Four-axis stand column manipulator

Abstract

The invention relates to a four-axis stand column mechanical arm which comprises a supporting base. The longitudinal supporting arm is vertically connected to the supporting base, and a first longitudinal rail is arranged on one side of the longitudinal supporting arm; the transverse supporting arm is connected to one side of the longitudinal supporting arm and can move along the first longitudinal track; the movable arm is mounted in the transverse supporting arm and can move in the direction corresponding to the transverse supporting arm; and the rotating base is arranged at the lower part of the movable arm, and the rotating base can rotate relative to the longitudinal supporting arm under the driving of the motor. The mechanical arm is scientific in structure, small in occupied area and low in use cost, and the mechanical arm can achieve four-axis movement under the condition that a moving track does not need to be additionally arranged; the mechanical arm is driven by the first motor to rotate automatically relative to the supporting base, driven by the second motor to move vertically relative to the longitudinal supporting arm, driven by the third motor to move transversely relative to the transverse supporting arm and driven by the fourth motor to rotate automatically relative to the movable arm, and the applicable occasions of the mechanical arm are greatly increased.

Description

Technical Field

[0001] The invention belongs to the field of manipulators, and in particular relates to a four-axis column manipulator. Background Art

[0002] Today's processing lines often use robots to load and unload raw materials or finished products, because compared with manual loading, the use of robots is more efficient and has a lower error rate, which can greatly improve the work efficiency of the product line. However, existing robots for loading and unloading can usually only move in two directions (horizontally and vertically). If you want to achieve movement in the third direction, you need to lay more tracks for it to move, which will increase the use cost and floor space of the robot structure. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies in the above-mentioned prior art, thereby providing a four-axis column manipulator.

[0004] The technical solution adopted by the present invention to solve its technical problem is: A four-axis column manipulator comprises: a support base; a longitudinal support arm, which is vertically connected to the support base, and a first longitudinal track is arranged on the side of the longitudinal support arm; a transverse support arm, which is connected to the side of the longitudinal support arm and can move in the vertical direction along the first longitudinal track; a movable arm, which is installed in the transverse support arm and can move in the direction corresponding to the transverse support arm; a rotating base, which is arranged at the lower part of the distal end of the movable arm, and the rotating base can rotate relative to the movable arm under the drive of a motor; wherein a first motor is fixed in the longitudinal support arm, a first rotating groove is arranged at the top of the support base, and a groove capable of rotating with the first rotating groove is arranged at the bottom of the longitudinal support arm A connecting piece matching the rotating groove, the longitudinal support arm is connected to the support base through the matching rotation of the connecting piece and the first rotating groove and can rotate around the axis of the first rotating groove as the center under the drive of the first motor; a cavity for the movable arm to move and a third motor with a driving gear are provided in the transverse support arm, and a rack matching the driving gear is provided on the side of the movable arm; the movable arm is arranged in the cavity and the driving gear is meshed with the rack; a rotating cavity with an opening facing one side of the support base is opened at the far end of the movable arm, the rotating base is movably connected in the rotating cavity, and a fourth motor that can drive the rotating base to rotate is fixed on the other side of the movable arm.

[0005] Preferably, a second longitudinal track parallel to the first longitudinal track is provided on the side of the longitudinal support arm away from the transverse support arm, and a counterweight slider is provided on the second longitudinal track; a second motor is fixed to the top of the longitudinal support arm, and a movable gear that can rotate under the drive of the second motor is provided on the upper part of the second motor, and a matching gear fixed to the longitudinal support arm is also provided on the upper part of the second motor; the counterweight slider is connected to the transverse support arm through a transmission rack, and the middle part of the transmission rack is meshed with the movable gear and the matching gear.

[0006] Preferably, a cavity for the movable arm to move and a third motor with a driving gear are provided in the transverse support arm, and a rack matching the driving gear is provided beside the movable arm; the movable arm is arranged in the cavity and the driving gear is meshed with the rack.

[0007] Preferably, a rotating cavity with an opening toward one side of the supporting base is formed at the lower part of the movable arm, the rotating base is movably connected in the rotating cavity, and a fourth motor capable of driving the rotating base to rotate is fixed to the other side of the movable arm.

[0008] Preferably, both the rotating base and the rotating cavity are provided with through holes penetrating the rotating base and cooperating with each other in position.

[0009] Preferably, the third motor is covered with a first protective cover fixed on the longitudinal support arm.

[0010] Preferably, the fourth motor is covered with a second protective cover fixed on the movable arm.

[0011] Compared with the prior art, the present invention has the following advantages and effects: The structure is scientific, the floor space is small, and the use cost is low. The robot arm can realize four-axis movement (self-rotation relative to the supporting base driven by the first motor, vertical movement relative to the longitudinal supporting arm driven by the second motor, lateral movement relative to the lateral supporting arm driven by the third motor, and self-rotation relative to the movable arm driven by the fourth motor) without adding more moving tracks, which greatly increases the applicable occasions of the robot arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the structure of the embodiment of the invention when it actually works.

[0013] Figure 2 It is a structural schematic diagram of the first perspective of an embodiment of the invention.

[0014] Figure 3 It is a structural schematic diagram of another perspective of an embodiment of the invention.

[0015] Figure 4 It is a side view of an embodiment of the invention.

[0016] Figure 5 It is a schematic structural diagram of the embodiment from a viewing angle after a portion of the outer shell is removed.

[0017] Figure 6 This is a schematic diagram of the structure from another perspective after a portion of the outer shell of the embodiment is removed.

[0018] Figure 7 This is a schematic diagram of the structure from another perspective after a portion of the outer shell of the embodiment is removed.

[0019] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0021] Example

[0022] like Figure 1-Figure 7 As shown, this embodiment includes a support base 1 with one side connected to the equipment and providing a supporting function, a longitudinal support arm 2 vertically connected to the support base 1 and providing a vertical moving path for the manipulator, a transverse support arm 3 connected to the longitudinal support arm 2 and providing a transverse moving path for the manipulator, a movable arm 4 arranged in the transverse support arm 3, and a rotating base 5 arranged at the far end of the movable arm 4 and used to connect the manipulator claw and provide a rotating function. The top of the support base 1 is provided with a first rotating groove 11 for connecting the longitudinal support arm 2, and the bottom of the longitudinal support arm 2 is provided with a connecting piece 21 that can match the first rotating groove 11. The longitudinal support arm 2 is connected to the support base 1 through the matching of the connecting piece 21 and the first rotating groove 11. A first motor 22 that can drive the longitudinal support arm 2 to rotate is fixed in the longitudinal support arm 2. Specifically, the longitudinal support arm 2 can rotate at a certain angle with the axis of the first rotating groove 11 as the center under the drive of the first motor 22, thereby driving all the components connected to the longitudinal support arm 2 to rotate together.

[0023] like Figure 1-Figure 7As shown, a first longitudinal track 23 is provided on one side of the longitudinal support arm 2, a second longitudinal track 24 parallel to the first longitudinal track 23 is provided on the other side of the longitudinal support arm 2, a second motor 25 is fixed on the top of the longitudinal support arm 2, a movable gear 26 which can rotate under the drive of the second motor 25 is provided on the second motor 25, and a matching gear 27 fixed on the longitudinal support arm 2 and located beside the movable gear 26 is provided above the second motor 25. A counterweight slider 28 which can move along the second longitudinal track 24 is provided on the second longitudinal track 24, and a transverse support arm 3 which can move along the first longitudinal track 23 is provided on the first longitudinal track 23. A transmission rack 29 connecting the counterweight slider 28 and the transverse support arm 3 is provided between the counterweight slider 28 and the transverse support arm 3, and the transmission rack 29 passes through the outer sides of the movable gear 26 and the matching gear 27, and the transmission rack 29 is meshed and connected with the movable gear 26 and the matching gear 27. Specifically, when the movable gear 26 rotates under the drive of the second motor 25, it can drive the transmission rack 29 to move, thereby driving the counterweight slider 28 and the transverse support arm 3 connected at both ends thereof to change their height in the vertical direction. The rotation direction of the movable gear 26 determines the direction of movement of the two. The counterweight slider 28 plays a role in stabilizing the movement process of the transverse support arm 3 in this process, and at the same time reduces the force that the second motor 25 needs to provide during the upward movement of the transverse support arm 3, so as to extend its service life.

[0024] like Figure 1-Figure 7 As shown, a cavity 31 for the movable arm 4 to move and a third motor 32 provided with a driving gear 33 are provided in the transverse support arm 3. A rack 41 capable of cooperating with the driving gear 33 is provided on the side of the movable arm 4. A part of the movable arm 4 is provided in the cavity 31, and another part of the movable arm 4 is located outside the cavity 31, and the driving gear 33 is meshed and connected with the rack 41. Specifically, by driving the driving gear 33 to rotate through the third motor 32, the movable arm 4 can be moved in the cavity 31, so that the movable arm 4 moves relative to the transverse support arm 3 in the direction of the transverse support arm 3, thereby driving the mechanical hand claw connected to the end of the movable arm 4 located outside the cavity 31 to change its position relative to the transverse support arm 3 (including moving away from the transverse support arm 3 and approaching the transverse support arm 3).

[0025] like Figure 1-Figure 7 As shown, a rotating cavity 42 with an opening facing downward is opened at the lower distal end of the movable arm 4, and the rotating base 5 is movably connected in the rotating cavity 42. A fourth motor 43 that can drive the rotating base 5 to rotate is fixed on the other side of the movable arm 4. The fourth motor 43 passes through the movable arm 4 and is transmission-connected to the rotating base 5 in the rotating cavity 42. Specifically, when the fourth motor 43 is working, the rotating base 5 can rotate in the rotating cavity 42 with the center of the rotating cavity 42 as the axis.

[0026] like Figure 1-Figure 7As shown, both the rotating base 5 and the rotating cavity 42 are provided with a through hole 6 that penetrates the rotating base 5 and is positioned in a matching manner. The through hole 6 can be used to fix the robot claw part in the rotating cavity 42. When the rotating base 5 rotates under the drive of the fourth motor 43, the robot claw part connected thereto can be driven to rotate.

[0027] like Figure 1-Figure 4 As shown, the third motor 32 is covered with a first protective cover 7 fixed on the transverse support arm 3, and the fourth motor 43 is covered with a second protective cover 8 fixed on the movable arm 4. The first protective cover 7 and the second protective cover 8 both play a role in protecting the motors.

[0028] The above contents described in this specification are merely examples of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, as long as they do not deviate from the contents of the present specification or exceed the scope defined by the claims, they shall all fall within the protection scope of the present invention.

Claims

1. A four-axis column manipulator, characterized in that: include: Support base; A longitudinal support arm is vertically connected to the support base, and a first longitudinal track is arranged on a side of the longitudinal support arm; A transverse support arm connected to a side of the longitudinal support arm and movable in a vertical direction along the first longitudinal track; A movable arm is installed in the transverse support arm and can move in a direction corresponding to the transverse support arm; The rotating base is arranged at the lower part of the distal end of the movable arm, and the rotating base can rotate relative to the movable arm under the drive of the motor; A first motor is fixed inside the longitudinal support arm, a first rotating groove is arranged at the top of the support base, a connecting piece capable of matching with the first rotating groove is arranged at the bottom of the longitudinal support arm, the longitudinal support arm is connected to the support base through the matching rotation of the connecting piece and the first rotating groove and can rotate around the axis of the first rotating groove as the center under the drive of the first motor; A cavity for the movable arm to move and a third motor provided with a driving gear are provided in the transverse support arm, and a rack matched with the driving gear is provided beside the movable arm; the movable arm is arranged in the cavity and the driving gear is meshed and connected with the rack; A rotating cavity with an opening toward one side of the supporting base is opened at the far end of the movable arm, the rotating base is movably connected in the rotating cavity, and a fourth motor capable of driving the rotating base to rotate is fixed on the other side of the movable arm.

2. The four-axis column manipulator according to claim 1, characterized in that: A second longitudinal track parallel to the first longitudinal track is arranged on one side of the longitudinal support arm away from the transverse support arm, and a counterweight slider is arranged on the second longitudinal track; A second motor is fixed on the top of the longitudinal support arm, a movable gear which can rotate under the drive of the second motor is arranged on the upper part of the second motor, and a matching gear fixed on the longitudinal support arm is also arranged on the upper part of the second motor; The counterweight sliding block is connected to the transverse supporting arm through a transmission rack, and the middle part of the transmission rack is meshed and connected with the movable gear and the matching gear.

3. The four-axis column manipulator according to claim 1, characterized in that: The rotating base and the rotating cavity are both provided with through holes penetrating the rotating base and cooperating in position.

4. The four-axis column manipulator according to claim 1, characterized in that: The third motor is covered with a first protective cover fixed on the transverse support arm.

5. The four-axis column manipulator according to claim 1, characterized in that: The fourth motor is covered with a second protective cover fixed on the movable arm.

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