently on the front of the processing equipment during maintenance and debugging; 2. A swing arm assembly is provided at one end of the third telescopic arm, and a rotating arm assembly is provided at one end of the swing arm assembly, so that it can operate efficiently in processing equipment with limited movement space; 3. All drive motors use DC servo motors, so that the overall movement response speed of the equipment is fast, and the power output by the servo motor is amplified by the torque through the reducer, and the reducer uses a planetary gear reducer. Through the above settings, the maximum load of the flange can reach 20kg. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is the overall structural view of the present invention;

[0014] Figure 2 This is a view of the vertical arm of the present invention in an installed state;

[0015] Figure 3 、 4 5 is a structural view of the horizontal arm assembly of the present invention;

[0016] Figure 6 It is a side view of the horizontal arm assembly of the present invention;

[0017] Figure 7 For the present invention Figure 6 A local magnified view of the middle I area;

[0018] Figure 8 This is a structural view of the swing arm assembly and the rotating arm assembly of the present invention;

[0019] Figure 9 For the present invention Figure 8 A local magnified view of the middle II area;

[0020] Figure 10This is a front view of the lubricating gear of the present invention;

[0021] Figure 11 For the present invention Figure 10 Cross-sectional view in the AA direction;

[0022] Figure 12 For the present invention Figure 10 Cross-sectional view along the BB direction. DETAILED DESCRIPTION

[0023] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0024] It should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "provided with," and "arranged" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0025] See also Figures 1 to 12 , embodiments of the present invention include:

[0026] A four-axis telescopic manipulator includes a base 1, a vertical arm assembly 2, a horizontal arm assembly 3, a swing arm assembly 4, and a rotating arm assembly 5. The upper end surface of the base 1 is provided with a vertical arm assembly 2, and the vertical arm assembly 2 includes a vertical arm 21, a vertical slide rail 22, and a vertical rack 23. A plurality of vertical slide rails 22 and a vertical rack 23 are provided on one side of the vertical arm 21. The vertical slide rail 22 is arranged perpendicular to the installation horizontal plane, and the vertical rack 23 is arranged parallel to the vertical slide rail 22.

[0027] The horizontal arm assembly 3 includes a fixed plate 31, a vertical slider 32, a vertical motor 33, a first reducer 34, a first gear 35, a telescopic arm assembly 36, a horizontal motor 37, a second reducer 38, a second gear 39 and a first lubricating gear set 6. One end of the fixed plate 31 is provided with a first lubricating gear set 6, and the first lubricating gear set 6 is engaged with the vertical rack 23. One side of the fixed plate 31 is provided with multiple vertical sliders 32, and the vertical sliders 32 are slidably connected to the vertical slide rail 22. The other side of the fixed plate 31 is provided with a first reducer 34, a vertical motor 33, A second reducer 38, a horizontal motor 37 and a telescopic arm assembly 36, the first reducer 34, the second reducer 38 and the fixed plate 31 are fixedly connected, the first reducer 34 is provided with a vertical motor 33 at the input end, the first reducer 34 is provided with a first gear 35 at the output end, the first gear 35 is meshed with the vertical rack 23, the second reducer 38 is provided with a horizontal motor 37 at the input end, the second reducer 38 is provided with a second gear 39 at the output end, the telescopic arm assembly 36 is provided with a swing arm assembly 4 at one end, and the swing arm assembly 4 is provided with a rotating arm assembly 5 at one end;

[0028] The telescopic arm assembly 36 includes a synchronous wheel 361, a first synchronous belt 362, a second synchronous belt 363, a first telescopic arm 364, a second telescopic arm 365, a third telescopic arm 366, a horizontal slide rail 367, a horizontal slider 368, a horizontal rack 369 and a second lubricating gear set 7. The first telescopic arm 364 is provided with a plurality of horizontal slide rails 367 and a horizontal rack 369 on the outside. The horizontal slide rail 367 is arranged perpendicular to the vertical slide rail 22, and the horizontal rack 369 is arranged parallel to the horizontal slide rail 367. The horizontal rack 369 is meshed with the second gear 39. The second lubricating gear set 7 is meshed with the horizontal rack 369. The second lubricating gear set 7 is rotatably connected to the fixed plate 31. The horizontal slide rail 367 is slidably connected to the horizontal slider 368 arranged on one side of the fixed plate 31. The first telescopic arm 364 is provided with a second telescopic arm 365 on the inside. The second telescopic arm 365 is provided with a There are multiple horizontal slide rails 367, which are slidably connected to the horizontal slider 368 fixed inside the first telescopic arm 364. A first synchronous belt 362 is fixed to one side of the second telescopic arm 365. The first synchronous belt 362 is also fixedly connected to the fixed plate 31. The first synchronous belt 362 is straightened by rotating the synchronous wheels 361 connected to both ends of the first telescopic arm 364. A third telescopic arm 366 is provided inside the second telescopic arm 365. Multiple horizontal slide rails 367 are provided outside the third telescopic arm 366. The horizontal slide rails 367 are slidably connected to the horizontal slider 368 fixed inside the second telescopic arm 365. A second synchronous belt 363 is fixed to one side of the third telescopic arm 366. The second synchronous belt 363 is also fixed inside the first telescopic arm 364. The second synchronous belt 363 is straightened by rotating the synchronous wheels 361 connected to both ends of the second telescopic arm 365.

[0029] The first telescopic arm 364, the second telescopic arm 365 and the third telescopic arm 366 are hollow tubular structures. The outer diameter of the third telescopic arm 366 is smaller than the inner diameter of the second telescopic arm 365, and the outer diameter of the second telescopic arm 365 is smaller than the inner diameter of the first telescopic arm 364.

[0030] The first lubricating gear set 6 and the second lubricating gear set 7 have the same structure, both including an oiling rod 61 and a lubricating gear 62, the oiling rod 61 and the lubricating gear 62 are rotatably connected, the oiling rod 61 has an oiling port 611 and a first oil path 612, the first oil path 612 is arranged along the axis of the oiling rod 61, the lubricating gear 62 has a second oil path 621, an oil inlet 622 and an oil outlet 623, the center of the lubricating gear 62 is provided with an oil inlet 622, and the circumference of the lubricating gear 62 is provided with equal angles. Multiple oil outlets 623, the second oil circuit 621 connects the oil inlet 622 and the oil outlet 623, the first oil circuit 612 and the second oil circuit 621 connect the oil filling port 611 and the oil outlet 623, when the manipulator is running, the oil pump pumps the lubricating medium into the first lubricating gear set 6 and the second lubricating gear set 7, so that the first gear 35 and the vertical rack 23 can be fully lubricated during operation, and the second gear 39 and the horizontal rack 369 can be fully lubricated during operation, thereby slowing down the wear rate of the racks and gears;

[0031] The swing arm assembly 4 includes a swing bracket 41, a swing motor 42, a third reducer 43, a first bevel gear 44, a second bevel gear 45, a connecting plate 46, a swing arm 47 and a rotating shaft 48. The swing bracket 41 is fixedly connected to one end of the third telescopic arm 366, the third reducer 43 is fixedly connected to the swing bracket 41, the input end of the third reducer 43 is provided with a swing motor 42, the output end of the third reducer 43 is provided with a first bevel gear 44, the second bevel gear 45 is fixedly connected to the rotating shaft 48, the rotating shaft 48 is rotatably connected to the swing bracket, the axis of the first bevel gear 44 and the axis of the second bevel gear 45 are perpendicular, the axis of the first bevel gear 44 and the second bevel gear 45 are meshed, and connecting plates 46 are provided at both ends of the rotating shaft 48, and the connecting plate 46 is fixedly connected to one end of the swing arm 47;

[0032] The rotating arm assembly 5 includes a rotating motor 51, a fourth reducer 52, a rotating base 53, a first rotating gear 54, a second rotating gear 55 and a flange 56. The rotating base 53 is fixedly connected to one end of the swing arm 47, the fourth reducer 52 is fixedly connected to the rotating base 53, the input end of the fourth reducer 52 is provided with a rotating motor 51, the output end of the fourth reducer 52 is provided with a first rotating gear 54, the first rotating gear 54 and the second rotating gear 55 are meshed, the second rotating gear 55 is rotatably connected to the rotating base 53, the flange 56 and the second rotating gear 55 are fixedly connected, and the axis of the flange 56 is coaxial with the axis of the rotating gear;

[0033] The input-output ratio of the first reducer 34, the second reducer 38, the third reducer 43, and the fourth reducer 52 is 1:1 to 100:1;

[0034] With the above arrangement, in actual operation, the specific working principle is as follows: first, the pneumatic clamp is fixed by bolts and flange 56, then the manipulator is placed on the side of the processing equipment, and then the base 1 is fixed on the horizontal plane using chemical bolts;

[0035] Operation state of the vertical arm assembly 2: When the controller controls the vertical arm 21 to operate, the vertical motor 33 is started, and the vertical motor 33 drives the fixed plate 31 to operate along the vertical slide rail 22. By controlling the forward and reverse rotation of the vertical motor 33, the movement direction of the fixed plate 31 along the vertical slide rail 22 can be controlled. Since the horizontal arm assembly 3, the swing arm assembly 4 and the rotating arm assembly 5 are provided on the fixed plate 31, the pneumatic clamp connected to the flange 56 is driven by the vertical motor 33 and moves simultaneously along the extension direction of the vertical slide rail 22;

[0036] Operation state of the horizontal arm assembly 3: When the controller controls the horizontal arm to operate, the horizontal motor 37 is started, and the horizontal motor 37 drives the first telescopic arm 364 to move to one side. During the extension of the first telescopic arm 364, the second telescopic arm 365 is extended by the first synchronous belt 362, and the third telescopic arm 366 is extended by the second synchronous belt 363. By controlling the forward and reverse rotation of the horizontal motor 37, the first telescopic arm 364 can be controlled to extend or retract, so that under the drive of the horizontal motor 37, the pneumatic clamp connected to the flange 56 simultaneously moves in the extension or retraction direction of the third telescopic arm 366;

[0037] Operation state of the swing arm assembly 4: When the controller controls the swing arm to operate, the swing motor 42 is started, and the swing motor 42 drives the swing arm 47 to rotate with the rotation shaft 48 as the radius. By controlling the forward and reverse rotation of the swing motor 42, the rotation angle of the swing arm 47 with the rotation shaft 48 as the center can be controlled;

[0038] Operation state of the rotating arm assembly 5: When the controller controls the rotating arm to operate, the rotating motor 51 is started, and the rotating motor 51 drives the flange 56 to rotate with its own axis as the center. By controlling the forward and reverse rotation of the rotating motor 51, the rotation angle of the flange 56 with its own axis as the center can be controlled;

[0039] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A four-axis telescopic manipulator, characterized in that: It includes a base, a vertical arm assembly, a horizontal arm assembly, a swing arm assembly and a rotating arm assembly. The upper end surface of the base is provided with a vertical arm assembly. The vertical arm assembly includes a vertical arm, a vertical slide rail and a vertical rack. A vertical slide rail and a vertical rack are provided on one side of the vertical arm. The vertical slide rail is arranged perpendicular to the installation horizontal plane, and the vertical rack is arranged parallel to the vertical slide rail. The horizontal arm assembly includes a fixed plate, a vertical slider, a vertical motor, a first reducer, a first gear, a telescopic arm assembly, a horizontal motor, a second reducer, a second gear and a first lubrication gear group. One end of the fixed plate is provided with a first lubrication gear group, and the first lubrication gear group is meshed with the vertical rack. One side of the fixed plate is provided with multiple vertical sliders, and the vertical slider is slidably connected to the vertical slide rail. The other side of the fixed plate is provided with a first reducer, a vertical motor, a second reducer, a horizontal motor and a telescopic arm assembly. The first reducer, the second reducer and the fixed plate are fixedly connected. The input end of the first reducer is provided with a vertical motor, the output end of the first reducer is provided with a first gear, the first gear is meshed with the vertical rack, the input end of the second reducer is provided with a horizontal motor, and the output end of the second reducer is provided with a second gear. One end of the telescopic arm assembly is provided with a swing arm assembly, and one end of the swing arm assembly is provided with a rotating arm assembly; The telescopic arm assembly includes a synchronous wheel, a first synchronous belt, a second synchronous belt, a first telescopic arm, a second telescopic arm, a third telescopic arm, a horizontal slide rail, a horizontal slider, a horizontal rack and a second lubricating gear set. The first telescopic arm is provided with a plurality of horizontal slide rails and a horizontal rack on the outside. The horizontal slide rail is arranged perpendicular to the vertical slide rail, the horizontal rack is arranged parallel to the horizontal slide rail, the horizontal rack is meshed with the second gear, the second lubricating gear set is meshed with the horizontal rack, the second lubricating gear set is rotatably connected to the fixed plate, the horizontal slide rail is slidably connected to the horizontal slider arranged on one side of the fixed plate, the second telescopic arm is provided with a second telescopic arm on the inside, and the second telescopic arm is provided with a plurality of A horizontal slide rail is slidably connected to a horizontal slider fixed inside the first telescopic arm, a first synchronous belt is fixed to one side of the second telescopic arm, the first synchronous belt is fixedly connected to a fixed plate at the same time, the first synchronous belt is straightened by rotating synchronous wheels connected to both ends of the first telescopic arm, a third telescopic arm is provided inside the second telescopic arm, a plurality of horizontal slide rails are provided outside the third telescopic arm, the horizontal slide rail is slidably connected to a horizontal slider fixed inside the second telescopic arm, a second synchronous belt is fixed to one side of the third telescopic arm, the second synchronous belt is fixed to the inside of the first telescopic arm at the same time, the second synchronous belt is straightened by rotating synchronous wheels connected to both ends of the second telescopic arm; The swing arm assembly includes a swing bracket, a swing motor, a third reducer, a first bevel gear, a second bevel gear, a connecting plate, a swing arm and a rotating shaft. The swing bracket is fixedly connected to one end of the third telescopic arm, the third reducer is fixedly connected to the swing bracket, the input end of the third reducer is provided with a swing motor, the output end of the third reducer is provided with a first bevel gear, the second bevel gear is fixedly connected to the rotating shaft, the rotating shaft is rotatably connected to the swing bracket, the axis of the first bevel gear and the axis of the second bevel gear are perpendicular, the first bevel gear and the second bevel gear are meshed, connecting plates are provided at both ends of the rotating shaft, and the connecting plate is fixedly connected to one end of the swing arm.

2. A four-axis telescopic manipulator according to claim 1, characterized in that: The first telescopic arm, the second telescopic arm and the third telescopic arm are hollow tubular structures. The outer diameter of the third telescopic arm is smaller than the inner diameter of the second telescopic arm, and the outer diameter of the second telescopic arm is smaller than the inner diameter of the first telescopic arm.

3. The four-axis telescopic manipulator according to claim 1, characterized in that: The first lubrication gear group and the second lubrication gear group have the same structure and both include an oil filling rod and a lubrication gear. The oil filling rod and the lubrication gear are rotatably connected. The oil filling rod has an oil filling port and a first oil circuit. The first oil circuit is arranged along the axis of the oil filling rod. The lubrication gear has a second oil circuit, an oil inlet and an oil outlet. The center of the lubrication gear is provided with an oil filling port, and the circumference of the gear is provided with multiple oil outlets at equal angles. The first oil circuit and the second oil circuit connect the oil filling port and the oil outlet.

4. The four-axis telescopic manipulator according to claim 1, characterized in that: The rotating arm assembly includes a rotating motor, a fourth reducer, a rotating seat, a first rotating gear, a second rotating gear and a flange. The rotating seat is fixedly connected to one end of the swing arm, the fourth reducer is fixedly connected to the rotating seat, the input end of the fourth reducer is provided with a rotating motor, the output end of the fourth reducer is provided with a first rotating gear, the first rotating gear and the second rotating gear are meshed, the second rotating gear is rotatably connected to the rotating seat, the flange and the second rotating gear are fixedly connected, and the flange axis and the rotating gear axis are coaxial.

5. A four-axis telescopic manipulator according to any one of claims 1 and 4, characterized in that: The speed input-output ratio of the first reducer, the second reducer, the third reducer and the fourth reducer is 1:1 to 100:1.

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