CN209665366U - A kind of manipulator that multi-angle skid resistance is strong - Google Patents

Abstract

The utility model discloses a kind of manipulators that multi-angle skid resistance is strong, including being oriented to crossbearer, driving mechanism and steering mechanism, the guiding crossbearer is internally provided with guide spiro rod, and fixed frame is installed in the middle part of guide spiro rod, the driving mechanism includes first servo motor, driven gear and driving gear, and driving mechanism is located at the side of guiding crossbearer, first servo motor is installed above the driven gear, and the side of first servo motor is equipped with driving gear, second servo motor is installed below the fixed frame, and second is equipped with sliding slot below servo motor.Fixed frame, sliding slot and the pylon of the strong manipulator setting of the multi-angle skid resistance, second servo motor can drive the surrounding rotation of pylon along the chute, the motion track of pylon and the distance of movement can be effectively controlled by sliding slot, and then direction and the angle of manipulator rotation can be effectively controlled, it can effectively control manipulator and turn to suitable position.

Description

A kind of manipulator that multi-angle skid resistance is strong

Technical field

The utility model relates to manipulator technical field, specially a kind of manipulator that multi-angle skid resistance is strong.

Background technique

Certain holding functions that manpower and arm can be imitated, to by fixed routine crawl, carrying object or operational instrument Automatic pilot, manipulator are the industrial robots occurred earliest, and the modern machines people occurred earliest, 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 manipulator in use, cannot adjust manipulator well according to the position of required clamping object Position and height, cannot control well manipulator rotation angle, manipulator cannot be moved to outside object well The suitable position in portion prevents object from trying to shirk responsibility the generation of phenomenon, the use demand of people is not well positioned to meet, for above-mentioned feelings Condition carries out technological innovation on the basis of existing manipulator.

Utility model content

The purpose of this utility model is to provide a kind of manipulators that multi-angle skid resistance is strong, to solve above-mentioned background technique It is middle to propose existing manipulator in use, manipulator cannot be adjusted well according to the position of required clamping object Position and height cannot control the angle of manipulator rotation well, manipulator cannot be moved to outside object well Suitable position, prevent object from trying to shirk responsibility the generation of phenomenon, be not well positioned to meet the use demand problem of people.

To achieve the above object, the utility model provides the following technical solutions: a kind of manipulator that multi-angle skid resistance is strong, Including guiding crossbearer, driving mechanism and steering mechanism, the guide spiro rod that is internally provided with for being oriented to crossbearer, and guide spiro rod Middle part is equipped with fixed frame, and the driving mechanism includes first servo motor, driven gear and driving gear, and driving mechanism position In the side of guiding crossbearer, first servo motor, and the side peace of first servo motor are installed above the driven gear Equipped with driving gear, the second servo motor is installed, and cunning is installed below the second servo motor below the fixed frame Slot is equipped with pylon below the sliding slot, and the front end of pylon is equipped with third servo motor, the lower section installation of the pylon There is an adjusting rod, and adjusting rod is internally provided with the first hydraulic stem, the steering mechanism includes the first guide groove, connecting rod, the Two hydraulic stems, the first guide pin, pull rod and pivot pin, and steering mechanism is located at the lower section of adjusting rod, the inside of the connecting rod is set It is equipped with the second hydraulic stem, and the front end two sides of the second hydraulic stem are mounted on the first guide groove, first guide groove is far from The side of two hydraulic stems is equipped with the first guide pin, and the first guide pin is equipped with pull rod far from the side of the first guide groove, institute The lower inner for stating connecting rod is provided with pivot pin, turning-bar is equipped on the left of the steering mechanism, and the inside of turning-bar is set It is equipped with third hydraulic stem, the side of the turning-bar is equipped with the second guide groove, and is equipped with second in the middle part of the second guide groove Guide pin, the two sides up and down of second guide pin are mounted on gag lever post, and the side of gag lever post is equipped with clamp hand, the folder Lock pin is installed between hand.

Preferably, the guide spiro rod is through the inside of fixed frame, and the vertical centerline of fixed frame is perpendicular to guiding Screw rod, and guide spiro rod passes through the cooperation and first servo motor composition engaged transmission between driven gear and driving gear.

Preferably, the fixed frame is by constituting slide construction between sliding slot and pylon, and the inside of sliding slot is tied in a ring Structure.

Preferably, the adjusting rod is by constituting lifting structure between the first hydraulic stem and connecting rod, and connecting rod is outer Portion's width is less than the inner width of adjusting rod.

Preferably, the connecting rod passes through the first guide groove, the second hydraulic stem, the first guide pin, pull rod and pivot pin Between cooperation and turning-bar constitute rotational structure, and the first guide pin is through the inside of the first guide groove.

Preferably, the horizontal center line between the gag lever post about the second guide groove is symmetrical, and the second guide groove Horizontal center line be parallel to guiding crossbearer.

Compared with prior art, the beneficial effects of the utility model are as follows:

1, the setting of the inside guide spiro rod, fixed frame, driven gear and driving gear of the utility model, passes through driven tooth Cooperation between wheel and driving gear can effectively improve the power transmission efficiency of first servo motor, and first servo motor is logical The cooperation crossed between driven gear and driving gear effectively can drive guide spiro rod to rotate, and fix so that guide spiro rod drives Frame is moved along the horizontal center line direction of guide spiro rod, can effectively control manipulator along the horizontal center line side of guide spiro rod To mobile distance and track；

2, the setting of the inside fixed frame, sliding slot and pylon of the utility model, the second servo motor can drive pylon edge The surrounding of sliding slot rotates, and the motion track of pylon and the distance of movement can be effectively controlled by sliding slot, and then can be effective The rotation of control manipulator direction and angle manipulator can effectively be controlled according to the position of the object of required clamping Suitable position is turned to, the adjusting rod of setting, the first hydraulic stem and connecting rod can effectively push connection by the first hydraulic stem Bar is moved along the central axes direction of adjusting rod, according to the height of picked up object, by what is constituted between adjusting rod and connecting rod Height adjustment is to suitable position；

3, the inside connecting rod of the utility model, the first guide groove, the second hydraulic stem, the first guide pin, pull rod and pivot pin Setting, the second hydraulic stem can pull the first guide pin to move along the vertical centerline direction of the first guide groove, pass through second Hydraulic stem can effectively control the mobile track of the first guide pin and the mobile distance of the first guide pin of limitation, lead when first When moving down to pin along the vertical centerline direction of the first guide groove, the first guide pin pushes turning-bar along pivot pin by pull rod Outside rotated clockwise, when the first guide pin is moved up along the vertical centerline direction of the first guide groove, then into Row rotates counterclockwise, and manipulator is moved to object according to the shape of object and size and suitably clamps position, can be effective Improve manipulator to the stability of the clamping of object, and can effectively prevent object during clamping with manipulator point From the gag lever post of setting and the second guide groove, third hydraulic stem push the second guide pin along the horizontal center line of the second guide groove When direction moves right, the second guide pin pushes clamp hand to rotate along the external of lock pin by gag lever post, meanwhile, make one end of clamp hand It is close to each other, to realize clamping to object, when the second guide pin along the horizontal center line direction of the second guide groove to moving to left When dynamic, then one end of clamp hand is separated from each other, to realize the separation between manipulator and object.

Detailed description of the invention

Fig. 1 is the utility model schematic view of the front view；

Fig. 2 is partial enlargement structural representation at A in the utility model main view；

Fig. 3 is the side structure schematic view of the utility model driving gear.

In figure: 1, being oriented to crossbearer；2, guide spiro rod；3, fixed frame；4, driving mechanism；5, first servo motor；6, driven Gear；7, driving gear；8, the second servo motor；9, sliding slot；10, pylon；11, third servo motor；12, adjusting rod；13, One hydraulic stem；14, steering mechanism；15, the first guide groove；16, connecting rod；17, the second hydraulic stem；18, the first guide pin；19, Pull rod；20, pivot pin；21, turning-bar；22, third hydraulic stem；23, clamp hand；24, gag lever post；25, the second guide pin；26, second Guide groove；27, lock pin.

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.

Fig. 1-3 is please referred to, the utility model provides a kind of technical solution: a kind of manipulator that multi-angle skid resistance is strong, packet Include guiding crossbearer 1, guide spiro rod 2, fixed frame 3, driving mechanism 4, first servo motor 5, driven gear 6, driving gear 7, the Two servo motors 8, sliding slot 9, pylon 10, third servo motor 11, adjusting rod 12, the first hydraulic stem 13, steering mechanism 14, first Guide groove 15, connecting rod 16, the second hydraulic stem 17, the first guide pin 18, pull rod 19, pivot pin 20, turning-bar 21, third hydraulic stem 22, clamp hand 23, gag lever post 24, the second guide pin 25, the second guide groove 26 and lock pin 27, being internally provided with for crossbearer 1 of guiding are led Fixed frame 3 is installed to the middle part of screw rod 2, and guide spiro rod 2, the side of guiding crossbearer 1 is equipped with driving mechanism 4, and drives Mechanism 4 includes first servo motor 5, driven gear 6 and driving gear 7, and the top of driven gear 6 is equipped with first servo motor 5, and the side of first servo motor 5 is equipped with driving gear 7, guide spiro rod 2 is through the inside of fixed frame 3, and fixed frame 3 Vertical centerline perpendicular to guide spiro rod 2, and guide spiro rod 2 by cooperation between driven gear 6 and driving gear 7 with First servo motor 5 constitutes engaged transmission, can effectively improve the by the cooperation between driven gear 6 and driving gear 7 The power transmission efficiency of one servo motor 5, first servo motor 5 can by the cooperation between driven gear 6 and driving gear 7 It is effective that guide spiro rod 2 is driven to rotate, so that guide spiro rod 2 drives fixed frame 3 to move along the horizontal center line direction of guide spiro rod 2 It is dynamic, it can effectively control distance and track that manipulator is moved along the horizontal center line direction of guide spiro rod 2；

The lower section of fixed frame 3 is equipped with the second servo motor 8, and the lower section of the second servo motor 8 is equipped with sliding slot 9, sliding The lower section of slot 9 is equipped with pylon 10, and the front end of pylon 10 is equipped with third servo motor 11, and fixed frame 3 passes through sliding slot 9 and column Slide construction is constituted between frame 10, and structure, the second servo motor 8 can drive pylon 10 along cunning in a ring for the inside of sliding slot 9 The surrounding of slot 9 rotates, and the motion track of pylon 10 and the distance of movement can be effectively controlled by sliding slot 9, and then can have The direction of the control manipulator rotation of effect and angle according to the position of the object of required clamping can effectively control machinery Hand turns to suitable position, the lower section of pylon 10 is equipped with adjusting rod 12, and adjusting rod 12 is internally provided with the first hydraulic stem 13, the lower section of adjusting rod 12 is equipped with steering mechanism 14, and steering mechanism 14 includes the first guide groove 15, connecting rod 16, second Hydraulic stem 17, the first guide pin 18, pull rod 19 and pivot pin 20, connecting rod 16 are internally provided with the second hydraulic stem 17, and second The front end two sides of hydraulic stem 17 are mounted on the first guide groove 15, and adjusting rod 12 passes through between the first hydraulic stem 13 and connecting rod 16 Lifting structure is constituted, and the external width of connecting rod 16 is less than the inner width of adjusting rod 12, can have by the first hydraulic stem 13 The promotion connecting rod 16 of effect is moved along the central axes direction of adjusting rod 12, according to the height of picked up object, by adjusting rod 12 with The height adjustment constituted between connecting rod 16 to suitable position, pacify far from the side of the second hydraulic stem 17 by the first guide groove 15 Equipped with the first guide pin 18, and the first guide pin 18 is equipped with pull rod 19 far from the side of the first guide groove 15, connecting rod 16 Lower inner is provided with pivot pin 20, the left side of steering mechanism 14 is equipped with turning-bar 21, and turning-bar 21 is internally provided with Three hydraulic stems 22, connecting rod 16 pass through the first guide groove 15, the second hydraulic stem 17, the first guide pin 18, pull rod 19 and pivot pin 20 Cooperation between five and turning-bar 21 constitute rotational structure, and the first guide pin 18 is through the inside of the first guide groove 15, Second hydraulic stem 17 can pull the first guide pin 18 to move along the vertical centerline direction of the first guide groove 15, pass through the second liquid Compression bar 17 can effectively control the mobile track of the first guide pin 18 and the mobile distance of the first guide pin 18 of limitation, when the When one guide pin 18 is moved down along the vertical centerline direction of the first guide groove 15, the first guide pin 18 is pushed by pull rod 19 Turning-bar 21 is rotated clockwise along the outside of pivot pin 20, when the first guide pin 18 is along the vertical centerline of the first guide groove 15 It when direction moves up, is then rotated counterclockwise, it is suitable that manipulator is moved to object according to the shape of object and size Clamping position, can effectively improve the stability of clamping of the manipulator to object, and effectively can prevent object from existing It is separated during clamping with manipulator；

The side of turning-bar 21 is equipped with the second guide groove 26, and the middle part of the second guide groove 26 is equipped with the second guide pin 25, the horizontal center line between gag lever post 24 about the second guide groove 26 is symmetrical, and the horizontal centre of the second guide groove 26 Line is parallel to guiding crossbearer 1, and third hydraulic stem 22 pushes the second guide pin 25 along the horizontal center line direction of the second guide groove 26 When moving right, the second guide pin 25 pushes external rotation of the clamp hand 23 along lock pin 27 by gag lever post 24, meanwhile, make clamp hand 23 One end it is close to each other, so that clamping to object is realized, when the second guide pin 25 is along the horizontal center line of the second guide groove 26 When direction is moved to the left, then one end of clamp hand 23 is separated from each other, thus realize the separation between manipulator and object, the second guiding The two sides up and down of pin 25 are mounted on gag lever post 24, and the side of gag lever post 24 is equipped with clamp hand 23, pacifies between the clamp hand 23 Equipped with lock pin 27.

Working principle: when using the multi-angle skid resistance strong manipulator, firstly, starting first servo motor 5, first Servo motor 5 can effectively drive guide spiro rod 2 to rotate by the cooperation between driven gear 6 and driving gear 7, to lead It drives fixed frame 3 to move along the horizontal center line direction of guide spiro rod 2 to screw rod 2, makes fixed frame 3 along the level of guide spiro rod 2 Centerline direction is moved to suitable position；

Secondly, the first hydraulic stem 13 of starting, the first hydraulic stem 13 push connecting rod 16 along the central axes direction of adjusting rod 12 It is mobile, according to the height of picked up object, by the height adjustment constituted between adjusting rod 12 and connecting rod 16 to suitable position Set, thirdly, start the second servo motor 8, the second servo motor 8 drive pylon 10 along the chute 9 surrounding rotation, according to required The position of the object of clamping can effectively control manipulator and turn to suitable position, then, start the second hydraulic stem 17, the Two hydraulic stems 17 control the distance of the mobile track of the first guide pin 18 and limitation the first guide pin 18 movement, when the first guiding When pin 18 is moved down along the vertical centerline direction of the first guide groove 15, the first guide pin 18 pushes turning-bar by pull rod 19 21 are rotated clockwise along the outside of pivot pin 20, when the first guide pin 18 along the vertical centerline direction of the first guide groove 15 to It when upper mobile, is then rotated counterclockwise, manipulator is moved to by object according to the shape of object and size and is suitably clamped Position, wherein the model of the first hydraulic stem 13 and the second hydraulic stem 17 is 580X750N；

Finally, starting third hydraulic stem 22, third hydraulic stem 22 push the second guide pin 25 along the water of the second guide groove 26 When flat centerline direction moves right, the second guide pin 25 pushes external rotation of the clamp hand 23 along lock pin 27 by gag lever post 24, Meanwhile keeping one end of clamp hand 23 close to each other, so that the clamping to object is realized, when the second guide pin 25 is along the second guide groove 26 Horizontal center line direction when being moved to the left, then one end of clamp hand 23 is separated from each other, to realize between manipulator and object Separation, wherein the model between 11 three of first servo motor 5, the second servo motor 8 and third servo motor is PLX, the The model YQ20A of three hydraulic stems 22, here it is the working principles of the strong manipulator of the multi-angle skid resistance.

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 (6)

1. a kind of manipulator that multi-angle skid resistance is strong, including guiding crossbearer (1), driving mechanism (4) and steering mechanism (14), Be characterized in that: guiding crossbearer (1) is internally provided with guide spiro rod (2), and is equipped with fixation in the middle part of guide spiro rod (2) Frame (3), the driving mechanism (4) include first servo motor (5), driven gear (6) and driving gear (7), and driving mechanism (4) it is located at the side of guiding crossbearer (1), first servo motor (5) is installed above the driven gear (6), and first watches The side for taking motor (5) is equipped with driving gear (7), is equipped with the second servo motor (8) below the fixed frame (3), and It is equipped with sliding slot (9), is equipped with pylon (10) below the sliding slot (9), and pylon (10) below second servo motor (8) Front end be equipped with third servo motor (11), be equipped with adjusting rod (12) below the pylon (10), and adjusting rod (12) Be internally provided with the first hydraulic stem (13), the steering mechanism (14) include the first guide groove (15), connecting rod (16), second Hydraulic stem (17), the first guide pin (18), pull rod (19) and pivot pin (20), and steering mechanism (14) is located under adjusting rod (12) Side, the connecting rod (16) is internally provided with the second hydraulic stem (17), and the front end two sides of the second hydraulic stem (17) are respectively mounted Have the first guide groove (15), first guide groove (15) is equipped with the first guide pin far from the side of the second hydraulic stem (17) (18), and the first guide pin (18) is equipped with pull rod (19) far from the side of the first guide groove (15), the connecting rod (16) Lower inner is provided with pivot pin (20), is equipped with turning-bar (21) on the left of the steering mechanism (14), and turning-bar (21) It is internally provided with third hydraulic stem (22), the side of the turning-bar (21) is equipped with the second guide groove (26), and the second guiding It is equipped in the middle part of slot (26) the second guide pin (25), the two sides up and down of second guide pin (25) are mounted on gag lever post (24), and the side of gag lever post (24) is equipped with clamp hand (23), is equipped with lock pin (27) between the clamp hand (23).

2. a kind of manipulator that multi-angle skid resistance is strong according to claim 1, it is characterised in that: the guide spiro rod (2) through the inside of fixed frame (3), and the vertical centerline of fixed frame (3) is perpendicular to guide spiro rod (2), and is oriented to spiral shell Bar (2) passes through the cooperation and first servo motor (5) composition engaged transmission between driven gear (6) and driving gear (7).

3. a kind of manipulator that multi-angle skid resistance is strong according to claim 1, it is characterised in that: the fixed frame (3) By constituting slide construction between sliding slot (9) and pylon (10), and the inside of sliding slot (9) structure in a ring.

4. a kind of manipulator that multi-angle skid resistance is strong according to claim 1, it is characterised in that: the adjusting rod (12) By constituting lifting structure between the first hydraulic stem (13) and connecting rod (16), and the external width of connecting rod (16) is less than adjusting The inner width of bar (12).

5. a kind of manipulator that multi-angle skid resistance is strong according to claim 1, it is characterised in that: the connecting rod (16) By between the first guide groove (15), the second hydraulic stem (17), the first guide pin (18), pull rod (19) and pivot pin (20) five Cooperation constitutes rotational structure with turning-bar (21), and the first guide pin (18) is through the inside of the first guide groove (15).

6. a kind of manipulator that multi-angle skid resistance is strong according to claim 1, it is characterised in that: the gag lever post (24) Between about the second guide groove (26) horizontal center line it is symmetrical, and the horizontal center line of the second guide groove (26) is parallel to It is oriented to crossbearer (1).