CN211890891U

CN211890891U - Driving device of manipulator

Info

Publication number: CN211890891U
Application number: CN201922213911.3U
Authority: CN
Inventors: 刘福禄
Original assignee: Chongqing Industry & Trade Polytechnic
Current assignee: Chongqing Industry & Trade Polytechnic
Priority date: 2019-12-11
Filing date: 2019-12-11
Publication date: 2020-11-10
Anticipated expiration: 2029-12-11

Abstract

The utility model relates to a manipulator drive arrangement technical field just discloses a drive arrangement of manipulator, including PMKD, the equal fixed mounting in the left and right sides at PMKD top has the side lever, the top fixed mounting of side lever has the roof. This drive arrangement of manipulator, through setting up the second screw rod, when needs dismantle robotic arm and maintain, at first rotate about two second screw rods, make the second screw rod move down, make the distance between two upper and lower clamp plates enlarge, make the limiting plate unrestricted, rotate about then two first screw rods, it removes to drive the inserted bar through the connecting plate, turn to through controlling about two first screw rods, make the inserted bar withdraw from the restriction to manipulator installation pole, manipulator installation pole and first spacing and the spacing separation of second this moment, thereby conveniently dismantle it, whole dismantlement structure and dismantlement process are very succinct, make equipment reach the effect of easy access.

Description

Driving device of manipulator

Technical Field

The utility model relates to a manipulator drive technical field specifically is a drive arrangement of manipulator.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

Present current manipulator drive arrangement generally has the shortcoming of being not convenient for to overhaul, because manipulator inner structure adopts electronic component and gear member to make up and forms, in order to let the manipulator keep good sensitivity and precision, need regularly to its maintenance and maintenance, and the connection of current manipulator drive arrangement and manipulator is comparatively loaded down with trivial details, it is comparatively troublesome to make the manipulator dismantle, the maintenance cost has been improved, the demand that can not better satisfy people and use, so propose the drive arrangement of a manipulator and solve the above-mentioned problem that proposes.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a drive arrangement of manipulator, possess advantages such as easy access, solved present manipulator drive arrangement and generally had the shortcoming of the easy access maintenance of not having, because manipulator inner structure adopts electronic component and gear member to make up and forms, in order to let the manipulator keep good sensitivity and precision, need regularly to its maintenance and maintenance, and current manipulator drive arrangement is comparatively loaded down with trivial details with being connected of manipulator, make the manipulator dismantle comparatively troublesome, the maintenance cost is improved, the problem that can not be better satisfy people's user demand.

(II) technical scheme

For the purpose of realizing above-mentioned easy access, the utility model provides a following technical scheme: a driving device of a manipulator comprises a fixed bottom plate, side rods are fixedly mounted on the left side and the right side of the top of the fixed bottom plate, a top plate is fixedly mounted at the top of each side rod, a driving motor is fixedly mounted on the right side of the top of the side rod on the right side, a threaded rod with one end movably connected with the side rods is fixedly mounted on an output shaft of the driving motor, a movable sleeve rod is movably mounted on the outer side of the threaded rod, a slide rod with one end movably connected with the top plate is fixedly mounted at the top of the movable sleeve rod, an electric push rod is fixedly mounted at the bottom of the movable sleeve rod, a first limiting frame is fixedly mounted on an output shaft of the electric push rod, fixing frames are fixedly mounted on the left side and the right side of the first limiting frame, first screw rods are movably mounted on the opposite sides of the, one side of each of the two movable loop bars, which is opposite to the other side, is fixedly provided with a pushing plate, one end of each pushing plate is movably connected with the fixed frame, one side of each pushing plate, which is opposite to the other side, is fixedly provided with a connecting plate, one side of each connecting plate, which is opposite to the other side, is fixedly provided with two inserting rods, the bottom of the first limiting frame is movably provided with a manipulator mounting rod, the left side and the right side of the bottom of the first limiting frame are fixedly provided with second limiting frames, the inner top wall of each second limiting frame is fixedly provided with a connecting frame, the inner cavity of the connecting frame is fixedly provided with a compression spring, the bottom of the connecting frame is movably provided with a pushing rod, one end of each pushing rod is fixedly connected with the compression spring, the bottom of each second limiting frame is movably provided with a second screw rod, and one side, which is opposite to the, and a limiting plate with one end fixedly connected with the manipulator mounting rod is movably mounted between the two pressing plates.

Preferably, bayonets have all been seted up to the left and right sides of first spacing frame, and bayonet socket and mount looks adaptation, the inserted bar is ninety degrees perpendicular installation with the connecting plate.

Preferably, thread grooves are formed in the two opposite sides of the movable sleeve rods and are matched with the first screw rods, and the number of the inserted rods is four.

Preferably, the upper side wall and the lower side wall of the inner cavity of the fixing frame are both provided with sliding grooves, the sliding grooves are matched with the pushing plate, and the first limiting frame and the second limiting frame are both in a U shape.

Preferably, the left and right sides of manipulator installation pole has all been seted up the draw-in groove, and draw-in groove and inserted bar looks adaptation, the right side fixed mounting of threaded rod has the bearing, and the threaded rod passes through bearing and side lever swing joint.

Preferably, the left side of the movable sleeve rod is provided with a threaded hole, the threaded hole is matched with the threaded rod, and the side rod and the fixed bottom plate are vertically installed at ninety degrees.

(III) advantageous effects

Compared with the prior art, the utility model provides a drive arrangement of manipulator possesses following beneficial effect:

1. the driving device of the manipulator is provided with the second screw rods, when the manipulator is required to be disassembled and maintained, the left and right second screw rods are firstly rotated to enable the second screw rods to move downwards, so that the distance between the upper pressing plate and the lower pressing plate is enlarged, the limiting plate is not limited, then the left and right first screw rods are rotated, the thread grooves matched with the first screw rods are formed in the movable sleeve rod, the pushing plate is arranged on the movable sleeve rod, the rotation of the movable sleeve rod is limited, when the first screw rods rotate, the movable sleeve rod moves leftwards and rightwards under the thread thrust of the movable sleeve rod, the connecting plate drives the inserted rod to move, the inserted rod is enabled to withdraw from the limitation of the manipulator installation rod by controlling the steering of the left and right first screw rods, at the moment, the manipulator installation rod is separated from the first limiting frame and the second limiting frame, so that the manipulator installation rod is convenient to disassemble, and the whole disassembling, make equipment reach the effect of easy access, reduced the cost of overhaul, improved the practicality of device greatly, it is more convenient to use.

2. This drive arrangement of manipulator, through setting up driving motor, when the manipulator is removed to needs, start driving motor, make the threaded rod rotate, through set up the screw hole with threaded rod looks adaptation in removing the loop bar, and be equipped with the slide bar on removing the loop bar, make the rotation that removes the loop bar receive the restriction, when the threaded rod rotates, remove the loop bar and remove about receiving its screw thrust, when removing the manipulator to suitable horizontal position, start electric putter, can drive the manipulator and move down, sort the work piece, equipment overall structure is simple, and convenient operation, and sensitivity and precision are high, can effectively improve the work efficiency of device.

Drawings

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

FIG. 2 is an enlarged view of the point A in FIG. 1 according to the present invention;

fig. 3 is an enlarged view of the point B in fig. 1 according to the present invention.

In the figure: the device comprises a fixed bottom plate 1, a side rod 2, a driving motor 3, a top plate 4, a threaded rod 5, a movable loop bar 6, a sliding rod 7, an electric push rod 8, a second limit frame 9, a manipulator mounting rod 10, a first screw rod 11, a pushing plate 12, a first limit frame 13, a connecting plate 14, an inserted rod 15, a movable loop bar 16, a pushing rod 17, a compression spring 18, a connecting frame 19, a pressing plate 20, a limiting plate 21, a second screw rod 22 and a fixing frame 23.

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. 1-3, a driving device for a manipulator comprises a fixed base plate 1, side bars 2 are fixedly installed on the left and right sides of the top of the fixed base plate 1, a top plate 4 is fixedly installed on the top of each side bar 2, a driving motor 3 is fixedly installed on the right side of the top of each side bar 2, the type of each driving motor 3 can be YOB, by arranging the driving motors 3, when the manipulator needs to be moved, the driving motors 3 are started to enable threaded rods 5 to rotate, threaded rods 6 are provided with threaded holes matched with the threaded rods 5, sliding rods 7 are arranged on the movable sleeve rods 6 to limit the rotation of the movable sleeve rods 6, when the threaded rods 5 rotate, the movable sleeve rods 6 move left and right under the thrust of the threads, when the manipulator moves to a proper horizontal position, electric push rods 8 are started to drive the manipulator to move downwards to sort workpieces, the device has simple integral structure, convenient operation, high sensitivity and precision and can effectively improve the working efficiency of the device, a threaded rod 5 with one end movably connected with a side rod 2 is fixedly arranged on an output shaft of a driving motor 3, a movable sleeve rod 6 is movably arranged on the outer side of the threaded rod 5, a threaded hole is arranged on the left side of the movable sleeve rod 6 and is matched with the threaded rod 5, the side rod 2 and a fixed bottom plate 1 are vertically arranged at ninety degrees, a slide rod 7 with one end movably connected with a top plate 4 is fixedly arranged at the top of the movable sleeve rod 6, an electric push rod 8 is fixedly arranged at the bottom of the movable sleeve rod 6, the type of the electric push rod 8 can be CP-700, a first limiting frame 13 is fixedly arranged on an output shaft of the electric push rod 8, bayonets are arranged on the left side and the right side of the first limiting frame 13 and are matched with a fixed frame 23, the left side and the right side of the first limiting frame 13 are both fixedly provided with a fixed frame 23, the upper side wall and the lower side wall of the inner cavity of the fixed frame 23 are both provided with sliding grooves which are matched with the pushing plates 12, the first limiting frame 13 and the second limiting frame 9 are both in a U shape, one side of the two fixed frames 23 opposite to each other is both movably provided with a first screw 11, one side of the two first screws 11 opposite to each other is both movably provided with a movable loop bar 16, one side of the two movable loop bars 16 opposite to each other is both provided with a thread groove which is matched with the first screw 11, the number of the inserting bars 15 is four, one side of the two movable loop bars 16 opposite to each other is both fixedly provided with the pushing plates 12, one end of the two pushing plates is movably connected with the fixed frame 23, one side of the two pushing plates 12 opposite to each other is both fixedly provided with a movable loop bar 16, one side of the two movable loop bars 16 opposite, a manipulator mounting rod 10 is movably mounted at the bottom of a first limiting frame 13, clamping grooves are formed in the left side and the right side of the manipulator mounting rod 10 and are matched with an inserted rod 15, a bearing is fixedly mounted on the right side of a threaded rod 5, the threaded rod 5 is movably connected with a side rod 2 through the bearing, second limiting frames 9 are fixedly mounted on the left side and the right side of the bottom of the first limiting frame 13, a connecting frame 19 is fixedly mounted on the inner top wall of each second limiting frame 9, a compression spring 18 is fixedly mounted in an inner cavity of the connecting frame 19, a push rod 17 with one end fixedly connected with the compression spring 18 is movably mounted at the bottom of the connecting frame 19, a second screw rod 22 is movably mounted at the bottom of each second limiting frame 9, and when the mechanical arm needs to be disassembled and maintained, the left and right second screw rods 22 are firstly rotated to enable the second screw rods 22 to move downwards so that the distance between the upper pressing plate 20, the limiting plate 21 is not limited, then the left and right first screws 11 are rotated, the rotation of the movable loop bar 16 is limited by forming thread grooves matched with the first screws 11 in the movable loop bar 16, and the pushing plate 12 is arranged on the movable loop bar 16, when the first screws 11 rotate, the movable loop bar 16 moves left and right under the thrust of the threads, the inserting bar 15 is driven to move through the connecting plate 14, the inserting bar 15 withdraws from the limitation of the manipulator mounting bar 10 by controlling the steering of the left and right first screws 11, at the moment, the manipulator mounting bar 10 is separated from the first limiting frame 13 and the second limiting frame 9, so that the manipulator mounting bar is convenient to disassemble, the whole disassembling structure and the disassembling process are very simple, the equipment achieves the effect of convenient maintenance, the maintenance cost is reduced, the practicability of the device is greatly improved, the device is more convenient to use, the pressing plate 20 is fixedly mounted on one side of the second screw 22 opposite to the pushing bar 17, a limiting plate 21 with one end fixedly connected with the manipulator mounting rod 10 is movably mounted between the two pressing plates 20.

When using, through rotating second screw rod 22, can make limiting plate 21 unrestricted, rotate first screw rod 11 after that, make manipulator installation pole 10 unrestricted, can dismantle the manipulator, make equipment reach easy access's effect, reduced the cost of overhaul, improved the practicality of device greatly, it is more convenient to use.

In summary, in the driving device of the manipulator, by providing the second screws 22, when the manipulator needs to be disassembled for maintenance, the left and right second screws 22 are first rotated to move the second screws 22 downward, so that the distance between the upper and lower pressing plates 20 is increased, the limiting plate 21 is not limited, then the left and right first screws 11 are rotated, the movable loop bar 16 is provided with a thread groove adapted to the first screw 11, the movable loop bar 16 is provided with the pushing plate 12, so that the rotation of the movable loop bar 16 is limited, when the first screw 11 rotates, the movable loop bar 16 moves left and right under the thrust of the thread thereof, the connecting plate 14 drives the insert bar 15 to move, the insert bar 15 withdraws from the limitation of the manipulator mounting bar 10 by controlling the steering of the left and right first screws 11, at this time, the manipulator mounting bar 10 is separated from the first and second

limiting frames

13 and 9, thereby it is convenient to dismantle it, and whole dismantlement structure and dismantlement process are very succinct, make equipment reach the effect of easy access, have reduced the cost of overhaul, have improved the practicality of device greatly, and it is more convenient to use.

And, through setting up the driving motor 3, when needing to move the mechanical arm, start the driving motor 3, make the threaded spindle 5 rotate, through opening the threaded hole adapted to threaded spindle 5 in moving the loop bar 6, and there are slide bars 7 on moving the loop bar 6, make the rotation of moving the loop bar 6 to be restricted, when the threaded spindle 5 rotates, move the loop bar 6 and move left and right by its thread thrust, when moving the mechanical arm to the appropriate horizontal position, start the electric push rod 8, can drive the mechanical arm to move down, sort the work piece, the apparatus overall structure is simple, easy to operate, and the degree of sensitiveness and high precision, can raise the working efficiency of the apparatus effectively, solve the disadvantage that the existing mechanical arm driving device generally has inconvenience for overhaul, because the internal structure of the mechanical arm uses electronic component and gear member bar combination to form, in order to make the mechanical arm keep good degree of sensitiveness and precision, the mechanical arm driving device is required to be maintained and overhauled regularly, the existing mechanical arm driving device is connected with the mechanical arm more complexly, the mechanical arm is more troublesome to disassemble, the overhauling cost is increased, and the use requirements of people can not be better met.

It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

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 drive arrangement of manipulator, includes PMKD (1), its characterized in that: the left side and the right side of the top of the fixed base plate (1) are fixedly provided with side rods (2), the top of each side rod (2) is fixedly provided with a top plate (4), the right side of the top of each side rod (2) is fixedly provided with a driving motor (3), an output shaft of each driving motor (3) is fixedly provided with a threaded rod (5) with one end movably connected with each side rod (2), the outer side of each threaded rod (5) is movably provided with a movable sleeve rod (6), the top of each movable sleeve rod (6) is fixedly provided with a slide rod (7) with one end movably connected with each top plate (4), the bottom of each movable sleeve rod (6) is fixedly provided with an electric push rod (8), the output shaft of each electric push rod (8) is fixedly provided with a first limiting frame (13), the left side and the right side of each first limiting frame (13) are fixedly provided with a fixing frame (23), and one side of each fixing, two opposite sides of the first screw (11) are movably provided with movable loop bars (16), one opposite side of the two movable loop bars (16) is fixedly provided with a push plate (12) with one end movably connected with a fixing frame (23), one opposite side of the two push plates (12) is fixedly provided with movable loop bars (16), one opposite side of the two movable loop bars (16) is fixedly provided with a connecting plate (14), one opposite side of the two connecting plates (14) is fixedly provided with two inserting rods (15), the bottom of the first limiting frame (13) is movably provided with a manipulator mounting rod (10), the left side and the right side of the bottom of the first limiting frame (13) are fixedly provided with second limiting frames (9), the top wall of the second limiting frame (9) is fixedly provided with a connecting frame (19), the inner cavity of the connecting frame (19) is fixedly provided with a compression spring (18), the bottom movable mounting of link (19) has catch bar (17) of one end and compression spring (18) fixed connection, the bottom movable mounting of second spacing (9) has second screw rod (22), the equal fixed mounting in one side that second screw rod (22) and catch bar (17) are relative has clamp plate (20), two movable mounting has one end and manipulator installation pole (10) fixed connection's limiting plate (21) between clamp plate (20).

2. A driving apparatus of a robot hand according to claim 1, wherein: bayonets have all been seted up to the left and right sides of first spacing (13), and bayonet socket and mount (23) looks adaptation, inserted bar (15) are ninety degrees perpendicular installation with connecting plate (14).

3. A driving apparatus of a robot hand according to claim 1, wherein: thread grooves are formed in the two opposite sides of the movable sleeve rods (16), the thread grooves are matched with the first screw rods (11), and the number of the inserted rods (15) is four.

4. A driving apparatus of a robot hand according to claim 1, wherein: the upper side wall and the lower side wall of the inner cavity of the fixing frame (23) are both provided with sliding grooves, the sliding grooves are matched with the pushing plate (12), and the first limiting frame (13) and the second limiting frame (9) are both U-shaped.

5. A driving apparatus of a robot hand according to claim 1, wherein: the left and right sides of manipulator installation pole (10) has all seted up the draw-in groove, and draw-in groove and inserted bar (15) looks adaptation, the right side fixed mounting of threaded rod (5) has the bearing, and threaded rod (5) pass through bearing and side lever (2) swing joint.

6. A driving apparatus of a robot hand according to claim 1, wherein: the left side of the movable sleeve rod (6) is provided with a threaded hole, the threaded hole is matched with the threaded rod (5), and the side rod (2) and the fixed bottom plate (1) are vertically installed at ninety degrees.