CN211682082U - Movable mechanical arm based on connecting rod lifting mechanism - Google Patents
Movable mechanical arm based on connecting rod lifting mechanism Download PDFInfo
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- CN211682082U CN211682082U CN201922367356.XU CN201922367356U CN211682082U CN 211682082 U CN211682082 U CN 211682082U CN 201922367356 U CN201922367356 U CN 201922367356U CN 211682082 U CN211682082 U CN 211682082U
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Abstract
The utility model provides a portable manipulator based on connecting rod elevating system, the bilateral symmetry on chassis is fixed with wheel fixed cross beam, install the wheel drive mechanism that is used for driving whole chassis and removes on the wheel fixed cross beam, the top middle part fixed mounting on chassis has the riser, there is the bracing piece both sides of riser through bottom bent plate fixed mounting, the terminal fixed mounting of bracing piece has the top bent plate, install quadrangle link mechanism on the bent plate of top, quadrangle link mechanism cooperatees with the lift power device who is used for driving its lift action, the top diaphragm is installed to quadrangle link mechanism's the other end, fixed mounting has the fixed plate on the lateral wall of top diaphragm, fixed mounting has the manipulator of snatching on the lateral wall of fixed plate. The manipulator adopts a connecting rod type lifting structure, and then the lifting control of the manipulator can be conveniently realized.
Description
Technical Field
The utility model belongs to the manipulator field especially relates to a portable manipulator based on connecting rod elevating system.
Background
In the automatic production process, a grabbing manipulator is required to be used for grabbing and conveying workpieces, at present, the lifting action of more manipulators is mostly realized by adopting a mode that a servo motor is matched with a ball screw, and the cost of the lifting mode is relatively high; in addition, most of the existing manipulator structures adopt corresponding connecting rods to be installed on the rack in a matching mode, so that the operation range is limited, and the manipulator structures cannot meet the requirement of unmanned operation of large-scale plants.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model provides a movable manipulator based on a connecting rod lifting mechanism, which adopts a connecting rod type lifting structure, thereby conveniently realizing the lifting control of the manipulator, replacing the traditional ball screw lifting structure, simplifying the structure and reducing the cost; in addition, the movable chassis structure is adopted, so that the whole manipulator can move in the whole range in a factory conveniently, and the operation range of the manipulator is further enlarged.
In order to realize the technical characteristics, the purpose of the utility model is realized as follows: the movable manipulator comprises a chassis, wheel fixing cross beams are symmetrically fixed on two sides of the chassis, a wheel driving mechanism used for driving the whole chassis to move is mounted on each wheel fixing cross beam, a vertical plate is fixedly mounted in the middle of the top of the chassis, supporting rods are fixedly mounted on two sides of each vertical plate through bottom curved plates, top curved plates are fixedly mounted at the tail ends of the supporting rods, quadrilateral connecting rod mechanisms are mounted on the top curved plates and matched with lifting power devices used for driving the lifting mechanisms to move up and down, top transverse plates are mounted at the other ends of the quadrilateral connecting rod mechanisms, fixing plates are fixedly mounted on the side walls of the top transverse plates, and grabbing manipulators are fixedly mounted on the side walls of the fixing plates.
The wheel driving mechanism comprises a front wheel driving motor fixed at the front end of the wheel fixing cross beam, a head driving wheel is installed on an output shaft of the front wheel driving motor, a rear wheel driving motor is installed at the diagonal end of the head driving wheel and located at the rear end of the wheel fixing cross beam, a tail driving wheel is installed on an output shaft of the rear wheel driving motor, and a driven wheel is installed at the other diagonal positions of the wheel fixing cross beam.
The front wheel driving motor and the rear wheel driving motor are servo motors and are respectively connected with a motor driver, the motor driver is connected with a main controller fixed at the bottom of the chassis through a signal line, the main controller is installed on a main control panel, and a signal input port is arranged on the main control panel.
The vertical plate is fixedly connected with the chassis through a fixed angle plate.
Quadrilateral link mechanism is including articulating first pivot and the second pivot on the bent board of top, parallel fixed mounting has first connecting rod in the first pivot, parallel fixed mounting has the second connecting rod in the second pivot, the other end of first connecting rod is articulated through the bottom of first articulated bolt and curb plate, the other end of second connecting rod is articulated through the top of second articulated bolt and curb plate, top diaphragm fixed mounting is between the curb plate.
And a synchronous cross rod is fixedly arranged between the two first connecting rods.
The lifting power device comprises a lifting motor, the lifting motor is fixedly mounted on the supporting rod through a motor fixing plate, a synchronous belt wheel is mounted on an output shaft of the lifting motor, the synchronous belt wheel and a driven belt wheel form belt transmission through a synchronous belt, and the driven belt wheel is fixedly mounted on a first rotating shaft of the quadrilateral linkage mechanism and drives the quadrilateral linkage mechanism to rotate.
The grabbing manipulator comprises a paw mounting plate, the paw mounting plate is fixedly mounted on the side wall of the fixing plate through a plurality of paw fixing rods, and the paw mounting plate is provided with mechanical paws which are symmetrically arranged.
The utility model discloses there is following beneficial effect:
1. through adopting the portable manipulator of above-mentioned structure, its can be convenient realize the lifting control of manipulator, its lift action passes through quadrangle link mechanism, and then guarantees to snatch the manipulator and in the lift in-process, is in the level lift all the time, and then does not influence the normal action of snatching the manipulator. In the specific working process, the quadrilateral linkage mechanism is driven by the lifting power device, the grabbing manipulator at the tail end of the quadrilateral linkage mechanism is driven by the quadrilateral linkage mechanism, and then grabbing action is realized by the grabbing manipulator.
2. The wheel driving mechanism can be used for driving the whole chassis to move or walk, so that the manipulator can be moved in the whole plant, and the application range and the operation area of the wheel driving mechanism are effectively enlarged.
3. Through foretell structure can realize automated control, in the course of the work, through main control unit control motor drive, and then through motor drive front wheel driving motor and rear wheel driving motor, finally control corresponding head drive wheel and afterbody drive wheel, realize its removal.
4. Through foretell quadrangle link mechanism mainly used realize the lift action, in the course of the work, drive first connecting rod through first pivot and rotate, and then drive the second connecting rod through first connecting rod is synchronous, realize the lift action.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a first perspective three-dimensional view of the present invention.
Fig. 2 is a second perspective three-dimensional view of the present invention.
Fig. 3 is a third perspective three-dimensional view of the present invention.
In the figure: the device comprises a front wheel driving motor 1, a head driving wheel 2, a chassis 3, a wheel fixing beam 4 fixing angle plate 5, a vertical plate 6, a bottom bent plate 7, a supporting rod 8, a lifting motor 9, a motor fixing plate 10, a synchronous belt 11, a driven pulley 12, a top bent plate 13, a second rotating shaft 14, a first rotating shaft 15, a first connecting rod 16, a synchronous cross rod 17, a second connecting rod 18, a side plate 19, a first hinge bolt 20, a second hinge bolt 21, a top transverse plate 22, a fixing plate 23, a paw fixing rod 24, a paw mounting plate 25, a mechanical paw 26, a synchronous belt pulley 27, a rear wheel driving motor 28, a motor driver 29, a tail driving wheel 30, a main control plate 31, a main controller 32 and a signal input port 33.
Detailed Description
The following describes embodiments of the present invention with reference to the accompanying drawings.
Referring to fig. 1-3, a mobile manipulator based on a link elevating mechanism, which includes a chassis 3, wheel fixing cross beams 4 are symmetrically fixed on two sides of the chassis 3, wheel driving mechanisms for driving the whole chassis 3 to move are installed on the wheel fixing cross beams 4, a vertical plate 6 is fixedly arranged at the middle part of the top of the chassis 3, supporting rods 8 are fixedly arranged at the two sides of the vertical plate 6 through a bottom bent plate 7, the tail end of the supporting rod 8 is fixedly provided with a top curved plate 13, the top curved plate 13 is provided with a quadrilateral connecting rod mechanism, the quadrilateral linkage mechanism is matched with a lifting power device for driving the quadrilateral linkage mechanism to lift, a top transverse plate 22 is arranged at the other end of the quadrilateral linkage mechanism, the side wall of the top transverse plate 22 is fixedly provided with a fixing plate 23, and the side wall of the fixing plate 23 is fixedly provided with a grabbing manipulator. Through adopting the portable manipulator of above-mentioned structure, its can be convenient realize the lifting control of manipulator, its lift action passes through quadrangle link mechanism, and then guarantees to snatch the manipulator and in the lift in-process, is in the level lift all the time, and then does not influence the normal action of snatching the manipulator. In the specific working process, the quadrilateral linkage mechanism is driven by the lifting power device, the grabbing manipulator at the tail end of the quadrilateral linkage mechanism is driven by the quadrilateral linkage mechanism, and then grabbing action is realized by the grabbing manipulator.
Further, the wheel driving mechanism comprises a front wheel driving motor 1 fixed at the front end of the wheel fixing cross beam 4, a head driving wheel 2 is installed on an output shaft of the front wheel driving motor 1, a rear wheel driving motor 28 is installed at the diagonal end of the head driving wheel 2 and located at the rear end of the wheel fixing cross beam 4, a tail driving wheel 30 is installed on an output shaft of the rear wheel driving motor 28, and driven wheels are installed at other diagonal positions of the wheel fixing cross beam 4. The wheel driving mechanism can be used for driving the whole chassis 3 to move or walk, so that the manipulator can be moved in the whole plant, and the application range and the operation area of the wheel driving mechanism are effectively enlarged. In a specific working process, the front wheel driving motor 1 and the rear wheel driving motor 28 synchronously drive the corresponding head driving wheel 2 and the tail driving wheel 30, so that the whole chassis 3 is driven to move.
Further, the front wheel driving motor 1 and the rear wheel driving motor 28 are servo motors and are respectively connected with a motor driver 29, the motor driver 29 is connected with a main controller 32 fixed at the bottom of the chassis 3 through a signal line, the main controller 32 is installed on a main control panel 31, and the main control panel 31 is provided with a signal input port 33. By the structure, automatic control can be realized, in the working process, the main controller 32 controls the motor driver 29, the motor driver 29 drives the front wheel driving motor 1 and the rear wheel driving motor 28, and finally the corresponding head driving wheel 2 and the tail driving wheel 30 are controlled to realize the movement.
Further, the vertical plate 6 is fixedly connected with the chassis 3 through a fixed angle plate 5. The fixing and installation of the vertical plate 6 are realized by the fixing angle plate 5.
Further, quadrangle link mechanism is including articulating first pivot 15 and second pivot 14 on top bent plate 13, parallel fixed mounting has first connecting rod 16 on first pivot 15, parallel fixed mounting has second connecting rod 18 on the second pivot 14, the other end of first connecting rod 16 is articulated through the bottom of first hinge bolt 20 with curb plate 19, the other end of second connecting rod 18 is articulated through the top of second hinge bolt 21 with curb plate 19, top diaphragm 22 fixed mounting is between curb plate 19. The quadrilateral linkage mechanism is mainly used for realizing lifting action, and in the working process, the first rotating shaft 15 drives the first connecting rod 16 to rotate, and then the first connecting rod 16 synchronously drives the second connecting rod 18 to realize lifting action.
Further, a synchronous cross rod 17 is fixedly installed between the two first connecting rods 16. Synchronization of the rotation of the first link 16 is ensured by the synchronization cross bar 17.
Further, the lifting power device comprises a lifting motor 9, the lifting motor 9 is fixedly mounted on the support rod 8 through a motor fixing plate 10, a synchronous belt pulley 27 is mounted on an output shaft of the lifting motor 9, the synchronous belt pulley 27 and a driven belt pulley 12 form belt transmission through a synchronous belt 11, and the driven belt pulley 12 is fixedly mounted on a first rotating shaft 15 of the quadrilateral linkage mechanism and drives the quadrilateral linkage mechanism to rotate. Through foretell lift power device can be used for providing lift power, in the course of the work, through lift motor 9 drive hold-in range 11, through hold-in range 11 drive driven pulley 12, finally through driven pulley 12 drive first pivot 15, finally through the whole quadrangle link mechanism of first pivot 15 drive lift.
Further, the grabbing manipulator comprises a paw mounting plate 25, the paw mounting plate 25 is fixedly mounted on the side wall of the fixing plate 23 through a plurality of paw fixing rods 24, and the paw mounting plate 25 is provided with symmetrically arranged mechanical paws 26. The grabbing manipulator can realize grabbing action.
The utility model discloses a use as follows:
in the use, through the corresponding head drive wheel 2 of synchronous drive of front wheel driving motor 1 and rear wheel driving motor 28 and afterbody drive wheel 30, and then drive whole chassis 3 and remove, and then realize the removal of manipulator, when needs go up and down, through lift motor 9 drive hold-in range 11, through hold-in range 11 drive driven pulley 12, finally through driven pulley 12 drive first pivot 15, finally through the whole quadrangle link mechanism of first pivot 15 drive lift, realize snatching the action by manipulator claw 26 again.
Claims (8)
1. Portable manipulator based on connecting rod elevating system, its characterized in that: it comprises a chassis (3), wheel fixing cross beams (4) are symmetrically fixed on two sides of the chassis (3), the wheel fixing cross beam (4) is provided with a wheel driving mechanism for driving the whole chassis (3) to move, a vertical plate (6) is fixedly arranged in the middle of the top of the chassis (3), supporting rods (8) are fixedly arranged on two sides of the vertical plate (6) through a bottom bent plate (7), the tail end of the supporting rod (8) is fixedly provided with a top curved plate (13), the top curved plate (13) is provided with a quadrilateral connecting rod mechanism, the quadrilateral connecting rod mechanism is matched with a lifting power device for driving the quadrilateral connecting rod mechanism to lift, a top transverse plate (22) is arranged at the other end of the quadrilateral connecting rod mechanism, the side wall of the top transverse plate (22) is fixedly provided with a fixing plate (23), and the side wall of the fixing plate (23) is fixedly provided with a grabbing manipulator.
2. The link elevating mechanism-based mobile manipulator according to claim 1, wherein: the wheel driving mechanism comprises a front wheel driving motor (1) fixed at the front end of a wheel fixing cross beam (4), a head driving wheel (2) is installed on an output shaft of the front wheel driving motor (1), the opposite angle end of the head driving wheel (2) is located at the rear end of the wheel fixing cross beam (4) and is provided with a rear wheel driving motor (28), a tail driving wheel (30) is installed on an output shaft of the rear wheel driving motor (28), and a driven wheel is installed at other opposite angle positions of the wheel fixing cross beam (4).
3. The link elevating mechanism-based mobile manipulator according to claim 2, wherein: the front wheel driving motor (1) and the rear wheel driving motor (28) adopt servo motors and are respectively connected with a motor driver (29), the motor driver (29) is connected with a main controller (32) fixed at the bottom of the chassis (3) through a signal line, the main controller (32) is installed on a main control panel (31), and the main control panel (31) is provided with a signal input port (33).
4. The link elevating mechanism-based mobile manipulator according to claim 1, wherein: the vertical plate (6) is fixedly connected with the chassis (3) through a fixed angle plate (5).
5. The link elevating mechanism-based mobile manipulator according to claim 1, wherein: quadrilateral linkage is including articulating first pivot (15) and second pivot (14) on top bent plate (13), parallel fixed mounting has first connecting rod (16) on first pivot (15), parallel fixed mounting has second connecting rod (18) on second pivot (14), the other end of first connecting rod (16) is articulated through the bottom of first articulated bolt (20) with curb plate (19), the other end of second connecting rod (18) is articulated through the top of second articulated bolt (21) with curb plate (19), top diaphragm (22) fixed mounting is between curb plate (19).
6. The link elevating mechanism-based mobile manipulator according to claim 5, wherein: a synchronous cross rod (17) is fixedly arranged between the two first connecting rods (16).
7. The link elevating mechanism-based mobile manipulator according to claim 1, wherein: the lifting power device comprises a lifting motor (9), the lifting motor (9) is fixedly mounted on the supporting rod (8) through a motor fixing plate (10), a synchronous belt wheel (27) is mounted on an output shaft of the lifting motor (9), the synchronous belt wheel (27) forms belt transmission with a driven belt wheel (12) through a synchronous belt (11), and the driven belt wheel (12) is fixedly mounted on a first rotating shaft (15) of the quadrilateral connecting rod mechanism and drives the quadrilateral connecting rod mechanism to rotate.
8. The link elevating mechanism-based mobile manipulator according to claim 1, wherein: the grabbing manipulator comprises a paw mounting plate (25), the paw mounting plate (25) is fixedly mounted on the side wall of the fixing plate (23) through a plurality of paw fixing rods (24), and the paw mounting plate (25) is provided with mechanical paws (26) which are symmetrically arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922367356.XU CN211682082U (en) | 2019-12-25 | 2019-12-25 | Movable mechanical arm based on connecting rod lifting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922367356.XU CN211682082U (en) | 2019-12-25 | 2019-12-25 | Movable mechanical arm based on connecting rod lifting mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211682082U true CN211682082U (en) | 2020-10-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922367356.XU Active CN211682082U (en) | 2019-12-25 | 2019-12-25 | Movable mechanical arm based on connecting rod lifting mechanism |
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| Country | Link |
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| CN (1) | CN211682082U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112607424A (en) * | 2021-03-04 | 2021-04-06 | 湖南机电职业技术学院 | Automatic loading and unloading conveyor |
| CN112850139A (en) * | 2021-03-04 | 2021-05-28 | 长沙国金机械科技有限公司 | Automatic loading and unloading conveyor based on remote control |
-
2019
- 2019-12-25 CN CN201922367356.XU patent/CN211682082U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112607424A (en) * | 2021-03-04 | 2021-04-06 | 湖南机电职业技术学院 | Automatic loading and unloading conveyor |
| CN112850139A (en) * | 2021-03-04 | 2021-05-28 | 长沙国金机械科技有限公司 | Automatic loading and unloading conveyor based on remote control |
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