High-stability four-axis manipulator
By introducing an electric slide rail for collaborative positioning and an automatic cleaning system into the four-axis robotic arm, the problem of dirt on the grippers affecting clamping stability has been solved, achieving high stability and precise positioning of the grippers, thus ensuring production stability and product quality.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-02-18
- Publication Date
- 2026-03-20
AI Technical Summary
The grippers of existing four-axis robotic arms are prone to getting dirty after working for a long time, which affects the clamping stability, causing the workpiece to loosen or fall off, affecting product quality and production continuity.
A highly stable four-axis manipulator was designed. By setting electric slide rail one and electric slide rail two at the bottom of the hanger to work together, the manipulator can achieve precise horizontal positioning of the moving block. It is also equipped with a cleaning mechanism, including a cleaning box, a micro water pump and a nozzle, for automatically cleaning the grippers to ensure the cleanliness of the grippers.
It effectively solves the problem of inconvenient cleaning of the grippers, ensures that the grippers always maintain a good working condition, improves the stability and positioning accuracy of clamping, and ensures the continuity of production and product quality.
Smart Images
Figure CN224012322U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical hand technical field, concretely is a four -axis mechanical hand of high stability. BACKGROUND
[0002] In the industrial production automation process, four-axis mechanical hand as a kind of can imitate human hand action, realizes material grabbing, carrying and placing etc. Operation of the automation equipment, is widely applied in electronic, automobile, mechanical manufacturing etc. Many fields. It not only can improve production efficiency, reduce labor cost, can also promote the stability of product quality.
[0003] However, the cleaning maintenance problem of clamping jaw is also more prominent. In the prior art, due to the inconvenience of real-time cleaning of the clamping jaw part, dirt is easily attached on the clamping jaw during long time working process. The existence of these dirt can affect the stability of the clamping jaw after clamping the workpiece, so that the workpiece may be loose or even fall off during the carrying process, thereby affecting the product quality and the continuity of production. UTILITY MODEL CONTENTS
[0004] The utility model aims at providing a four-axis mechanical hand of high stability to solve the problems raised in the above background.
[0005] To achieve the above object, the utility model provides the following technical scheme:
[0006] A four-axis mechanical hand of high stability, comprising
[0007] A hanging bracket is provided with an electric sliding rail one in the middle of the bottom end, an electric sliding rail two is provided below the electric sliding rail one, and a movable block is provided below the electric sliding rail two.
[0008] A lifting mechanism is provided below the movable block, and a clamping mechanism is provided below the lifting mechanism.
[0009] A side frame is vertically provided at the right corner of the hanging bracket, and a cleaning mechanism is provided below the side frame.
[0010] Preferably, the lifting mechanism comprises a mounting bracket, the mounting bracket is provided below the movable block, a lifting cylinder is provided in the mounting bracket, a lifting frame is provided at the output shaft end of the lifting cylinder, and the lifting frame is slidingly connected with the outer wall of the mounting bracket.
[0011] Preferably, the clamping mechanism comprises a rack, the rack is horizontally provided below the left side of the lifting frame, a motor is provided in the rack, and an electric clamping jaw is fixedly installed on the output shaft of the motor.
[0012] Preferably, a rotary cylinder is also provided at the bottom end of the movable block, and the output shaft of the rotary cylinder is fixedly connected to the top end of the mounting bracket;
[0013] Preferably, the cleaning mechanism includes a cleaning box, which is fixedly installed at the bottom upper end of the side frame. A micro water pump is provided on the back of the bottom end of the side frame. The water inlet of the micro water pump is connected to a water inlet pipe. Several nozzles are provided from top to bottom on the four sides inside the cleaning box. The water outlet of the micro water pump is connected to the nozzles.
[0014] Preferably, a drain pipe is also provided below the cleaning box, and the drain pipe is connected to the bottom end of the cleaning box.
[0015] Compared with the prior art, the beneficial effects of this utility model are:
[0016] 1. This highly stable four-axis robot arm, when the electric gripper needs cleaning, rotates the cylinder to the cleaning position, lifts the cylinder to lower the gripper into the cleaning box, and a micro water pump sprays cleaning fluid through the nozzle to rinse the gripper. The wastewater is discharged through the drain pipe. After cleaning is completed, the electric gripper is reset. This effectively solves the problem of inconvenient gripper cleaning, ensures that the gripper always maintains a good working condition, and improves the stability of clamping.
[0017] 2. This highly stable four-axis robot arm, by setting electric slide rail one and electric slide rail two in the middle of the bottom of the hanger to work together, can drive the movable block to perform precise horizontal positioning in the plane, so that the robot arm can accurately reach the position of the workpiece, greatly improving the positioning accuracy. The rotary cylinder set at the bottom of the movable block can flexibly drive the mounting frame and clamping mechanism to rotate, which can not only easily adjust the angle of the electric gripper to adapt to the gripping needs of different workpieces, but also rotate the electric gripper to the side closer to the cleaning box during cleaning. Attached Figure Description
[0018] Figure 1 This is a schematic diagram of the overall main structure of this utility model;
[0019] Figure 2 For the present utility model Figure 1 Enlarged view of point A in the middle;
[0020] Figure 3 For the present utility model Figure 1 Enlarged view of point B in the middle;
[0021] Figure 4 For the present utility model Figure 1 Enlarged diagram of point C in the middle.
[0022] In the figure: 1, hanger; 2, electric sliding rail one; 3, electric sliding rail two; 4, movable block; 5, side frame; 6, mounting frame; 7, lifting cylinder; 8, lifting frame; 9, rack; 10, motor; 11, electric clamping jaw; 12, rotary cylinder; 13, cleaning box; 14, micro water pump; 15, water inlet pipe; 16, nozzle; 17, drain pipe. DETAILED DESCRIPTION
[0023] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.
[0024] As shown in the figure, a technical scheme provided by the utility model comprises: Figures 1-4
[0025] A four-axis manipulator with high stability comprises a hanger 1, an electric sliding rail one 2 is arranged at the middle of the bottom end of the hanger 1, an electric sliding rail two 3 is arranged below the electric sliding rail one 2, and a movable block 4 is arranged below the electric sliding rail two 3; a lifting mechanism is arranged below the movable block 4, the lifting mechanism comprises a mounting frame 6, the mounting frame 6 is arranged below the movable block 4, a lifting cylinder 7 is arranged in the mounting frame 6, a lifting frame 8 is arranged at the output shaft end of the lifting cylinder 7, the lifting frame 8 is in sliding connection with the outer wall of the mounting frame 6, a clamping mechanism is arranged below the lifting mechanism, the clamping mechanism comprises a rack 9, the rack 9 is horizontally arranged below the left side of the lifting frame 8, a motor 10 is arranged in the rack 9, and an electric clamping jaw 11 is fixedly installed at the output shaft of the motor 10.
[0026] In the embodiment, the electric sliding rail one 2 and the electric sliding rail two 3 are arranged at the middle of the bottom end of the hanger 1 and work cooperatively, can drive the movable block 4 to be accurately horizontally positioned in the plane, make the manipulator accurately reach the position of a workpiece, greatly improve the positioning accuracy, the rotary cylinder 12 arranged at the bottom end of the movable block 4 can flexibly drive the mounting frame 6 and the clamping mechanism to rotate, not only can conveniently adjust the angle of the electric clamping jaw 11 to adapt to the grasping requirement of different workpieces, but also can rotate the electric clamping jaw 11 to the side close to the cleaning box 13 when cleaning.
[0027] As shown in the figure, a technical scheme provided by the utility model comprises: Figure 4 As shown, a side frame 5 is vertically arranged at the right corner of the hanger 1, and a cleaning mechanism is arranged below the side frame 5, which comprises a cleaning box 13, the cleaning box 13 is fixedly installed on the top end of the bottom of the side frame 5, a micro water pump 14 is arranged on the back of the bottom end of the side frame 5, the water inlet end of the micro water pump 14 is communicated with a water inlet pipe 15, a plurality of nozzles 16 are arranged inside the cleaning box 13 from top to bottom on four sides, the water outlet end of the micro water pump 14 is communicated with the nozzles 16, a rotary cylinder 12 is further arranged at the bottom end of the movable block 4, the output shaft of the rotary cylinder 12 is fixedly connected to the top end of the mounting bracket 6, and a drain pipe 17 is further arranged below the cleaning box 13 and communicated with the bottom end of the cleaning box 13;
[0028] In this embodiment, when the electric clamping jaw 11 needs to be cleaned, the rotary cylinder 12 is turned to the cleaning position, the lifting cylinder 7 makes the clamping jaw part descend into the cleaning box 13, the micro water pump 14 works to spray cleaning liquid through the nozzles 16 to flush the clamping jaw, sewage is discharged through the drain pipe 17, and after cleaning is completed, the electric clamping jaw 11 is reset, effectively solving the problem of inconvenient cleaning of the clamping jaw, ensuring that the clamping jaw always maintains a good working state, and improving the stability of clamping.
[0029] Working principle: when working, first, the electric sliding rail one 2 at the middle of the bottom end of the hanger 1 cooperates with the electric sliding rail two 3 to drive the movable block 4 to perform accurate horizontal positioning in the plane, so that the mechanical hand reaches the position of the workpiece; the rotary cylinder 12 at the bottom end of the movable block 4 can drive the mounting bracket 6 and the clamping mechanism to rotate, which is used to adjust the angle of the electric clamping jaw 11 to adapt to the grabbing demand or turn it to the side close to the cleaning box 13 when cleaning. When grabbing the workpiece, the lifting cylinder 7 pushes the lifting frame 8 to slide along the outer wall of the mounting bracket 6, adjusts the height of the electric clamping jaw 11 to the workpiece, the electric clamping jaw 11 itself drives to realize clamping and loosening of the workpiece, and the motor 10 controls the rotation angle of the electric clamping jaw 11 to meet the grabbing and placing requirements of different workpieces. When the electric clamping jaw 11 needs to be cleaned, the rotary cylinder 12 is first turned to the cleaning position, then the lifting cylinder 7 makes the clamping jaw part descend into the cleaning box 13, at this time the micro water pump 14 works to spray cleaning liquid through the nozzles 16 to flush the clamping jaw part, sewage is discharged through the drain pipe 17, after cleaning is completed, the lifting cylinder 7 and the rotary cylinder 12 reset the electric clamping jaw 11, and the motor 10 adjusts the angle of the electric clamping jaw 11 as needed, so that the mechanical hand continues to work normally.
[0030] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only preferred examples of the present application and are not intended to limit the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.
Claims
1. A highly stable four-axis robotic arm, characterized in that: include Hanger (1), with an electric slide rail one (2) at the bottom center of the hanger (1), an electric slide rail two (3) below the electric slide rail one (2), and a movable block (4) below the electric slide rail two (3). A lifting mechanism is provided below the movable block (4), and a clamping mechanism is provided below the lifting mechanism; A side frame (5) is vertically installed at the right corner of the hanger (1), and a cleaning mechanism is installed below the side frame (5).
2. The highly stable four-axis manipulator according to claim 1, characterized in that: The lifting mechanism includes a mounting frame (6), which is provided below the movable block (4). A lifting cylinder (7) is provided inside the mounting frame (6), and a lifting frame (8) is provided at the output shaft end of the lifting cylinder (7). The lifting frame (8) is slidably connected to the outer wall of the mounting frame (6).
3. The highly stable four-axis manipulator according to claim 1, characterized in that: The clamping mechanism includes a frame (9), which is horizontally arranged below the left side of the lifting frame (8). A motor (10) is arranged inside the frame (9), and an electric gripper (11) is fixedly installed on the output shaft of the motor (10).
4. The highly stable four-axis manipulator according to claim 1, characterized in that: A rotary cylinder (12) is also provided at the bottom of the movable block (4), and the output shaft of the rotary cylinder (12) is fixedly connected to the top of the mounting bracket (6).
5. A highly stable four-axis manipulator according to claim 1, characterized in that: The cleaning mechanism includes a cleaning box (13), which is fixedly installed at the bottom upper end of the side frame (5). A micro water pump (14) is provided on the back of the bottom end of the side frame (5). The water inlet end of the micro water pump (14) is connected to a water inlet pipe (15). Several nozzles (16) are provided from top to bottom on the four sides inside the cleaning box (13). The water outlet end of the micro water pump (14) is connected to the nozzles (16).
6. A highly stable four-axis manipulator according to claim 1, characterized in that: A drain pipe (17) is also provided below the cleaning box (13), and the drain pipe (17) is connected to the bottom end of the cleaning box (13).