CN209190759U

CN209190759U - A kind of Manipulator arm structure

Info

Publication number: CN209190759U
Application number: CN201821385622.0U
Authority: CN
Inventors: 曾嘉
Original assignee: Harbin Dongan Building Board Co Ltd
Current assignee: Harbin Dongan Building Board Co Ltd
Priority date: 2018-08-27
Filing date: 2018-08-27
Publication date: 2019-08-02
Anticipated expiration: 2028-08-27

Abstract

The utility model discloses a kind of Manipulator arm structures, including pedestal, the lower part of the pedestal is symmetrically installed with movable pulley, the upper end center position of the pedestal is welded with expansion bracket, the upper end of the expansion bracket is welded with first rotating shaft, the upper end of the first rotating shaft is connected with the second shaft by shaft, the upright position of second shaft is connected with mechanical arm by shaft, the end of the mechanical arm is connected with third shaft by shaft, and the bottom of the third shaft is connected with by shaft is mechanically fixed seat；By between pedestal and bearing the setting of expansion bracket realize and can adjust the telescopic height of expansion bracket with rotary screw rod to enable the space length between bearing and pedestal to play the role of certain change, the bottom for compensating for conventional mechanical arm to a certain extent can not change its space length to help mechanical arm adjustment height and length come the deficiency on preferably being worked.

Description

A kind of Manipulator arm structure

Technical field

The utility model belongs to mechanical arm technical field, and in particular to a kind of Manipulator arm structure.

Background technique

Mechanical finger can imitate certain holding functions of manpower and arm, to by fixed routine crawl, carrying object or behaviour Make the automatic pilot of tool.Mainly it is made of executing agency, driving mechanism and control system three parts.It can replace people Heavy labor to realize the mechanization and automation of production, can be operated under hostile environment to protect personal safety, thus wide It is general to be applied to the departments such as machine-building, metallurgy, electronics, light industry and atomic energy.

Existing mechanical arm exists when catching article using mechanical arm, since mechanical arm is all-metal structure, institute To be difficult to easily catch fixed by article and withstand the problem of violent vibration does not fall out；In addition to this, existing Mechanical arm there is also the length of mechanical bearing and height have certain limitation, the pedestal of mechanical arm can not change space The problem of distance is to facilitate mechanical arm to work, thus it is proposed that a kind of Manipulator arm structure.

Utility model content

The purpose of this utility model is to provide a kind of Manipulator arm structures, mentioned above in the background art to solve Existing mechanical arm exists when catching article using mechanical arm, since mechanical arm is all-metal structure, so being difficult to light Easy catches fixed by article and withstands the problem of violent vibration does not fall out；In addition to this, existing manipulator There is also the length of mechanical bearing and height certain limitation for arm, and the pedestal of mechanical arm can not change space length with side Just the problem of mechanical arm works.

To achieve the above object, the utility model provides the following technical solutions: a kind of Manipulator arm structure, including bottom Seat, the lower part of the pedestal are symmetrically installed with movable pulley, and the upper end center position of the pedestal is welded with expansion bracket, described flexible The upper end of frame is welded with first rotating shaft, and the upper end of the first rotating shaft is connected with the second shaft, second shaft by shaft Upright position mechanical arm is connected with by shaft, the end of the mechanical arm is connected with third shaft by shaft, described The bottom of three shafts is connected with by shaft is mechanically fixed seat, and the bottom for being mechanically fixed seat has been bolted mechanical axis The pedestal outer surface center of frame, the machinery pedestal is connected with mechanical spindle, the lower end of the machinery spindle by shaft Manipulator is connected with by shaft, the bottom of the manipulator passes through shaft and is connected with mechanical fixture block, the machinery fixture block Outer surface on the inside of be symmetrically arranged with grinding tooth.

Preferably, the top and bottom junction of the expansion bracket passes through shaft and is connected with set axis, the expansion bracket top Set axis and the first rotating shaft in portion are welded and fixed, and the set axis of expansion bracket bottom is fixed with tube chamber welds with base, the center of the expansion bracket Position is provided through screw rod, and the intermediate connections of expansion bracket, and the other end head position of screw rod are stretched out in one end of the screw rod It sets and is welded with butterfly head.

Preferably, the outer surface of the screw rod uniformly offers screw thread, in the middle position junction of the expansion bracket The part that portion is connect with screw rod uniformly offers the screw thread contrary with screw rod outer surface, the butterfly of the screw rod head welding Butterfly head is ellipsoidal structure, and the perpendicular diameter of the butterfly head is two times of screw rod arteriotomy diameter.

Preferably, the expansion bracket is made of four metal bearings, and expansion bracket is in rectangular configuration, the top of the expansion bracket The metal bearing of the junction of portion and bottom connection is centrosymmetric structure, and the internal symmetry of the set axis is sheathed with two metals Bearing, and cover axis and be connected and fixed with each metal bearing by shaft.

Preferably, the mechanical pedestal is U-shaped structure, and the center of the both sides pedestal of mechanical pedestal passes through turn respectively Axis connection has mechanical spindle, and the total length of the machinery spindle is equal to the length of mechanical pedestal pedestal.

Compared with prior art, the utility model has the beneficial effects that

By between pedestal and bearing the setting of expansion bracket realize and can adjust the flexible of expansion bracket with rotary screw rod Height compensates for routine to enable the space length between bearing and pedestal to play the role of certain change to a certain extent The bottom of mechanical arm can not change its space length to help mechanical arm adjustment height and length preferably to be worked On deficiency；By changing the structure of manipulator under 3rd bearing, mechanical axis erection is set to U row structure and by each axis The center position of frame is fixedly connected with mechanical spindle by shaft, is fixedly connected with machinery by shaft in mechanical spindle bottom Hand makes entire manipulator can be with the rotation of 360 deg to adapt to different articles, and in the mechanical fixture block of manipulator Side has been symmetrical arranged grinding tooth, keeps manipulator more secured when grabbing article, can bear a degree of violent shake It moves without falling down crawl article.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of the utility model；

Fig. 2 is the robot manipulator structure schematic diagram of the utility model；

Fig. 3 is the expansion bracket structural schematic diagram of the utility model；

Fig. 4 is the rotating handle structure schematic diagram of the utility model.

In figure: 1, pedestal；2, movable pulley；3, expansion bracket；4, first rotating shaft；5, the second shaft；6, mechanical arm；7, third turns Axis；8, it is mechanically fixed seat；9, mechanical pedestal；10, mechanical spindle；11, manipulator；12, mechanical fixture block；13, grinding tooth；14, axis is covered； 15, screw rod；16, butterfly head；17, handle.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work Every other embodiment obtained, fall within the protection scope of the utility model.

Embodiment one:

Fig. 1-Fig. 3 is please referred to, the utility model provides a kind of technical solution: a kind of Manipulator arm structure, including pedestal 1, the lower part of pedestal 1 is symmetrically installed with movable pulley 2, and the upper end center position of pedestal 1 is welded with expansion bracket 3, the upper end of expansion bracket 3 It is welded with first rotating shaft 4, the upper end of first rotating shaft 4 is connected with the second shaft 5 by shaft, and the upright position of the second shaft 5 is logical It crosses shaft and is connected with mechanical arm 6, the end of mechanical arm 6 is connected with third shaft 7 by shaft, and the bottom of third shaft 7 passes through Shaft, which is connected with, is mechanically fixed seat 8, and the bottom for being mechanically fixed seat 8 has been bolted mechanical pedestal 9, for mechanical spindle 10 There are enough revolution spaces, the pedestal outer surface center of mechanical pedestal 9 is connected with mechanical spindle 10 by shaft, for machine The adjustable different angle of tool hand 11, the lower end of mechanical spindle 10 passes through shaft and is connected with manipulator 11, for the ease of more Good clamping article, the bottom of manipulator 11 pass through shaft and are connected with mechanical fixture block 12, the outer surface inside of mechanical fixture block 12 It is symmetrically arranged with grinding tooth 13.

For the ease of adjusting the space length of pedestal 1, in the present embodiment, it is preferred that the top and bottom of expansion bracket 3 connects Place is connected with set axis 14 by shaft, and the set axis 14 at 3 top of expansion bracket is welded and fixed with first rotating shaft 4, and 3 bottom of expansion bracket Set axis 14 be welded and fixed with pedestal 1, the center of expansion bracket 3 is provided through screw rod 15, and one end of screw rod 15 is stretched The intermediate connections of contracting frame 3, and the other end head position of screw rod 15 is welded with butterfly head 16.

For the ease of the rotation of screw rod 15, in the present embodiment, it is preferred that the outer surface of screw rod 15 uniformly offers spiral shell Line, the part that the middle position junction inside of expansion bracket 3 is connect with screw rod 15 uniformly offer and 15 outer surface side of screw rod To opposite screw thread, the butterfly head 16 of 15 head of screw rod welding is ellipsoidal structure, and the perpendicular diameter of butterfly head 16 is screw rod 15 Two times of arteriotomy diameter.

For the ease of the stability of total, in the present embodiment, it is preferred that expansion bracket 3 is made of four metal bearings, And expansion bracket 3 is in rectangular configuration, the metal bearing of the junction of the top and bottom of expansion bracket 3 connection is centrosymmetric structure, The internal symmetry of set axis 14 is sheathed with two metal bearings, and covers axis 14 and be connected and fixed with each metal bearing by shaft.

For the ease of the rotation of manipulator 11, in the present embodiment, it is preferred that mechanical pedestal 9 is U-shaped structure, and mechanical axis The center of the both sides pedestal of frame 9 passes through shaft respectively and is connected with mechanical spindle 10, and the total length of mechanical spindle 10 is equal to The length of mechanical 9 pedestal of pedestal.

Embodiment two:

Fig. 1-Fig. 4 is please referred to, the utility model provides a kind of technical solution: a kind of Manipulator arm structure, including pedestal 1, the lower part of pedestal 1 is symmetrically installed with movable pulley 2, and the upper end center position of pedestal 1 is welded with expansion bracket 3, the upper end of expansion bracket 3 It is welded with first rotating shaft 4, the upper end of first rotating shaft 4 is connected with the second shaft 5 by shaft, and the upright position of the second shaft 5 is logical It crosses shaft and is connected with mechanical arm 6, the end of mechanical arm 6 is connected with third shaft 7 by shaft, and the bottom of third shaft 7 passes through Shaft, which is connected with, is mechanically fixed seat 8, and the bottom for being mechanically fixed seat 8 has been bolted mechanical pedestal 9, for mechanical spindle 10 There are enough revolution spaces, the pedestal outer surface center of mechanical pedestal 9 is connected with mechanical spindle 10 by shaft, for machine The adjustable different angle of tool hand 11, the lower end of mechanical spindle 10 passes through shaft and is connected with manipulator 11, for the ease of more Good clamping article, the bottom of manipulator 11 pass through shaft and are connected with mechanical fixture block 12, the outer surface inside of mechanical fixture block 12 It is symmetrically arranged with grinding tooth 13.

For the ease of adjusting the space length of pedestal 1, in the present embodiment, it is preferred that the top and bottom of expansion bracket 3 connects Place is connected with set axis 14 by shaft, and the set axis 14 at 3 top of expansion bracket is welded and fixed with first rotating shaft 4, and 3 bottom of expansion bracket Set axis 14 be welded and fixed with pedestal 1, the center of expansion bracket 3 is provided through screw rod 15, and one end of screw rod 15 is stretched The intermediate connections of contracting frame 3, and the other end head position of screw rod 15 is welded with handle 17.

The working principle and process for using of the utility model: the utility model after the installation is completed, start switch to article into When row crawl, since first rotating shaft 4 and expansion bracket 3 are welded and fixed, so first rotating shaft 4 will not rotate, second turn Be connected and fixed between axis 5 and first rotating shaft 4 by shaft, thus the second shaft 5 can be welded and fixed with expansion bracket 3 first Rotation is put on the basis of shaft 4, the second shaft 5 is connected and fixed with mechanical arm 6 by shaft, and mechanical arm 6 can be 5 with the second shaft Datum mark is rotated, and mechanical arm 6 is connected and fixed with third shaft 7 by shaft, and third shaft 7 can be with 6 bases of mechanical arm It being rotated on schedule, the center of the mechanical pedestal 9 of 7 bottom of third shaft setting is connected with mechanical spindle 10 by shaft, The length of mechanical spindle 10 is equal to the height of mechanical 9 pedestal of pedestal, so mechanical spindle 10 can be with the center of pedestal On the basis of point rotated, 11 bottom of manipulator installation mechanical fixture block 12 can make manipulator 11 grab article when it is more firm Gu the grinding tooth 13 being arranged on the inside of mechanical 12 outer surface of fixture block after clamping article, can bear a degree of vibration without Fall down clipped object product.

While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art, It is understood that these embodiments can be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaired Change, replacement and variant, the scope of the utility model is defined by the appended claims and the equivalents thereof.

Claims

1. a kind of Manipulator arm structure, including pedestal (1), it is characterised in that: the lower part of the pedestal (1) is symmetrically installed with shifting The upper end center position of driving wheel (2), the pedestal (1) is welded with expansion bracket (3), and the upper end of the expansion bracket (3) is welded with The upper end of one shaft (4), the first rotating shaft (4) is connected with the second shaft (5) by shaft, and second shaft (5) is hung down Straight position is connected with mechanical arm (6) by shaft, and the end of the mechanical arm (6) is connected with third shaft (7), institute by shaft The bottom for stating third shaft (7) is connected with by shaft to be mechanically fixed seat (8), and the bottom for being mechanically fixed seat (8) passes through spiral shell Bolt is fixed with mechanical pedestal (9), and the pedestal outer surface center of the machinery pedestal (9) is connected with mechanical spindle by shaft (10), the lower end of the mechanical spindle (10) passes through shaft and is connected with manipulator (11), and the bottom of the manipulator (11) is equal It is connected with mechanical fixture block (12) by shaft, is symmetrically arranged with grinding tooth (13) on the inside of the outer surface of the machinery fixture block (12).

2. a kind of Manipulator arm structure according to claim 1, it is characterised in that: the top of the expansion bracket (3) with Bottom junctions pass through shaft and are connected with set axis (14), and the set axis (14) and first rotating shaft (4) at the top of the expansion bracket (3) weld Fixation is connect, and the set axis (14) of expansion bracket (3) bottom is welded and fixed with pedestal (1), the center of the expansion bracket (3) is run through It is provided with screw rod (15), the intermediate connections of expansion bracket (3), and the other end of screw rod (15) are stretched out in one end of the screw rod (15) Head position is welded with butterfly head (16).

3. a kind of Manipulator arm structure according to claim 2, it is characterised in that: the outer surface of the screw rod (15) is equal Even offers screw thread, and the part connecting inside the middle position junction of the expansion bracket (3) with screw rod (15) is uniformly opened Equipped with the screw thread contrary with screw rod (15) outer surface, the butterfly head (16) of screw rod (15) the head welding is oval knot Structure, the perpendicular diameter of the butterfly head (16) are two times of screw rod (15) arteriotomy diameter.

4. a kind of Manipulator arm structure according to claim 2, it is characterised in that: the expansion bracket (3) is by four gold Belong to bearing composition, and expansion bracket (3) is in rectangular configuration, the metal of the junction connection of the top and bottom of the expansion bracket (3) Bearing is centrosymmetric structure, and the internal symmetry of the set axis (14) is sheathed with two metal bearings, and cover axis (14) with it is each Root metal bearing is connected and fixed by shaft.

5. a kind of Manipulator arm structure according to claim 1, it is characterised in that: the machinery pedestal (9) is U-shaped knot Structure, and the center of the both sides pedestal of mechanical pedestal (9) passes through shaft respectively and is connected with mechanical spindle (10), the mechanical finger The total length of axis (10) is equal to the length of mechanical pedestal (9) pedestal.