Four-axis horizontal joint manipulator

Abstract

The utility model discloses a four-axis horizontal joint manipulator which comprises a machine base. The clamping assembly comprises a clamping base, a first clamping arm, a second clamping arm and a clamping jig, and the clamping base is installed on the machine base and can move in the vertical axis direction; the first clamping arm and the second clamping arm are both horizontally arranged, one end of the first clamping arm is rotatably installed on the clamping base through a first rotating shaft, the other end of the first clamping arm is rotatably connected with one end of the second clamping arm through a second rotating shaft, and the other end of the second clamping arm is rotatably connected with a connector. The clamping jig is detachably connected with the connector; the first rotating shaft and the second rotating shaft rotate around the vertical shaft; the driving assembly comprises a first driving part, a second driving part and a third driving part. The clamping base, the first clamping arm and the second clamping arm are matched with the connector to achieve four-axis driving of the clamping jig in the horizontal direction.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a four-axis horizontal joint manipulator. Background Art

[0002] At present, the robot is generally used to clamp the workpiece during the machining process. After the workpiece is clamped by the fixture on the robot, it drives the workpiece to move up and down, left and right, and front and back, so as to realize the transfer of the workpiece in different stations of the production line. However, the existing robot usually drives the fixture on the robot to move in different directions with a linear motion output mechanism. Since the movement combination in different directions is performed by linear motion, the transfer range is limited and the transfer process is not flexible enough. Utility Model Content

[0003] In order to overcome the deficiencies of the prior art, the purpose of the present invention is to provide a four-axis horizontal joint manipulator, which can realize four-axis drive of the clamping fixture in the horizontal direction by a clamping seat, a first clamping arm and a second clamping arm in cooperation with a connecting head.

[0004] The purpose of the utility model is achieved by the following technical solutions:

[0005] Four-axis horizontal joint manipulator, including:

[0006] Machine base;

[0007] A clamping assembly, comprising a clamping seat, a first clamping arm, a second clamping arm and a clamping fixture, wherein the clamping seat is mounted on the machine base and can move along the vertical axis; the first clamping arm and the second clamping arm are both arranged horizontally, one end of the first clamping arm is rotatably mounted on the clamping seat by a first rotating shaft, the other end of the first clamping arm is rotatably connected to one end of the second clamping arm by a second rotating shaft, the other end of the second clamping arm is rotatably connected to a connecting head, and the clamping fixture is detachably connected to the connecting head; the first rotating shaft and the second rotating shaft both rotate around the vertical axis;

[0008] The driving assembly includes a first driving member, a second driving member and a third driving member. The first driving member is used to drive the clamping seat to move along the vertical axis direction; the second driving member is used to drive the first rotating shaft to rotate; and the third driving member is used to drive the second rotating shaft to rotate.

[0009] Furthermore, the first driving member includes a first motor, a gear and a rack, the first motor is mounted on the clamping seat, the rack is connected to the machine base, and the gear is connected to the rotating shaft of the first motor and meshes with the rack.

[0010] Furthermore, a slide rail is provided on the machine base, and a slider is provided on the clamping seat; the slide rail extends along the vertical axis direction; and the slider is slidably matched with the slide rail.

[0011] Furthermore, the top end of the clamping seat is connected to a first accordion protective cover, and the first accordion protective cover is connected to the top end of the machine base; the bottom end of the clamping seat is connected to a second accordion protective cover, and the second accordion protective cover is connected to the bottom end of the machine base.

[0012] Furthermore, the second driving member includes a second motor and a first reduction mechanism, the second motor is mounted on the first clamping arm, and the rotating shaft of the second motor is connected to the first rotating shaft through the first reduction mechanism.

[0013] Furthermore, the third driving member includes a third motor and a second reduction mechanism, the third motor is mounted on the first clamping arm, and the rotating shaft of the third motor is connected to the second rotating shaft through the second reduction mechanism.

[0014] Furthermore, the connecting head is rotatably connected to the end of the second clamping arm via a third rotating shaft, and a fourth driving member is provided on the second clamping arm, and the fourth driving member is used to drive the third rotating shaft to rotate.

[0015] Furthermore, the fourth driving member includes a fourth motor and a third reduction mechanism, the fourth motor is mounted on the second clamping arm, and the rotating shaft of the fourth motor is connected to the third rotating shaft through the third reduction mechanism.

[0016] Furthermore, the connecting head is provided with a connecting flange, and the connecting flange is provided with a plurality of connecting holes.

[0017] Furthermore, a counterweight is provided on the machine base.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The first clamping arm can be rotated around the first rotation axis. At this time, the clamping jig can be rotated around the first rotation axis. The rotation radius is formed by the superposition of the first clamping arm and the second clamping arm, and has a larger rotation range. The second clamping arm rotates around the second rotation axis, and the clamping jig can rotate relative to the first clamping arm. At this time, the rotation radius is the length of the second clamping arm, and a small range of rotation is achieved. When the connector rotates around its own axis, the clamping jig can rotate by itself. In this way, the clamping jig can adjust its own rotation angle to adjust the angle of the workpiece. In this way, the clamping jig in this embodiment can rotate in a large or small range to transfer workpieces to different workstations, and the clamping jig rotates by itself, so that the pick-up and placement angle of the workpiece can be adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the clamping assembly and the driving assembly of the utility model;

[0022] Figure 3 It is a schematic diagram of the partial assembly structure of the clamping seat, the first driving member and the machine base of the utility model;

[0023] Figure 4 It is a partial structural schematic diagram of the clamping assembly and the driving assembly of the utility model;

[0024] Figure 5 It is a structural schematic diagram of the second clamping arm of the utility model.

[0025] In the figure: 10, machine base; 11, first accordion protective cover; 12, second accordion protective cover; 13, slide rail; 21, clamping seat; 211, slider; 22, first clamping arm; 23, second clamping arm; 24, clamping fixture; 241, connecting flange; 242, connecting hole; 31, first motor; 311, rack; 32, second motor; 33, third motor; 331, second reduction mechanism; 34, fourth driving member. DETAILED DESCRIPTION

[0026] Below, in conjunction with the accompanying drawings and specific implementation methods, the utility model is further described:

[0027] In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention.

[0028] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0029] like Figure 1-Figure 5The four-axis horizontal joint manipulator shown includes a base 10, a clamping assembly and a driving assembly. The clamping assembly can be installed with the base as the assembly basis. Specifically, the clamping assembly includes a clamping seat 21, a first clamping arm 22, a second clamping arm 23 and a clamping fixture 24. The clamping seat 21 is installed on the base 10 and can move along the vertical axis. The first clamping arm 22 and the second clamping arm 23 are both arranged horizontally, and one end of the first clamping arm 22 is rotatably installed on the clamping seat with a first rotating shaft, and the other end of the first clamping arm 22 is rotatably connected to one end of the second clamping arm 23 through a second rotating shaft, and the other end of the second clamping arm 23 is rotatably connected with a connector. The clamping fixture 24 is detachably connected to the connector, so that the clamping fixture 24 can be detachable from the connector, which is convenient for replacing different clamping fixtures 24. The first rotating shaft and the second rotating shaft both rotate around the vertical axis, so that the first clamping arm 22 and the second clamping arm 23 can swing around the vertical axis in the horizontal direction to achieve the clamping and transfer of the workpiece.

[0030] In addition, the driving assembly includes a first driving member, a second driving member and a third driving member. The first driving member is used to drive the clamping seat 21 to move along the vertical axis direction; the second driving member is used to drive the first rotating shaft to rotate; and the third driving member is used to drive the second rotating shaft to rotate.

[0031] On the basis of the above structure, when the four-axis horizontal joint manipulator of the utility model is used, the four-axis horizontal joint manipulator can be applied to equipment that requires workpiece transfer, such as a workpiece production line or an assembly production line.

[0032] When in use, the clamping fixture 24 can be assembled to the connecting head of the second clamping arm 23, the second clamping arm 23 can rotate relative to the first clamping arm 22, the first clamping arm 22 can rotate relative to the clamping seat 21, and the connecting head used to connect the clamping fixture 24 can also rotate relative to the second clamping arm 23, that is, the clamping fixture 24 has three-axis rotational freedom, the first rotational freedom with the first rotation axis as the rotation axis, the second rotational freedom with the second rotation axis as the rotational chord, and the third rotational freedom with the central axis of the connecting head as the rotation axis.

[0033] Specifically, the first clamping arm 22 can be rotated around the first rotation axis. At this time, the clamping fixture 24 can be rotated around the first rotation axis. The rotation radius is formed by the superposition of the first clamping arm 22 and the second clamping arm 23, and has a larger rotation range. The second clamping arm 23 rotates around the second rotation axis, and the clamping fixture 24 can rotate relative to the first clamping arm 22. At this time, the rotation radius is the length of the second clamping arm 23, and a small range of rotation is achieved. When the connector rotates around its own axis, the clamping fixture 24 can rotate by itself. In this way, the clamping fixture 24 can adjust its own rotation angle to adjust the angle of the workpiece. In this way, the clamping fixture 24 in this embodiment can rotate in a large or small range to transfer workpieces to different workstations, and the clamping fixture 24 rotates by itself, so that the pick-up and placement angle of the workpiece can be adjusted.

[0034] Of course, since the clamping seat 21 as a whole can move up and down under the drive of the first driving member, the clamping fixture 24 can also move up and down accordingly to achieve the picking and placing of the workpiece.

[0035] Furthermore, the first driving member includes a first motor 31, a gear and a rack 311. The first motor 31 is installed on the clamping seat 21, the rack 311 is connected to the base 10, and the gear is connected to the shaft of the first motor 31 and meshes with the rack 311. In this way, when driving the clamping seat 21 to move up and down, the first motor 31 can be started, and the shaft of the first motor 31 can drive the gear to rotate, and the gear rotation can mesh with the rack 311. Since the rack 311 is relatively fixed to the base 10, the gear rotation can move up and down along the meshed rack 311, thereby driving the clamping seat 21 on which the gear and the first motor 31 are installed to move up and down, and the meshing transmission of the gear and the rack 311 realizes the up and down movement of the clamping seat 21, and the control stroke accuracy is higher.

[0036] Furthermore, a slide rail 13 may be provided on the machine base 10, and a slider 211 may be provided on the clamping seat 21 to extend the slide rail 13 along the vertical axis direction; the slider 211 and the slide rail 13 are slidably matched, and when the clamping seat 21 moves up and down, it can be guided by the sliding match between the slider 211 and the slide rail 13, so that the clamping assembly as a whole moves up and down more stably.

[0037] Furthermore, the top of the clamping seat 21 is connected to a first accordion protective cover 11, and the first accordion protective cover 11 is connected to the top of the machine base 10; the bottom end of the clamping seat 21 is connected to a second accordion protective cover 12, and the second accordion protective cover 12 is connected to the bottom end of the machine base 10, so that when the clamping seat 21 moves up and down, the first accordion protective cover 11 and the second accordion protective cover 12 can be stretched or folded and compressed accordingly, and the first accordion protective cover 11 and the second accordion protective cover 12 can protect the internal structure of the machine base 10 from water and dust.

[0038] Furthermore, the second driving member includes a second motor 32 and a first reduction mechanism, the second motor 32 is mounted on the first clamping arm 22, and the rotating shaft of the second motor 32 is connected to the first rotating shaft through the first reduction mechanism. In this way, the rotating shaft of the second motor 32 can be transmitted to the first rotating shaft through the first reduction mechanism, so that the rotation speed of the first clamping arm 22 is more stable.

[0039] Similarly, the third driving member includes a third motor 33 and a second reduction mechanism 331. The third motor 33 is mounted on the first clamping arm 22, and the rotating shaft of the third motor 33 is connected to the second rotating shaft through the second reduction mechanism 331. In this way, the rotating shaft of the third motor 33 can be transmitted to the second rotating shaft through the second reduction mechanism 331, so that the rotation speed of the second clamping arm 23 is more stable.

[0040] More specifically, the connector is rotatably connected to the end of the second clamping arm 23 via the third rotating shaft, and the second clamping arm 23 is provided with a fourth driving member 34, which can drive the third rotating shaft to rotate. In this way, the rotational movement of the connector can be driven by the fourth driving member 34 to drive the third rotating shaft to rotate, and the rotation of the third rotating shaft can drive the connector connected thereto to rotate, thereby driving the clamping fixture 24 installed on the connector to rotate.

[0041] Furthermore, the fourth driving member 34 includes a fourth motor and a third reduction mechanism, the fourth motor is mounted on the second clamping arm 23, and the shaft of the fourth motor is connected to the third rotating shaft through the third reduction mechanism. In this way, the shaft of the fourth motor can be transmitted to the third rotating shaft through the third reduction mechanism, so that the rotation speed of the connector is more stable.

[0042] It should be noted that the first reduction mechanism, the second reduction mechanism 331 and the third reduction mechanism in this embodiment can all be selected as harmonic reducers in the prior art.

[0043] In other cases, the first reduction mechanism, the second reduction mechanism 331 and the third reduction mechanism may also be implemented by other reduction structures such as gear reduction boxes in the prior art.

[0044] Furthermore, a connecting flange 241 is provided on the connecting head, and a plurality of connecting holes 242 are provided on the connecting flange 241, so that when the clamping fixture 24 is disassembled and assembled, bolts or screws or other structures can be provided on the clamping fixture 24 to connect to the connecting holes 242 of the connecting flange 241 to achieve disassembly and assembly.

[0045] Of course, the above-mentioned connector and the clamping fixture 24 can also be detachably assembled by directly using a spiral connector in a threaded connection manner.

[0046] It should also be noted that the above-mentioned clamping fixture 24 can be realized by using structures such as pneumatic fingers, clamping claws or vacuum suction cups in the prior art.

[0047] Furthermore, a counterweight block is provided on the machine base 10. In order to ensure that the clamping component has a stable supporting body, a counterweight block can be added to the machine base 10. The counterweight block can increase the overall weight of the machine base 10, so that the entire manipulator can be assembled on a heavy base, with better supporting performance and better stability during use.

[0048] It should be noted that the above-mentioned counterweight block can be realized by using a structure such as an iron block in the prior art.

[0049] For those skilled in the art, various other corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all of these changes and deformations should fall within the protection scope of the claims of the utility model.

Claims

1. Four-axis horizontal joint manipulator, characterized in that: include, Machine base; A clamping assembly, comprising a clamping seat, a first clamping arm, a second clamping arm and a clamping fixture, wherein the clamping seat is mounted on the machine base and can move along the vertical axis; the first clamping arm and the second clamping arm are both arranged horizontally, one end of the first clamping arm is rotatably mounted on the clamping seat by a first rotating shaft, the other end of the first clamping arm is rotatably connected to one end of the second clamping arm by a second rotating shaft, the other end of the second clamping arm is rotatably connected to a connecting head, and the clamping fixture is detachably connected to the connecting head; the first rotating shaft and the second rotating shaft both rotate around the vertical axis; The driving assembly includes a first driving member, a second driving member and a third driving member. The first driving member is used to drive the clamping seat to move along the vertical axis direction; the second driving member is used to drive the first rotating shaft to rotate; and the third driving member is used to drive the second rotating shaft to rotate.

2. The four-axis horizontal joint manipulator according to claim 1, characterized in that: The first driving member includes a first motor, a gear and a rack. The first motor is installed on the clamping seat. The rack is connected to the machine base. The gear is connected to the rotating shaft of the first motor and meshes with the rack.

3. The four-axis horizontal joint manipulator according to claim 2, characterized in that: The machine base is provided with a slide rail, and the clamping seat is provided with a slider; the slide rail extends along the vertical axis direction; and the slider is slidably matched with the slide rail.

4. The four-axis horizontal joint manipulator according to claim 2, characterized in that: The top end of the clamping seat is connected to a first accordion protective cover, which is connected to the top end of the machine base; the bottom end of the clamping seat is connected to a second accordion protective cover, which is connected to the bottom end of the machine base.

5. The four-axis horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The second driving member includes a second motor and a first reduction mechanism. The second motor is installed on the first clamping arm. The rotating shaft of the second motor is connected to the first rotating shaft through the first reduction mechanism.

6. The four-axis horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The third driving member includes a third motor and a second reduction mechanism. The third motor is mounted on the first clamping arm. The rotating shaft of the third motor is connected to the second rotating shaft through the second reduction mechanism.

7. The four-axis horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The connecting head is rotatably connected to the end of the second clamping arm via a third rotating shaft. The second clamping arm is provided with a fourth driving member, and the fourth driving member is used to drive the third rotating shaft to rotate.

8. The four-axis horizontal joint manipulator according to claim 7, characterized in that: The fourth driving member includes a fourth motor and a third reduction mechanism. The fourth motor is mounted on the second clamping arm. The rotating shaft of the fourth motor is connected to the third rotating shaft through the third reduction mechanism.

9. The four-axis horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: The connecting head is provided with a connecting flange, and the connecting flange is provided with a plurality of connecting holes.

10. The four-axis horizontal joint manipulator according to any one of claims 1 to 4, characterized in that: A counterweight is arranged on the machine base.

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