CN213106895U - Automatic material suction module of articulated manipulator - Google Patents

Abstract

The utility model discloses an automatic material module of inhaling of articulated manipulator relates to the automatic material technical field that inhales of manipulator, and the degree of freedom for solving some current manipulators is complete inadequately, can not catch up with the instruction, leads to mechanical damage, has reduced production efficiency's problem. First automatic rocking arm is installed to the top of base, the inside of first automatic rocking arm is provided with first motor, the electric wire circuit is installed to one side of first motor, one side of first automatic rocking arm is provided with first carousel, the automatic rocking arm of second is installed to the front end of first carousel, the inside of the automatic rocking arm of second is provided with second rolling bearing, and gear structure is installed to one side of second rolling bearing, the top of the automatic rocking arm of second is provided with connecting device, the second motor is installed to one side of connecting device, connecting device's opposite side is provided with the automatic rocking arm of third, the internally mounted of the automatic rocking arm of third has third rolling bearing.

Description

Automatic material suction module of articulated manipulator

Technical Field

The utility model relates to an automatic material device technical field that inhales of manipulator specifically is an automatic material module of inhaling of articulated manipulator.

Background

Articulated manipulators are a form of drive suitable for manipulation close to the body. The robot has an elbow joint like a human hand, can realize multiple degrees of freedom, moves flexibly and is suitable for working in narrow space. As early as the 40 s of the 20 th century, articulated manipulators were used in the nuclear industry and subsequently in the development of oceans, with some promise of development, including large and small arm swings, as well as elbow and shoulder joint motions. Has an upper limb structure, can realize the function similar to the manual operation, and needs to develop the most suitable structure. The transmission mechanism of the articulated manipulator adopts a gear type, a rack type and a swing type. The transmission mechanism adopts which form is mainly determined according to the weight of the workpiece. If the swing type torque is designed, the oil cylinder is enlarged, and the frame for loading the oil cylinder is enlarged accordingly. Especially the weight of the part of the joint near the front end of the joint has a great influence on the shoulder. The transmission mechanism must bear the dead weight while bearing the load, and therefore, the transmission efficiency is low.

However, with the continuous application of the mechanical arm and various industries, the degree of freedom of some existing mechanical arms is not complete enough, and the mechanical arms cannot follow up instructions, so that mechanical damage is caused, and the production efficiency is reduced; therefore, the existing requirements are not met, and an automatic material suction module of an articulated manipulator is provided for the requirement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an automatic material module of inhaling of articulated manipulator to the degree of freedom of some current manipulators that provide in solving above-mentioned background is complete inadequately, can not catch up with the instruction, leads to mechanical damage, has reduced production efficiency's problem.

In order to achieve the above object, the utility model provides a following technical scheme: an automatic material sucking module of an articulated manipulator comprises a base, wherein a first automatic rotating arm is installed above the base, a first motor is arranged in the first automatic rotating arm, a wire circuit is installed on one side of the first motor, a first rotating disc is arranged on one side of the first automatic rotating arm, a second automatic rotating arm is installed at the front end of the first rotating disc, a second rotating bearing is arranged in the second automatic rotating arm, a gear structure is installed on one side of the second rotating bearing, a connecting device is arranged above the second automatic rotating arm, a second motor is installed on one side of the connecting device, a third automatic rotating arm is arranged on the other side of the connecting device, a third rotating bearing is installed in the third automatic rotating arm, a manipulator device is arranged on one side of the third automatic rotating arm, and a main sucking disc is installed above the manipulator device, one side of main sucking disc is provided with little sucking disc, the internally mounted of little sucking disc has bending apparatus, the inside of manipulator device is provided with the third motor.

Preferably, a bolt hole is installed below the base, and the bolt hole is fixedly connected with the lower part of the base.

Preferably, a movable turntable is arranged between the first automatic rotating arm and the base, and the base is movably connected with the first automatic rotating arm.

Preferably, a first rotating bearing is installed between the first rotating disc and the first motor, and the first motor is rotatably connected with the first rotating disc.

Preferably, a second rotating disc is arranged between the connecting device and the second automatic rotating arm, and the second automatic rotating arm is rotatably connected with the connecting device.

Preferably, a third turntable is arranged between the third automatic rotating arm and the manipulator device, and the manipulator device is rotatably connected with the third automatic rotating arm.

Preferably, the inner wall of the manipulator device is provided with a suction device, and the suction device is fixedly connected with the inner wall of the manipulator device.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model discloses inhale the material difference with ordinary manipulator, the first automatic rocking arm that sets up cooperates with the automatic rocking arm of second and the automatic rocking arm of third and the movable turntable that corresponds with it, reach the promotion of degree of freedom, the steering force has been improved, completion instruction work that can be fine when equipment and automatic software complex, carry out effectual automatic control, the independent motor of setting, the circuit of ordinary majority has been reduced, only need to give the electricity with the operation of software control motor, the activity at each position of running, and the effectual scope of having avoided the damage, make where bad and where to trade, stability is guaranteed in easy maintenance, complete equipment is based on PLC control, the degree of automation is high.

2. Through the little sucking disc and the cooperation of bending apparatus that set up to and main sucking disc, and be provided with six little sucking disc devices, improve the flexibility, the suction device of setting can rotate the clearance of instruction at each, and automatic release suction has guaranteed the stability of object, and when the face is great, six sucking discs open through bending apparatus, have increased the suction scope, otherwise when the board class is heavier, draw in the sucking disc in, cooperation main sucking disc improves suction, has improved absorbent ability, guarantees the stability when using, improves the flexibility.

Drawings

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

FIG. 2 is a schematic sectional view of the present invention;

FIG. 3 is a partial enlarged view of the manipulator device of the present invention;

in the figure: 1. a base; 2. bolt holes; 3. a first automatic rotating arm; 4. a second automatic rotating arm; 5. a connecting device; 6. a second motor; 7. a third automatic rotating arm; 8. a manipulator device; 9. a small suction cup; 10. a bending device; 11. a main suction cup; 12. a first motor; 13. a first turntable; 14. a movable turntable; 15. a second rotary bearing; 16. a wire line; 17. a third turntable; 18. a third rotating bearing; 19. a third motor; 20. a second turntable; 21. a gear structure; 22. a first rotating bearing; 23. a suction device.

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.

Referring to fig. 1-3, the present invention provides an embodiment: an automatic material sucking module of an articulated manipulator comprises a base 1, a first automatic rotating arm 3 is arranged above the base 1, a first motor 12 is arranged in the first automatic rotating arm 3, an electric wire line 16 is arranged on one side of the first motor 12, a first rotating disc 13 is arranged on one side of the first automatic rotating arm 3, a second automatic rotating arm 4 is arranged at the front end of the first rotating disc 13, a second rotating bearing 15 is arranged in the second automatic rotating arm 4, a gear structure 21 is arranged on one side of the second rotating bearing 15, a connecting device 5 is arranged above the second automatic rotating arm 4, a second motor 6 is arranged on one side of the connecting device 5, a third automatic rotating arm 7 is arranged on the other side of the connecting device 5, a third rotating bearing 18 is arranged in the third automatic rotating arm 7, a manipulator device 8 is arranged on one side of the third automatic rotating arm 7, a main sucker 11 is arranged above the manipulator device 8, one side of the main suction cup 11 is provided with a small suction cup 9, the inside of the small suction cup 9 is provided with a bending device 10, and the inside of the manipulator device 8 is provided with a third motor 19.

Further, bolt hole 2 is installed to the below of base 1, and bolt hole 2 and base 1's below fixed connection, and the bolt hole 2 of setting can effectual fixed equipment, has guaranteed the stationarity.

Further, a movable turntable 14 is arranged between the first automatic rotating arm 3 and the base 1, the base 1 is movably connected with the first automatic rotating arm 3, and the arranged movable turntable 14 effectively cooperates with instructions to work, so that the use stability is ensured.

Further, a first rotating bearing 22 is installed between the first rotating disc 13 and the first motor 12, the first motor 12 is rotatably connected with the first rotating disc 13, and the arranged first rotating bearing 22 can effectively transmit power.

Further, a second turntable 20 is arranged between the connecting device 5 and the second automatic rotating arm 4, the second automatic rotating arm 4 is rotatably connected with the connecting device 5, and the arranged connecting device 5 can protect internal components while rotation is guaranteed, stability is guaranteed, and service life is prolonged.

Further, a third turntable 17 is installed between the third automatic rotating arm 7 and the manipulator device 8, the manipulator device 8 is rotatably connected with the third automatic rotating arm 7, and the arranged manipulator device 8 can effectively enable flexible work and stable operation during use.

Further, the inner wall of the manipulator device 8 is provided with the suction device 23, the suction device 23 is fixedly connected with the inner wall of the manipulator device 8, and the arranged suction device 23 is matched with the sucker for use, so that the suction force is improved, the suction force capacity is improved, the stability in use is ensured, and the flexibility is improved.

The working principle is as follows: when the automatic bending machine is used, firstly, the base 1 is stably placed on the ground and is fixed through the bolt hole 2, according to software control, the first motor 12 is started to operate, the electric wire line 16 transmits the electric wire to the movable rotary table 14 to rotate, the first motor drives the first rotary table 13 to rotate through the first rotary bearing 22, the first rotary table 13 drives the second automatic rotary arm 4 to transmit the electric wire to the gear structure 21 to drive the second rotary bearing 15, the second rotary bearing 15 drives the connecting device 5 and the third automatic rotary arm 7 to rotate through the second rotary table 20, the second motor 6 is started to operate, the third rotary table 17 drives the mechanical arm device 8 to rotate, the third motor 19 is started to operate to drive the bending device 10 to move, the small suction cup 9 and the main suction cup 11 can suck things, mutual control matching is carried out, and repeated operation is carried out.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (7)

1. The utility model provides an automatic material module of inhaling of articulated manipulator, includes base (1), its characterized in that: a first automatic rotating arm (3) is installed above the base (1), a first motor (12) is arranged inside the first automatic rotating arm (3), an electric wire circuit (16) is installed on one side of the first motor (12), a first rotary table (13) is arranged on one side of the first automatic rotating arm (3), a second automatic rotating arm (4) is installed at the front end of the first rotary table (13), a second rotating bearing (15) is arranged inside the second automatic rotating arm (4), a gear structure (21) is installed on one side of the second rotating bearing (15), a connecting device (5) is arranged above the second automatic rotating arm (4), a second motor (6) is installed on one side of the connecting device (5), a third automatic rotating arm (7) is arranged on the other side of the connecting device (5), and a third rotating bearing (18) is installed inside the third automatic rotating arm (7), one side of the third automatic rotating arm (7) is provided with a mechanical arm device (8), a main sucker (11) is installed above the mechanical arm device (8), one side of the main sucker (11) is provided with a small sucker (9), the inside of the small sucker (9) is provided with a bending device (10), and the inside of the mechanical arm device (8) is provided with a third motor (19).

2. The automatic material suction module of an articulated robot arm according to claim 1, characterized in that: bolt hole (2) are installed to the below of base (1), and bolt hole (2) and the below fixed connection of base (1).

3. The automatic material suction module of an articulated robot arm according to claim 1, characterized in that: a movable turntable (14) is arranged between the first automatic rotating arm (3) and the base (1), and the base (1) is movably connected with the first automatic rotating arm (3).

4. The automatic material suction module of an articulated robot arm according to claim 1, characterized in that: a first rotating bearing (22) is installed between the first rotating disc (13) and the first motor (12), and the first motor (12) is rotatably connected with the first rotating disc (13).

5. The automatic material suction module of an articulated robot arm according to claim 1, characterized in that: a second rotating disc (20) is arranged between the connecting device (5) and the second automatic rotating arm (4), and the second automatic rotating arm (4) is rotatably connected with the connecting device (5).

6. The automatic material suction module of an articulated robot arm according to claim 1, characterized in that: a third turntable (17) is arranged between the third automatic rotating arm (7) and the manipulator device (8), and the manipulator device (8) is rotatably connected with the third automatic rotating arm (7).

7. The automatic material suction module of an articulated robot arm according to claim 1, characterized in that: the inner wall of the manipulator device (8) is provided with a suction device (23), and the suction device (23) is fixedly connected with the inner wall of the manipulator device (8).

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