Four-axis flexible manipulator

Abstract

The utility model discloses a four-axis flexible manipulator, and belongs to the technical field of manipulators. The manipulator comprises a translation shaft, a rotating shaft, a vertical movement shaft, a flexible reel and a clamping jaw. The translation shaft is arranged on the rack and used for driving the rotating shaft and the vertical movement shaft to translate; the rotating shaft is arranged on the translation shaft and used for driving the vertical movement shaft to rotate; the vertical moving shaft is arranged on the translation shaft and the rotating shaft and is used for driving the flexible reel to vertically move; the flexible reel is fixed to the vertical moving shaft and used for driving the clamping jaw to stretch out and draw back so as to clamp materials at different positions and comprises a reel driving part, a reel transmission part, a reel wheel, a reel chain and a sliding plate, the inner end of the reel chain is fixed to the reel wheel, the outer end of the reel chain is slidably connected to the sliding plate and fixed to the clamping jaw, and the reel wheel rotates to drive the reel chain to slidably stretch out and draw back along the sliding plate. Clamping arms of the clamping jaws are provided with inner clamping parts, outer clamping parts and elastic grooves, four linear contacts similar to a rectangle are formed, and stable self-adaptive clamping is achieved. The material grabbing and carrying device is compact in structure, flexible in movement and particularly suitable for grabbing and carrying materials in a narrow space.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a four-axis flexible robotic arm. Background Technology

[0002] As the core actuator in automated production lines, intelligent warehousing, precision assembly, and material handling, the performance of robotic arms directly affects the efficiency, flexibility, and reliability of the entire system. With the manufacturing industry moving towards greater flexibility and intelligence, higher demands are being placed on the adaptability of robotic arms to different workspaces, their motion precision, and their gripping stability.

[0003] Currently, common industrial robots are mainly classified into Cartesian coordinate type, SCARA type, and multi-joint type. These robots are typically driven by servo motors, in conjunction with transmission mechanisms such as ball screws, synchronous belts, or gears, to achieve linear or rotary motion with multiple degrees of freedom. However, in specific application scenarios, especially in situations with compact equipment layouts, narrow space passages, or where operations need to be performed from the side into the equipment's interior, existing robots exhibit the following limitations: First, the working range is limited by the mechanical structure dimensions: the effective working range of traditional robots is generally proportional to their arm span or linear travel. To expand the working range, it is often necessary to lengthen the robot arm or increase the length of the guide rails, which not only significantly increases the overall footprint and inertia of the equipment but is also difficult to implement in space-constrained installation environments. For example, when transferring materials between two precision machine tools, traditional robots often cannot operate due to insufficient arm span or interference risks, or they have to adopt more complex track systems, resulting in high costs and inconvenient maintenance. Second, there is a lack of compact, long-distance radial extension capability: Although multi-joint robots have high flexibility, in complex tasks requiring a combination of large-range radial linear extension and precise linear and rotational positioning, they may face challenges such as complex control, end-effector accuracy affected by accumulated errors, and easy interference between the arm and environment in confined spaces. Existing multi-axis Cartesian coordinate manipulators, while highly accurate, typically lack a motion axis capable of long-distance direct radial extension without significantly increasing the size of the mechanism's front end, limiting their application in scenarios requiring "penetrating" gripping. Third, there is insufficient gripping adaptability and material protection: Common gripper structures have poor adaptability to irregular and fragile materials, easily leading to stress concentration, resulting in material damage or unstable gripping. Although soft pads or sensor control can be used, this increases system complexity and cost. Fourth, rigidity, accuracy, and reliability under long-stroke motion face challenges: Cantilevered or single-sided support structures are prone to deflection and vibration during long-distance movement, affecting positioning accuracy, and poor cable management can easily lead to wear and failure.

[0004] While some technical solutions have attempted to address these issues by adding external guide rails, employing more complex multi-joint configurations, or using specialized grippers, these often lead to new problems such as soaring system costs, increased control difficulty, or reduced reliability. Therefore, the industry urgently needs a new type of multi-axis robotic arm that is compact, flexible, provides stable gripping, and is suitable for operation in confined spaces. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a four-axis flexible manipulator with a compact structure, flexible movement and stable grasping.

[0006] To address the aforementioned technical problems, this utility model provides a four-axis flexible manipulator, comprising: a translation axis, a rotation axis, a vertical translation axis, a flexible scroll, and grippers, wherein:

[0007] The translation axis is fixed on the frame and is used to drive the rotating axis and the vertical translation axis to translate.

[0008] The rotating shaft is fixed on the translation shaft and is used to drive the vertical translation shaft to rotate;

[0009] The vertical axis, located on the translation axis and the rotation axis, is used to drive the flexible scroll to move vertically;

[0010] A flexible reel, fixedly mounted on a vertical axis, is used to drive the grippers to extend and retract to grip materials at different positions. It includes a reel drive, a reel transmission component, a reel, a reel chain, and a slide plate. The reel drive drives the reel transmission component to rotate, which in turn drives the reel to rotate. The slide plate is located on one side of the outer circumference of the reel. The reel chain is wound around the outer circumference of the reel, with the inner end of the reel chain fixed to one side of the outer circumference of the reel and the outer end slidably connected to the slide plate. The rotation of the reel drives the reel chain to slide and extend along the slide plate.

[0011] The gripper is fixedly connected to the outer end of the flexible reel chain and slidably connected to the slide plate for gripping materials.

[0012] As some embodiments of this utility model, the translation axis includes an upper translation track and a lower translation track; the upper translation track includes an upper driving member, an upper transmission member, an upper conversion member, an upper seat plate, and an upper sliding member. The upper driving member drives the upper transmission member to rotate, the upper transmission member drives the upper conversion member to move, the upper conversion member drives the upper seat plate to move, and the upper sliding member provides a track for the movement of the upper seat plate; the lower translation track includes a lower driving member, a lower transmission member, a lower conversion member, a lower seat plate, and a lower sliding member. The lower driving member drives the lower transmission member to rotate, the lower transmission member drives the lower conversion member to move, the lower conversion member drives the lower seat plate to move, and the lower sliding member provides a track for the movement of the lower seat plate.

[0013] In some preferred embodiments of this utility model, the upper driving member and the lower driving member are motors, the upper transmission member and the lower transmission member are synchronous belt assemblies, the upper conversion member and the lower conversion member are clamping assemblies held on the synchronous belt assembly, and the upper sliding member and the lower sliding member are slide rail slider assemblies.

[0014] As some embodiments of this utility model, the rotating shaft includes a rotary drive component and a rotary transmission component. The rotary drive component is fixedly mounted on the lower base plate, and the rotary drive component drives the rotary transmission component to rotate. The upper end of the rotary transmission component is connected to the lower end of the vertical shift shaft.

[0015] As a preferred embodiment of this utility model, the rotating shaft is also provided with a rotary positioning component, which is used to provide positioning and resetting for the rotary transmission component, thus facilitating automated control.

[0016] As some embodiments of this utility model, the vertical shifting shaft includes a vertical shifting bracket, a vertical shifting drive component, a vertical shifting transmission component, a vertical shifting conversion component, a vertical shifting base plate, a vertical shifting sliding component, and a vertical shifting connecting plate. The lower end of the vertical shifting bracket is fixedly connected to the rotary transmission component, and the upper end is rotatably connected to the upper base plate. The vertical shifting drive component is fixedly installed on the vertical shifting bracket and drives the vertical shifting transmission component to rotate. The rotation of the vertical shifting transmission component drives the vertical shifting conversion component to move, and the vertical shifting conversion component drives the vertical shifting base plate to move. The vertical shifting sliding component provides a track for the vertical shifting base plate to move. The vertical shifting base plate drives the vertical shifting connecting plate located outside the vertical shifting bracket to move synchronously.

[0017] As a preferred embodiment of this utility model, the vertical movement bracket is composed of four splicing plates that form a rectangular tube after being spliced ​​together. The vertical movement drive component is a motor, the vertical movement transmission component is a lead screw, the vertical movement conversion component is a nut that matches the lead screw, and the vertical movement sliding component is a slider rail assembly.

[0018] As a preferred embodiment of the present invention, a drag chain is also provided on one side of the vertical moving bracket.

[0019] In some embodiments of this utility model, the reel drive is fixedly mounted on the vertical moving connecting plate; the reel transmission component includes a driving wheel, a driven wheel, and a rotating wheel. The driving wheel is fixedly connected to the output shaft of the reel drive, and the driving wheel meshes with the driven wheel for transmission. The driven wheel is fixed on one side of the rotating wheel to support the driven wheel; the vertical moving connecting plate has a rotating hole that matches the rotation of the rotating wheel, so that the vertical moving connecting plate is rotatably connected to the driven wheel.

[0020] In some embodiments of this utility model, the winding wheel is fixedly installed on the other side of the driven wheel and moves synchronously with the driven wheel. The winding wheel has a winding groove on its outer circumference. The winding chain includes chain pieces and a chain belt that are interlocked. When the winding chain is wound around the outer circumference of the winding wheel, the chain belt matches the winding groove. The chain pieces are provided with first contact points at both ends away from the winding wheel along the length direction. A connecting piece is provided on the outer side of the chain belt. The connecting piece is provided with second contact points that match the first contact points at both ends away from the winding wheel along the length direction. When the chain belt is detached from the winding wheel, the adjacent first and second contact points abut against each other, and the chain belt is in a straight line state, that is, the chain belt can extend straight to the length of the circumference of the winding wheel. A pulley is also provided on the outer side of the hinge point between the chain piece and the chain belt. The sliding plate has a second sliding groove in the horizontal direction. The vertical moving connecting plate has a first sliding groove at the position opposite to the second sliding groove in the sliding plate. When the winding wheel rotates, it will drive the pulley at the outer end of the winding chain to slide along the first and second sliding grooves, realizing the extension and retraction of the outer end of the winding chain, and thus driving the gripper installed at the outer end of the winding chain to move within the length range of the circumference of the winding wheel.

[0021] As a preferred embodiment of this utility model, in order to ensure the stability of the movement and structure of the flexible roller, the roller chain is a double-row structure with a gap in the middle. Correspondingly, the roller wheel is also set as a double-row structure. The first slide groove and the second slide groove are located at the relative positions of the double-row roller wheel. The double-row structure of the roller wheel is fixedly connected by a first connecting rod. The chain piece and connecting piece of the double-row structure of the roller chain are fixedly connected by a second connecting rod. The slide plate is fixedly connected to the vertical moving connecting plate by a third connecting rod.

[0022] In some preferred embodiments of this utility model, the roller drive is a motor, the driving wheel is a small gear, the driven wheel is a large gear, and the rotational connection between the rotating wheel and the rotating hole is achieved by a bearing, with the pulley being a ball bearing.

[0023] As some embodiments of this utility model, the gripper includes a gripper arm, a pusher head, a linear drive member, and a retainer. Two gripper arms are symmetrically arranged, and the two gripper arms can move closer to each other or further away from each other under the pusher head. The output shaft of the linear drive member is fixedly connected to the pusher head and is used to push the pusher head to move. The linear drive member is fixedly mounted on the retainer.

[0024] In some embodiments of this utility model, the inner sides of the two claw arms are provided with an inwardly inclined opening and an outwardly inclined clamping surface, the outer side of the push head is provided with an outer inclined surface, and the inner side is provided with an inner inclined surface. When the push head moves, the opening and outer inclined surfaces cooperate to make the two claw arms move away from each other, and the clamping and inner inclined surfaces cooperate to make the two claw arms move closer to each other.

[0025] As some embodiments of this utility model, the claw arm also includes a swing arm, a hinge part and a clamping arm. The hinge part is located at one end of the swing arm, and the opening and clamping inclined surfaces are disposed on the inner side of the other end of the swing arm. The other end of the swing arm is also connected to the clamping arm.

[0026] As some embodiments of this utility model, the clamping arm includes an inner clamping part, an outer clamping part, and an elastic groove. The inner clamping part and the outer clamping part are located on the side of the clamping arm closer to the swing arm and the side farther from the swing arm, respectively. The elastic groove is opened in the middle of the clamping arm at the outer clamping part. The arrangement of the inner clamping part, the outer clamping part, and the elastic groove ensures that when clamping materials, the clamping arm and the materials have four lines of contact in an approximately rectangular distribution, thereby ensuring stable clamping. The elastic groove makes the outer clamping part elastically clamped, thereby improving adaptability.

[0027] As a preferred embodiment of the present invention, the clamping arm is further provided with a guide portion, which is located at the end of the clamping arm away from the swing arm, and is used to guide the material into the middle of the two clamping arms.

[0028] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0029] 1. Achieves wide-range operation capability in extremely compact spaces. The working range of traditional robotic arms is limited by their linear travel or arm span, often making them difficult to operate in narrow passages with dense equipment layouts. This utility model creatively introduces a flexible reel structure, which uses a rotating reel to wind up and unwind the chain, allowing the gripper's extension and retraction stroke to theoretically reach the circumference of the reel. This means that the robotic arm body only needs to occupy an installation space slightly larger than the diameter of the reel to achieve a radial gripping range several times its own size. This design breaks through the traditional direct proportionality between "travel and volume" of robotic arms, making it particularly suitable for material handling in space-constrained situations such as between machine tools, beside assembly lines, or deep within warehouse shelves.

[0030] 2. Four-axis coordinated motion, flexible and efficient path planning. This utility model integrates four degrees of freedom of motion: translation, rotation, vertical movement, and radial extension / retraction. The translation axis (including the upper and lower tracks) provides a stable linear movement foundation; the rotation axis allows the gripper to adjust any angle in the horizontal plane; the vertical movement axis completes the height positioning required for material gripping; and the flexible reel acts as a "flexible arm," extending and retracting radially. The four axes can be driven collaboratively by the control system, enabling the gripper to approach the target material via complex, non-linear, and multi-directional paths, effectively avoiding obstacles and greatly improving adaptability and operational efficiency in complex environments.

[0031] 3. The clamping mechanism combines rigidity and flexibility, offering strong adaptability and material protection. The grippers employ a unique composite design of inclined plane pushing and elastic clamping. Through the interaction of the inner and outer inclined planes of the pusher head and the opening / clamping inclined planes of the gripper arm, the linear drive is efficiently and accurately converted into the stable opening and closing motion of the gripper arm, resulting in good transmission rigidity and fast response. The inner clamping part, outer clamping part, and elastic groove on the gripping arm form an approximately rectangular four-point contact area (adding the thickness of the gripper arm, this constitutes line contact). Among them, the elastic groove enables the outer clamping part to have a slight elastic deformation capability. When clamping irregular objects or fragile materials, it can ensure sufficient clamping force while adapting to the shape of the material through elastic deformation, dispersing clamping stress, and effectively preventing damage to the material surface or slippage during clamping.

[0032] 4. The transmission and support structure is stable and reliable, ensuring motion accuracy. The translation axis adopts a double-track design. Through the separation and linkage of the upper and lower seat plates, it provides span support for the vertical movement bracket, which greatly enhances the torsional rigidity of the overall structure and ensures stability and positioning accuracy during long-distance translation. The double-row chain and wheel structure of the flexible roller, combined with the connecting rod reinforcement, significantly improves the lateral rigidity and motion synchronization of the telescopic mechanism, avoiding the swaying or jamming that may occur in the single-row chain structure. Each axis drive adopts a motor + precision transmission component scheme and extensively uses high-precision standard parts such as slide rails, sliders, and bearings to ensure smooth movement in all directions, low noise, and long-term repeatability positioning accuracy.

[0033] 5. Modular and functional design enhances practicality and maintainability. The cable chain arrangement ensures orderly cable routing as the vertical axis moves, preventing tangling and wear, and improving system reliability. The rotary positioning component provides an angular reference and reset function for the axis, facilitating automated control and origin calibration. The guide section at the front end of the gripper automatically corrects the material position, assisting in gripping and reducing the stringent requirements for initial positioning accuracy. The main components have clear structures and are relatively independent, facilitating modular assembly, debugging, and subsequent maintenance and replacement.

[0034] In summary, this utility model, through the combination of an innovative flexible telescopic mechanism and an optimized multi-axis motion system, has achieved significant progress in terms of structural compactness, spatial adaptability, motion flexibility, clamping stability, and operational reliability, and has good prospects for industrial application. Attached Figure Description

[0035] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only one embodiment of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a three-dimensional structural diagram of a four-axis flexible manipulator according to an embodiment of the present invention.

[0037] Figure 2 This is a three-dimensional structural diagram of the four-axis flexible manipulator from another perspective, according to an embodiment of this utility model.

[0038] Figure 3 This is a three-dimensional structural diagram of the interior of the translational track and the rotating shaft according to an embodiment of the present utility model;

[0039] Figure 4 This is a three-dimensional structural diagram of the internal structure of the translational upper track and the vertical translation axis in an embodiment of this utility model;

[0040] Figure 5 This is a schematic diagram of the three-dimensional structure of the flexible roller according to an embodiment of the present invention;

[0041] Figure 6 This is a schematic diagram of the three-dimensional structure of the flexible roll after it has been extended according to an embodiment of this utility model;

[0042] Figure 7 This is a schematic diagram of the internal three-dimensional structure of the flexible roll after it has been extended according to an embodiment of the present invention;

[0043] Figure 8 This is a three-dimensional structural schematic diagram of a partial cross-section of the gripper in an embodiment of the present utility model;

[0044] Figure 9 This is a top view of the gripper structure in an embodiment of the present invention.

[0045] The labels in the attached diagram are as follows: 1. Translation axis; 11. Upper translation track; 111. Upper drive component; 112. Upper transmission component; 113. Upper conversion component; 114. Upper seat plate; 115. Upper sliding component; 12. Lower translation track; 121. Lower drive component; 122. Lower transmission component; 123. Lower conversion component; 124. Lower seat plate; 125. Lower sliding component; 2. Rotating axis; 21. Rotation drive component; 22. Rotation transmission component; 23. Rotation positioning component; 3. Vertical translation axis; 31. Vertical translation bracket; 32. Vertical translation drive component; 33. Vertical translation transmission component; 34. Vertical translation conversion component; 35. Vertical translation seat plate; 36. Vertical translation sliding component; 37. Vertical translation connecting plate; 371. Rotary hole; 372. First slide groove; 38. Cable chain; 4. Flexible reel; 41. Reel drive component; 42. Reel transmission component 421. Driving wheel; 422. Driven wheel; 423. Rotating wheel; 43. Winding wheel; 431. Winding groove; 432. First connecting rod; 44. Winding chain; 441. Chain link; 4411. First contact point; 442. Chain belt; 443. Connecting piece; 4431. Second contact point; 444. Pulley; 445. Second connecting rod; 45. Slide plate; 451. Third connecting rod; 452. 5. Second slide rail; 5. Gripper; 51. Grip arm; 511. Opening inclined plane; 512. Clamping inclined plane; 513. Swing arm; 514. Hinge; 515. Clamping arm; 5151. Inner clamping part; 5152. Outer clamping part; 5153. Elastic groove; 5154. Guide part; 52. Push head; 521. Outer inclined plane; 522. Inner inclined plane; 53. Linear drive component; 54. Cage. Detailed Implementation

[0046] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the technical solutions in the specific embodiments of this utility model are clearly and completely described below to further illustrate this utility model. Obviously, the specific embodiments described are only a part of the embodiments of this utility model, and not all of them.

[0047] Example 1: This example discloses a four-axis flexible manipulator, such as... Figure 1 , Figure 2 and Figure 5 As shown, it includes: a translation axis 1, a rotation axis 2, a vertical translation axis 3, a flexible scroll 4, and a gripper 5, wherein:

[0048] Translation axis 1 is fixed on the frame and is used to drive the rotating axis 2 and the vertical axis 3 to translate.

[0049] Rotating shaft 2 is fixedly mounted on translation shaft 1 and is used to drive vertical translation shaft 3 to rotate.

[0050] Vertical axis 3 is mounted on translation axis 1 and rotating axis 2, and is used to drive flexible scroll 4 to move vertically;

[0051] A flexible roller 4 is fixedly mounted on a vertical axis 3 and is used to drive the gripper 5 to extend and retract to grip materials at different positions. It includes a roller drive 41, a roller transmission 42, a roller wheel 43, a roller chain 44, and a slide plate 45. The roller drive 41 drives the roller transmission 42 to rotate, and the roller transmission 42 drives the roller wheel 43 to rotate. The slide plate 45 is located on one side of the outer circumference of the roller wheel 43. The roller chain 44 is wound around the outer circumference of the roller wheel 43. The inner end of the roller chain 44 is fixed to one side of the outer circumference of the roller wheel 43, and the outer end is slidably connected to the slide plate 45. The rotation of the roller wheel 43 drives the roller chain 44 to slide and extend along the slide plate 45.

[0052] The gripper 5 is fixedly connected to the outer end of the chain 44 of the flexible roll 4 and slidably connected to the slide plate 45 for gripping materials.

[0053] Due to the flexible reel 4, the gripper 5 of the four-axis flexible manipulator of this invention can extend to the circumference of the outer circumference of the reel 43. That is, the four-axis flexible manipulator of this invention can grip materials within the radius of the reel 43's circumference while occupying the space of the reel 43's diameter (actually a little more, to allow for the manipulator's rotation and the winding of the reel chain 44). In conjunction with the translation axis 1, the rotation axis 2, and the vertical axis 3, the four-axis flexible manipulator of this invention is very suitable for material transfer when there is a narrow space between two devices.

[0054] Example 2: This example discloses a feasible specific structure for the translation axis 1, based on Example 1, such as... Figure 3 , Figure 4 As shown, translation axis 1 includes upper translation track 11 and lower translation track 12;

[0055] The translational upper track 11 includes an upper driving member 111, an upper transmission member 112, an upper conversion member 113, an upper seat plate 114, and an upper sliding member 115. The upper driving member 111 drives the upper transmission member 112 to rotate, the upper transmission member 112 drives the upper conversion member 113 to move, the upper conversion member 113 drives the upper seat plate 114 to move, and the upper sliding member 115 provides a track for the movement of the upper seat plate 114.

[0056] The translational lower track 12 includes a lower drive member 121, a lower transmission member 122, a lower conversion member 123, a lower seat plate 124, and a lower sliding member 125. The lower drive member 121 drives the lower transmission member 122 to rotate, the lower transmission member 122 drives the lower conversion member 123 to move, the lower conversion member 123 drives the lower seat plate 124 to move, and the lower sliding member 125 provides a track for the movement of the lower seat plate 124.

[0057] In this embodiment, the upper drive member 111 and the lower drive member 121 are motors, the upper transmission member 112 and the lower transmission member 122 are synchronous belt assemblies, the upper conversion member 113 and the lower conversion member 123 are clamping assemblies held on the synchronous belt assembly, and the upper sliding member 115 and the lower sliding member 125 are slide rail slider assemblies.

[0058] Example 3: This example discloses a feasible specific structure for the rotating shaft 2, based on Example 2, such as... Figure 3 As shown, the rotating shaft 2 includes a rotating drive component 21 and a rotating transmission component 22. The rotating drive component 21 is fixedly mounted on the lower base plate 124. The rotating drive component 21 drives the rotating transmission component 22 to rotate. The upper end of the rotating transmission component 22 is connected to the lower end of the vertical shift shaft 3.

[0059] A rotary positioning component 23 is also provided to provide positioning and reset for the rotary transmission component 22, which is beneficial for automated control.

[0060] Example 4: This example discloses a feasible specific structure for the vertical displacement axis 3, based on Example 3, such as... Figures 1-4 As shown, the vertical shift shaft 3 includes a vertical shift bracket 31, a vertical shift drive component 32, a vertical shift transmission component 33, a vertical shift conversion component 34, a vertical shift base plate 35, a vertical shift sliding component 36, and a vertical shift connecting plate 37. The lower end of the vertical shift bracket 31 is fixedly connected to the rotary transmission component 22, and the upper end is rotatably connected to the upper base plate 114. The vertical shift drive component 32 is fixedly installed on the vertical shift bracket 31 and drives the vertical shift transmission component 33 to rotate. The rotation of the vertical shift transmission component 33 drives the vertical shift conversion component 34 to move. The vertical shift conversion component 34 drives the vertical shift base plate 35 to move. The vertical shift sliding component 36 provides a track for the movement of the vertical shift base plate 35. The vertical shift base plate 35 drives the vertical shift connecting plate 37 located outside the vertical shift bracket 31 to move synchronously.

[0061] In this embodiment, the vertical movement bracket 31 is composed of four splicing plates that form a rectangular tube after splicing. The vertical movement drive component 32 is a motor, the vertical movement transmission component 33 is a lead screw, the vertical movement conversion component 34 is a nut that matches the lead screw, and the vertical movement sliding component 36 is a slider rail assembly.

[0062] To keep power cables and control cables organized and uncluttered, a drag chain 38 is also installed on one side of the vertical moving bracket 31.

[0063] Example 5: This example discloses a feasible specific structure of the flexible roll 4 based on Example 4, such as... Figures 1 to 7As shown, the reel drive 41 is fixedly mounted on the vertical moving connecting plate 37; the reel transmission 42 includes a drive wheel 421, a driven wheel 422, and a rotating wheel 423. The drive wheel 421 is fixedly connected to the output shaft of the reel drive 41, and the drive wheel 421 meshes with the driven wheel 422 for transmission. The driven wheel 422 is fixed to one side of the rotating wheel 423 to support the driven wheel 422; the vertical moving connecting plate 37 has a rotating hole 371 that matches the rotation of the rotating wheel 423, so that the vertical moving connecting plate 37 is rotatably connected to the driven wheel 422.

[0064] The winding wheel 43 is fixedly installed on the other side of the driven wheel 422 and moves synchronously with the driven wheel 422. The winding wheel 43 has a winding groove 431 on its outer periphery. The winding chain 44 includes interlocking chain pieces 441 and a chain belt 442. When the winding chain 44 is wound around the outer periphery of the winding wheel 43, the chain belt 442 matches the winding groove 431. The chain pieces 441 have first contact points 4411 at both ends away from the winding wheel 43 along the length direction. The chain belt 442 has connecting pieces 443 on its outer side. The connecting pieces 443 have second contact points 4431 at both ends away from the winding wheel 43 along the length direction, which match the first contact points 4411. When the chain belt 442 is disengaged from the winding wheel 43, the adjacent first contact points 4411... When the second contact point 4431 contacts, the chain 442 is in a straight line, that is, the chain 442 can extend straight to the length of the circumference of the reel 43; a pulley 444 is also provided on the outer side of the hinge between the chain piece 441 and the chain 442; the slide plate 45 has a second groove 452 in the horizontal direction; the vertical moving connecting plate 37 has a first groove 372 in the position opposite to the second groove 452 in the slide plate 45; when the reel 43 rotates, it will drive the pulley 444 at the outer end of the chain 44 to slide along the first groove 372 and the second groove 452, realizing the extension and retraction of the outer end of the chain 44, and thus driving the gripper 5 installed at the outer end of the chain 44 to move within the length range of the circumference of the reel 43;

[0065] To ensure the stability of the movement and structure of the flexible roller 4, the roller chain 44 is a double-row structure with a gap in the middle. Correspondingly, the roller wheel 43 is also set as a double-row structure. The first groove 372 and the second groove 452 are located at the relative positions of the double-row roller wheel 43. The double-row structure of the roller wheel 43 is fixedly connected by the first connecting rod 432. The chain piece 441 and the connecting piece 443 of the double-row structure of the roller chain 44 are fixedly connected by the second connecting rod 445. The slide plate 45 is fixedly connected to the vertical moving connecting plate 37 by the third connecting rod 451.

[0066] In this embodiment, the roller drive 41 is a motor, the driving wheel 421 is a pinion, the driven wheel 422 is a gear, and the rotational connection between the rotating wheel 423 and the rotating hole 371 is achieved by bearings, with the pulley 444 being a ball bearing.

[0067] Example 6: This example discloses a feasible specific structure of the gripper 5 based on Example 5, such as... Figure 8 , Figure 9 As shown, the gripper 5 includes a gripper arm 51, a pusher head 52, a linear drive member 53, and a retainer 54. Two gripper arms 51 are symmetrically arranged. The two gripper arms 51 can move closer to each other or further away from each other under the pusher head 52. The output shaft of the linear drive member 53 is fixedly connected to the pusher head 52 and is used to push the pusher head to move. The linear drive member 53 is fixedly mounted on the retainer 54.

[0068] The inner sides of the two claw arms 51 are provided with an inwardly inclined opening slope 511 and an outwardly inclined clamping slope 512. The outer side of the push head 52 is provided with an outer inclined slope 521 and the inner side is provided with an inner inclined slope 522. When the push head 52 moves, the opening slope 511 and the outer inclined slope 521 cooperate to make the two claw arms 51 move away from each other, and the clamping slope 512 and the inner inclined slope 522 cooperate to make the two claw arms 51 move closer to each other.

[0069] The claw arm 51 also includes a swing arm 513, a hinge part 514 and a clamping arm 515. The hinge part 514 is located at one end of the swing arm 513, and the opening clamping slope 511 and the clamping slope 512 are disposed on the inner side of the other end of the swing arm 513. The other end of the swing arm 513 is also connected to the clamping arm 515.

[0070] The clamping arm 515 includes an inner clamping part 5151, an outer clamping part 5152, and an elastic groove 5153. The inner clamping part 5151 and the outer clamping part 5152 are located on the side of the clamping arm 515 closer to the swing arm 513 and the side away from the swing arm 513, respectively. The elastic groove 5153 is opened in the middle of the clamping arm 515 at the outer clamping part 5152. The arrangement of the inner clamping part 5151, the outer clamping part 5152, and the elastic groove 5153 ensures that when clamping materials, the clamping arm 515 and the materials have four lines of contact in an approximately rectangular distribution, thereby ensuring stable clamping. The elastic groove 5153 makes the outer clamping part 5152 elastically clamped, thereby improving adaptability.

[0071] The clamping arm 515 is also provided with a guide part 5154, which is located at the end of the clamping arm 515 away from the swing arm 513, and is used to guide the material into the middle of the two clamping arms 515.

[0072] The main technical features, basic principles, and related advantages of this utility model have been described above. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the concept or basic characteristics of this utility model. Therefore, the above-described embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model.

[0073] Furthermore, it should be understood that although this specification describes various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A four-axis flexible robot characterized by, include: Translation axis (1), rotation axis (2), vertical axis (3), flexible scroll (4), and gripper (5), wherein: Translation axis (1) is fixed on the frame and is used to drive the rotating axis (2) and the vertical axis (3) to translate. The rotating shaft (2) is fixed on the translation shaft (1) and is used to drive the vertical shaft (3) to rotate; The vertical axis (3) is located on the translation axis (1) and the rotation axis (2) and is used to drive the flexible scroll (4) to move vertically; A flexible roller (4) is fixedly mounted on a vertical axis (3) and is used to drive the gripper (5) to extend and retract to grip materials at different positions. It includes a roller drive (41), a roller transmission (42), a roller (43), a roller chain (44), and a slide plate (45). The roller drive (41) drives the roller transmission (42) to rotate. The roller transmission (42) drives the roller (43) to rotate. The slide plate (45) is mounted on one side of the outer circumference of the roller (43). The roller chain (44) is wound around the outer circumference of the roller (43). The inner end of the roller chain (44) is fixed on one side of the outer circumference of the roller (43), and the outer end is slidably connected to the slide plate (45). The rotation of the roller (43) drives the roller chain (44) to slide and extend along the slide plate (45). The gripper (5) is fixedly connected to the outer end of the chain (44) of the flexible reel (4) and slidably connected to the slide plate (45) for gripping materials.

2. The four-axis flexible manipulator of claim 1, wherein, The translation axis (1) includes the upper translation track (11) and the lower translation track (12); The translational upper track (11) includes an upper drive member (111), an upper transmission member (112), an upper conversion member (113), an upper seat plate (114), and an upper sliding member (115). The upper drive member (111) drives the upper transmission member (112) to rotate, the upper transmission member (112) drives the upper conversion member (113) to move, the upper conversion member (113) drives the upper seat plate (114) to move, and the upper sliding member (115) provides a track for the movement of the upper seat plate (114). The translational lower track (12) includes a lower drive member (121), a lower transmission member (122), a lower conversion member (123), a lower seat plate (124), and a lower sliding member (125). The lower drive member (121) drives the lower transmission member (122) to rotate, the lower transmission member (122) drives the lower conversion member (123) to move, the lower conversion member (123) drives the lower seat plate (124) to move, and the lower sliding member (125) provides a track for the movement of the lower seat plate (124).

3. The four-axis flexible manipulator of claim 2, wherein, The rotating shaft (2) includes a rotating drive (21) and a rotating transmission (22). The rotating drive (21) is fixedly mounted on the lower seat plate (124). The rotating drive (21) drives the rotating transmission (22) to rotate. The upper end of the rotating transmission (22) is connected to the lower end of the vertical shift shaft (3).

4. The four-axis flexible manipulator of claim 3, wherein, The vertical shift shaft (3) includes a vertical shift bracket (31), a vertical shift drive (32), a vertical shift transmission component (33), a vertical shift conversion component (34), a vertical shift seat plate (35), a vertical shift sliding component (36), and a vertical shift connecting plate (37). The lower end of the vertical shift bracket (31) is fixedly connected to the rotary transmission component (22), and the upper end is rotatably connected to the upper seat plate (114). The vertical shift drive (32) is fixedly installed on the vertical shift bracket (31) and drives the vertical shift transmission component (33) to rotate. The rotation of the vertical shift transmission component (33) drives the vertical shift conversion component (34) to move. The vertical shift conversion component (34) drives the vertical shift seat plate (35) to move. The vertical shift sliding component (36) provides a track for the vertical shift seat plate (35) to move. The vertical shift plate (35) drives the vertical shift connecting plate (37) located outside the vertical shift bracket (31) to move synchronously.

5. The four-axis flexible manipulator of claim 4, wherein, The reel drive (41) is fixedly mounted on the vertical moving connecting plate (37); the reel transmission (42) includes a drive wheel (421), a driven wheel (422) and a rotating wheel (423). The drive wheel (421) is fixedly connected to the output shaft of the reel drive (41). The drive wheel (421) meshes with the driven wheel (422) for transmission. The driven wheel (422) is fixed on one side of the rotating wheel (423) to support the driven wheel (422). The vertical moving connecting plate (37) has a rotating hole (371) that matches the rotation of the rotating wheel (423), so that the vertical moving connecting plate (37) and the driven wheel (422) are rotatably connected.

6. The four-axis flexible manipulator according to claim 5, characterized in that, The reel (43) is fixedly installed on the other side of the driven wheel (422) and moves synchronously with the driven wheel (422). The outer circumference of the reel (43) has a groove (431). The chain (44) includes interlocking chain pieces (441) and a chain belt (442). When the chain (44) is wound around the outer circumference of the reel (43), the chain belt (442) matches the groove (431). The two ends of the chain pieces (441) away from the reel (43) along the length direction are provided with first contact points (4411). The outer side of the chain belt (442) is provided with connecting pieces (443). The two ends of the connecting pieces (443) away from the reel (43) along the length direction are provided with second contact points (4431) that match the first contact points (4411). When the chain belt (442) is disengaged from the reel (43), the adjacent first contact points (4411) are connected. 1) When the second contact point (4431) is in contact, the chain (442) is in a straight line, that is, the chain (442) can be extended in a straight line to the length of the circumference of the reel (43); a pulley (444) is also provided on the outside of the hinge of the chain piece (441) and the chain (442); the slide plate (45) has a second groove (452) in the horizontal direction; the vertical moving connecting plate (37) has a first groove (372) in the position opposite to the second groove (452) in the slide plate (45); when the reel (43) rotates, it will drive the pulley (444) at the outer end of the chain (44) to slide along the first groove (372) and the second groove (452), thereby realizing the extension and retraction of the outer end of the chain (44), and then driving the gripper (5) installed at the outer end of the chain (44) to move within the length range of the circumference of the reel (43).

7. The four-axis flexible manipulator of claim 6, wherein the roll The chain (44) has a double-row structure with a gap in the middle. Correspondingly, the reel (43) is also set as a double-row structure. The first groove (372) and the second groove (452) are located at the relative positions of the double-row reel (43). The double-row structure of the reel (43) is fixedly connected by the first connecting rod (432). The chain piece (441) and the connecting piece (443) of the double-row structure of the chain (44) are fixedly connected by the second connecting rod (445). The slide plate (45) is fixedly connected to the vertical moving connecting plate (37) by the third connecting rod (451).

8. The four-axis flexible manipulator of claim 7, wherein, The gripper (5) includes a gripper arm (51), a pusher (52), a linear drive (53), and a retainer (54). There are two gripper arms (51) symmetrically arranged. The two gripper arms (51) can move closer to each other or further away from each other under the pusher (52). The output shaft of the linear drive (53) is fixedly connected to the pusher (52) and is used to push the pusher to move. The linear drive (53) is fixedly mounted on the retainer (54). The two claw arms (51) are provided with an inwardly inclined opening clamping surface (511) and an outwardly inclined clamping surface (512) on their opposite inner sides. The push head (52) is provided with an outer inclined surface (521) on its outer side and an inner inclined surface (522) on its inner side. When the push head (52) moves, the opening clamping surface (511) and the outer inclined surface (521) cooperate to make the two claw arms (51) move away from each other, and the clamping surface (512) and the inner inclined surface (522) cooperate to make the two claw arms (51) move closer to each other. The claw arm (51) also includes a swing arm (513), a hinge (514) and a clamping arm (515). The hinge (514) is located at one end of the swing arm (513), and the opening slope (511) and the clamping slope (512) are located on the inner side of the other end of the swing arm (513). The other end of the swing arm (513) is also connected to the clamping arm (515).

9. The four-axis flexible manipulator of claim 8, wherein, The clamping arm (515) includes an inner clamping part (5151), an outer clamping part (5152), and an elastic groove (5153). The inner clamping part (5151) and the outer clamping part (5152) are located on the side of the clamping arm (515) closer to the swing arm (513) and the side farther away from the swing arm (513), respectively. The elastic groove (5153) is opened in the middle of the clamping arm (515) at the outer clamping part (5152). The arrangement of the inner clamping part (5151), the outer clamping part (5152), and the elastic groove (5153) ensures that when clamping materials, the clamping arm (515) and the materials have four lines of contact in an approximately rectangular distribution, thereby ensuring stable clamping. The arrangement of the elastic groove (5153) makes the outer clamping part (5152) elastically clamped, thereby improving adaptability.

10. The four-axis flexible manipulator of claim 9, wherein, The upper drive unit (111) and the lower drive unit (121) are motors, the upper transmission unit (112) and the lower transmission unit (122) are synchronous belt assemblies, the upper conversion unit (113) and the lower conversion unit (123) are clamping assemblies clamped on the synchronous belt assembly, and the upper sliding unit (115) and the lower sliding unit (125) are slide rail slider assemblies; It is also provided with a rotary positioning component (23) for positioning and resetting the rotary transmission component (22); The vertical movement bracket (31) is composed of four splicing plates that form a rectangular tube after splicing. The vertical movement drive component (32) is a motor, the vertical movement transmission component (33) is a lead screw, the vertical movement conversion component (34) is a nut that matches the lead screw, and the vertical movement sliding component (36) is a slider and slide rail assembly. A drag chain (38) is also provided on one side of the vertical moving bracket (31); The reel drive (41) is a motor, the driving wheel (421) is a small gear, the driven wheel (422) is a large gear, the rotational connection between the rotating wheel (423) and the rotating hole (371) is achieved by bearings, and the pulley (444) is a ball bearing; The clamping arm (515) is also provided with a guide part (5154), which is located at the end of the clamping arm (515) away from the swing arm (513) and is used to guide the material into the middle of the two clamping arms (515).

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