CN210312449U - Multi freedom material loading manipulator device - Google Patents
Multi freedom material loading manipulator device Download PDFInfo
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- CN210312449U CN210312449U CN201920949488.0U CN201920949488U CN210312449U CN 210312449 U CN210312449 U CN 210312449U CN 201920949488 U CN201920949488 U CN 201920949488U CN 210312449 U CN210312449 U CN 210312449U
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- 238000003466 welding Methods 0.000 description 10
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Abstract
The utility model belongs to the technical field of the manipulator, especially, multi freedom material loading manipulator device, it is complicated to current manipulator project organization, and manufacturing cost is high, is unfavorable for the problem of large-scale production manufacturing, now proposes following scheme, and it includes headstock and feed bin, the headstock is located one side of feed bin, it is connected with the rotation axis to rotate on the bottom inner wall of headstock, the first power component of outside fixedly connected with of rotation axis, the top of rotation axis extends to the top of headstock and fixed mounting has first arm, and one side of first arm is rotated and is connected with the axis of rotation, and the outside fixed cover of axis of rotation is equipped with the second arm. The utility model discloses simple structure can make this manipulator device rotate, swing and press from both sides tight object through utilizing driving motor, step motor and rotating electrical machines, and the function is various, simple operation, design simple structure, low in manufacturing cost, the large-scale manufacturing of being convenient for.
Description
Technical Field
The utility model relates to a manipulator technical field especially relates to a multi freedom material loading manipulator device.
Background
In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. That is, the maximum advantage of the manipulator can do the same action repeatedly, and the manipulator never feels tired in the normal condition of the machine! The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. An important branch of industrial robot manipulators.
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. In the mechanical production process, a manipulator is often required to be used for carrying and loading goods, but the existing manipulator is complex in design structure, high in manufacturing cost and not beneficial to large-scale production and manufacturing, so that a multi-degree-of-freedom feeding manipulator device is provided for solving the problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the defects that the existing mechanical arm design structure is complex, the manufacturing cost is high and the large-scale production and manufacturing are not facilitated in the prior art, and providing the multi-freedom-degree feeding mechanical arm device.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a multi-degree-of-freedom feeding manipulator device comprises a power box and a storage bin, wherein the power box is positioned on one side of the storage bin, a rotating shaft is rotatably connected onto the inner wall of the bottom of the power box, a first power assembly is fixedly connected onto the outer side of the rotating shaft, the top of the rotating shaft extends to the upper side of the power box and is fixedly provided with a first mechanical arm, a rotating shaft is rotatably connected onto one side of the first mechanical arm, a second mechanical arm is fixedly sleeved on the outer side of the rotating shaft, a driving assembly is fixedly connected onto the rotating shaft, a mounting groove is formed in one side of the second mechanical arm, a driving shaft is rotatably connected onto the second mechanical arm and penetrates through the mounting groove, a second power assembly is fixedly connected onto the driving shaft, two symmetrically-arranged nuts are connected onto the driving shaft through threads, two symmetrically-arranged thread, and two screw thread sections which are symmetrically arranged are respectively in threaded connection with two nuts, one side of each nut is fixedly provided with a clamping hand, and one side of each clamping hand, which is close to the corresponding clamping hand, is fixedly provided with the same telescopic limiting sleeve.
Preferably, first power component includes the driving motor of fixed mounting on the inner wall of headstock bottom, the welding has the driving gear on driving motor's the output shaft, the fixed cover of going out of rotation axis is equipped with driven gear, and driving gear and driven gear mesh mutually, and when starting driving motor, can drive the rotation axis and rotate, and then can make the tight hand of clamp rotatory.
Preferably, drive assembly includes the step motor of fixed mounting at first arm, the welding has first belt pulley on step motor's the output shaft, the fixed cover in the outside of axis of rotation is equipped with the second belt pulley, and first belt pulley and second belt pulley transmission are connected with same belt, and when starting step motor, step motor can drive the axis of rotation and rotate, and the fixed cover of second arm is established in the outside of axis of rotation, so when the axis of rotation rotates, can carry out longitudinal oscillation to making the second arm.
Preferably, the second power assembly comprises a rotating motor fixedly installed in the installation groove, a first bevel gear is welded on an output shaft of the rotating motor, a second bevel gear is fixedly sleeved on the outer side of the driving shaft, the first bevel gear is meshed with the second bevel gear, when the rotating motor is started, the rotating motor can drive the driving shaft to rotate, and two thread sections symmetrically arranged on the driving shaft are respectively in threaded connection with two nuts, so that two clamping hands can move towards opposite directions, and the two clamping hands can conveniently clamp objects.
Preferably, the equal fixed mounting in both sides of the rotation axis that is located the headstock has the fixed plate, and the top fixed mounting of fixed plate has the arc slider, annular slide rail has been seted up on the top inner wall of headstock, and two arc sliders all extend to in the annular slide rail and with annular slide rail sliding connection, utilize arc slider and annular slide rail to have more stability when can making the rotation axis rotate.
Preferably, the telescopic limiting sleeve comprises a main cylinder and a slave cylinder, the main cylinder is sleeved outside the slave cylinder in a sliding manner, and the telescopic limiting sleeve can be stretched by using the main cylinder and the slave cylinder.
In the utility model, the existing mechanical arm has the problems of complicated design structure, high manufacturing cost and being not beneficial to large-scale production and manufacturing, the application document improves the existing problems, when the mechanical arm device body needs to be used, the driving motor is started, the driving motor can drive the rotating shaft to rotate, the rotating shaft can drive two clamping hands to rotate, and when the clamping hands rotate to the appointed position, the driving motor can be stopped;
when the stepping motor rotates, the stepping motor can drive the first belt pulley to rotate, and the first belt pulley and the second belt pulley are in transmission connection with the same belt, so that the rotating motor can drive the second mechanical arm to longitudinally swing;
when starting the rotating electrical machines, the rotating electrical machines can drive the drive shaft to rotate, and two screw thread sections symmetrically arranged on the drive shaft are respectively in threaded connection with two nuts, so that when the drive shaft rotates, the two nuts can be driven to move towards opposite directions, and the two nuts can drive two clamping hands to move towards opposite directions, thereby being convenient for the two clamping hands to clamp objects.
The utility model discloses simple structure can make this manipulator device rotate, swing and press from both sides tight object through utilizing driving motor, step motor and rotating electrical machines, and the function is various, simple operation, design simple structure, low in manufacturing cost, the large-scale manufacturing of being convenient for.
Drawings
Fig. 1 is a schematic structural view of a multi-degree-of-freedom feeding manipulator device provided by the present invention;
fig. 2 is an enlarged schematic structural diagram of a portion a of a multi-degree-of-freedom feeding manipulator device provided by the present invention;
fig. 3 is an enlarged schematic structural diagram of a portion B of a multi-degree-of-freedom feeding manipulator device provided by the present invention;
fig. 4 is a schematic three-dimensional structure diagram of a driving gear of the multi-degree-of-freedom feeding manipulator device provided by the present invention.
In the figure: the device comprises a power box 1, a bin 2, a rotating shaft 3, a driven gear 4, a driving motor 5, a driving gear 6, a first mechanical arm 7, a second mechanical arm 8, a stepping motor 9, a first belt pulley 10, a rotating shaft 11, a second belt pulley 12, a belt 13, a mounting groove 14, a rotating motor 15, a first bevel gear 16, a driving shaft 17, a nut 18, a clamping hand 19, a second bevel gear 20 and a telescopic limiting sleeve 21.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
Example one
Referring to fig. 1-4, a multi-degree-of-freedom feeding manipulator device comprises a power box 1 and a bin 2, wherein the power box 1 is located on one side of the bin 2, a rotating shaft 3 is rotatably connected to the inner wall of the bottom of the power box 1, a first power assembly is fixedly connected to the outer side of the rotating shaft 3, the top of the rotating shaft 3 extends to the upper side of the power box 1 and is fixedly provided with a first mechanical arm 7, one side of the first mechanical arm 7 is rotatably connected with a rotating shaft 11, a second mechanical arm 8 is fixedly sleeved on the outer side of the rotating shaft 11, a driving assembly is fixedly connected to the rotating shaft 11, a mounting groove 14 is formed in one side of the second mechanical arm 8, a driving shaft 17 is rotatably connected to the second mechanical arm 8 and penetrates through the mounting groove 14, a second power assembly is fixedly connected to the driving shaft 17, two symmetrically-arranged nuts 18 are in threaded connection, and two screw thread sections which are symmetrically arranged are respectively in threaded connection with two nuts 18, one side of each nut 18 is fixedly provided with a clamping hand 19, and one side of each clamping hand 19 close to each other is fixedly provided with the same telescopic limiting sleeve 21.
In this embodiment, first power component includes drive motor 5 of fixed mounting on 1 bottom inner wall of headstock, and the welding has driving gear 6 on drive motor 5's the output shaft, and the fixed cover of going out of rotation axis 3 is equipped with driven gear 4, and driving gear 6 and driven gear 4 mesh mutually.
In this embodiment, the driving assembly includes a stepping motor 9 fixedly mounted on the first mechanical arm 7, a first belt pulley 10 is welded on an output shaft of the stepping motor 9, a second belt pulley 12 is fixedly sleeved on an outer side of the rotating shaft 11, and the first belt pulley 10 and the second belt pulley 12 are in transmission connection with a same belt 13.
In this embodiment, the second power assembly includes a rotating electrical machine 15 fixedly installed in the mounting groove 14, a first bevel gear 16 is welded to an output shaft of the rotating electrical machine 15, a second bevel gear 20 is fixedly sleeved outside the driving shaft 17, and the first bevel gear 16 is engaged with the second bevel gear 20.
In this embodiment, the equal fixed mounting in both sides of the rotation axis 3 that is located headstock 1 has the fixed plate, and the top fixed mounting of fixed plate has the arc slider, has seted up annular slide rail on the top inner wall of headstock 1, and two arc sliders all extend to in the annular slide rail and with annular slide rail sliding connection.
In this embodiment, the telescopic limiting sleeve 21 includes a main cylinder and a slave cylinder, and the main cylinder is slidably sleeved outside the slave cylinder.
Example two
Referring to fig. 1-4, a multi-degree-of-freedom feeding manipulator device comprises a power box 1 and a bin 2, wherein the power box 1 is located on one side of the bin 2, a rotating shaft 3 is rotatably connected to the inner wall of the bottom of the power box 1, a first power assembly is fixedly connected to the outer side of the rotating shaft 3, the top of the rotating shaft 3 extends to the upper side of the power box 1 and is welded with a first mechanical arm 7, a rotating shaft 11 is rotatably connected to one side of the first mechanical arm 7, a second mechanical arm 8 is fixedly welded to the outer side of the rotating shaft 11, a driving assembly is fixedly connected to the rotating shaft 11, a mounting groove 14 is formed in one side of the second mechanical arm 8, a driving shaft 17 is rotatably connected to the second mechanical arm 8 and penetrates through the mounting groove 14, a second power assembly is fixedly connected to the driving shaft 17, two symmetrically-arranged nuts 18 are in threaded connection, and two screw thread sections that the symmetry set up respectively with two 18 threaded connections of nut, the welding of one side of nut 18 has the tight hand 19 of clamp, and the welding of one side that two tight hands 19 of clamp are close to each other has same flexible spacing sleeve 21, the utility model discloses simple structure can make this manipulator device rotate, swing and press from both sides tight object through utilizing first power component, drive assembly and first power component, and the function is various, simple operation, design simple structure, low in manufacturing cost, the large-scale manufacturing of being convenient for.
In this embodiment, first power component is including welding driving motor 5 on 1 bottom inner wall of headstock, and the welding has driving gear 6 on driving motor 5's the output shaft, and the fixed cover of going out of rotation axis 3 is equipped with driven gear 4, and driving gear 6 and driven gear 4 mesh mutually, and when starting driving motor 5, can drive rotation axis 3 and rotate, and then can make and press from both sides tight hand 19 and rotate.
In this embodiment, drive assembly is including welding at the step motor 9 of first arm 7, the welding has first belt pulley 10 on step motor 9's the output shaft, the fixed cover in the outside of axis of rotation 11 is equipped with second belt pulley 12, and first belt pulley 10 and the 12 transmission of second belt pulley are connected with same belt 13, when starting step motor 9, step motor 9 can drive axis of rotation 11 and rotate, and the fixed cover of second arm 8 is established in the outside of axis of rotation 11, so when axis of rotation 11 rotates, can carry out longitudinal oscillation to making second arm 8.
In this embodiment, the second power assembly includes a rotating electrical machine 15 welded in the mounting groove 14, a first bevel gear 16 is welded on an output shaft of the rotating electrical machine 15, a second bevel gear 20 is fixedly sleeved outside the driving shaft 17, and the first bevel gear 16 is meshed with the second bevel gear 20, when the rotating electrical machine 15 is started, the rotating electrical machine 15 can drive the driving shaft 17 to rotate, and two thread sections symmetrically arranged on the driving shaft 17 are respectively in threaded connection with two nuts 18, so that the two clamping hands 19 can move towards opposite directions, and the two clamping hands 19 can be convenient to clamp objects.
In this embodiment, the fixed plate has all been welded to the both sides of the rotation axis 3 that are located headstock 1, and the top welding of fixed plate has the arc slider, has seted up annular slide rail on the top inner wall of headstock 1, and two arc sliders all extend to in the annular slide rail and with annular slide rail sliding connection, utilize arc slider and annular slide rail to have more stability when can making rotation axis 3 rotate.
In this embodiment, the telescopic limiting sleeve 21 includes a main cylinder and a slave cylinder, the main cylinder is slidably sleeved outside the slave cylinder, and the telescopic limiting sleeve 21 can be extended and retracted by using the main cylinder and the slave cylinder.
In this embodiment, when the manipulator device body needs to be used, the driving motor 5 is started, the driving motor 5 drives the driving gear 6 to rotate, and the driving gear 9 is engaged with the driven gear 4, so that the driving motor 5 drives the rotating shaft 3 to rotate when rotating, the rotating shaft 3 drives the two clamping hands 19 to rotate, when the clamping hands 19 rotate to a specified position, the driving motor 5 can be stopped, and when the stepping motor 9 rotates, the stepping motor 9 drives the first belt pulley 10 to rotate, and the first belt pulley 10 and the second belt pulley 11 are in transmission connection with the same belt 13, so that when the rotating motor 19 can drive the second manipulator 8 to longitudinally swing, when the rotating motor 15 is started, the rotating motor 15 drives the driving shaft 17 to rotate, and two thread sections symmetrically arranged on the driving shaft 17 are in threaded connection with the two nuts 18 respectively, therefore when drive shaft 17 rotates, can drive two nuts 18 and remove to the direction in opposite directions, and two nuts 18 can drive two and press from both sides tight hand 19 and remove to the direction in opposite directions, and the tight object of two clamp of being convenient for hand 19 presss from both sides, can make this manipulator device rotate, swing and press from both sides tight object through utilizing driving motor 5, step motor 9 and rotating electrical machines 15, and the function is various, and the simple operation, therefore made things convenient for the transport object material loading greatly.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (6)
1. The utility model provides a multi freedom feeding manipulator device, includes headstock (1) and feed bin (2), its characterized in that, headstock (1) is located one side of feed bin (2), it is connected with rotation axis (3) to rotate on the bottom inner wall of headstock (1), the first power component of outside fixedly connected with of rotation axis (3), the top of rotation axis (3) extends to the top of headstock (1) and fixed mounting has first arm (7), one side of first arm (7) is rotated and is connected with axis of rotation (11), and the outside fixed cover of axis of rotation (11) is equipped with second arm (8), fixedly connected with drive assembly on axis of rotation (11), mounting groove (14) have been seted up to one side of second arm (8), it is connected with drive shaft (17) to rotate on second arm (8), and drive shaft (17) run through mounting groove (14), fixedly connected with second power component on drive shaft (17), threaded connection has two nuts (18) that the symmetry set up on drive shaft (17), the outside of drive shaft (17) is provided with two screw thread sections that the symmetry set up, and two screw thread sections that the symmetry set up respectively with two nut (18) threaded connection, one side fixed mounting of nut (18) has clamp hand (19), and two one side fixed mounting that clamp hand (19) are close to each other has same flexible spacing sleeve (21).
2. The multiple-degree-of-freedom feeding manipulator device according to claim 1, wherein the first power assembly comprises a driving motor (5) fixedly installed on the inner wall of the bottom of the power box (1), a driving gear (6) is welded on an output shaft of the driving motor (5), a driven gear (4) is fixedly sleeved on an outgoing portion of the rotating shaft (3), and the driving gear (6) is meshed with the driven gear (4).
3. The multi-degree-of-freedom feeding manipulator device according to claim 1, wherein the driving assembly comprises a stepping motor (9) fixedly mounted on the first manipulator (7), a first belt pulley (10) is welded on an output shaft of the stepping motor (9), a second belt pulley (12) is fixedly sleeved on the outer side of the rotating shaft (11), and the same belt (13) is in transmission connection with the first belt pulley (10) and the second belt pulley (12).
4. The multiple-degree-of-freedom feeding manipulator device according to claim 1, wherein the second power assembly comprises a rotating motor (15) fixedly installed in the installation groove (14), a first bevel gear (16) is welded on an output shaft of the rotating motor (15), a second bevel gear (20) is fixedly sleeved on the outer side of the driving shaft (17), and the first bevel gear (16) is meshed with the second bevel gear (20).
5. The multi-degree-of-freedom feeding manipulator device as claimed in claim 1, wherein fixed plates are fixedly mounted on two sides of a rotating shaft (3) in the power box (1), arc-shaped sliding blocks are fixedly mounted on the top of each fixed plate, an annular sliding rail is arranged on the inner wall of the top of the power box (1), and the two arc-shaped sliding blocks extend into the annular sliding rail and are slidably connected with the annular sliding rail.
6. The multi-degree-of-freedom feeding manipulator device as claimed in claim 1, wherein the telescopic limit sleeve (21) comprises a main cylinder and a slave cylinder, and the main cylinder is slidably sleeved outside the slave cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920949488.0U CN210312449U (en) | 2019-06-24 | 2019-06-24 | Multi freedom material loading manipulator device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920949488.0U CN210312449U (en) | 2019-06-24 | 2019-06-24 | Multi freedom material loading manipulator device |
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| Publication Number | Publication Date |
|---|---|
| CN210312449U true CN210312449U (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920949488.0U Expired - Fee Related CN210312449U (en) | 2019-06-24 | 2019-06-24 | Multi freedom material loading manipulator device |
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| Country | Link |
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| CN (1) | CN210312449U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483752A (en) * | 2020-04-30 | 2020-08-04 | 陈佳思 | Intelligent material handling equipment in workshop |
| CN114284109A (en) * | 2020-09-28 | 2022-04-05 | 雷米德电气（江苏）有限公司 | Modular multi-shaft linkage mechanical swinging device for indoor vacuum circuit breaker production |
-
2019
- 2019-06-24 CN CN201920949488.0U patent/CN210312449U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111483752A (en) * | 2020-04-30 | 2020-08-04 | 陈佳思 | Intelligent material handling equipment in workshop |
| CN114284109A (en) * | 2020-09-28 | 2022-04-05 | 雷米德电气（江苏）有限公司 | Modular multi-shaft linkage mechanical swinging device for indoor vacuum circuit breaker production |
| CN114284109B (en) * | 2020-09-28 | 2023-12-08 | 雷米德电气（江苏）有限公司 | Modularized multi-axis linkage mechanical swinging device for indoor vacuum circuit breaker production |
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Granted publication date: 20200414 Termination date: 20200624 |
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| CF01 | Termination of patent right due to non-payment of annual fee |