CN210436136U

CN210436136U - Manipulator device

Info

Publication number: CN210436136U
Application number: CN201920397572.6U
Authority: CN
Inventors: 李岩
Original assignee: Jilin Teachers Institute of Engineering and Technology
Current assignee: Jilin Teachers Institute of Engineering and Technology
Priority date: 2019-03-28
Filing date: 2019-03-28
Publication date: 2020-05-01
Anticipated expiration: 2029-03-28

Abstract

The utility model provides a manipulator device, include: the support comprises a vertical part, an inclined part and a horizontal part, one end of the vertical part is fixedly connected with the workbench, the other end of the vertical part is hinged with one end of the inclined part, the other end of the inclined part is hinged with one end of the horizontal part, and the support can flexibly adjust the curvature of the support according to specific work needs to meet various work needs; horizontal part below and lighting mechanism fixed connection can provide sufficient light source for the manipulator under the darker circumstances of light source, vertical portion internal fixation is equipped with elevating gear, elevating gear and support frame fixed connection, support frame lower extreme and manipulator fixed connection, the distance between adjustable manipulator of elevation structure and the workstation is adjusted according to the work needs, and the device is firm, easy operation.

Description

Manipulator device

Technical Field

The utility model relates to a manipulator device.

Background

The manipulator can imitate some action functions of human hand and arm, and is an automatic operation device for grabbing, carrying objects or operating tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, and can operate in a harmful environment to protect personal safety.

In the machining process, the manipulator can be used for machining parts, however, the distance between the existing manipulator and the workbench is fixed, the user cannot adjust the distance between the manipulator and the manipulator tray, inconvenience is brought to the user, the working efficiency of the user is reduced, and the labor capacity of the user is increased.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that the distance between manipulator and the workstation is fixed to be unfavorable for concrete operation, providing a manipulator device, having the technological effect of the distance between adjustable manipulator and the workstation.

The utility model provides a technical scheme does:

a robot apparatus comprising: the automatic lifting device comprises a workbench and a support, wherein the support comprises a vertical part, an inclined part and a horizontal part, one end of the vertical part is fixedly connected with the workbench, the other end of the vertical part is hinged to one end of the inclined part, the other end of the inclined part is hinged to one end of the horizontal part, the lower part of the horizontal part is fixedly connected with an illuminating mechanism, a lifting device is fixedly arranged in the vertical part, the lifting device is fixedly connected with a support frame, and the lower end of the support frame is fixedly connected with a manipulator.

The lifting device is arranged in the cavity of the vertical part and comprises a lifting base, the lifting base is a C-like base, the bottom end of the C-like base is fixedly connected with the bottom of the cavity, the C-like base is fixedly provided with two vertical slide rails which respectively pass through two ends of the C-like base, the slide rail is provided with a slide block, the side surfaces of two ends of the C-shaped base are fixedly connected with a supporting plate, the supporting plate is provided with a belt pulley mechanism, the driving wheel of the belt wheel mechanism is fixedly connected with the power output end of the motor, one side of the sliding block is provided with a sliding chute, a sliding chute sliding block is arranged in the sliding chute, the sliding chute sliding block is hinged with the belt pulley mechanism through a rotating arm, the other side of the sliding block is fixedly connected with the supporting frame through the vertical part sliding groove, and the motor and the lighting mechanism are electrically connected with an external power supply.

Preferably, the manipulator comprises a manipulator base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a first gear arm, a second gear arm, a first manipulator and a second manipulator, one end of the manipulator base is fixedly connected with the mounting frame, the other end of the manipulator base is fixedly connected with one end of the manipulator support, the manipulator support is provided with a first rotating shaft, the first manipulator is provided with a second rotating shaft, one end of the first rotating arm and the gear end of the first gear arm are coaxially and fixedly connected through the first rotating shaft, the other end of the first rotating arm and the other end of the first gear arm are coaxially and fixedly connected through the second rotating shaft, one end of the second rotating arm is hinged with the manipulator support, the other end of the second rotating arm is hinged with the middle part of the first manipulator, and the first manipulator and the second manipulator are symmetrically arranged, the first gear arm is meshed with the gear part of the second gear arm, and the first rotating shaft is a driving shaft.

Preferably, the inner sides of the first manipulator and the second manipulator are both provided with anti-slip sleeves.

Preferably, a non-slip mat is fixedly arranged under the workbench.

The beneficial effects of the utility model are embodied in the following aspect:

Drawings

Fig. 1 is a schematic view of an overall structure of a robot apparatus.

Fig. 2 is a schematic structural view of a lifting device of a robot device.

Fig. 3 is a schematic diagram of a robot structure of a robot apparatus.

Detailed Description

The present invention is further described in detail below with reference to the drawings so that those skilled in the art can implement the invention with reference to the description.

As shown in fig. 1, a robot apparatus includes: the device comprises a workbench 1 and a support 2, wherein the support 2 comprises a vertical part 21, an inclined part 22 and a horizontal part 23, one end of the vertical part 21 is fixedly connected with the workbench 1, an anti-slip mat is fixedly arranged under the workbench and can effectively play an anti-slip role, the other end of the vertical part 21 is hinged with one end of the inclined part 22, the other end of the inclined part 22 is hinged with one end of the horizontal part 23, the lower part of the horizontal part 23 is fixedly connected with an illuminating mechanism 6, the support 2 is arranged to flexibly adjust the angle of the support 2, so that the illuminating range of the illuminating mechanism 6 is enlarged, real-time adjustment according to the state of a working space is facilitated, a lifting device 3 is fixedly arranged in the vertical part 21, the lifting device 3 is fixedly connected with a support frame 4 through a slide way arranged on the vertical part 21, and the lifting device 3 can adjust the, the lower end of the support frame 4 is fixedly connected with the manipulator 5; the support frame can drive the motion of manipulator 5 on vertical position, just the support frame embeds the motor, motor power output shaft with the driving shaft fixed connection of manipulator, the motor can drive the rotation of driving shaft to adjust actions such as snatching of manipulator, the motor electricity allies oneself with external power source.

As shown in fig. 2, the lifting device 3 is disposed in the cavity of the vertical portion 21, the lifting device 3 includes a lifting base 310, the lifting base 310 is a C-like base, the bottom end of the C-like base is fixedly connected with the bottom of the cavity, the C-like base is fixedly provided with two vertical slide rails 309, the two vertical slide rails 309 respectively pass through the upper end and the lower end of the C-like base, the slide rails are provided with slide blocks 308, the slide blocks 308 are in sliding fit with the slide rails 309, the slide blocks 308 can move up and down along the slide rails 309, the upper end of the C-like base has a limiting effect on the slide blocks 308, the side surfaces of the two ends of the C-like base are fixedly connected with a supporting plate 301, the supporting plate 301 is provided with a belt pulley mechanism, a driving wheel 302 of the belt pulley mechanism is fixedly connected with a power output end of a motor, one, 311 is equipped with spout slider 307 in the spout, spout slider 307 with the pulley mechanism passes through the swinging boom 306 articulated, and concrete working process does, because of motor electricity allies oneself with external power, and the circular telegram makes motor rotation axis rotate, drives action wheel 302 and rotates, and power passes through belt 305 and makes follower 304 rotate, and swinging boom 306 one end and follower 304 pivot are coaxial fixed, and the swinging boom 306 other end is articulated with spout slider 307, based on above connected mode to action wheel 302 is rotatory to drive slider 308 and is moving at slide rail 309 in vertical direction, the slider 308 another side passes through spout and support frame 4 fixed connection that vertical portion was equipped with, slider 308 can drive support frame 4 shifts in vertical direction.

As shown in fig. 3, the manipulator includes a manipulator base 501, a first rotating arm 506, a second rotating arm 508, a third rotating arm 512, a fourth rotating arm 510, a first gear arm 505, a second gear arm 511, a first manipulator 507 and a second manipulator 509, one end of the manipulator base 501 is fixedly connected to the mounting frame 502, the other end of the manipulator base 501 is fixedly connected to one end of the manipulator support 502, the manipulator support 504 is provided with a first rotating shaft 513, the first manipulator 507 is provided with a second rotating shaft 514, one end of the first rotating arm 506 and the gear part of the first gear arm 505 are coaxially and fixedly connected through the first rotating shaft 513, the other end of the first rotating arm 506 and the other end of the first gear arm 505 are coaxially and fixedly connected through the second rotating shaft 514, one end of the second rotating arm 508 is hinged to the manipulator support 504, the other end of the second rotating arm 508 is hinged to the middle part of the first manipulator 507, first manipulator 507 and second manipulator 509 set up for the symmetry, first gear arm 505 and the gear portion meshing of second gear arm 511, first pivot 513 is the driving shaft, through installing support 503 with the manipulator firm connection on support frame 4, be equipped with servo motor in the support frame 4, servo motor power output shaft and first pivot 513 fixed connection, the first pivot 513 of motor drive is rotatory, the gear portion meshing of first gear arm 505 and second gear arm 511, just first manipulator 507 and second manipulator 509 set up for the symmetry, according to above the relation of connection to drive first manipulator 507 and second manipulator 509 move in opposite directions and get the clamp to the object, perhaps deviate from the motion and put down the object mutually.

When the device is used, the distance between the mechanical arm and the workbench is adjusted through the lifting device according to specific needs, then the clamping or putting down action between the driving mechanical arms is carried out, the device is simple to operate, convenient to use and high in market application prospect.

While embodiments of the invention have been disclosed above, it is not intended to be limited to the applications listed in the specification and the examples. It can be applicable to various and be fit for the utility model discloses a field completely. Additional modifications will readily occur to those skilled in the art. The invention is therefore not to be limited to the specific details and illustrations shown and described herein, without departing from the general concept defined by the claims and their equivalents.

Claims

1. A robot apparatus, comprising: the device comprises a workbench and a support, wherein the support comprises a vertical part, an inclined part and a horizontal part, one end of the vertical part is fixedly connected with the workbench, the other end of the vertical part is hinged with one end of the inclined part, the other end of the inclined part is hinged with one end of the horizontal part, the lower part of the horizontal part is fixedly connected with a lighting mechanism, a lifting device is fixedly arranged in the vertical part, the lifting device is fixedly connected with a support frame, and the lower end of the support frame is fixedly connected with a manipulator;

2. A manipulator device according to claim 1, wherein the manipulator comprises a manipulator base, a first rotating arm, a second rotating arm, a third rotating arm, a fourth rotating arm, a first gear arm, a second gear arm, a first manipulator and a second manipulator, one end of the manipulator base is fixedly connected with the mounting frame, the other end of the manipulator base is fixedly connected with one end of a manipulator support, the manipulator support is provided with a first rotating shaft, the first manipulator is provided with a second rotating shaft, one end of the first rotating arm is coaxially and fixedly connected with the gear end of the first gear arm through the first rotating shaft, the other end of the first rotating arm is coaxially and fixedly connected with the other end of the first gear arm through the second rotating shaft, one end of the second rotating arm is hinged with the manipulator support, and the other end of the second rotating arm is hinged with the middle part of the first manipulator, the first mechanical arm and the second mechanical arm are symmetrically arranged, gear parts of the first gear arm and the second gear arm are meshed with each other, and the first rotating shaft is a driving shaft.

3. A manipulator device according to claim 2, wherein the first and second manipulators are provided with anti-slip sleeves on the inner sides thereof.

4. A manipulator according to claim 1, wherein a non-slip mat is fixed under the worktable.