Four-axis stand column manipulator

Abstract

The utility model 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 four-axis mechanical arm is scientific in structure, small in occupied area and low in use cost, achieves four-axis movement under the condition that a moving track does not need to be additionally arranged, and is high in practicability. 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 utility model belongs to the field of manipulators, and in particular relates to a four-axis column manipulator. Background Art

[0002] Current production lines often utilize robotic arms to load and unload raw materials or finished products. This is because, compared to manual loading, robotic arms offer increased efficiency and a lower error rate, significantly improving production line efficiency. However, existing robotic arms typically only move in two directions (horizontally and vertically). Achieving a third direction requires additional track, increasing the cost and footprint of the robotic arm. Utility Model Content

[0003] The purpose of the present invention is to overcome the deficiencies in the prior art and thus provide a four-axis column manipulator.

[0004] The technical solution adopted by the utility model to solve its technical problems is:

[0005] 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 provided on the side of the longitudinal support arm; a transverse support arm 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 is installed in the transverse support arm and can move in the direction corresponding to the transverse support arm; a rotating base is provided 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; wherein a first motor is fixed in the longitudinal support arm, a first rotating groove is provided at the top of the support base, and a groove which can rotate with the first rotating groove is provided at the bottom of the longitudinal support arm A connecting piece that matches 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 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 that cooperates with the driving gear is provided on the side of the movable arm; the movable arm is provided 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.

[0006] 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.

[0007] 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 that cooperates with the driving gear is provided next to the movable arm; the movable arm is provided in the cavity and the driving gear is meshed with the rack.

[0008] Preferably, a rotating cavity with an opening toward one side of the supporting base is opened at the lower portion 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.

[0009] Preferably, both the rotating base and the rotating cavity are provided with through holes that penetrate the rotating base and are positioned in a coordinated manner.

[0010] Preferably, the third motor is covered with a first protective cover fixed on the longitudinal support arm.

[0011] Preferably, the fourth motor is covered with a second protective cover fixed on the movable arm.

[0012] Compared with the prior art, the present invention has the following advantages and effects:

[0013] The scientific structure, small footprint and low cost of use enable the robot arm to achieve four-axis movement (self-rotation relative to the support base driven by the first motor, vertical movement relative to the longitudinal support arm driven by the second motor, lateral movement relative to the lateral support 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. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the embodiment of the invention when it is actually working.

[0015] Figure 2 It is a structural schematic diagram of the first perspective of the embodiment of the invention.

[0016] Figure 3 It is a structural schematic diagram of another perspective of an embodiment of the invention.

[0017] Figure 4 It is a side view of an embodiment of the invention.

[0018] Figure 5 This is a schematic structural diagram of the embodiment from a perspective after a portion of the outer shell is removed.

[0019] Figure 6 This is a schematic structural diagram from another perspective after a portion of the outer shell is removed from the embodiment.

[0020] Figure 7 This is a schematic structural diagram from another perspective after a portion of the outer shell is removed from the embodiment.

[0021] 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

[0022] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0023] Example

[0024] like Figure 1-Figure 7 As shown, this embodiment includes a support base 1 with one side capable of being connected to the equipment and providing support, a longitudinal support arm 2 vertically connected to the support base 1 and providing a vertical path for the manipulator, a transverse support arm 3 connected to the longitudinal support arm 2 and providing a transverse path for the manipulator, a movable arm 4 disposed within the transverse support arm 3, and a rotating base 5 disposed at the distal end of the movable arm 4 for connecting to the manipulator's claw and providing rotational functionality. The support base 1 has a first rotation slot 11 at its top end for connecting to the longitudinal support arm 2, and a connector 21 at its bottom end that mates with the first rotation slot 11. The longitudinal support arm 2 is connected to the support base 1 through the connector 21 and the first rotation slot 11. A first motor 22 is fixed within the longitudinal support arm 2, capable of driving the longitudinal support arm 2 to rotate. Specifically, driven by the first motor 22, the longitudinal support arm 2 can rotate a certain angle around the axis of the first rotation slot 11, thereby driving all components connected to the longitudinal support arm 2 to rotate together.

[0025] like Figure 1-Figure 7As shown, a first longitudinal track 23 is provided on one side of the longitudinal support arm 2, and 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 to the top of the longitudinal support arm 2. The second motor 25 is provided with a movable gear 26 that can rotate under the drive of the second motor 25. A mating gear 27 is provided above the second motor 25 and is fixed to the longitudinal support arm 2 and located next to the movable gear 26. A counterweight slider 28 is provided on the second longitudinal track 24, which can move along the second longitudinal track 24. A transverse support arm 3 is provided on the first longitudinal track 23, which can move along the first longitudinal track 23. A transmission rack 29 is provided between the counterweight slider 28 and the transverse support arm 3, connecting the two. The transmission rack 29 passes outside the movable gear 26 and the mating gear 27 and is meshed with the movable gear 26 and the mating 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 required by the second motor 25 during the upward movement of the transverse support arm 3, so as to extend its service life.

[0026] 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 the other part of the movable arm 4 is located outside the cavity 31, and the driving gear 33 is meshed 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).

[0027] like Figure 1-Figure 7 As shown, a downwardly opening rotating cavity 42 is formed at the lower distal end of the movable arm 4, and a rotating base 5 is movably connected to the rotating cavity 42. A fourth motor 43 is fixed to the other side of the movable arm 4 to drive the rotating base 5 to rotate. The fourth motor 43 passes through the movable arm 4 and is in transmission connection with the rotating base 5 in the rotating cavity 42. Specifically, when the fourth motor 43 is in operation, the rotating base 5 can rotate within the rotating cavity 42 about the center of the rotating cavity 42.

[0028] 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 coordinated manner. The through hole 6 can be used to fix the robotic claw part in the rotating cavity 42. When the rotating base 5 rotates under the drive of the fourth motor 43, it can drive the robotic claw part connected thereto to rotate.

[0029] like Figures 1-4 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.

[0030] like Figure 1-Figure 7 As 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 coordinated manner. The through hole 6 can be used to fix the robotic claw part in the rotating cavity 42. When the rotating base 5 rotates under the drive of the fourth motor 43, it can drive the robotic claw part connected thereto to rotate.

[0031] like Figures 1-4 As shown, the third motor 32 is covered with a first protective cover 7 fixed on the longitudinal 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.

[0032] The above contents described in this specification are merely examples of the present invention. Those skilled in the art of the present invention may make various modifications, additions, or substitute similar methods to the specific embodiments described, as long as they do not deviate from the contents of this specification or exceed the scope defined by the claims, and shall fall within the scope of protection of the present invention.

Claims

1. 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 provided on the 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; Among them, a first motor is fixed in the longitudinal support arm, a first rotating groove is provided at the top of the support base, and a connecting piece that can match the first rotating groove is provided at the bottom of the longitudinal support arm. The longitudinal support arm is connected to the support base through the coordinated rotation of the connecting piece and the first rotating groove and can be rotated around the axis of the first rotating groove under the drive of the first motor.

2. The four-axis column manipulator according to claim 1, characterized in that: A second longitudinal track parallel to the first longitudinal track is provided on one 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, 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 sliding block is connected to the transverse supporting arm through a transmission rack, and the middle portion of the transmission rack is meshed with the movable gear and the matching gear.

3. The four-axis column manipulator according to claim 1, characterized in that: 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 provided in the cavity and the driving gear is meshed with the rack.

4. The four-axis column manipulator according to claim 1 or 3, characterized in that: A rotating cavity with an opening toward one side of the supporting base is opened at the lower part of the movable arm. The rotating base is movably connected in the rotating cavity. A fourth motor capable of driving the rotating base to rotate is fixed on the other side of the movable arm.

5. The four-axis column manipulator according to claim 4, characterized in that: The rotating base and the rotating cavity are both provided with through holes which penetrate the rotating base and are matched in position.

6. 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.

7. The four-axis column manipulator according to claim 4, characterized in that: The fourth motor is covered with a second protective cover fixed on the movable arm.

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