Four-axis carrying manipulator

Abstract

The utility model discloses a four-axis carrying manipulator, which relates to the technical field of carrying manipulators and comprises a displacement frame, a transverse moving unit, a longitudinal moving unit and a first rotating unit are arranged on the displacement frame, a supporting arm is connected onto the first rotating unit, a second rotating unit is arranged at one end of the supporting arm, and a third rotating unit is arranged at the other end of the second rotating unit. The second rotating unit can drive the materials to rotate in the direction perpendicular to the axis of the supporting arm. The second rotating unit comprises a second rotating motor, the output end of the second rotating motor is provided with a second rotating gear, the second rotating gear is meshed with a second supporting bearing, the second supporting bearing is in bolted connection with a connecting disc, and the connecting disc is provided with a chuck; the second rotating unit is arranged on the supporting arm, so that angle adjustment is achieved in the material carrying process, the material carrying efficiency is improved, the using function of the carrying manipulator is increased, and the applicability is improved.

Description

Technical Field

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

[0002] In the process of transporting materials between various workstations, in order to improve the efficiency of material handling and save handling costs, it is necessary to use a manipulator to replace manual labor for handling.

[0003] Currently, handling manipulators are roughly divided into three-axis or two-axis, with the three-axis being more common. When handling materials, a chuck is installed at the execution end of the manipulator, and the chuck is used to grasp the material, and then the material is driven to move horizontally and vertically, and at the same time, it is accompanied by a rotation perpendicular to the vertical direction.

[0004] However, sometimes when handling materials, in order to make the markings on the materials face the staff directly to facilitate the staff to quickly identify the model and type of the materials, it is necessary to adjust the angle of the materials. If the current handling manipulator is used, it can only complete grasping and simple transfer, but cannot achieve angle adjustment. The most common one is the gantry manipulator, which can only transfer materials from one workstation to another, but cannot adjust the angle of the materials.

[0005] Therefore, based on the above problems, the existing handling manipulators have deficiencies in function and cannot simultaneously meet the requirements of material handling and angle adjustment during the handling process.

[0006] Therefore, there is an urgent need for a four-axis handling manipulator to increase the usage function of the entire handling manipulator, realize angle adjustment during handling, make handling more convenient and efficient, and eliminate the need for secondary angle adjustment after handling. Summary of the Utility Model

[0007] In view of the above technical problems, the utility model provides a four-axis handling manipulator to solve the problem that the existing handling manipulator has deficiencies in function and cannot simultaneously meet the requirements of material handling and angle adjustment during the handling process, resulting in the need for secondary angle adjustment of the materials after handling.

[0008] The above technical objectives of the utility model are achieved through the following technical solutions:

[0009] A four-axis handling manipulator includes a position-changing frame, a transverse movement unit, a longitudinal movement unit, and a first rotation unit are arranged on the position-changing frame. A support arm is connected to the first rotation unit, and a second rotation unit is arranged at one end of the support arm. The second rotation unit can drive the material to perform a rotational movement perpendicular to the axis direction of the support arm.

[0010] The second rotating unit includes a second rotating motor. A second rotating gear is provided at the output end of the second rotating motor. A second support bearing is engaged with the second rotating gear. A connecting plate is bolted to the second support bearing. A chuck is provided on the connecting plate.

[0011] Further, a fixed seat is provided at the position of the support arm where the second rotating motor is located. An installation seat is provided on the fixed seat. An adjustment waist hole is formed on the installation seat. An adjustment seat is provided at one end of the support arm where the installation seat is located. An adjustment hole is formed in the adjustment seat along the length direction of the adjustment waist hole. An adjustment screw is provided in the adjustment hole. A fixing nut is provided on the adjustment screw.

[0012] Further, the transverse movement unit includes a base. First slide rails are provided in parallel on both sides of the base. A sliding plate is slidably provided on the first slide rails. The positioner is installed on the sliding plate. A transverse movement motor is provided on the sliding plate. A driving gear is provided at the output end of the transverse movement motor. A rack is engaged with the driving gear. The rack is fixed to the base.

[0013] Further, the longitudinal movement unit includes a lifting motor and a second slide rail. The second slide rail is vertically arranged on the positioner. A lifting frame is slidably provided on the second slide rail. A connecting frame is provided inside the positioner for the lifting frame. A lead screw is provided at the output end of the lifting motor. A nut seat is provided on the lead screw. The nut seat is connected to the connecting frame.

[0014] Further, the first rotating unit includes a first rotating motor. A first rotating gear is provided at the output end of the first rotating motor. A first support bearing is engaged with the first rotating gear. A rotating disk is connected to the outer ring of the first support bearing. A support arm is connected to the rotating disk.

[0015] Further, an activity opening is formed on the positioner along the movement path of the longitudinal movement unit.

[0016] Further, a plurality of lifting lugs are welded around the support arm.

[0017] Further, limit posts are respectively provided at the upper and lower ends of the activity opening on the positioner.

[0018] Further, the support arm is of a welded cavity structure and is provided with a plurality of inspection openings.

[0019] In summary, the beneficial technical effects of the present utility model are:

[0020] (1) First, use the chuck to clamp the material. Then, the position-changing frame realizes the handling of the material under the cooperation of the lateral movement unit and the longitudinal movement unit. Next, when placing the material, the second rotating motor drives the second support bearing to rotate through the second rotating gear. The second support bearing further drives the connecting plate to adjust the angle of the material, adding a function to the handling manipulator on the original basis, facilitating the handling of the material, eliminating the need for secondary angle adjustment after material handling, and improving the efficiency and quality of handling.

[0021] (2) The cooperation of the adjusting waist hole and the adjusting screw can finely adjust the position of the second rotating motor, making the meshing between the second rotating gear and the second support bearing better. Brief Description of the Drawings

[0022] Figure 1 is the overall structural schematic diagram of the present utility model;

[0023] Figure 2 is Figure 1 a schematic diagram from another angle;

[0024] Figure 3 is the internal structural schematic diagram of the position-changing frame;

[0025] Figure 4 is Figure 3 a schematic diagram with the support arm hidden;

[0026] Figure 5 is the internal structural schematic diagram of the support arm;

[0027] Figure 6 is Figure 5 a schematic diagram from another angle;

[0028] Figure 7 is Figure 5 an enlarged schematic diagram of part A of

[0029] Reference Numerals: 1, position-changing frame; 2, support arm; 3, chuck; 4, base; 5, first slide rail; 6, sliding plate; 7, lateral movement motor; 8, rack; 9, second slide rail; 10, lifting frame; 11, connecting frame; 12, lifting motor; 13, lead screw; 14, movable opening; 15, limit post; 16, nut seat; 17, first rotating motor; 18, first rotating gear; 19, first support bearing; 20, rotating disk; 21, second rotating motor; 22, second rotating gear; 23, second support bearing; 24, connecting plate; 25, fixed seat; 26, mounting seat; 27, adjusting waist hole; 28, adjusting seat; 29, adjusting screw; 30, fixing nut; 31, inspection opening; 32, lifting lug. Detailed Description of the Embodiment

[0030] The present utility model will be clearly and completely described below in conjunction with embodiments.

[0031] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a certain specific posture (as shown in the attached drawings). If the specific posture changes, the directional indications will also change accordingly.

[0032] In the description of the embodiments, unless otherwise clearly specified and limited, terms such as "set" and "connected" 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 directly connected or connected through an intermediate medium, and it can also be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0033] See the attached Figures 1-7 , which shows a four-axis handling manipulator, including a slewing frame 1. The slewing frame 1 is equipped with a transverse moving unit and a longitudinal moving unit. Specifically, the transverse moving unit includes a base 4. When in use, the base 4 is fixed to the ground through expansion bolts. On both sides of the base 4, first slide rails 5 are arranged in parallel. A sliding plate 6 is slidably arranged on the first slide rails 5. The slewing frame 1 is installed on the sliding plate 6 through bolts. And a rack 8 is installed on one side of the base 4. And a transverse moving motor 7 is arranged at one end of the sliding plate 6 close to the rack 8. A driving gear is arranged at the output end of the transverse moving motor 7. The driving gear meshes with the rack 8 to drive the entire slewing frame 1 to move horizontally, so as to realize the horizontal transfer of materials between two workstations;

[0034] The longitudinal moving unit includes second slide rails 9 vertically arranged on the slewing frame 1. And an activity opening 14 is formed between the two second slide rails 9 on the slewing frame 1. A lifting frame 10 is slidably arranged on the second slide rails 9. The lifting frame 10 passes through the activity opening 14 and a connecting frame 11 is arranged inside the slewing frame 1. A lifting motor 12 is arranged inside the slewing frame 1. A lead screw 13 is arranged at the output end of the lifting motor 12. A nut seat 16 is arranged on the lead screw 13. The nut seat 16 is in threaded cooperation with the connecting frame 11. It can be seen from this that the lifting motor 12 drives the lifting frame 10 to realize the longitudinal movement along the second slide rails 9;

[0035] Meanwhile, a first rotating unit is provided on the longitudinal moving unit. The first rotating unit includes a first rotating motor 17 provided on one side of the lifting frame 10. The output end of the first rotating motor 17 is provided with a first rotating gear 18. A first support bearing 19 is engaged with the first rotating gear 18. The inner ring of the first support bearing 19 is fixed to the lifting frame 10 by bolts. The outer ring rotates under the drive of the first rotating motor 17. At the same time, a rotating disk 20 is bolted to the outer ring of the first support bearing 19. One side of the rotating disk 20 is connected with a support arm 2. During use, the support arm 2 is driven by the lateral moving unit, the longitudinal moving unit, and the first rotating unit to achieve three-axis displacement;

[0036] Most importantly, a second rotating unit is provided at the other end of the support arm 2. The second rotating unit includes a second rotating motor 21 provided inside the support arm 2. The output end of the second rotating motor 21 is provided with a second rotating gear 22. A second support bearing 23 is bolted to the support arm 2. The outer ring of the second support bearing 23 is engaged with the second rotating gear 22. A connecting disk 24 is also connected to the outer ring of the second support bearing 23. A chuck 3 is connected to the connecting disk 24. During use, the material is grabbed by the chuck 3, and then the angle of the material is adjusted by driving the chuck 3 by the second rotating motor 21. It can be seen that the angle adjustment function of the material is added on the basis of the three axes of the existing handling manipulator, making the handling of materials faster and more efficient, and there is no need for secondary angle adjustment of the materials;

[0037] It should be noted that the working principle and specific structure of the chuck 3 used in the present utility model are already prior art, and reference can be made to the patent with the application number 201711181678.4.

[0038] Furthermore, in order to make the engagement between the second rotating gear 22 and the second support bearing 23 better, a fixed seat 25 is provided inside the support arm 2 at the position of the second rotating motor 21. The fixed seat 25 includes two symmetrically arranged L-shaped members. An installation seat 26 is provided inside the fixed seat 25. The installation seat 26 is connected to the second rotating motor 21 by bolts. Adjusting waist holes 27 are opened at the four corners of the installation seat 26. The distance between the second rotating motor 21 and the second support bearing 23 can be changed through the adjusting waist holes 27. At the same time, one end of the support arm 2 where the fixed seat 25 is located is provided with an adjusting seat 28. An adjusting hole is opened on the adjusting seat 28 along the length direction of the adjusting waist hole 27. An adjusting screw 29 is threadedly engaged in the adjusting hole. The position of the installation plate is changed through the adjusting screw 29, and a fixing nut 30 is provided on the adjusting screw 29;

[0039] Furthermore, to facilitate the installation of the support arm 2, a plurality of lifting lugs 32 are provided around the support arm 2 for cooperating with a lifting device to connect to the rotating disk 20. In addition, a plurality of inspection openings 31 are formed in the support arm 2 to facilitate the inspection of the internal structure of the support arm 2.

[0040] During use, first, the chuck 3 is used to grasp the material to be grasped. Then, the entire support arm 2 is driven by the lifting motor 12 to move upward along the second slide rail 9 to achieve the grasping and separation of the material. Next, the entire turntable 1 and the support arm 2 are driven by the lateral movement motor 7 to move laterally along the first slide rail 5. When the material reaches the position, the entire chuck 3 is driven by the second rotation motor 21 to rotate to adjust the angle of the material, and then the material is dropped.

[0041] Therefore, by providing the second rotation unit on the support arm 2, the present utility model realizes four-axis handling on the basis of the existing three axes, realizes the adjustment of the angle of the material, and improves the handling efficiency.

[0042] The above is only the preferred specific embodiment of the present utility model, and does not limit the protection scope of the present utility model accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present utility model should be covered within the protection scope of the present utility model.

Claims

1. A four-axis handling manipulator, comprising a slewing frame (1), wherein a lateral movement unit, a longitudinal movement unit, and a first rotation unit are provided on the slewing frame (1), and it is characterized in that: A support arm (2) is connected to the first rotating unit. One end of the support arm (2) is provided with a second rotating unit, and the second rotating unit can drive the material to perform a rotating motion perpendicular to the axis direction of the support arm (2). The second rotating unit includes a second rotating motor (21). A second rotating gear (22) is provided at the output end of the second rotating motor (21). A second support bearing (23) is engaged with the second rotating gear (22). A connecting plate (24) is bolted to the second support bearing (23). A chuck (3) is provided on the connecting plate (24).

2. The four-axis handling manipulator according to claim 1, characterized in that: A fixed seat (25) is provided at the position of the second rotating motor (21) on the support arm (2). An installation seat (26) is provided on the fixed seat (25). An adjusting waist-shaped hole (27) is formed on the installation seat (26). An adjusting seat (28) is provided at one end of the support arm (2) located on the installation seat (26). An adjusting hole is formed on the adjusting seat (28) along the length direction of the adjusting waist-shaped hole (27). An adjusting screw (29) is provided in the adjusting hole, and a fixing nut (30) is arranged on the adjusting screw (29).

3. A four-axis handling manipulator according to claim 1, characterized in that: The transverse moving unit includes a base (4). First sliding rails (5) are arranged in parallel on both sides of the base (4). A sliding plate (6) is slidably arranged on the first sliding rails (5). The displacement frame (1) is installed on the sliding plate (6). A transverse moving motor (7) is provided on the sliding plate (6). A driving gear is provided at the output end of the transverse moving motor (7). A rack (8) is engaged with the driving gear, and the rack (8) is fixed to the base (4).

4. A four-axis handling manipulator according to claim 1, characterized in that: The longitudinal moving unit includes a lifting motor (12) and a second sliding rail (9). The second sliding rail (9) is vertically arranged on the displacement frame (1). A lifting frame (10) is slidably arranged on the second sliding rail (9). A connecting frame (11) is arranged inside the displacement frame (1) on the lifting frame (10). A lead screw (13) is provided at the output end of the lifting motor (12). A nut seat (16) is arranged on the lead screw (13), and the nut seat (16) is connected to the connecting frame (11).

5. A four-axis handling manipulator according to claim 1, characterized in that: The first rotating unit includes a first rotating motor (17). A first rotating gear (18) is provided at the output end of the first rotating motor (17). A first support bearing (19) is engaged with the first rotating gear (18). A rotating disk (20) is connected to the outer ring of the first support bearing (19), and the support arm (2) is connected to the rotating disk (20).

6. The four-axis handling manipulator according to claim 1, characterized in that: An activity opening (14) is formed on the displacement frame (1) along the moving path of the longitudinal moving unit.

7. A four-axis handling manipulator according to claim 1, characterized in that: A plurality of lifting lugs (32) are welded around the support arm (2).

8. A four-axis handling manipulator according to claim 6, characterized in that: Limit columns (15) are respectively arranged at the upper and lower ends of the displacement frame (1) at the activity opening (14).

9. A four-axis handling manipulator according to claim 1, characterized in that: The support arm (2) is of a welded cavity structure and is provided with a plurality of inspection openings (31).

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