Four-axis interchange transferring manipulator

Abstract

The utility model relates to the technical field of transfer manipulators, and discloses a four-axis interchange transfer manipulator which comprises a four-axis moving machine and a moving table, one side of the moving table is fixedly connected with a supporting frame, the interior of the supporting frame is fixedly connected with a fixing frame, the top of the fixing frame is fixedly connected with a motor, the output end of the motor is fixedly connected with a threaded column, and the threaded column is fixedly connected with a threaded rod. The outer wall of the threaded column is in threaded connection with a sleeve, the outer wall of the sleeve is fixedly connected with a connecting frame, the top of the fixing frame is fixedly connected with a supporting column, the top end of the supporting column is rotationally connected with a rotating rod, and two connecting rods are rotationally connected into the connecting frame. According to the mechanical arm, the motor is started to drive the threaded column to rotate, the sleeve moves in the axial direction through threaded connection of the threaded column and the sleeve, then the connecting frame, the connecting rod, the clamping arms and the clamping plates are driven to move, the structures work cooperatively, and the effect that objects of various sizes can be clamped and transferred is achieved; and therefore, the applicability of the four-axis interchange transferring manipulator is improved.

Description

Technical Field

[0001] This utility model relates to the field of transfer robot technology, and in particular to a four-axis cross-sectional transfer robot. Background Technology

[0002] In modern industrial automation, transfer robots are key equipment for material handling and assembly, and their performance directly impacts production efficiency and flexibility. Traditional three-axis robots have limitations in spatial positioning, making it difficult to meet the multi-angle operation requirements under complex working conditions. The four-axis vertical transfer robot has emerged to address this need. It innovatively adopts a four-axis linkage design, achieving multi-dimensional spatial positioning through a four-axis locator. Combined with an adjustable gripping mechanism, it breaks through the bottlenecks of traditional robots in terms of operating range and adaptability. This device not only efficiently completes the gripping and transfer of items but also adapts to materials of different sizes and shapes by flexibly adjusting the gripping force and range, providing a more adaptable solution for intelligent manufacturing and driving industrial automation towards higher precision and flexibility.

[0003] Existing industrial transfer robots mainly adopt the following technical solutions: one is the traditional robot, which achieves spatial positioning through the combination of multiple linear axes, and the end effector is mostly a fixed gripper or suction cup; the other is the articulated robot, which usually has multiple rotary joints and can achieve complex spatial motion trajectories.

[0004] However, existing transfer robots suffer from limitations in handling various sizes of items due to fixed gripping mechanisms or limited adjustment ranges. This necessitates the customization of specialized grippers for different items, increasing production costs and equipment changeover time. In real-world production scenarios, different sizes of circuit boards, components, and other materials often need to be processed on the same production line. Traditional robots require frequent gripper changes to adapt to different materials, which not only reduces production efficiency but also increases equipment maintenance costs. To address these issues, a four-axis vertical transfer robot is proposed. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a four-axis vertical transfer robot, which aims to improve the problem that the existing gripping mechanism design has a limited fixed or adjustable range, resulting in the inability to flexibly grip and transfer items of various sizes, thus reducing production efficiency.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A four-axis interchange transfer robot includes a four-axis locator and a locator. A support frame is fixedly connected to one side of the locator. A fixed frame is fixedly connected inside the support frame. A motor is fixedly connected to the top of the fixed frame. A threaded column is fixedly connected to the output end of the motor. A sleeve is threadedly connected to the outer wall of the threaded column. A connecting frame is fixedly connected to the outer wall of the sleeve. A support column is fixedly connected to the top of the fixed frame. A rotating rod is rotatably connected to the top of the support column. Two connecting rods are rotatably connected inside the connecting frame. One of the connecting rods is rotatably connected inside the rotating rod. Transfer components are provided on the outer walls of the two connecting rods. A fixing component is provided inside the support frame.

[0008] The transfer assembly includes a clamping arm and a clamping plate. The clamping arm is fixedly connected to the outer walls of two connecting rods inside, and one side of the clamping plate is fixedly connected to one side of the clamping arm.

[0009] As a further description of the above technical solution:

[0010] The fixing component includes a fixing base and two positioning plates. The bottom of the fixing base is fixedly connected to the inside of the support frame, and the two positioning plates are symmetrically arranged on the top of the fixing base.

[0011] As a further description of the above technical solution:

[0012] A connecting block is fixedly connected to one side of the fixing frame, and the connecting block is slidably connected between the two positioning plates.

[0013] As a further description of the above technical solution:

[0014] The top of the fixed base is fixedly connected to a slide rail, and both positioning plates are slidably connected to the outer wall of the slide rail.

[0015] As a further description of the above technical solution:

[0016] Multiple positioning posts are fixedly connected to one side of each of the two positioning plates, and multiple positioning holes are opened on both sides of the connecting block. The multiple positioning posts are slidably connected inside the multiple positioning holes.

[0017] As a further description of the above technical solution:

[0018] A fixing plate is fixedly connected to the top of the fixing base, and a bidirectional screw is rotatably connected inside the fixing plate.

[0019] As a further description of the above technical solution:

[0020] A knob is fixedly connected to one end of the bidirectional screw, the bidirectional screw is threaded inside the two positioning plates, and the connecting block is sleeved on the outer wall of the bidirectional screw.

[0021] This utility model has the following beneficial effects:

[0022] 1. In this utility model, the starting motor drives the threaded column to rotate, and the threaded connection between the threaded column and the sleeve causes the sleeve to move axially, thereby driving the connecting frame, connecting rod, clamping arm and clamping plate to move. These structures work together to achieve the effect of clamping and transferring items of various sizes. This solves the problem that the clamping mechanism is designed to be fixed or has a limited adjustment range, which makes it impossible to flexibly clamp and transfer items of various sizes and reduces production efficiency. This improves the applicability of the four-axis vertical transfer robot.

[0023] 2. In this utility model, the rotation of the knob drives the bidirectional screw to rotate. With the help of the threaded connection between the bidirectional screw and the positioning plate, and the sliding of the positioning plate on the slide rail, the positioning pin on the positioning plate is inserted into the positioning hole of the connecting block. These structures cooperate with each other to achieve the effect of easy disassembly and replacement of the transplanting component. This solves the problems of cumbersome disassembly and assembly, inaccurate positioning, and difficulty in quickly adapting to different operation requirements of traditional four-axis overpass transfer robots, which limit the application scenarios of the robot. This improves the flexibility of the four-axis overpass transfer robot. Attached Figure Description

[0024] Figure 1 This is a three-dimensional schematic diagram of the four-axis cross-sectional transfer robot proposed in this utility model;

[0025] Figure 2 This is a schematic diagram of the side wall structure of the moving platform of the four-axis cross-sectional transfer robot proposed in this utility model.

[0026] Figure 3 This is a schematic diagram of the top structure of the fixing frame of the four-axis cross-sectional transfer robot proposed in this utility model.

[0027] Figure 4 This is a schematic diagram of the internal structure of the support frame of the four-axis cross-sectional transfer robot proposed in this utility model.

[0028] Figure 5 This is a schematic diagram of the positioning plate structure of the four-axis cross-flow transfer robot proposed in this utility model.

[0029] Legend:

[0030] 1. Four-axis moving machine; 2. Moving table; 3. Support frame; 4. Fixing frame; 5. Motor; 6. Threaded column; 7. Sleeve; 8. Connecting frame; 9. Support column; 10. Rotating rod; 11. Connecting rod; 12. Clamping arm; 13. Clamping plate; 14. Fixing seat; 15. Connecting block; 16. Slide rail; 17. Positioning plate; 18. Positioning column; 19. Positioning hole; 20. Fixing plate; 21. Bidirectional screw; 22. Knob. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Reference Figures 1-3 This utility model provides an embodiment of a four-axis cross-sectional transfer robot, including a four-axis mobile machine 1 and a mobile platform 2. The four-axis mobile machine 1 and the mobile platform 2 are mechanically connected to realize the overall movement of the robot, providing the necessary space and flexibility. A support frame 3 is fixedly connected to one side of the mobile platform 2. A fixed frame 4 is fixedly connected inside the support frame 3. A motor 5 is fixedly connected to the top of the fixed frame 4. A threaded column 6 is fixedly connected to the output end of the motor 5. A sleeve 7 is threadedly connected to the outer wall of the threaded column 6. A connecting frame 8 is fixedly connected to the outer wall of the sleeve 7. The function of the connecting frame 8 is to transmit the power of the motor 5 to other movable parts. A support column 9 is fixedly connected to the top of the fixed frame 4. A rotating rod 10 is rotatably connected to the top of the support column 9. Two connecting rods 11 are rotatably connected inside the connecting frame 8. The design of the connecting rods 11 allows them to rotate and adjust within a certain range to adapt to different operation requirements. One of the connecting rods 11 is rotatably connected inside the rotating rod 10. Transfer components are provided on the outer walls of the two connecting rods 11. A fixing component is provided inside the support frame 3.

[0033] The transfer assembly includes a clamping arm 12 and a clamping plate 13. The clamping arm 12 is fixedly connected to the outer wall of two connecting rods 11. One side of the clamping plate 13 is fixedly connected to one side of the clamping arm 12. Through the combination of the clamping plate 13 and the clamping arm 12, the target item can be effectively clamped and transported, ensuring stability and accuracy during operation.

[0034] Reference Figures 2-5The fixing assembly includes a fixing base 14 and two positioning plates 17. The bottom of the fixing base 14 is fixedly connected to the inside of the support frame 3. The two positioning plates 17 are symmetrically arranged on the top of the fixing base 14. A connecting block 15 is fixedly connected to one side of the fixing frame 4. The connecting block 15 is slidably connected between the two positioning plates 17. A slide rail 16 is fixedly connected to the top of the fixing base 14. Both positioning plates 17 are slidably connected to the outer wall of the slide rail 16. Multiple positioning posts 18 are fixedly connected to one side of each of the two positioning plates 17. Multiple positioning holes 19 are opened on both sides of the connecting block 15. The multiple positioning posts 18 are slidably connected to the multiple positioning holes 19 respectively. These positioning posts 18 can cooperate with the positioning holes 19 on the connecting block 15, thereby ensuring... To maintain the fixed position of the transplanting assembly during operation, a fixing plate 20 is fixedly connected to the top of the fixing base 14. A bidirectional screw 21 is rotatably connected inside the fixing plate 20. A knob 22 is fixedly connected to one end of the bidirectional screw 21. The bidirectional screw 21 is threadedly connected inside the two positioning plates 17. The design of the bidirectional screw 21 allows it to rotate in two directions, thereby adjusting the sliding position between the two positioning plates 17. A connecting block 15 is sleeved on the outer wall of the bidirectional screw 21. When the bidirectional screw 21 rotates, it causes the two positioning plates 17 to move relative to each other along the slide rail 16. The positioning pins 18 on the positioning plates 17 are inserted into the positioning holes 19 on the connecting block 15, achieving precise positioning and stable fixation of the fixing frame 4.

[0035] Working principle: When using this four-axis vertical transfer robot, the four-axis locator 1 first moves the moving platform 2 above the target item. Then, the motor 5 is started, and its output end drives the threaded column 6 to rotate. Since the sleeve 7 is threadedly connected to the threaded column 6, the sleeve 7 will move along the axial direction of the threaded column 6. The connecting frame 8 fixedly connected to the outer wall of the sleeve 7 moves accordingly. When the connecting frame 8 moves, the connecting rod 11 will drive the gripper arm 12 to move. The clamping plate 13 fixedly connected to one side of the gripper arm 12 opens or closes with the movement of the gripper arm 12, thereby completing the gripping and release of the item, thus achieving the effect of gripping and transferring items of various sizes.

[0036] When the transplanting components need to be disassembled and replaced, first place the connecting block 15 on one side of the fixing frame 4 between the two positioning plates 17 inside the support frame 3. Then turn the knob 22, and the bidirectional screw 21 will rotate accordingly. Since the bidirectional screw 21 is threadedly connected to the two positioning plates 17 and the positioning plates 17 slide on the slide rail 16, the rotation of the bidirectional screw 21 will cause the two positioning plates 17 to move relative to each other. During the movement of the positioning plates 17, the positioning pins 18 on the positioning plates 17 will be inserted into the positioning holes 19 on the connecting block 15, so as to achieve precise positioning and fixing of the fixing frame 4, thereby facilitating the disassembly and replacement of the transplanting components.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A four-axis interchange transfer robot, comprising a four-axis locator (1) and a moving platform (2), characterized in that: A support frame (3) is fixedly connected to one side of the mobile platform (2). A fixed frame (4) is fixedly connected inside the support frame (3). A motor (5) is fixedly connected to the top of the fixed frame (4). A threaded column (6) is fixedly connected to the output end of the motor (5). A sleeve (7) is threadedly connected to the outer wall of the threaded column (6). A connecting frame (8) is fixedly connected to the outer wall of the sleeve (7). A support column (9) is fixedly connected to the top of the fixed frame (4). A rotating rod (10) is rotatably connected to the top of the support column (9). Two connecting rods (11) are rotatably connected inside the connecting frame (8). One of the connecting rods (11) is rotatably connected inside the rotating rod (10). Transfer components are provided on the outer walls of the two connecting rods (11). A fixing component is provided inside the support frame (3). The transfer assembly includes a clamping arm (12) and a clamping plate (13). The clamping arm (12) is internally fixedly connected to the outer wall of two connecting rods (11), and one side of the clamping plate (13) is fixedly connected to one side of the clamping arm (12).

2. The four-axis interchange transfer robot according to claim 1, characterized in that: The fixing component includes a fixing seat (14) and two positioning plates (17). The bottom of the fixing seat (14) is fixedly connected to the inside of the support frame (3), and the two positioning plates (17) are symmetrically arranged on the top of the fixing seat (14).

3. The four-axis interchange transfer robot according to claim 2, characterized in that: A connecting block (15) is fixedly connected to one side of the fixing frame (4), and the connecting block (15) is slidably connected between the two positioning plates (17).

4. The four-axis interchange transfer robot according to claim 3, characterized in that: The top of the fixed base (14) is fixedly connected to the slide rail (16), and the two positioning plates (17) are slidably connected to the outer wall of the slide rail (16).

5. The four-axis interchange transfer robot according to claim 4, characterized in that: Multiple positioning posts (18) are fixedly connected to one side of each of the two positioning plates (17), and multiple positioning holes (19) are opened on both the left and right sides of the connecting block (15). The multiple positioning posts (18) are slidably connected inside the multiple positioning holes (19).

6. The four-axis interchange transfer robot according to claim 5, characterized in that: The top of the fixed base (14) is fixedly connected to a fixed plate (20), and a bidirectional screw (21) is rotatably connected inside the fixed plate (20).

7. The four-axis interchange transfer robot according to claim 6, characterized in that: A knob (22) is fixedly connected to one end of the bidirectional screw (21). The bidirectional screw (21) is threaded inside the two positioning plates (17). The connecting block (15) is sleeved on the outer wall of the bidirectional screw (21).

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