Four-axis horizontal joint manipulator

Abstract

A four-axis horizontal joint manipulator comprises a mounting base, a clamping unit and a lifting driving unit, and the lifting driving unit is arranged on the mounting base; the lifting output end of the lifting driving unit is provided with a first rotary driving unit, and the rotary output end of the first rotary driving unit is provided with a first rotating arm which is driven by the first rotary driving unit to rotate horizontally; the first rotating arm is provided with a second rotating driving unit rotating with the rotating output end of the first rotating driving unit as the rotating center, and the rotating output end of the second rotating driving unit is provided with a second rotating arm driven by the second rotating driving unit to horizontally rotate. The second rotating arm is provided with a third rotating driving unit used for driving the material clamping unit to rotate. The first rotating arm, the second rotating arm and the material clamping unit can be folded together during action and then perform station switching action, so that the overall movement space of the manipulator is effectively saved, and the automatic feeding and discharging requirements of a pipe fitting forming production line in a workshop with a small space area are met.

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] Tubular workpieces are usually mass-produced using a pipe forming production line. Referring to the Chinese patent with publication number CN217617131U and the Chinese patent with publication number CN217626199U previously applied by the applicant, the existing pipe forming production line usually includes a discharge unit, a forming unit and a material transfer unit, and the forming unit includes a pipe bending device and / or a water swelling device; when working, the discharge unit partially sends out a straight pipe, the material transfer unit clamps the straight pipe sent out by the discharge unit and sends it to the forming unit, and the forming unit is used to perform pipe forming processing.

[0003] In the above two patent technical solutions, the material transfer unit includes a transfer mounting seat, a transfer lifting action unit for driving the transfer mounting seat to move up and down, a first rotation action unit for driving the transfer mounting seat to move close to the water expansion machine or the automatic discharging mechanism by rotation, a transfer translation action unit for driving the transfer mounting seat to move horizontally relative to the first rotation action unit, and a second rotation action unit for controlling the rotation of the transfer mounting seat relative to the transfer translation action unit. Two gripper modules for clamping pipe fittings are installed on the transfer mounting seat. The above solution realizes the automatic loading and unloading function of the pipe fitting forming production line by driving the two gripper modules to move between the forming unit and the discharging unit, thereby ensuring production efficiency.

[0004] However, the material transfer unit of the above scheme adopts a transfer translation action unit to control the second rotation action unit to perform a linear translation action. Since the transfer translation action unit needs to adopt a linear guide rail for guided movement, adopting this structure will take up a large space, especially for some simultaneous operations involving multiple workstations (for example, a molding unit including a pipe bending workstation and a water swelling workstation). A longer linear guide rail will be used to ensure the conveying distance, which makes the overall length of the transfer translation action unit larger. When the transfer translation action unit is driven by the first rotation action unit to rotate and switch workstations, a larger space is required, which is not conducive to saving factory space. Utility Model Content

[0005] In order to overcome the deficiencies of the prior art, the utility model provides a four-axis horizontal joint manipulator.

[0006] The technical solution adopted by the utility model to solve its technical problems is:

[0007] A four-axis horizontal joint manipulator comprises a mounting base, a clamping unit, and a lifting drive unit, wherein the lifting drive unit is arranged on the mounting base; the characteristics are:

[0008] A first rotation driving unit is provided on the lifting output end of the lifting driving unit, and a first rotating arm driven by the first rotation driving unit to rotate horizontally is installed on the rotating output end of the first rotation driving unit;

[0009] The first rotating arm is provided with a second rotating drive unit which rotates with the rotating output end of the first rotating drive unit as the rotating center, and the rotating output end of the second rotating drive unit is provided with a second rotating arm which is driven by the second rotating drive unit to rotate horizontally;

[0010] The second rotating arm is provided with a third rotating driving unit for driving the material clamping unit to rotate. The material clamping unit includes a rotating seat installed on the action output end of the third rotating driving unit and at least one gripping module installed on the rotating seat.

[0011] In the present invention, the gripper module may adopt an electric gripper or a pneumatic gripper.

[0012] In the utility model, a lifting base driven to lift and lower is installed on the lifting output end of the lifting drive unit, and the first rotation drive unit is installed in the motor accommodating area of ​​the lifting base.

[0013] In the utility model, the lifting base includes a horizontal mounting plate and a vertical mounting plate connected in an L-shape, the vertical mounting plate is connected to the lifting output end of the lifting drive unit by bolts, and a first through hole is provided on the end of the horizontal mounting plate away from the vertical mounting plate, which passes through the horizontal mounting plate from top to bottom, and the rotation output end of the first rotation drive unit passes through the first through hole and is connected to the first rotating arm.

[0014] In the utility model, two connecting ribs are provided between the horizontal mounting plate and the vertical mounting plate, and the two connecting ribs, the horizontal mounting plate and the vertical mounting plate together form the motor accommodating area.

[0015] In the present utility model, the first rotation drive unit, the second rotation drive unit, and the third rotation drive unit all include a rotation motor and a reducer transmission-connected to the rotation motor;

[0016] The rotary motor and the reducer of the first rotary drive unit are respectively mounted on the upper and lower parts of the horizontal mounting plate of the lifting base.

[0017] The rotary motor and the reducer of the second rotary drive unit are respectively installed on the upper part and the lower part of the first rotary arm.

[0018] The rotary motor and the reducer of the third rotary drive unit are respectively installed on the upper part and the lower part of the second rotary arm.

[0019] In the utility model, the lifting base, the first rotating arm and the second rotating arm are all equipped with a protective cover which is arranged outside the rotating motor.

[0020] In the utility model, the protective cover is provided with a plurality of ventilation holes.

[0021] In the utility model, a threading tube is connected between the protective cover on the lifting base and the protective cover on the first rotating arm, and between the protective cover on the first rotating arm and the protective cover on the second rotating arm.

[0022] In the present utility model, the third rotary drive unit further comprises a rotary flange connected to the rotary output end of the reducer, and the rotary seat is mounted on the rotary flange.

[0023] The beneficial effects of the utility model: the utility model is cleverly designed. By setting the first rotation drive unit, the second rotation drive unit, and the third rotation drive unit, the first rotating arm, the second rotating arm, and the clamping unit are controlled to perform horizontal rotation and swing, so that the first rotating arm, the second rotating arm, and the clamping unit can be folded together during operation and then switch workstations, effectively saving the overall movement space of the robot arm. It is particularly suitable for use in factories with smaller space areas, and meets the requirements for automated loading and unloading of pipe forming production lines in factories with smaller space areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0025] Figure 1 is a three-dimensional diagram of this embodiment;

[0026] Figure 2 The partial structure of this embodiment is three-dimensional Figure 1 ;

[0027] Figure 3 The partial structure of this embodiment is three-dimensional Figure 2 . DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present utility model clearer, the technical solution in the embodiments of the present utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the present utility model.

[0029] Reference Figure 1-3 A four-axis horizontal joint manipulator includes a mounting base 1, a clamping unit, and a lifting drive unit 2. The lifting drive unit 2 is arranged on the mounting base 1, and the mounting base 1 can be installed on different machines or bases according to different production lines.

[0030] Furthermore, a first rotation driving unit 3 is provided on the lifting output end of the lifting driving unit 2, and a first rotating arm 4 driven by the first rotation driving unit 3 to rotate horizontally is installed on the rotating output end of the first rotation driving unit 3. The first rotating arm 4 is driven by the first rotation driving unit 3 to perform a fan-shaped reciprocating swing with the rotating output end of the first rotation driving unit 3 as the rotation center;

[0031] Furthermore, the first rotating arm 4 is provided with a second rotating drive unit 5 which rotates with the rotating output end of the first rotating drive unit 3 as the rotating center, and the first rotating drive unit 3 and the second rotating drive unit 5 are respectively located at the two ends of the length direction of the first rotating arm 4, so as to make full use of the length of the first rotating arm 4 to ensure the relative position between the first rotating drive unit 3 and the second rotating drive unit 5; the rotating output end of the second rotating drive unit 5 is provided with a second rotating arm 6 which is driven to rotate horizontally, and the second rotating arm 6 is driven by the second rotating drive unit 5 to perform a fan-shaped reciprocating swing with the rotating output end of the second rotating drive unit 5 as the rotating center;

[0032] Furthermore, the second rotating arm 6 is provided with a third rotation driving unit 7 for driving the clamping unit to rotate, and the second rotation driving unit 5 and the third rotation driving unit 7 are respectively located at the two ends of the second rotating arm 6 in the length direction, so as to make full use of the length of the second rotating arm 6 to ensure the relative position between the second rotation driving unit 5 and the third rotation driving unit 7, so that the first rotating arm 4 and the second rotating arm 6 can be expanded as much as possible to ensure the stability of pipe transmission or be folded together to save movement space; the clamping unit includes a rotating seat 8 installed on the action output end of the third rotation driving unit 7, and at least one gripping module 9 installed on the rotating seat 8. The gripper modules 9 can be installed in different quantities according to different production lines. For example, a gripper module 9 for unloading is installed at one end of the rotating seat 8, and a gripper module 9 for loading is installed at the other end. When in use, the third rotary drive unit 7 first drives the gripper module 9 for unloading to rotate to the corresponding station to grab the pipes processed at the station, and then the third rotary drive unit 7 drives the gripper module 9 for loading to switch to the station, and the pipes processed at the station are in this direction, thereby realizing the unloading and loading functions of the pipes at the station. In this embodiment, the gripper module 9 can use electric grippers or pneumatic grippers, preferably electric grippers.

[0033] The utility model is cleverly designed. By arranging the first rotation drive unit 3, the second rotation drive unit 5, and the third rotation drive unit 7, the first rotating arm 4, the second rotating arm 6, and the clamping unit are controlled to perform horizontal rotation and swing, so that the first rotating arm 4, the second rotating arm 6, and the clamping unit can be folded together during operation and then switch workstations, effectively saving the overall movement space of the robot arm. The utility model is particularly suitable for use in factories with smaller space areas, and meets the requirements for automated loading and unloading of pipe forming production lines in factories with smaller space areas.

[0034] As a preferred embodiment, the lifting drive unit 2 adopts a servo motor linear module, and the servo motor linear module adopts a servo motor drive, which can effectively ensure the accuracy of the lifting and lowering action of the clamping unit driven by the lifting drive unit 2, and ensure that the manipulator can effectively and accurately clamp the pipe at the corresponding height. The servo motor linear module can be purchased on the market, so it is not described in detail.

[0035] As a preferred embodiment, a lifting base 21 driven to lift is installed on the lifting output end of the lifting drive unit 2, and the first rotation drive unit 3 is installed in the motor accommodating area of ​​the lifting base 21. Further, the lifting base 21 includes a horizontal mounting plate 211 and a vertical mounting plate 212 connected in an L shape, and the vertical mounting plate 212 is connected to the lifting output end of the lifting drive unit 2 by bolts, and a first through hole that penetrates the horizontal mounting plate 211 from top to bottom is provided on one end of the horizontal mounting plate 211 away from the vertical mounting plate 212, and the rotation output end of the first rotation drive unit 3 passes through the first through hole and is connected to the first rotating arm 4. Furthermore, two connecting ribs 213 are provided between the horizontal mounting plate 211 and the vertical mounting plate 212, and the connecting ribs 213 are connected to the horizontal mounting plate 211 and the vertical mounting plate 212 by bolts, and the connecting ribs 213 are used to enhance the structural stability of the lifting base 21; at the same time, the two connecting ribs 213, the horizontal mounting plate 211 and the vertical mounting plate 212 are enclosed to form the motor accommodating area, and the motor accommodating area can play a certain protective role for the first rotation drive unit 3.

[0036] As a preferred embodiment, the first rotation drive unit 3, the second rotation drive unit 5, and the third rotation drive unit 7 each include a rotation motor 100 and a reducer 200 drivingly connected to the rotation motor 100;

[0037] The rotary motor 100 and the reducer 200 of the first rotary drive unit 3 are respectively mounted on the upper and lower parts of the transverse mounting plate 211 , and the output shaft of the rotary motor 100 of the first rotary drive unit 3 is transmission-connected with the corresponding reducer 200 in the first through hole.

[0038] Furthermore, the rotary motor 100 and the reducer 200 of the second rotary drive unit 5 are respectively installed on the upper and lower parts of the first rotating arm 4, and the first rotating arm 4 is provided with a second through hole corresponding to the second rotary drive unit 5, and the output shaft of the rotary motor 100 of the second rotary drive unit 5 is transmission-connected with the corresponding reducer 200 in the second through hole.

[0039] Furthermore, the rotating motor 100 and the reducer 200 of the third rotating drive unit 7 are respectively installed on the upper and lower parts of the second rotating arm 6, and the second rotating arm 6 is provided with a third through hole corresponding to the third rotating drive unit 7, and the output shaft of the rotating motor 100 of the second rotating drive unit 5 is transmission-connected with the corresponding reducer 200 in the third through hole.

[0040] In this embodiment, the rotating motor 100 is a servo motor, and the reducer 200 is a harmonic reducer, which has high rotation accuracy and improves the accuracy of the robot arm in transferring the pipe.

[0041] As a preferred embodiment, the lifting base 21, the first rotating arm 4 and the second rotating arm 6 are all bolted with a protective cover 10 that is mounted on the outside of the rotating motor 100. The protective cover 10 can protect the rotating motor 100 and reduce the probability of external objects colliding with the rotating motor 100 and causing damage to the rotating motor 100. Further, the protective cover 10 is provided with a plurality of air holes 101, which are used to dissipate heat from the rotating motor 100 to avoid excessive temperature affecting the normal operation of the rotating motor 100; in this embodiment, the plurality of air holes 101 are respectively on the side and top surface of the protective cover 10, so that when the manipulator moves, the movement of the protective cover 10 can allow external cold air to enter the protective cover 10 from the air holes 101 for cooling, thereby ensuring the cooling effect.

[0042] As a preferred embodiment, a threading tube 11 is connected between the protective cover 10 on the lifting base 21 and the protective cover 10 on the first rotating arm 4, and between the protective cover 10 on the first rotating arm 4 and the protective cover 10 on the second rotating arm 6. The threading tube 11 is used to pass the cables of the rotating motor 100 and the pipes or cables used to control the gripper module 9, so that the threading tube 11 can protect them and ensure their working stability. In this embodiment, the threading tube 11 is a hose, and the two ends of the threading tube 11 are respectively installed on the two protective covers 10 using pipe joints.

[0043] As a preferred embodiment, the third rotary drive unit 7 further includes a rotary flange 12 connected to the rotary output end of the reducer 200 , and the rotary seat 8 is installed on the rotary flange 12 by means of bolt connection.

[0044] The above description is only a preferred embodiment of the present invention. Any technical solution that achieves the purpose of the present invention by substantially the same means shall fall within the protection scope of the present invention.

Claims

1. A four-axis horizontal joint manipulator, comprising a mounting base (1), a material clamping unit, and a lifting drive unit (2), wherein the lifting drive unit (2) is arranged on the mounting base (1); characterized in that: A first rotation drive unit (3) is provided on the lifting output end of the lifting drive unit (2); a first rotating arm (4) driven by the first rotation drive unit (3) to rotate horizontally is installed on the rotating output end of the first rotation drive unit (3); The first rotating arm (4) is provided with a second rotating drive unit (5) which rotates with the rotating output end of the first rotating drive unit (3) as the rotating center, and the rotating output end of the second rotating drive unit (5) is provided with a second rotating arm (6) which is driven by the second rotating drive unit (5) to rotate horizontally; The second rotating arm (6) is provided with a third rotating drive unit (7) for driving the material clamping unit to rotate, and the material clamping unit comprises a rotating seat (8) mounted on the action output end of the third rotating drive unit (7), and at least one gripping module (9) mounted on the rotating seat (8).

2. A four-axis horizontal joint manipulator according to claim 1, characterized in that: The gripper module (9) may adopt an electric gripper or a pneumatic gripper.

3. A four-axis horizontal joint manipulator according to claim 1, characterized in that: A lifting base (21) driven to lift and lower is installed on the lifting output end of the lifting drive unit (2), and the first rotation drive unit (3) is installed in the motor accommodation area of ​​the lifting base (21).

4. A four-axis horizontal joint manipulator according to claim 3, characterized in that: The lifting base (21) comprises a horizontal mounting plate (211) and a vertical mounting plate (212) connected in an L-shape, the vertical mounting plate (212) being connected to the lifting output end of the lifting drive unit (2) by means of bolts, a first through hole penetrating the horizontal mounting plate (211) from top to bottom is provided on one end of the horizontal mounting plate (211) away from the vertical mounting plate (212), and the rotation output end of the first rotation drive unit (3) passes through the first through hole and is connected to the first rotating arm (4).

5. A four-axis horizontal joint manipulator according to claim 4, characterized in that: Two connecting ribs (213) are provided between the horizontal mounting plate (211) and the vertical mounting plate (212); the two connecting ribs (213), the horizontal mounting plate (211) and the vertical mounting plate (212) together form the motor accommodating area.

6. A four-axis horizontal joint manipulator according to any one of claims 3 to 5, characterized in that: The first rotation drive unit (3), the second rotation drive unit (5), and the third rotation drive unit (7) each comprise a rotation motor (100) and a reducer (200) drivingly connected to the rotation motor (100); The rotary motor (100) and the reducer (200) of the first rotary drive unit (3) are respectively mounted on the upper and lower parts of the horizontal mounting plate (211) of the lifting base (21); The rotary motor (100) and the reducer (200) of the second rotary drive unit (5) are respectively mounted on the upper part and the lower part of the first rotary arm (4); The rotary motor (100) and the reducer (200) of the third rotary drive unit (7) are respectively mounted on the upper part and the lower part of the second rotary arm (6).

7. A four-axis horizontal joint manipulator according to claim 6, characterized in that: The lifting base (21), the first rotating arm (4) and the second rotating arm (6) are all equipped with a protective cover (10) which is arranged outside the rotating motor (100).

8. A four-axis horizontal joint manipulator according to claim 7, characterized in that: The protective cover (10) is provided with a plurality of air holes (101).

9. A four-axis horizontal joint manipulator according to claim 7, characterized in that: A threading tube (11) is connected between the protective cover (10) located on the lifting base (21) and the protective cover (10) located on the first rotating arm (4), and between the protective cover (10) located on the first rotating arm (4) and the protective cover (10) located on the second rotating arm (6).

10. The four-axis horizontal joint manipulator according to claim 6, characterized in that: The third rotary drive unit (7) further comprises a rotary flange (12) connected to the rotary output end of the reducer (200), and the rotary seat (8) is mounted on the rotary flange (12).

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