Vertical four-axis overturning manipulator

Abstract

The utility model relates to a vertical four-axis turnover manipulator which comprises a base, an electric box, a lifting mechanism, a rotating mechanism and a front-back moving module, the electric box is installed above the base, a turnover mechanism is installed at the front end of a telescopic arm of the front-back moving module, and the turnover mechanism comprises a turnover motor, a speed reducer, a material taking unit installation frame and a material taking unit. An output shaft of the overturning motor extends forwards to be connected with a speed reducer, a material taking unit mounting frame is mounted in front of the speed reducer, a plurality of material taking units are mounted at the bottom of the material taking unit mounting frame, and the overturning motor drives the material taking unit mounting frame to overturn around the Y axis. The mechanical arm has the function of overturning products, the overturning mechanism is reasonable in structural design, the overturning motor drives the material taking unit installation frame to overturn around the Y axis, precision is improved, and the products can be overturned to the set angle more accurately.

Description

Technical Field

[0001] The utility model relates to the field of mechanical equipment, and particularly relates to a vertical four-axis flipping manipulator. Background Art

[0002] With the popular use of automated equipment, it has become increasingly common to use a manipulator for material picking. For existing four-axis manipulators, the rotation of the material picking component at the output end is achieved by a rotary cylinder. The disadvantages of the rotary cylinder are small load, fixed angle, slow speed, large starting and stopping jitter, and inaccurate flipping function. Content of the Utility Model

[0003] Aiming at the above-mentioned defects existing in the prior art, the technical problem to be solved by the utility model is to provide a material picking manipulator with a flipping function and high precision. The specific technical solutions are as follows:

[0004] A vertical four-axis flipping manipulator includes a base, an electrical box, a lifting mechanism, a rotating mechanism, and a front-back moving module. The electrical box is installed above the base, the lifting mechanism is installed in front of the electrical box, the rotating mechanism is installed above the lifting mechanism, the lifting mechanism drives the rotating mechanism to move up and down, the front-back moving module is installed above the rotating mechanism, the rotating mechanism drives the front-back moving module to rotate, and a flipping mechanism is installed at the front end of the telescopic arm of the front-back moving module. The flipping mechanism includes a flipping motor, a speed reducer, a material picking unit mounting bracket, and a material picking unit. The output shaft of the flipping motor extends forward to connect to the speed reducer, the speed reducer is installed in front of the material picking unit mounting bracket, and multiple material picking units are installed at the bottom of the material picking unit mounting bracket. The flipping motor drives the material picking unit mounting bracket to flip around the Y-axis.

[0005] As a preferred solution of the utility model, an opening groove is provided at the front end of the telescopic arm of the front-back moving module, a sealing plate is fixedly installed at the front end of the telescopic arm, and the flipping motor is installed at the rear side of the sealing plate. The flipping motor is located in the opening groove.

[0006] As a preferred solution of the utility model, motor avoidance grooves are provided on the left and right sides inside the opening groove.

[0007] As a preferred solution of the utility model, the flipping mechanism further includes a connecting plate. Multiple first screw holes are provided at the middle position of the connecting plate, and the first screw holes are arranged circumferentially around the center of the connecting plate. The connecting plate is fixedly installed in front of the speed reducer by screwing screws through the first screw holes. Engaging grooves are provided on the left and right sides of the connecting plate, and second screw holes are provided in the engaging grooves. After the tail of the material picking unit mounting bracket is embedded in the engaging grooves, it is fixedly installed behind the material picking unit mounting bracket by screwing screws through the second screw holes.

[0008] As a preferred solution of the utility model, the material picking unit mounting bracket is in the shape of an "I", and multiple long grooves for adjusting the position of the material picking unit are provided at the front end of the material picking unit mounting bracket.

[0009] As a preferred solution of the utility model, the lifting mechanism includes a lifting shaft base, a lifting motor, a first synchronous wheel assembly, a screw rod, a lifting block and a lifting seat. The electric box is fixedly installed on the back of the lifting shaft base, and the lifting motor is installed in the lifting shaft base. The lifting motor drives the screw rod to rotate through the first synchronous wheel assembly. The screw rod nut is connected to the lifting block. The lifting seat is installed in front of the lifting block. The lifting seat is slidably connected to the lifting shaft base through a vertically arranged slide rail, and a rotating mechanism is installed above the lifting seat.

[0010] As a preferred solution of the utility model, the rotating mechanism includes a rotating motor, a second synchronous wheel assembly, a reducer and a rotating seat. The rotating motor drives the reducer to rotate around the Z axis through the second synchronous wheel assembly, and the reducer drives the rotating seat to rotate. A forward and backward moving module is installed above the rotating seat.

[0011] As a preferred solution of the utility model, it also includes a front shield and an upper shield, the front shield covers the lifting mechanism, and the upper shield is installed above the lifting mechanism and the electric box.

[0012] Beneficial effects: The vertical four-axis flipping manipulator of the utility model has a reasonable structural design, and a flipping mechanism is installed at the front end of the front and rear moving modules, so that the manipulator has the function of flipping the product, and the flipping mechanism has a reasonable structural design. The flipping motor finally drives the material picking unit to flip around the Y-axis, thereby flipping the product. It has the advantages of large load and high precision, and can accurately and quickly flip the product to the set angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional diagram of the utility model;

[0014] Figure 2 It is a three-dimensional diagram of the utility model when the protective cover is hidden;

[0015] Figure 3 It is a three-dimensional diagram of the turning mechanism and the telescopic arm of the utility model in coordination;

[0016] Figure 4 It is a three-dimensional diagram of the turning mechanism and the telescopic arm of the utility model when they are disassembled;

[0017] Figure 5 It is an exploded view of the turning mechanism of the utility model;

[0018] Figure 6 It is a three-dimensional diagram of the lifting mechanism of the utility model;

[0019] Figure 7 It is an exploded view of the lifting mechanism of the utility model;

[0020] Figure 8 It is a three-dimensional diagram of the rotating mechanism of the utility model. DETAILED DESCRIPTION

[0021] The following is a further description of the specific implementation of the present invention in conjunction with the accompanying drawings:

[0022] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operated in specific directions. Therefore, they cannot be understood as limitations on the present invention.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0024] like Figure 1 and 2 As shown, a vertical four-axis flip manipulator includes a base 1, an electric box 2, a lifting mechanism 3, a rotating mechanism 4, and a forward and backward moving module 5. The electric box 2 is installed above the base 1, and a power supply, a resistor, a relay, a controller, a driver, etc. are installed inside the electric box 2. The lifting mechanism 3 is installed in front of the electric box 2, and the rotating mechanism 4 is installed above the lifting mechanism 3. The lifting mechanism 3 drives the rotating mechanism 4 to move up and down. The forward and backward moving module 5 is installed above the rotating mechanism 4, and the rotating mechanism 4 drives the forward and backward moving module 5 to rotate. A flip mechanism 6 is installed at the front end of the telescopic arm 51 of the forward and backward moving module 5. In addition, the vertical four-axis flip manipulator also includes a front shield 7 and an upper shield 8. The front shield 7 covers the lifting mechanism 3, and the upper shield 8 is installed above the lifting mechanism 3 and the electric box 2. The front shield 7 and the upper shield 8 effectively prevent dust from entering the machine.

[0025] like Figure 3 and 4As shown in the figure, the flipping mechanism 6 includes a flipping motor 61, a speed reducer 62, a material picking unit mounting bracket 63, and a material picking unit 64. The output shaft of the flipping motor extends forward to connect to the speed reducer 62. The material picking unit mounting bracket 63 is installed in front of the speed reducer 62. Multiple material picking units 64 are installed at the bottom of the material picking unit mounting bracket 63. The material picking units are suction nozzles, clamp cylinders, etc. The flipping motor 61 drives the material picking unit mounting bracket 63 to flip around the Y-axis. At the front end of the telescopic arm 51 of the front and rear moving module 5, there is an opening groove 52. A sealing plate 65 is fixedly installed at the front end of the telescopic arm 51. The flipping motor 61 is installed at the rear side of the sealing plate 65. The flipping motor 61 is located within the opening groove 52. On the left and right sides inside the opening groove 52, there are motor avoidance grooves 53, which facilitate avoiding the motor connection wire ports.

[0026] As Figure 5 shown in the figure, the flipping mechanism 6 further includes a connecting plate 66. At the middle position of the connecting plate 66, there are multiple first screw holes 66a, which are arranged in a circular pattern around the center of the connecting plate 66. The connecting plate 66 is fixedly installed in front of the speed reducer 62 by passing screws through the first screw holes 66a. On the left and right sides of the connecting plate 66, there are fitting grooves 66b. In the fitting grooves 66b, there are second screw holes 66c. After the tail of the material picking unit mounting bracket 63 is embedded in the fitting grooves 66b, it is fixedly installed behind the material picking unit mounting bracket 63 by passing screws through the second screw holes 66c. The material picking unit mounting bracket 63 is in the shape of 丨. At the front end of the material picking unit mounting bracket 63, there are multiple long grooves 63a for adjusting the position of the material picking unit.

[0027] As Figure 6 and 7 shown in the figure, the lifting mechanism 3 includes a lifting shaft base 31, a lifting motor 32, a first synchronous pulley assembly 33, a lead screw 34, a lifting block 35, and a lifting seat 36. The electrical box 2 is fixedly installed on the back of the lifting shaft base 31. The lifting motor 32 is installed in the lifting shaft base 31. The lifting motor 32 drives the lead screw 34 to rotate through the first synchronous pulley assembly 33. The nut of the lead screw 34 is threadedly connected to the lifting block 35. The lifting block 35 is installed in front of the lifting seat 36. The lifting seat 36 is slidably connected to the lifting shaft base 31 through a vertically arranged slide rail 37. A rotating mechanism 4 is installed above the lifting seat 36.

[0028] As Figure 8 shown in the figure, the rotating mechanism 4 includes a rotating motor 41, a second synchronous pulley assembly 42, a speed reducer 43, and a rotating seat 44. The rotating motor 41 drives the speed reducer 43 to rotate around the Z-axis through the second synchronous pulley assembly 42. The speed reducer 43 drives the rotating seat 44 to rotate. The rotating seat 44 drives the front and rear moving module 5 to rotate around the Z-axis.

[0029] The above content is a further detailed description of the utility model in combination with specific preferred implementation methods. It cannot be determined that the specific implementation of the utility model is limited to these descriptions. For ordinary technicians in the technical field to which the utility model belongs, without departing from the concept of the utility model, they can also make several simple deductions or substitutions, which should be regarded as belonging to the protection scope of the utility model.

Claims

1. A vertical four-axis flip robot, including a base, an electric box, a lifting mechanism, a rotating mechanism, and a forward and backward moving module. The electric box is installed above the base, the lifting mechanism is installed in front of the electric box, the rotating mechanism is installed above the lifting mechanism, the lifting mechanism drives the rotating mechanism to move up and down, the forward and backward moving module is installed above the rotating mechanism, and the rotating mechanism drives the forward and backward moving module to rotate, characterized in that: A flipping mechanism is installed at the front end of the telescopic arm of the front-back moving module. The flipping mechanism includes a flipping motor, a speed reducer, a material picking unit mounting bracket, and a material picking unit. The output shaft of the flipping motor extends forward to connect to the speed reducer. The material picking unit mounting bracket is installed in front of the speed reducer. Multiple material picking units are installed at the bottom of the material picking unit mounting bracket. The flipping motor drives the material picking unit mounting bracket to flip around the Y-axis.

2. A vertical four-axis flip manipulator according to claim 1, characterized in that: An opening groove is provided at the front end of the telescopic arm of the front-back moving module. A sealing plate is fixedly installed at the front end of the telescopic arm. The flipping motor is installed at the rear side of the sealing plate, and the flipping motor is located within the opening groove.

3. A vertical four-axis flip manipulator according to claim 2, characterized in that: Motor avoidance grooves are provided on the left and right sides inside the opening groove.

4. A vertical four-axis flip manipulator according to claim 1 or 2, characterized in that: The flipping mechanism further includes a connecting plate. Multiple first screw holes are provided at the middle position of the connecting plate, and the first screw holes are arranged in a circular pattern around the center of the connecting plate. The connecting plate is fixedly installed in front of the speed reducer by screwing screws through the first screw holes. Chimeric grooves are provided on the left and right sides of the connecting plate, and second screw holes are provided in the chimeric grooves. After the tail of the material picking unit mounting bracket is embedded in the chimeric groove, it is fixedly installed behind the material picking unit mounting bracket by screwing screws through the second screw holes.

5. A vertical four-axis flip manipulator according to claim 4, characterized in that: The material picking unit mounting bracket is in the shape of 丨. Multiple long grooves for adjusting the position of the material picking unit are provided at the front end of the material picking unit mounting bracket.

6. A vertical four-axis flip manipulator according to claim 1, characterized in that: The lifting mechanism includes a lifting shaft base, a lifting motor, a first synchronous pulley assembly, a lead screw, a lifting block, and a lifting seat. The electrical box is fixedly installed on the back of the lifting shaft base. The lifting motor is installed in the lifting shaft base. The lifting motor drives the lead screw to rotate through the first synchronous pulley assembly. The lead screw nut is connected to the lifting block. The lifting seat is installed in front of the lifting block. The lifting seat is slidably connected to the lifting shaft base through a vertically arranged slide rail. A rotating mechanism is installed above the lifting seat.

7. A vertical four-axis flip manipulator according to claim 1, characterized in that: The rotating mechanism includes a rotating motor, a second synchronous pulley assembly, a speed reducer, and a rotating seat. The rotating motor drives the speed reducer to rotate around the Z-axis through the second synchronous pulley assembly. The speed reducer drives the rotating seat to rotate. The front-back moving module is installed above the rotating seat.

8. A vertical four-axis flip manipulator according to claim 1, characterized in that: It further includes a front shield and an upper shield. The front shield covers the lifting mechanism, and the upper shield is installed above the lifting mechanism and the electrical box.

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