CN210998694U

CN210998694U - Multi-degree-of-freedom manipulator based on gear transmission

Info

Publication number: CN210998694U
Application number: CN201921733480.7U
Authority: CN
Inventors: 不公告发明人
Original assignee: Shanghai Changqiang Heavy Industry Machinery Co ltd
Current assignee: Shanghai Changqiang Heavy Industry Machinery Co ltd
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2020-07-14
Anticipated expiration: 2029-10-16

Abstract

The utility model discloses a multi-degree-of-freedom mechanical arm based on gear transmission, which comprises a base and a mechanical arm, wherein the upper surface of the front end and the rear end of the base is fixedly connected with a supporting table, the front end surface of the supporting table is connected with a rotating rod through the rotation of a motor, the outer side surface of the rotating rod is connected with the inner side surface of a moving seat through threads, the lower surface of the mechanical arm is fixedly connected with an I-shaped plate, the outer side surface of the I-shaped plate is connected with the inner side surface of the upper end of the moving seat through an I-shaped chute in a sliding way, the inner side surface of the front end of the moving seat is connected with a first spring and a U-shaped clamping rod through chutes in a sliding way, the rear end surface of the U-shaped clamping rod is connected with the inner side surface of the front end of the I, lubricating oil is conveniently added to the surface of the positioning sliding rod.

Description

Multi-degree-of-freedom manipulator based on gear transmission

Technical Field

The utility model relates to a manipulator technical field specifically is a multi freedom manipulator based on gear drive.

Background

The manipulator can imitate some movement functions of human hand and arm, in order to grasp, transport the automatic operating device of the article or operating tool according to the fixed procedure, the manipulator is the industrial robot appearing at first, it is modern robot appearing at first too, it can replace the heavy work of people to realize mechanization and automation of production, can operate under the harmful environment;

the multi-degree-of-freedom mechanical arm based on gear transmission needs to move horizontally on a production line and needs to be connected and fixed with a moving device, the multi-degree-of-freedom mechanical arm based on gear transmission is inconvenient to assemble due to the fact that the multi-degree-of-freedom mechanical arm is installed through bolts in the prior art, the multi-degree-of-freedom mechanical arm is driven to move by a threaded screw rod when moving horizontally, lubricating oil needs to be smeared on the surface of a sliding rod which is supported and positioned in the.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a multi freedom manipulator based on gear drive to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a multi-degree-of-freedom mechanical arm based on gear transmission comprises a base and a mechanical arm, wherein a supporting table is fixedly connected to the upper surfaces of the front end and the rear end of the base, a rotating rod is rotatably connected to the surface of the front end of the supporting table through a motor, the outer side surface of the rotating rod is connected to the inner side surface of a moving seat through threads, a roller is fixedly connected to the lower surface of the moving seat, and the front end and the rear end of the rotating rod are rotatably connected to the inner side surface of the supporting table through bearings;

the lower fixed surface of manipulator is connected with worker's shaped plate, the outside surface of worker's shaped plate is at the upper end inboard surface that removes the seat through worker's shape spout sliding connection, the front end inboard surface that removes the seat has first spring and U-shaped kelly through spout sliding connection, the rear end surface of U-shaped kelly passes through draw-in groove sliding connection at the front end inboard surface of worker's shaped plate, the lower interior terminal surface fixedly connected with location slide bar of brace table, the outside surface of location slide bar passes through location slide opening sliding connection at the lower extreme inboard surface that removes the seat.

Preferably, the outer side surface of the rear end positioning slide rod of the moving seat is fixedly connected with an oil storage shell, the inner side surface of the oil storage shell is provided with an oil storage cavity, and the outer side surface of the rear end oil injection port of the oil storage shell is connected with an outer cover through threads.

Preferably, the inner side surface of the upper end of the oil storage shell is connected with a sliding pin in a sliding mode through a sliding hole, the lower end face of the sliding pin is fixedly connected with a T-shaped circular plug block, and the outer side surface of the sliding pin is connected with a second spring in a sliding mode.

Preferably, the inner side surface of the lower end of the oil storage shell is provided with a T-shaped oil leakage round opening, and the T-shaped round plugging block is connected in the T-shaped oil leakage round opening in a sliding mode.

Preferably, a slider is fixedly connected to the upper surface of the sliding pin.

Compared with the prior art, the beneficial effects of the utility model are that: this multi freedom manipulator based on gear drive connects worker's shaped plate under the manipulator on removing the seat through the joint structure, and the assembly of the manipulator of being convenient for is used, through setting up the oil storage shell in removing the seat additional, is convenient for add lubricating oil toward the location slide bar surface.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a top sectional view of the connection between the U-shaped lever and the movable base;

FIG. 3 is an enlarged view of the point A of the present invention;

FIG. 4 is an enlarged view of the point B of the present invention;

fig. 5 is a right end side view of the connection position relationship between the oil storage casing and the movable seat of the present invention.

In the figure: the automatic oil-leakage device comprises a base 1, a manipulator 2, a support table 3, a motor 4, a rotating rod 5, a moving seat 6, a roller 7, an I-shaped plate 8, an I-shaped sliding groove 9, a sliding groove 10, a first spring 11, a U-shaped clamping rod 12, a clamping groove 13, a positioning sliding rod 14, a positioning sliding hole 15, a bearing 16, an oil storage shell 17, an oil storage cavity 18, an outer cover 19, a sliding pin 20, a circular plug 21T-shaped, a second spring 22, an oil-leakage circular opening 23T-shaped and a puller 24.

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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description of the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Referring to fig. 1-5, the present invention provides a technical solution: a multi-degree-of-freedom mechanical arm based on gear transmission comprises a base 1 and a mechanical arm 2, wherein a supporting table 3 is fixedly connected to the upper surface of the front end and the rear end of the base 1, a rotating rod 5 is rotatably connected to the surface of the front end of the supporting table 3 through a motor 4, the motor 4 is a forward and reverse gear reduction motor with the model number of YE3-2 and is connected to a power supply and a control switch through a series circuit, the outer side surface of the rotating rod 5 is connected to the inner side surface of a movable seat 6 through threads, a roller 7 is fixedly connected to the lower surface of the movable seat 6, and the front end and the rear end of the rotating rod 5 are rotatably;

the lower surface of the manipulator 2 is fixedly connected with an I-shaped plate 8, the outer side surface of the I-shaped plate 8 is slidably connected with the inner side surface of the upper end of a movable seat 6 through an I-shaped chute 9, the inner side surface of the front end of the movable seat 6 is slidably connected with a first spring 11 and a U-shaped clamping rod 12 through a chute 10, the rear end surface of the U-shaped clamping rod 12 is slidably connected with the inner side surface of the front end of the I-shaped plate 8 through a clamping groove 13, the lower inner end surface of a supporting platform 3 is fixedly connected with a positioning slide rod 14, the outer side surface of the positioning slide rod 14 is slidably connected with the inner side surface of the lower end of the movable seat 6 through a positioning slide hole 15, when in use, the I-shaped plate 8 below the manipulator 2 slides into the movable seat 6 along the I-shaped chute 9, at the moment, the I-shaped plate 8 can be supported, the U-shaped clamping rod 12 is, install than adopting a plurality of bolts and want convenient and fast, it is rotatory to drive bull stick 5 through motor 4, it is rotatory in removing seat 6 through the screw thread through bull stick 5, can drive and remove 6 horizontal migration of seat, it slides outside location slide bar 14 to remove the location slide opening 15 of 6 lower extremes of seat, can support removing seat 6, make gyro wheel 7 roll on base 1 simultaneously, gyro wheel 7 can support removing seat 6, when dismantling manipulator 2, can directly outwards stimulate U-shaped kelly 12 and break away from draw-in groove 13, can slide out worker shaped plate 8, manipulator 2 under the convenient to detach, facilitate the use.

Move rear end location slide bar 14 department outside fixed surface of seat 6 and be connected with oil storage shell 17, the inboard surface of oil storage shell 17 is equipped with oil storage chamber 18, and there is enclosing cover 19 the rear end oiling mouth department outside surface of oil storage shell 17 through threaded connection, opens enclosing cover 19 when using, impresses lubricating oil into the oil storage chamber 18 in the oil storage shell 17 through the oiling mouth in, conveniently carries out the grease addition to location slide bar 14 surface.

The inner side surface of the upper end of the oil storage shell 17 is connected with a sliding pin 20 in a sliding mode through a sliding hole, the lower end face of the sliding pin 20 is fixedly connected with a T-shaped circular blocking block 21, the outer side surface of the sliding pin 20 is connected with a second spring 22 in a sliding mode, the T-shaped circular blocking block 21 can block a T-shaped oil leakage round opening 23, and when the oil is not added, the lubrication cannot leak.

The inner side surface of the lower end of the oil storage shell 17 is provided with a T-shaped oil leakage round opening 23, the T-shaped circular blocking block 21 is connected in the T-shaped oil leakage round opening 23 in a sliding mode, the T-shaped oil leakage round opening 23 is adopted, a fracture can be formed when the T-shaped circular blocking block 21 blocks, and sealing performance is improved.

When the sliding device is used, the sliding pin 20 is pulled upwards through the pull head 24, the T-shaped round plugging block 21 can be driven to be separated from the T-shaped oil leakage round opening 23, lubricating oil can leak down from the T-shaped oil leakage round opening 23 and flow to the surface of the positioning sliding rod 14, and when the moving seat 6 slides, the lubricating oil can be smeared on the surface of the positioning sliding rod 14, so that the lubricating oil is conveniently smeared, the smoothness during horizontal movement is improved, and the sliding device is convenient to use.

The utility model discloses when concrete implementation: when the device is used, the I-shaped plate 8 under the manipulator 2 slides into the movable seat 6 along the I-shaped sliding groove 9, at the moment, the I-shaped plate 8 can be supported, the U-shaped clamping rod 12 is bounced by the first spring 11 to be clamped into the clamping groove 13, the I-shaped plate 8 is positioned and cannot slide, the manipulator 2 completes assembly, the mounting is more convenient and quicker than the mounting by adopting a plurality of bolts, the rotating rod 5 is driven to rotate by the motor 4 and rotates in the movable seat 6 through threads by the rotating rod 5, the movable seat 6 can be driven to horizontally move, the positioning sliding hole 15 at the lower end of the movable seat 6 slides outside the positioning sliding rod 14, the movable seat 6 can be supported, the roller 7 rolls on the base 1, the roller 7 can support the movable seat 6, the outer cover 19 is opened when the device is used, lubricating oil is pumped into the oil storage cavity 18 in the oil storage shell 17 through an oil injection port, and the surface of the positioning sliding rod 14 can be, when the sliding device is used, the sliding pin 20 is pulled upwards through the pull head, the T-shaped round blocking block 21 can be driven to be separated from the T-shaped oil leakage round opening 23, lubricating oil can leak from the T-shaped oil leakage round opening 23 and flow to the surface of the positioning sliding rod 14, when the moving seat 6 slides, the lubricating oil can be smeared on the surface of the positioning sliding rod 14, the lubricating oil is convenient to smear, the smoothness during horizontal movement is improved, and the sliding device is convenient to use.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a multi freedom manipulator based on gear drive, includes base (1), manipulator (2), its characterized in that: the upper surfaces of the front end and the rear end of the base (1) are fixedly connected with a supporting table (3), the surface of the front end of the supporting table (3) is rotatably connected with a rotating rod (5) through a motor (4), the outer side surface of the rotating rod (5) is connected to the inner side surface of a moving seat (6) through threads, the lower surface of the moving seat (6) is fixedly connected with a roller (7), and the front end and the rear end of the rotating rod (5) are rotatably connected to the inner side surface of the supporting table (3) through a bearing (16);

the lower fixed surface of manipulator (2) is connected with worker shaped plate (8), the outside surface of worker shaped plate (8) has first spring (11) and U-shaped kelly (12) through worker shape spout (9) sliding connection at the upper end inboard surface that removes seat (6), the front end inboard surface that removes seat (6) has first spring (11) and U-shaped kelly (12) through spout (10) sliding connection, the rear end surface of U-shaped kelly (12) passes through draw-in groove (13) sliding connection at the front end inboard surface of worker shaped plate (8), the lower interior terminal surface fixed connection of brace table (3) has location slide bar (14), the outside surface of location slide bar (14) passes through location slide hole (15) sliding connection at the lower extreme inboard surface that removes seat (6).

2. The multi-degree-of-freedom manipulator based on gear transmission as claimed in claim 1, wherein: the outer side surface of the rear end positioning sliding rod (14) of the movable seat (6) is fixedly connected with an oil storage shell (17), an oil storage cavity (18) is formed in the inner side surface of the oil storage shell (17), and the outer side surface of the rear end oil filling port of the oil storage shell (17) is connected with an outer cover (19) through threads.

3. The multi-degree-of-freedom manipulator based on gear transmission as claimed in claim 2, wherein: the inner side surface of the upper end of the oil storage shell (17) is connected with a sliding pin (20) through a sliding hole in a sliding mode, the lower end face of the sliding pin (20) is fixedly connected with a T-shaped circular blocking block (21), and the outer side surface of the sliding pin (20) is connected with a second spring (22) in a sliding mode.

4. The multi-degree-of-freedom manipulator based on gear transmission as claimed in claim 3, wherein: the inner side surface of the lower end of the oil storage shell (17) is provided with a T-shaped oil leakage round opening (23), and the T-shaped round plugging block (21) is connected in the T-shaped oil leakage round opening (23) in a sliding mode.

5. The multi-degree-of-freedom manipulator based on gear transmission as claimed in claim 3, wherein: the upper surface of the sliding pin (20) is fixedly connected with a pull head (24).