CN206632561U - A kind of manipulator of Multi-angle free rotation - Google Patents
A kind of manipulator of Multi-angle free rotation Download PDFInfo
- Publication number
- CN206632561U CN206632561U CN201720231345.7U CN201720231345U CN206632561U CN 206632561 U CN206632561 U CN 206632561U CN 201720231345 U CN201720231345 U CN 201720231345U CN 206632561 U CN206632561 U CN 206632561U
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- China
- Prior art keywords
- motor
- manipulator
- power transmission
- rotating mechanism
- transmission shaft
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- 238000003466 welding Methods 0.000 claims abstract description 48
- 230000005540 biological transmission Effects 0.000 claims description 35
- 210000000707 wrist Anatomy 0.000 claims description 29
- 230000005611 electricity Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims 1
- 239000007787 solid Substances 0.000 abstract description 7
- 239000012141 concentrate Substances 0.000 abstract description 3
- 238000009713 electroplating Methods 0.000 abstract description 3
- 230000005484 gravity Effects 0.000 abstract description 3
- 239000011435 rock Substances 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a kind of manipulator of Multi-angle free rotation, the utility model manipulator design is steady, it will not produce and rock, deceleration device is provided with the 4th motor, the rotary speed of welding mechanism can be alleviated, 5th motor driving welding mechanism is swung around the 5th drive shaft, 4th motor driving welding mechanism and the 5th motor integral-rotation simultaneously, therefore, electroplating equipment wielding machine can reach multiple angles to weld, make the welding more convenient, it is not necessary to which separately adding tool is aided in again.In addition, support uses more thick and heavy solid metallic structure more, solid metallic structure makes whole equipment center of gravity concentrate on manipulator lower wall, improves the stability of manipulator.
Description
Technical field
Plant equipment is the utility model is related to, particularly relates to a kind of manipulator of Multi-angle free rotation.
Background technology
At present, manipulator application has been widely used, and manipulator is applied to material carrying, product crawl, product cutting
The many kinds of work position such as processing, welding, while convenient produce, also solves the problems, such as cost of labor, but manipulator still needs
Constantly improve, the utility model is studied for welded type manipulator, to improve the weak point of traditional manipulator, is passed
The manipulator of system has following weak point in terms of welding：
1. traditional manipulator adjustable-angle scope is narrower, in some Product processings, it is necessary to set special frock
To aid in welding；
2. welding stability is low, because welding requirements is uniform, need to consider entirely to set in manipulator rocking process
Standby stability, traditional manipulator still can carry slight rock at present.
Utility model content
For deficiency of the prior art, the technical problems to be solved in the utility model is the provision of a kind of multi-angle certainly
By the manipulator rotated.
In order to solve the above technical problems, the utility model is realized by following scheme：A kind of Multi-angle free rotation
Manipulator, the manipulator are fixed on a frame upper end, and the free degree manipulator includes support and the water being placed on support
Flat rotating mechanism, the horizontal rotary mechanism sidepiece are provided with arm rotating mechanism, and the shaft end of the arm rotating mechanism connects
Meet wrist rotating mechanism, the shaft end connecting welding mechanism of the wrist rotating mechanism；
The support is fixed on a bottom plate, and bottom plate is secured by bolts in frame, and the support is in cylinder, at it
Upper end is provided with fixed disk by bolt, and the fixed disk center is fixed with an axostylus axostyle, axostylus axostyle other end connection horizontal rotation machine
Structure；
The horizontal rotary mechanism includes the first motor, arm rotating mechanism mounting seat, first motor
Vertical to place, its drive division connects above-mentioned axostylus axostyle, and drive division is integral with motor housing, arm rotating mechanism mounting seat, institute
State arm rotating mechanism mounting seat sidepiece and be fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor, torque power transmission shaft, and second motor is laterally disposed,
It is vertical with the first motor, second motor and torque power transmission shaft vertical connection, and torque transmission the tip of the axis connects
Connect wrist rotating mechanism；
The wrist rotating mechanism includes the 3rd motor, the 4th motor, wrist power transmission shaft, the 3rd driving
Motor is installed vertically on torque transmission the tip of the axis, its motor of shell sidepiece right angle setting the 4th, the 3rd driving electricity
Machine driving wrist power transmission shaft is rotated around the 3rd drive motor shaft, and the axle portion of the 4th motor is passed through in the middle part of wrist power transmission shaft
Through hole, the rotating seat of its end connecting welding mechanism；
The welding mechanism includes rotating seat, the 5th motor, welding conduit, plumb joint, and the rotating seat connection is solid
Surely there is U-shaped frame, the opening axis connection of U-shaped frame has welding base, and the axle outer end of the welding base, U-shaped frame outside connection the 5th are driven
Dynamic motor, the welding base connecting welding conduit, welds conduit connecting welding head.
Further, it is also equipped with controlling case assembly on the bottom plate, the control case assembly includes vertical mounting blocks, control
Box, control box side are installed on the side of vertical mounting blocks, and the vertical mounting blocks are placed in the side of support.
Further, the 4th driving motor belt motor has deceleration device.
Further, in the middle part of the wrist power transmission shaft it is through hole, its end and rotating seat ends contact.
Further, the torque power transmission shaft is that axis body bar portion is square.
Further, axis body bar part two parts of the wrist power transmission shaft, it is cone close to the 4th driving motor side,
Part away from the 4th motor is cylinder.
Relative to prior art, the beneficial effects of the utility model are：The utility model manipulator design is steady, will not produce
Life is rocked, and is provided with deceleration device on the 4th motor, can be alleviated the rotary speed of welding mechanism, the 5th motor
Driving welding mechanism is swung around the 5th drive shaft, while the 4th motor driving welding mechanism integrally revolves with the 5th motor
Turn, therefore, electroplating equipment wielding machine can reach multiple angles to weld, and make welding more convenient, it is not necessary to which separately adding tool comes again
Aided in.In addition, support uses more thick and heavy solid metallic structure more, solid metallic structure concentrates whole equipment center of gravity
In manipulator lower wall, the stability of manipulator is improved.
Brief description of the drawings
Fig. 1 is the utility model robot manipulator structure schematic diagram.
Marked in accompanying drawing：3rd motor 101, torque power transmission shaft 102, the first motor 103, control case assembly
104th, support 105, bottom plate 106, frame 107, the second motor 108, plumb joint 109, the welding driving electricity of conduit the 110, the 5th
Machine 111, wrist power transmission shaft 112, fixed disk 113, the 4th motor 114.
Embodiment
Preferred embodiment of the present utility model is described in detail below in conjunction with the accompanying drawings, so that the advantages of the utility model
It can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear and definite so as to be made to the scope of protection of the utility model
Define.
Accompanying drawing 1, a kind of manipulator of Multi-angle free rotation of the utility model are refer to, the manipulator is fixed on one
The upper end of frame 107, the free degree manipulator include support 105 and the horizontal rotary mechanism being placed on support 105, the level
Rotating mechanism sidepiece is provided with arm rotating mechanism, and the shaft end connection wrist rotating mechanism of the arm rotating mechanism is described
The shaft end connecting welding mechanism of wrist rotating mechanism；The support 105 is fixed on a bottom plate 106, and bottom plate 106 passes through bolt
It is fixed in frame 107, the support 105 is provided with fixed disk 113, the fixation in its upper end in cylinder by bolt
The center of disk 113 is fixed with an axostylus axostyle, axostylus axostyle other end connection horizontal rotary mechanism；
The horizontal rotary mechanism includes the first motor 103, arm rotating mechanism mounting seat, the first driving electricity
Machine 103 is vertically placed, and its drive division connects above-mentioned axostylus axostyle, and drive division is one whole with motor housing, arm rotating mechanism mounting seat
Body, the arm rotating mechanism mounting seat sidepiece are fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor 108, torque power transmission shaft 102, second motor 108
Laterally disposed, it is vertical with the first motor 103, second motor 108 and the vertical connection of torque power transmission shaft 102,
The end connection wrist rotating mechanism of torque power transmission shaft 102；
The wrist rotating mechanism includes the 3rd motor 101, the 4th motor 114, wrist power transmission shaft 112, institute
The end that the 3rd motor 101 is installed vertically on torque power transmission shaft 102 is stated, its motor of shell sidepiece right angle setting the 4th
114, the 3rd motor 101 driving wrist power transmission shaft 112 rotates around the 3rd drive motor shaft, the 4th motor
114 axle portion passes through the through hole at the middle part of wrist power transmission shaft 112, the rotating seat of its end connecting welding mechanism；The welding mechanism
Including rotating seat, the 5th motor 111, welding conduit 110, plumb joint 109, the rotating seat is fixedly connected with U-shaped frame, U
The opening axis connection of type frame has welding base, the axle outer end of the welding base, the 5th motor 111 of U-shaped frame outside connection, institute
State welding base connecting welding conduit 110, welding conduit 110 connecting welding first 109.Control box is also equipped with the bottom plate 106
Component 104, the control case assembly 104 include vertical mounting blocks, control box, and control box side is installed on the side of vertical mounting blocks,
The vertical mounting blocks are placed in the side of support 105, and the 4th motor 114 carries deceleration device, the wrist transmission
The middle part of axle 112 be through hole, its end and rotating seat ends contact, the torque power transmission shaft 102 be axis body bar portion be it is square, it is described
Axis body bar part two parts of wrist power transmission shaft 112, it is cone close to the end of the 4th motor 114, away from the 4th driving electricity
The part of machine 114 is cylinder.
The method of operation of the present utility model is as follows：
Start manipulator；
The drive division of first motor 103 is connected with axostylus axostyle, and axostylus axostyle is integrally fixed on fixed disk 113, and therefore, first drives
The drive division of dynamic motor 103 and, motor housing, arm rotating mechanism mounting seat rotated by reaction force, and then, arm whirler
Structure mounting seat drives arm rotating mechanism to rotate horizontally；
The shaft end socket torque power transmission shaft 102 of second motor 108 of arm rotating mechanism, torque power transmission shaft 102 around
Second drive motor shaft rotates, and being capable of 360 degree of rotations.
The external shell of 3rd motor 101 is integral, and its axle portion is integrally fixed at the end circular hole of torque power transmission shaft 102
It is interior, when the 3rd motor 101 works, its reaction force by the 3rd drive motor shaft and rotate, the 3rd motor
101 external shells drive whole wrist rotating mechanism to swing up and down, when the 4th motor 114 works, the driving welding of its axostylus axostyle
Mechanical left rotation and right rotation, the weld part of welding mechanism end are made to rotate up and down by the driving of the 5th motor 111.
Therefore, the utility model manipulator design is steady, will not produce and rock, and deceleration is provided with the 4th motor
Device, the rotary speed of welding mechanism can be alleviated, the 5th motor driving welding mechanism is swung around the 5th drive shaft, simultaneously
4th motor drives welding mechanism and the 5th motor integral-rotation, and therefore, electroplating equipment wielding machine can reach multiple angles
To weld, make welding more convenient, it is not necessary to which separately adding tool is aided in again.In addition, use is more thick and heavy more than support
Solid metallic structure, solid metallic structure makes whole equipment center of gravity concentrate on manipulator lower wall, improves the stabilization of manipulator
Property.
Preferred embodiment of the present utility model is the foregoing is only, not thereby limits patent model of the present utility model
Enclose, every equivalent structure made using the utility model specification and accompanying drawing content or equivalent flow conversion, or directly or
Connect and be used in other related technical fields, be similarly included in scope of patent protection of the present utility model.
Claims (6)
1. a kind of manipulator of Multi-angle free rotation, the manipulator are fixed on a frame (107) upper end, its feature exists
In：The free degree manipulator includes support (105) and the horizontal rotary mechanism being placed on support (105), the horizontal rotation
Mechanism sidepiece is provided with arm rotating mechanism, the shaft end connection wrist rotating mechanism of the arm rotating mechanism, the wrist
The shaft end connecting welding mechanism of rotating mechanism；
The support (105) is fixed on a bottom plate (106), and bottom plate (106) is secured by bolts in frame (107), described
Support (105) is provided with fixed disk (113), fixed disk (113) center and an axle in its upper end in cylinder by bolt
Bar is fixed, axostylus axostyle other end connection horizontal rotary mechanism；
The horizontal rotary mechanism includes the first motor (103), arm rotating mechanism mounting seat, first motor
(103) vertical to place, its drive division connects above-mentioned axostylus axostyle, and drive division is one whole with motor housing, arm rotating mechanism mounting seat
Body, the arm rotating mechanism mounting seat sidepiece are fixed with arm rotating mechanism；
The arm rotating mechanism includes the second motor (108), torque power transmission shaft (102), second motor
(108) laterally disposed, it is vertical with the first motor (103), second motor (108) and torque power transmission shaft
(102) vertical connection, the end connection wrist rotating mechanism of torque power transmission shaft (102)；
The wrist rotating mechanism includes the 3rd motor (101), the 4th motor (114), wrist power transmission shaft (112),
3rd motor (101) is installed vertically on the end of torque power transmission shaft (102), its shell sidepiece right angle setting 4 wheel driven
Dynamic motor (114), the 3rd motor (101) the driving wrist power transmission shaft (112) rotates around the 3rd drive motor shaft, described
The axle portion of 4th motor (114) passes through the through hole in the middle part of wrist power transmission shaft (112), the rotation of its end connecting welding mechanism
Seat；
The welding mechanism includes rotating seat, the 5th motor (111), welding conduit (110), plumb joint (109), the rotation
Swivel base is fixedly connected with U-shaped frame, and the opening axis connection of U-shaped frame has welding base, axle outer end, the U-shaped frame outside of the welding base
The 5th motor (111) is connected, the welding base connecting welding conduit (110), welds conduit (110) connecting welding head
(109)。
A kind of 2. manipulator of Multi-angle free rotation according to claim 1, it is characterised in that：The bottom plate (106)
On be also equipped with control case assembly (104), the control case assembly (104) include vertical mounting blocks, control box, control box side installation
In the side of vertical mounting blocks, the vertical mounting blocks are placed in the side of support (105).
A kind of 3. manipulator of Multi-angle free rotation according to claim 1, it is characterised in that：The 4th driving electricity
Machine (114) carries deceleration device.
A kind of 4. manipulator of Multi-angle free rotation according to claim 1, it is characterised in that：The wrist power transmission shaft
(112) middle part is through hole, its end and rotating seat ends contact.
A kind of 5. manipulator of Multi-angle free rotation according to claim 1, it is characterised in that：The torque power transmission shaft
(102) it is that axis body bar portion is square.
A kind of 6. manipulator of Multi-angle free rotation according to claim 4, it is characterised in that：The wrist power transmission shaft
(112) axis body bar part two parts, it is cone close to the 4th motor (114) end, away from the 4th motor (114)
Part for cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720231345.7U CN206632561U (en) | 2017-03-10 | 2017-03-10 | A kind of manipulator of Multi-angle free rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720231345.7U CN206632561U (en) | 2017-03-10 | 2017-03-10 | A kind of manipulator of Multi-angle free rotation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206632561U true CN206632561U (en) | 2017-11-14 |
Family
ID=60249186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720231345.7U Expired - Fee Related CN206632561U (en) | 2017-03-10 | 2017-03-10 | A kind of manipulator of Multi-angle free rotation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206632561U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109158807A (en) * | 2018-08-31 | 2019-01-08 | 南京涵铭置智能科技有限公司 | A kind of Intelligent welding mechanical arm |
| CN109277746A (en) * | 2018-12-17 | 2019-01-29 | 郭玉华 | A kind of welding manipulator for capableing of multi-angle rotary |
-
2017
- 2017-03-10 CN CN201720231345.7U patent/CN206632561U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109158807A (en) * | 2018-08-31 | 2019-01-08 | 南京涵铭置智能科技有限公司 | A kind of Intelligent welding mechanical arm |
| CN109277746A (en) * | 2018-12-17 | 2019-01-29 | 郭玉华 | A kind of welding manipulator for capableing of multi-angle rotary |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171114 |