CN213197548U - Two-shaft servo manipulator - Google Patents
Two-shaft servo manipulator Download PDFInfo
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- CN213197548U CN213197548U CN202022195583.1U CN202022195583U CN213197548U CN 213197548 U CN213197548 U CN 213197548U CN 202022195583 U CN202022195583 U CN 202022195583U CN 213197548 U CN213197548 U CN 213197548U
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Abstract
The utility model discloses a two-axis servo manipulator, relating to the field of manipulators, and aiming at the problems that the prior two-axis servo manipulator can not steer while working and lock the device after steering, the following proposal is proposed, which comprises a shell, wherein the top and the bottom of the inner cavity of the shell are both fixedly connected with a first bearing, the inner cavity of the first bearing is rotatably connected with a rotating rod, the rotating rod penetrates through the shell and extends to the outside, a limiting disc is fixedly sleeved on the circumferential surface of the rotating rod, both sides of the limiting disc are provided with limiting grooves, the circumferential surface of the rotating rod is fixedly sleeved with a first belt pulley, the first belt pulley is positioned below the limiting disc, the bottom of one side of the shell is fixedly connected with a first motor, the output fixedly connected with second belt pulley of first motor, first through-hole has been seted up in second belt pulley position department to the casing. The utility model discloses novel structure, and the practicality is strong.
Description
Technical Field
The utility model relates to a manipulator field especially relates to diaxon servo manipulator.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hands and arms and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized by that it can implement various expected operations by means of programming, and has the advantages of both human and manipulator machines in structure and performance, and the servo drive technology is used as one of key technologies for controlling numerically-controlled machine tool, industrial robot and other industrial machines.
The existing two-axis servo manipulator cannot turn while working, cannot lock a device after turning, is not beneficial to improving production efficiency, and increases working procedures of workers, so that the two-axis servo manipulator is provided for solving the problems.
SUMMERY OF THE UTILITY MODEL
The utility model provides a diaxon servo manipulator has solved diaxon servo manipulator and can not turn to and lock the problem to the device after turning to in work.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the two-shaft servo manipulator comprises a shell, wherein the top and the bottom of an inner cavity of the shell are fixedly connected with a first bearing, an inner cavity of the first bearing is rotatably connected with a rotating rod, the rotating rod penetrates through the shell and extends to the outside, a limiting disc is fixedly sleeved on the circumferential surface of the rotating rod, limiting grooves are formed in two sides of the limiting disc, a first belt disc is fixedly sleeved on the circumferential surface of the rotating rod and is positioned below the limiting disc, a first motor is fixedly connected to the bottom of one side of the shell, a second belt disc is fixedly connected to the output end of the first motor, a first through hole is formed in the position of the second belt disc of the shell, a belt is sleeved between the first belt disc and the second belt disc, a first transverse plate is fixedly connected to one side of the shell, which is far away from the first motor, and a second transverse plate is fixedly connected to one side of the shell, which is far away from the first motor, the utility model discloses a motor, including casing, first motor, second diaphragm, fan-shaped gear, spacing rod, the first motor of top fixedly connected with second motor, second motor output fixedly connected with fan-shaped gear, the equal fixedly connected with snap ring in both sides of second diaphragm bottom, the inner chamber sliding connection of snap ring has the gag lever post, the one end fixedly connected with rectangle intermittent type rack of gag lever post, rectangle intermittent type rack and fan-shaped gear engagement.
Preferably, the top of the rotating rod is fixedly connected with an X-axis linear actuator, the top of the X-axis linear actuator is fixedly connected with a Y-axis linear actuator, the bottom of one end of the Y-axis linear actuator is fixedly connected with an electric push rod, and the bottom of the electric push rod is fixedly connected with a manipulator.
Preferably, the X-axis linear actuator and the Y-axis linear actuator both include a box body, one side of the box body is fixedly connected with a third motor, both sides of an inner cavity of the box body are fixedly connected with a second bearing, an inner cavity of the second bearing is rotatably connected with a threaded rod, an output end of the third motor is fixedly connected with the threaded rod, both sides of the inner cavity of the box body are fixedly connected with a transmission rod, a surface of the threaded rod is in threaded connection with a transmission body, one end of the transmission body, which is away from the threaded rod, is provided with a third through hole, and one end of the transmission body, which is away from the threaded rod, is.
Preferably, the bottom of the shell is fixedly connected with a bottom plate.
Preferably, the width of the inner wall of the rectangular intermittent rack is twice the radius of the sector gear, the moving range of the rectangular intermittent rack is the distance between the two clamping rings, and one end, far away from the rectangular intermittent rack, of the limiting rod is connected with the limiting disc in a sliding mode through a limiting groove.
The utility model has the advantages that:
1. by arranging the first transverse plate, the second motor, the sector gear, the rectangular intermittent rack, the clamping ring, the limiting rod and the limiting disc, the second motor rotates to drive the sector gear to rotate, the sector gear drives the rectangular intermittent rack to do periodic reciprocating motion, the rectangular intermittent rack drives the limiting rod to move, and the limiting rod locks the limiting rod through the limiting groove, so that the problem that the two-axis servo manipulator rotates after steering and cannot accurately grab articles is solved, the production efficiency is improved, and the operation process of workers is simplified;
2. by arranging the first motor, the first belt pulley, the second belt pulley, the belt, the shell, the first bearing and the first bearing, the first motor works to drive the second belt pulley to rotate, the second belt pulley drives the first belt pulley to rotate through the belt, the first belt pulley drives the first bearing to rotate, and the first bearing drives the device to turn, so that the applicability of the device in the actual use process is improved, and the practicability of the device is improved;
3. through setting up X axle sharp actuating mechanism and Y axle sharp actuating mechanism, can do exercises in X axle and Y axle respectively to the manipulator, improved the flexibility of manipulator motion, the better manipulator of being convenient for snatchs article, has improved the practicality of device.
To sum up, the utility model provides a diaxon servo manipulator can not turn to and lock the problem to the device after turning to in work, and the practicality is strong.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the present invention;
fig. 3 is a schematic structural diagram of the X-axis linear actuator and the Y-axis linear actuator of the present invention;
fig. 4 is a schematic structural view of the sector gear and the rectangular intermittent rack of the present invention.
Reference numbers in the figures: 1. a housing; 2. a first bearing; 3. a rotating rod; 4. a limiting disc; 5. a first belt pulley; 6. a first motor; 7. a second belt reel; 8. a belt; 9. a first transverse plate; 10. a second transverse plate; 11. a second motor; 12. a sector gear; 13. a snap ring; 14. a limiting rod; 15. a rectangular intermittent rack; 16. an X-axis linear actuator; 17. a Y-axis linear actuator; 18. an electric push rod; 19. a manipulator; 20. a box body; 21. a third motor; 22. a second bearing; 23. a threaded rod; 24. a transmission rod; 25. a transmission body; 26. a base plate.
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. 1-4, the two-axis servo manipulator comprises a housing 1, wherein a first bearing 2 is fixedly connected to the top and the bottom of an inner cavity of the housing 1, a rotating rod 3 is rotatably connected to the inner cavity of the first bearing 2, the rotating rod 3 penetrates through the housing 1 and extends to the outside, a limiting disc 4 is fixedly sleeved on the circumferential surface of the rotating rod 3, limiting grooves are respectively formed in two sides of the limiting disc 4, a first belt disc 5 is fixedly sleeved on the circumferential surface of the rotating rod 3, the first belt disc 5 is positioned below the limiting disc 4, a first motor 6 is fixedly connected to the bottom of one side of the housing 1, a second belt disc 7 is fixedly connected to the output end of the first motor 6, a first through hole is formed in the position of the second belt disc 7 of the housing 1, a belt 8 is sleeved between the first belt disc 5 and the second belt disc 7, a first transverse plate 9 is fixedly connected to one side of the housing 1 far away from the first motor 6, a second transverse plate 10 is fixedly connected to, a second through hole is arranged on one side of the shell 1 far away from the first motor 6, the second through hole is arranged below a second transverse plate 10, the second transverse plate 10 is arranged above the first transverse plate 9, a second motor 11 is fixedly connected to the top of the first transverse plate 9, a sector gear 12 is fixedly connected to the output end of the second motor 11, snap rings 13 are fixedly connected to both sides of the bottom of the second transverse plate 10, an inner cavity of each snap ring 13 is slidably connected with a limiting rod 14, one end of each limiting rod 14 is fixedly connected with a rectangular intermittent rack 15, the rectangular intermittent racks 15 are meshed with the sector gear 12, a bottom plate 26 is fixedly connected to the bottom of the shell 1, the first transverse plate 9, the second transverse plate 10, the second motor 11, the sector gear 12, the rectangular intermittent racks 15, the snap rings 13, the limiting rods 14 and the limiting plate 4 are arranged, the second motor 11 rotates, the second motor 11 drives the sector gear 12 to rotate, the sector gear 12 drives the rectangular intermittent racks, the rectangular intermittent rack 15 drives the limiting rod 14 to move, the limiting rod 14 locks the limiting rod 14 through the limiting groove, the problem that a mechanical arm 19 cannot accurately grab an article due to the fact that a two-axis servo mechanical arm rotates after steering is solved, production efficiency is improved, operation procedures of workers are simplified, by arranging the first motor 6, the first belt pulley 5, the second belt pulley 7, the belt 8, the shell 1, the first bearing 2 and the first bearing 2, through the work of the first motor 6, the first motor 6 drives the second belt pulley 7 to rotate, the second belt pulley 7 drives the first belt pulley 5 to rotate through the belt 8, the first belt pulley 5 drives the first bearing 2 to rotate, the first bearing 2 drives the device to steer, the applicability of the device in the actual use process is improved, and the practicability of the device is improved;
the top of the rotating rod 3 is fixedly connected with an X-axis linear actuator 16, the top of the X-axis linear actuator 16 is fixedly connected with a Y-axis linear actuator 17, the bottom of one end of the Y-axis linear actuator 17 is fixedly connected with an electric push rod 18, and the bottom of the electric push rod 18 is fixedly connected with a manipulator 19;
the X-axis linear actuator 16 and the Y-axis linear actuator 17 both comprise a box body 20, one side of the box body 20 is fixedly connected with a third motor 21, both sides of the inner cavity of the box body 20 are fixedly connected with second bearings 22, the inner cavity of the second bearings 22 is rotatably connected with a threaded rod 23, the output end of the third motor 21 is fixedly connected with the threaded rod 23, both sides of the inner cavity of the box body 20 are fixedly connected with transmission rods 24, the surface of the threaded rod 23 is in threaded connection with a transmission body 25, one end of the transmission body 25, far away from the threaded rod 23, is provided with a third through hole, one end of the transmission body 25, far away from, by arranging the X-axis linear actuator 16 and the Y-axis linear actuator 17, the manipulator 19 can move on the X axis and the Y axis respectively, so that the movement flexibility of the manipulator 19 is improved, the manipulator 19 can grab articles conveniently, and the practicability of the device is improved;
the width of the inner wall of the rectangular intermittent rack 15 is twice of the radius of the sector gear 12, the moving range of the rectangular intermittent rack 15 is the distance between the two clamping rings 13, and one end, far away from the rectangular intermittent rack 15, of the limiting rod 14 is connected with the limiting disc 4 in a sliding mode through a limiting groove.
The working principle is as follows: when the manipulator 19 needs to be steered, the first motor 6 is controlled to work, the first motor 6 drives the second belt pulley 7 to rotate, the second belt pulley 7 drives the first belt pulley 5 to rotate through the belt 8, the first belt pulley 5 drives the first bearing 2 to rotate, the first bearing 2 drives the device to steer, after the device is steered, the second motor 11 drives the sector gear 12 to rotate through the second motor 11, the sector gear 12 drives the rectangular intermittent rack 15 to do periodic reciprocating motion, the rectangular intermittent rack 15 drives the limiting rod 14 to move, the limiting rod 14 locks the limiting rod 14 through the limiting groove, the two-axis servo manipulator rotates after being steered, then the third motor 21 drives the threaded rod 23 to rotate through the rotation of the third motor 21, the threaded rod 23 drives the transmission body 25 to move, when the manipulator 19 reaches the position above an object, the manipulator works through the electric push rod 18, the object can be grabbed.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (5)
1. Two-shaft servo manipulator comprises a shell (1) and is characterized in that the top and the bottom of an inner cavity of the shell (1) are fixedly connected with a first bearing (2), the inner cavity of the first bearing (2) is rotatably connected with a rotating rod (3), the rotating rod (3) penetrates through the shell (1) and extends to the outside, a limiting disc (4) is fixedly sleeved on the circumferential surface of the rotating rod (3), limiting grooves are formed in two sides of the limiting disc (4), a first belt disc (5) is fixedly sleeved on the circumferential surface of the rotating rod (3), the first belt disc (5) is positioned below the limiting disc (4), a first motor (6) is fixedly connected to the bottom of one side of the shell (1), a second belt disc (7) is fixedly connected to the output end of the first motor (6), and a first through hole is formed in the position of the second belt disc (7) of the shell (1), a belt (8) is sleeved between the first belt pulley (5) and the second belt pulley (7), a first transverse plate (9) is fixedly connected to one side, away from the first motor (6), of the shell (1), a second transverse plate (10) is fixedly connected to one side, away from the first motor (6), of the shell (1), a second through hole is formed in one side, away from the first motor (6), of the shell (1), the second through hole is located below the second transverse plate (10), the second transverse plate (10) is located above the first transverse plate (9), a second motor (11) is fixedly connected to the top of the first transverse plate (9), a sector gear (12) is fixedly connected to the output end of the second motor (11), clamping rings (13) are fixedly connected to two sides of the bottom of the second transverse plate (10), and limiting rods (14) are slidably connected to inner cavities of the clamping rings (13), one end of the limiting rod (14) is fixedly connected with a rectangular intermittent rack (15), and the rectangular intermittent rack (15) is meshed with the sector gear (12).
2. Two-axis servo manipulator according to claim 1, wherein an X-axis linear actuator (16) is fixedly connected to the top of the rotary rod (3), a Y-axis linear actuator (17) is fixedly connected to the top of the X-axis linear actuator (16), an electric push rod (18) is fixedly connected to the bottom of one end of the Y-axis linear actuator (17), and a manipulator (19) is fixedly connected to the bottom of the electric push rod (18).
3. Two-axis servo manipulator according to claim 2, wherein the X-axis linear actuator (16) and the Y-axis linear actuator (17) each comprise a housing (20), a third motor (21) is fixedly connected with one side of the box body (20), second bearings (22) are fixedly connected with both sides of the inner cavity of the box body (20), the inner cavity of the second bearing (22) is rotationally connected with a threaded rod (23), the output end of the third motor (21) is fixedly connected with the threaded rod (23), two sides of the inner cavity of the box body (20) are fixedly connected with transmission rods (24), the surface of the threaded rod (23) is in threaded connection with a transmission body (25), one end of the transmission body (25) far away from the threaded rod (23) is provided with a third through hole, one end of the transmission body (25) far away from the threaded rod (23) is movably connected with the transmission rod (24).
4. Two-axis servo manipulator according to claim 1, characterized in that a base plate (26) is fixedly connected to the bottom of the housing (1).
5. Two-axis servo manipulator according to claim 1, characterized in that the width of the inner wall of the rectangular intermittent rack (15) is twice the radius of the sector gear (12), the moving range of the rectangular intermittent rack (15) is the distance between the two snap rings (13), and one end of the limiting rod (14) far away from the rectangular intermittent rack (15) is connected with the limiting disc (4) in a sliding mode through a limiting groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022195583.1U CN213197548U (en) | 2020-09-30 | 2020-09-30 | Two-shaft servo manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022195583.1U CN213197548U (en) | 2020-09-30 | 2020-09-30 | Two-shaft servo manipulator |
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| Publication Number | Publication Date |
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| CN213197548U true CN213197548U (en) | 2021-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202022195583.1U Active CN213197548U (en) | 2020-09-30 | 2020-09-30 | Two-shaft servo manipulator |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115078054A (en) * | 2022-07-06 | 2022-09-20 | 南通市肿瘤医院 | Processing equipment for preparing cell wax block with small sample amount |
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2020
- 2020-09-30 CN CN202022195583.1U patent/CN213197548U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115078054A (en) * | 2022-07-06 | 2022-09-20 | 南通市肿瘤医院 | Processing equipment for preparing cell wax block with small sample amount |
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