CN211639904U

CN211639904U - Arm structure for manipulator convenient to angle regulation

Info

Publication number: CN211639904U
Application number: CN201922480005.XU
Authority: CN
Inventors: 宫晓峰; 曹艺婷; 张深林; 张玮; 逯珂珂; 孙晓燕
Original assignee: Yantai Engineering and Technology College
Current assignee: Yantai Engineering and Technology College
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-10-09
Anticipated expiration: 2029-12-31

Abstract

The utility model discloses an arm structure for manipulator convenient to angle regulation, including main part seat, first motor, second motor, third motor, universal connector and electric telescopic handle, the upside of first rotation seat is fixed with the supporting seat, and the outside of supporting seat installs the second motor, the second is installed to the inboard of supporting seat and is rotated the seat, and the second rotates the inboard of seat and rotate the seat through first bearing and third and be connected, the inboard that the seat was rotated to the third is connected with the third motor, and the third motor fixes in the outside that the seat was rotated to the second, the outside that the seat was rotated to the third is connected with electric telescopic handle through universal connector, the downside that the seat was rotated to the first is connected with the second bearing, and the second bearing sets up at main part seat inboardly. This arm structure for manipulator convenient to angle regulation, the position angle modulation of two directions is violently erect, can make this arm structure's angle modulation more extensive, has improved this arm structure's working property.

Description

Arm structure for manipulator convenient to angle regulation

Technical Field

The utility model relates to an arm technical field specifically is an arm structure for manipulator convenient to angle regulation.

Background

The mechanical arm structure is a complex movable system, and is often used in cooperation with a mechanical arm, the use of the current mechanical arm structure is common, the use range is wide, the mechanical arm structure on the market is diversified in types and styles, and certain problems still exist in the use of some mechanical arm structures.

For example, some mechanical arm structures have a large overall structure frame, so that the efficient operation process of the manipulator can be influenced due to the fact that the small-angle azimuth change work cannot be accurately completed, and the azimuth angle change range of some mechanical arm structures is limited, so that the working efficiency of the manipulator can be influenced.

We have proposed a robot arm structure for a robot hand which facilitates angle adjustment so as to solve the problems set forth above.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a mechanical arm structure for manipulator convenient to angle regulation to solve the unable accurate position change work of accomplishing less angle of some arm structure on the existing market that above-mentioned background art provided, the problem that the position angle change scope of arm structure in addition is comparatively limited.

In order to achieve the above object, the utility model provides a following technical scheme: a manipulator mechanical arm structure convenient for angle adjustment comprises a main body seat, a first motor, a second motor, a third motor, a universal connector and an electric telescopic rod, wherein the first motor and a first rotating seat are installed on the upper side of the main body seat, a supporting seat is fixed on the upper side of the first rotating seat, the second motor is installed on the outer side of the supporting seat, a second rotating seat is installed on the inner side of the supporting seat, the inner side of the second rotating seat is connected with the third rotating seat through a first bearing, the inner side of the third rotating seat is connected with the third motor, the third motor is fixed on the outer side of the second rotating seat, the outer side of the third rotating seat is connected with the electric telescopic rod through the universal connector, the front end of the electric telescopic rod is connected with a fixing seat through the universal connector, the lower side of the first rotating seat is connected with a second bearing, and the second bearing is arranged on the inner side of the main body seat, the lower side of the first rotating seat is connected with a first motor through a driving chain wheel set.

Preferably, the first motor is in transmission connection with the first rotating seat through a driving chain wheel set, and the first rotating seat forms a rotating structure on the main body seat through a second bearing.

Preferably, the first rotating seat and the supporting seat are of an integrated structure.

Preferably, the second rotating seat is of a rotating structure on the supporting seat through a second motor, and the supporting seat is semicircular.

Preferably, electric telescopic handle rotates through universal connector and second and is swing joint between seat and the fixing base, and electric telescopic handle rotates the seat at the second and is provided with four with the fixing base central symmetry.

Preferably, the third rotating base forms a rotating structure on the second rotating base through a third motor and the first bearing, and the third rotating base is embedded into the inner side of the second rotating base.

Compared with the prior art, the beneficial effects of the utility model are that: the mechanical arm structure for the manipulator is convenient for angle adjustment;

(1) the driving chain wheel group and the second bearing are arranged between the first motor and the first rotating seat, so that the first rotating seat can stably rotate on the main body seat, the whole mechanical arm structure can be subjected to angle adjustment work in a transverse large direction, the second motor is arranged between the supporting seat and the second rotating seat, the second rotating seat can be subjected to angle adjustment work in a vertical large direction, the angle adjustment of the mechanical arm structure can be more extensive according to the position angle adjustment in the transverse direction and the vertical direction, and the working performance of the mechanical arm structure is improved;

(2) the universal connector and the electric telescopic rod are arranged between the fixing seat and the third rotating seat, and the position angle of the fixing seat can be finely adjusted through the structural design of the universal connector and the electric telescopic rod, so that the mechanical arm structure can be finely adjusted at a small angle, and the working performance of the mechanical arm structure is improved.

Drawings

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

FIG. 2 is a left side view of the structure of the present invention;

FIG. 3 is a schematic view of the main sectional structure of the present invention;

fig. 4 is a schematic view of the structure of the right side of the present invention.

In the figure: 1. a main body seat; 2. a first motor; 3. a first rotating base; 4. a supporting seat; 5. a second motor; 6. a second rotating base; 7. a third motor; 8. a universal connector; 9. an electric telescopic rod; 10. a fixed seat; 11. a third rotating base; 12. a first bearing; 13. a second bearing; 14. and driving the chain wheel set.

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.

Referring to fig. 1-4, the present invention provides a technical solution: a mechanical arm structure for a manipulator convenient for angle adjustment comprises a main body seat 1, a first motor 2, a first rotating seat 3, a supporting seat 4, a second motor 5, a second rotating seat 6, a third motor 7, a universal connector 8, an electric telescopic rod 9, a fixed seat 10, a third rotating seat 11, a first bearing 12, a second bearing 13 and a driving chain wheel set 14, wherein the first motor 2 and the first rotating seat 3 are installed on the upper side of the main body seat 1, the supporting seat 4 is fixed on the upper side of the first rotating seat 3, the second motor 5 is installed on the outer side of the supporting seat 4, the second rotating seat 6 is installed on the inner side of the supporting seat 4, the inner side of the second rotating seat 6 is connected with the third rotating seat 11 through the first bearing 12, the third motor 7 is connected to the inner side of the third rotating seat 11, the third motor 7 is fixed on the outer side of the second rotating seat 6, the outer side of the third rotating seat 11 is connected with the electric telescopic rod 9 through the universal connector 8, and the front end of the electric telescopic rod 9 is connected with the fixed seat 10 through the universal connector 8, the lower side of the first rotating seat 3 is connected with the second bearing 13, the second bearing 13 is arranged on the inner side of the main body seat 1, and the lower side of the first rotating seat 3 is connected with the first motor 2 through the driving chain wheel set 14.

First motor 2 is connected through the transmission of drive sprocket group 14 between the first seat 3 that rotates, and first seat 3 that rotates constitutes rotating-structure on main part seat 1 through second bearing 13, has guaranteed the normal rotation state of first seat 3 that rotates on main part seat 1, has improved the high efficiency of first seat 3 work that rotates.

The first rotating seat 3 and the supporting seat 4 are integrated, so that the stable working state of the first rotating seat 3 and the supporting seat 4 is ensured, and the mechanical arm works stably.

The second rotates seat 6 and becomes rotating-structure on supporting seat 4 through second motor 5, and supporting seat 4's appearance is the semicircle annular, can guarantee that the second rotates the rotation of the vertical direction of seat 6, also can guarantee that the second rotates the sufficiency of seat 6 turned angle.

Electric telescopic handle 9 rotates through universal connector 8 and second and is swing joint between seat 6 and the fixing base 10, and electric telescopic handle 9 rotates the second and is provided with four at the centrosymmetric between seat 6 and the fixing base 10, can make fixing base 10 carry out stable fine setting work, has improved the performance of this arm structure.

The third rotating seat 11 forms a rotating structure on the second rotating seat 6 through the third motor 7 and the first bearing 12, and the third rotating seat 11 is embedded into the inner side of the second rotating seat 6, so that the position adjustment work of the mechanical arm structure can be increased, and the use value of the mechanical arm structure is highlighted.

The working principle is as follows: when the mechanical arm structure for the manipulator convenient for angle adjustment is used, firstly, according to the figures 1-4, the main body seat 1 of the device needs to be stably fixed at a working position, then an external power supply is connected to enable the device to normally work, and then the manipulator is arranged on the fixed seat 10, so that the subsequent angle adjustment work of the manipulator can be carried out;

when the transverse azimuth angle is required to be adjusted, according to fig. 1 and fig. 3, the first motor 2 can be started, the first motor 2 drives the first rotating seat 3 through the driving chain wheel set 14, and the first rotating seat 3 can rotate on the main body seat 1 through the second bearing 13, so that the transverse azimuth angle adjustment of the mechanical arm is completed; when the vertical direction angle is required to be adjusted, according to the figures 1-4, the second motor 5 can be started to enable the second rotating seat 6 to rotate up and down in the supporting seat 4, so that the vertical direction angle adjustment of the mechanical arm is completed;

if the working angle of the manipulator on the fixed seat 10 needs to be finely adjusted, the plane angle of the fixed seat 10 can be changed through the telescopic cooperation of the electric telescopic rods 9, and meanwhile, the third motor 7 can be started, so that the third rotating seat 11 can rotate inside the second rotating seat 6 through the first bearing 12 to change the working angle of the fixed seat 10, and the fine adjustment of the angle of the manipulator on the fixed seat 10 is completed;

the operation of the robot arm structure is completed, and the details which are not described in detail in this specification are well known in the art.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a manipulator arm structure for convenient to angle regulation, includes main part seat (1), first motor (2), second motor (5), third motor (7), universal connector (8) and electric telescopic handle (9), its characterized in that: the upper side of the main body seat (1) is provided with a first motor (2) and a first rotating seat (3), the upper side of the first rotating seat (3) is fixed with a supporting seat (4), the outer side of the supporting seat (4) is provided with a second motor (5), the inner side of the supporting seat (4) is provided with a second rotating seat (6), the inner side of the second rotating seat (6) is connected with a third rotating seat (11) through a first bearing (12), the inner side of the third rotating seat (11) is connected with a third motor (7), the third motor (7) is fixed on the outer side of the second rotating seat (6), the outer side of the third rotating seat (11) is connected with an electric telescopic rod (9) through a universal connector (8), the front end of the electric telescopic rod (9) is connected with a fixed seat (10) through the universal connector (8), the lower side of the first rotating seat (3) is connected with a second bearing (13), and the second bearing (13) is arranged on the inner side of the main body seat (1), and the lower side of the first rotating seat (3) is connected with the first motor (2) through a driving chain wheel set (14).

2. The robot arm structure for a robot hand facilitating angle adjustment according to claim 1, wherein: the first motor (2) is in transmission connection with the first rotating seat (3) through a driving chain wheel set (14), and the first rotating seat (3) forms a rotating structure on the main body seat (1) through a second bearing (13).

3. The robot arm structure for a robot hand facilitating angle adjustment according to claim 1, wherein: the first rotating seat (3) and the supporting seat (4) are of an integrated structure.

4. The robot arm structure for a robot hand facilitating angle adjustment according to claim 1, wherein: the second rotating seat (6) is of a rotating structure on the supporting seat (4) through a second motor (5), and the supporting seat (4) is semicircular.

5. The robot arm structure for a robot hand facilitating angle adjustment according to claim 1, wherein: electric telescopic handle (9) are swing joint through universal connector (8) and second between rotating seat (6) and fixing base (10), and electric telescopic handle (9) are rotated the second and are rotated seat (6) and fixing base (10) between centrosymmetric and be provided with four.

6. The robot arm structure for a robot hand facilitating angle adjustment according to claim 1, wherein: and the third rotating seat (11) forms a rotating structure on the second rotating seat (6) through a third motor (7) and a first bearing (12), and the third rotating seat (11) is embedded into the inner side of the second rotating seat (6).