CN213226217U

CN213226217U - Simple two-shaft manipulator mechanism

Info

Publication number: CN213226217U
Application number: CN202022244690.9U
Authority: CN
Inventors: 康志成; 易云茏
Original assignee: Jiangxi Chuangjia Intelligent Technology Co ltd
Current assignee: Jiangxi Chuangjia Intelligent Technology Co ltd
Priority date: 2020-10-11
Filing date: 2020-10-11
Publication date: 2021-05-18
Anticipated expiration: 2030-10-11

Abstract

The utility model discloses a simple and easy diaxon manipulator mechanism, the mechanism comprises a mechanism body, the mechanism body includes the base, backup pad and actuating mechanism, base upper portion is equipped with the lead screw, the bottom of backup pad is fixed on the base, be equipped with the guide rail on the backup pad side, actuating mechanism includes slider one, slider two, motor one, motor two, the shaft coupling, the hold-in range, fly leaf and regulating plate, the backup pad top is equipped with the motor fixed plate, motor one is fixed on the motor fixed plate, the shaft coupling sets up the below at motor one, and the output shaft of shaft coupling and motor one links to each other, the below of shaft coupling is equipped with the bearing frame, be equipped with the bearing between shaft coupling and the bearing frame, bearing and shaft coupling fixed connection, and insert in the bearing frame at the top of bearing, the. The utility model discloses a set up actuating mechanism for the fly leaf can carry out not equidirectional removal along with hold-in range and lead screw, and simple structure is compact, and the precision is high.

Description

Simple two-shaft manipulator mechanism

Technical Field

The utility model belongs to the technical field of machining, concretely relates to simple and easy diaxon manipulator mechanism.

Background

The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for gripping a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of an object to be gripped. The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more degrees of freedom, the more flexible the manipulator, the wider the versatility, and the more complex the structure. The general special manipulator has 2-3 degrees of freedom. The control system is used for controlling a motor of each degree of freedom of the manipulator to complete a specific action. And meanwhile, receiving information fed back by the sensor to form stable closed-loop control. The core of the control system is usually composed of a single chip microcomputer or a dsp and other micro control chips, and the required functions are realized by programming the micro control chips.

The mode that six directions of the general adoption realized automatic feed in the industrial automation equipment at present has solved different machining requirements, but every machinery all sets up feeding of six different directions, gives the great improvement of machine-building cost for the purchase burden of enterprise increases, and to unnecessary function, can cause the waste of resource, so need a simple and easy diaxon manipulator mechanism at present urgently.

SUMMERY OF THE UTILITY MODEL

The utility model provides a simple and easy diaxon manipulator mechanism through setting up actuating mechanism for the fly leaf can carry out not equidirectional removal along with hold-in range and lead screw, and simple structure is compact, and the precision is high.

The technical scheme of the utility model is realized like this:

a simple two-shaft mechanical arm mechanism comprises a mechanism body and is characterized in that the mechanism body comprises a base, a supporting plate and an executing mechanism, a lead screw is arranged at the upper part of the base, the bottom of the supporting plate is fixed on the base, a guide rail is arranged on the side surface of the supporting plate, the executing mechanism comprises a first sliding block, a second sliding block, a first motor, a second motor, a coupler, a synchronous belt, a movable plate and an adjusting plate, the first sliding block is arranged on the guide rail, a motor fixing plate is arranged at the top of the supporting plate, the first motor is fixed on the motor fixing plate, the coupler is arranged below the first motor, the coupler is connected with an output shaft of the first motor, a bearing seat is arranged below the coupler, a bearing is arranged between the coupler and the bearing seat, the bearing is fixedly connected with the coupler, the top of the bearing is inserted, the side of slider two is fixed with the connecting plate, the top of connecting plate is fixed screw-nut, the tip side of connecting plate is equipped with extension plate one, the tip of extension plate one is equipped with the motor fixed plate, motor fixed plate fixed connection fly leaf and motor two, the one end at the fly leaf is fixed to the regulating plate, the one end of fly leaf is equipped with extension plate two, the tip of extension plate two is equipped with the cylinder fixed plate, the side of cylinder fixed plate is equipped with pneumatic finger.

The utility model discloses an among the simple and easy diaxon manipulator mechanism, the both ends of hold-in range are equipped with the idler respectively and from the driving wheel, the side of regulating plate is equipped with cylinder one, cylinder one run through the fly leaf and with idler fixed connection, be equipped with through-hole, recess one and recess two on the fly leaf, the through-hole is located between recess one and the recess two.

The utility model discloses an among the simple and easy diaxon manipulator mechanism, the slider is two to be located inside recess one and recess two, the equidistant setting in recess one and recess two of slider two, and slider two is equipped with a plurality of, the length of recess one and recess two equals with the length of fly leaf, be equipped with synchronizing wheel and take-up pulley in the middle of the hold-in range, the take-up pulley is equipped with 2, and the synchronizing wheel setting is between the take-up pulley.

The utility model discloses an among the simple and easy diaxon manipulator mechanism, the thickness of extension plate two is greater than the movable plate thickness, be equipped with the dovetail on the cylinder fixed plate, dovetail fixed connection on the tip of extension plate two and the cylinder fixed plate, bolted connection is passed through with the side of fly leaf to extension plate two.

The utility model discloses an among the simple and easy diaxon manipulator mechanism, the output shaft of motor two runs through motor fixed plate and fly leaf and is connected with the idler, the guide rail is equipped with guide rail one and guide rail two, all be equipped with the blind hole screw thread on guide rail one and the guide rail two, the length of guide rail one and guide rail two is less than the length of backup pad.

The utility model discloses an among the simple and easy diaxon manipulator mechanism, the tip vertical fixation of motor fixed plate is at the top of backup pad, the base is type structure, just base both sides face all is equipped with the rectangle through-hole, the power size of motor one and motor two is the same.

In the simple two-shaft mechanical arm mechanism of the utility model, the use steps of the mechanism body are as follows;

1) switching on a power supply of the mechanism body to enable the first motor and the second motor to be communicated with the power supply;

2) starting the first motor to enable the first motor to be in a normal operation state, enabling the screw rod to operate to drive the connecting plate and the extension plate to move, and enabling the actuating mechanism to move up and down;

3) the connecting plate and the first extension plate are positioned at a certain position, and then the operation of the first motor is stopped;

4) starting the second motor to drive the tensioning wheel to run;

5) the tensioning wheel runs to enable the synchronous belt to run;

6) the running of the synchronous belt drives the running of the idle wheel and the driven wheel, thereby realizing the left-right movement of the movable plate.

Implement the utility model discloses a this kind of simple and easy diaxon manipulator mechanism has following beneficial effect: the present case sets up motor one and motor two, and with motor one and shaft coupling and bearing frame fixed connection, thereby the rotation of lead screw has been driven, the operation of motor two drives the operation of take-up pulley and drives the operation of idler, thereby the rotation of hold-in range has realized removing about the fly leaf, this has just realized that diaxon manipulator mechanism can realize the free movement in vertical direction and left right direction, the setting up of backup pad and base makes mechanism body simple structure compact, the precision is high, two axial direction removal of manual setting diaxon manipulator like this, the device operation is very simple and convenient, use on the especially adapted modern lathe.

Drawings

Fig. 1 is a schematic view of the simple two-axis manipulator mechanism of the present invention;

fig. 2 is a schematic structural view of the simple two-axis manipulator mechanism of the present invention;

fig. 3 is a schematic rear view of the simple two-axis manipulator mechanism of the present invention;

FIG. 4 is an enlarged view of a portion of FIG. 1 at A;

fig. 5 is a partially enlarged schematic view of a portion B in fig. 2.

In the figure: the device comprises a motor I1, a motor fixing plate 2, a coupler 3, a bearing seat 4, a supporting plate 5, a sliding block I6, a screw rod nut 7, a bearing 8, a connecting plate 9, an extension plate I10, a motor fixing plate 11, a motor II 12, a movable plate 13, an idler pulley 14, a synchronous belt 15, a synchronous pulley 16, a tensioning pulley 17, a driven pulley 18, an extension plate II 19, a cylinder fixing plate 20, a pneumatic finger 21, a base 22, a screw rod 23, an adjusting plate 24, a sliding block II 25, a cylinder I26, a dovetail groove 27, a rectangular through hole 28, a blind hole thread 29, a through hole 30, a groove I31, a groove II 32, a guide rail I33.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The simple two-axis manipulator mechanism of the present invention as shown in fig. 1 to 5 comprises a mechanism body, the mechanism body comprises a base 22, a support plate 5 and an actuating mechanism, a screw 23 is arranged on the upper portion of the base 22, the bottom of the support plate 5 is fixed on the base 22, a guide rail is arranged on the side surface of the support plate 5, the guide rail is arranged to enable the actuating mechanism to ensure the up-and-down movement, the actuating mechanism comprises a first slider 6, a second slider 25, a first motor 1, a second motor 12, a coupler 3, a synchronous belt 15, a movable plate 13 and an adjusting plate 24, the first slider 6 is arranged on the guide rail, a motor fixing plate 11 is arranged on the top of the support plate 5, the motor fixing plate 11 is arranged to enable the first motor 1 to ensure the normal operation, the first motor 1 is fixed on the motor fixing plate 11, the coupler 3 is arranged below the first motor 1, the coupler 3 is connected with the output, a bearing seat 4 is arranged below the coupler 3, a bearing 8 is arranged between the coupler 3 and the bearing seat 4, the bearing 8 is fixedly connected with the coupler 3, so that the normal operation of a screw 23 can be realized, the top of the bearing 8 is inserted into the bearing seat 4, a screw nut 7 is arranged at the bottom of the bearing seat 4, a connecting plate 9 is fixed on the side surface of a second sliding block 25, the screw nut 7 is fixed at the top of the connecting plate 9, an extension plate first 10 is arranged on the side surface of the end part of the connecting plate 9, a motor fixing plate 11 is arranged at the end part of the extension plate first 10, the motor fixing plate 11 is fixedly connected with a movable plate 13 and a motor second 12, an adjusting plate 24 is fixed at one end of the movable plate 13, an extension plate second 19 is arranged at one end part of the extension plate second 19, a cylinder fixing plate 20 is arranged, the side surface of the adjusting plate 24 is provided with a first cylinder 26, the arrangement of the first cylinder 26 ensures that the movable plate 13 moves left and right under the action of friction force, the first cylinder 26 penetrates through the movable plate 13 and is fixedly connected with the idler wheel 14, the movable plate 13 is provided with a through hole 30, a first groove 31 and a second groove 32, the through hole 30 is positioned between the first groove 31 and the second groove 32, a second slider 25 is positioned inside the first groove 31 and the second groove 32, the second sliders 25 are arranged in the first groove 31 and the second groove 32 at equal intervals, the second slider 25 is provided with a plurality of sliders, the arrangement of the second slider 25 ensures that the movable plate 13 can normally slide, the lengths of the first groove 31 and the second groove 32 are equal to the length of the movable plate 13, the synchronous wheel 16 and the tension wheel 17 are arranged in the middle of the synchronous belt 15, the number of the tension wheels 17 is 2, the arrangement of the tension wheels 17 ensures that the, the thickness of the second extension plate 19 is greater than that of the movable plate 13, the cylinder fixing plate 20 is provided with a dovetail groove 27, the end part of the second extension plate 19 is fixedly connected with the dovetail groove 27 on the cylinder fixing plate 20, the second extension plate 19 is connected with the side surface of the movable plate 13 through a bolt, the output shaft of the second motor 12 penetrates through the motor fixing plate 20 and the movable plate 13 and is connected with the idler wheel 14, the guide rail is provided with a first guide rail 33 and a second guide rail 34, the first guide rail 33 and the second guide rail 34 are both provided with blind hole threads 29, the blind hole threads 29 enable an executing mechanism to be stably fixed on the first guide rail 33 and the second guide rail 34 through bolts, the length of the first guide rail 33 and the second guide rail 34 is smaller than that of the support plate 5, the end part of the motor fixing plate 11 is vertically fixed on the top of the support plate 5, the base 22 is of a convex structure, the power of the first motor 1 is the same as that of the second motor 12, and the using steps of the mechanism body are as follows;

1) the power supply of the mechanism body is connected, so that the first motor 1 and the second motor 12 are communicated with the power supply;

2) starting the motor I1 to enable the motor I1 to be in a normal operation state, enabling the screw rod 23 to operate to drive the connecting plate 9 and the extension plate I10 to move, and enabling the actuating mechanism to move up and down;

3) the connecting plate 9 and the extension plate I10 are positioned, and then the motor I1 stops running;

4) starting the second motor 12, so that the second motor 12 drives the tensioning wheel 17 to run;

5) the tension pulley 17 is operated to operate the timing belt 16;

6) the running of the synchronous belt 15 drives the running of the idle pulley 14 and the driven pulley 18, thereby realizing the left and right movement of the movable plate 13.

The utility model discloses a theory of operation does: firstly, the first motor 1 and the screw 23 are coaxially arranged, so that the first motor 1 can drive the first slider 6 to move up and down under the action of the coupler 3 and the bearing seat 4, the movable plate 13 connected with the actuating mechanism connected with the first slider 6 can move up and down, and the movement in the height direction is realized, when the second motor 12 runs, the tension pulley 17 arranged on the second motor 12 rotates at the moment, so that the synchronous belt 15 runs, the idle pulley 14 and the driven pulley 18 arranged at two ends of the synchronous belt 15 rotate along with the rotation of the synchronous belt 15, and the idle pulley 14, the synchronous pulley 16 and the driven pulley 18 rotate in the first groove 31 or the second groove 32, so that the left and right movement of the movable plate 13 is realized. Therefore, the utility model discloses the purpose can be accomplished.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A simple two-shaft mechanical arm mechanism comprises a mechanism body and is characterized in that the mechanism body comprises a base, a supporting plate and an executing mechanism, a lead screw is arranged at the upper part of the base, the bottom of the supporting plate is fixed on the base, a guide rail is arranged on the side surface of the supporting plate, the executing mechanism comprises a first sliding block, a second sliding block, a first motor, a second motor, a coupler, a synchronous belt, a movable plate and an adjusting plate, the first sliding block is arranged on the guide rail, a motor fixing plate is arranged at the top of the supporting plate, the first motor is fixed on the motor fixing plate, the coupler is arranged below the first motor, the coupler is connected with an output shaft of the first motor, a bearing seat is arranged below the coupler, a bearing is arranged between the coupler and the bearing seat, the bearing is fixedly connected with the coupler, the top of the bearing is, the side of slider two is fixed with the connecting plate, the top of connecting plate is fixed screw-nut, the tip side of connecting plate is equipped with extension plate one, the tip of extension plate one is equipped with the motor fixed plate, motor fixed plate fixed connection fly leaf and motor two, the one end at the fly leaf is fixed to the regulating plate, the one end of fly leaf is equipped with extension plate two, the tip of extension plate two is equipped with the cylinder fixed plate, the side of cylinder fixed plate is equipped with pneumatic finger.

2. The simple two-shaft mechanical arm mechanism as claimed in claim 1, wherein the two ends of the synchronous belt are respectively provided with an idler wheel and a driven wheel, the side surface of the adjusting plate is provided with a first cylinder, the first cylinder penetrates through the movable plate and is fixedly connected with the idler wheel, the movable plate is provided with a through hole, a first groove and a second groove, and the through hole is located between the first groove and the second groove.

3. The simple two-axis robot mechanism of claim 2, wherein two sliders are disposed inside the first groove and the second groove, the two sliders are disposed inside the first groove and the second groove at equal intervals, a plurality of sliders are disposed, the length of the first groove and the length of the second groove are equal to the length of the movable plate, a synchronizing wheel and a tension wheel are disposed in the middle of the synchronous belt, 2 tension wheels are disposed, and the synchronizing wheel is disposed between the tension wheels.

4. The simple two-shaft mechanical arm mechanism as claimed in claim 1, wherein the second extension plate is thicker than the movable plate, a dovetail groove is formed in the cylinder fixing plate, the end of the second extension plate is fixedly connected with the dovetail groove in the cylinder fixing plate, and the second extension plate is connected with the side face of the movable plate through a bolt.

5. The simple two-axis manipulator mechanism of claim 1, wherein the output shaft of the second motor penetrates through the fixed plate and the movable plate of the motor and is connected with the idler wheel, the guide rail is provided with a first guide rail and a second guide rail, the first guide rail and the second guide rail are both provided with blind hole threads, and the length of the first guide rail and the second guide rail is smaller than that of the support plate.

6. The simple two-axis manipulator mechanism as claimed in claim 1, wherein the end of the motor fixing plate is vertically fixed on the top of the supporting plate, the base is in a convex structure, rectangular through holes are formed in two side surfaces of the base, and the power of the first motor and the power of the second motor are the same.