CN213499281U - Manipulator and motor planetary gear assembly equipment - Google Patents
Manipulator and motor planetary gear assembly equipment Download PDFInfo
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- CN213499281U CN213499281U CN202022190560.1U CN202022190560U CN213499281U CN 213499281 U CN213499281 U CN 213499281U CN 202022190560 U CN202022190560 U CN 202022190560U CN 213499281 U CN213499281 U CN 213499281U
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- manipulator
- guide shaft
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Abstract
A manipulator comprises a manipulator body, wherein the manipulator body comprises an elastic module, a gripping and clamping driving device connected with the elastic module, and a gripping and clamping module arranged on the gripping and clamping driving device; the elastic module comprises a mounting base and an elastic assembly, and the elastic assembly comprises a linear bearing, a guide shaft and a spring; the linear bearing is installed on the installation base, one end of the guide shaft is connected with the linear bearing, the other end of the guide shaft is connected with the gripper driving device, and the spring is sleeved on the guide shaft; the manipulator body is when carrying out centre gripping assembly work piece, if the manipulator body if with assembly part when taking place the contact, owing to be equipped with the manipulator body is equipped with the elasticity module, therefore the manipulator body has certain elasticity, can finely tune by oneself to avoid and assemble the hard contact between the part, and then avoid appearing the problem of work piece damage.
Description
Technical Field
The utility model belongs to the technical field of mechanical automation, in particular to manipulator and motor planetary gear equipment.
Background
At present, when a manipulator clamps a workpiece, in order to keep high precision, the operation position of the manipulator is close to an assembly part, so that when the workpiece is placed, the manipulator is easy to be in hard contact with the assembly part, and further the workpiece is damaged.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the utility model provides a manipulator, it adopts following technical scheme.
A manipulator comprises a manipulator body, wherein the manipulator body comprises an elastic module, a gripping and clamping driving device connected with the elastic module, and a gripping and clamping module arranged on the gripping and clamping driving device; the elastic module comprises a mounting base and an elastic assembly, wherein the elastic assembly comprises a linear bearing, a guide shaft and a spring; the linear bearing is installed on the installation base, one end of the guide shaft is connected with the linear bearing, the other end of the guide shaft is connected with the gripper driving device, and the spring is sleeved on the guide shaft.
Compared with the prior art, the manipulator has the beneficial effects that the manipulator comprises a manipulator body, wherein the manipulator body comprises an elastic module, a grabbing clamp driving device connected with the elastic module and a grabbing clamp module arranged on the grabbing clamp driving device; the elastic module comprises a mounting base and an elastic assembly, wherein the elastic assembly comprises a linear bearing, a guide shaft and a spring; the linear bearing is installed on the installation base, one end of the guide shaft is connected with the linear bearing, the other end of the guide shaft is connected with the gripper driving device, and the spring is sleeved on the guide shaft; according to the novel manipulator, the elastic module is arranged on the manipulator body, the elastic assembly comprises the linear bearing, the guide shaft and the spring, and the elastic module can enable the manipulator body to have certain elasticity by adopting the structure, so that when the manipulator body clamps and assembles a workpiece, if the manipulator body is in contact with an assembly part, the manipulator body is provided with the elastic module, so that the manipulator body has certain elasticity and can be automatically finely adjusted, hard contact between the manipulator body and the assembly part is avoided, and the problem of workpiece damage is avoided; the linear bearing has small friction and is stable, does not change along with the speed of the bearing, and can obtain stable motion with high sensitivity and high precision, so the elastic module can better realize fine adjustment of the manipulator body by adopting the linear bearing; and the elastic module has simple structure and is easy to assemble.
Furthermore, the elastic module comprises a plurality of groups of elastic components which are uniformly distributed on the mounting base at intervals; the design can enable the manipulator body to have certain elasticity in all directions, so that the manipulator body can be finely adjusted in all directions.
Further, the guide shaft is a hard optical axis structural member.
Further, the gripper module comprises a plurality of gripping jaws, and the gripping jaws are uniformly fixed on the gripper driving device; this structure can grasp the workpiece more firmly.
Furthermore, a clamping block is fixed on the inner side of the clamping jaw, and sawtooth-shaped stripes are arranged on the inner side surface of the clamping block; the saw-toothed stripes can increase the friction force between the clamping blocks and the workpiece, so that the manipulator body can clamp the workpiece stably.
Furthermore, the manipulator further comprises a support bracket and a first connecting piece arranged on the support bracket; the elastic module in the manipulator body is fixedly connected with the first connecting piece.
Further, the first connecting piece is an SCARA mechanical arm connecting piece; the SCARA mechanical arm has four freedom degrees of motion, namely translation along the direction of X, Y, Z and rotation around the Z axis; therefore, the working space of the manipulator body can be enlarged by adopting the connecting piece as the manipulator body, so that the application range of the manipulator body is enlarged.
The utility model also provides a motor planet wheel equipment, including the aforesaid manipulator.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a robot in the present embodiment;
fig. 2 is a schematic structural diagram of the robot body in this embodiment;
fig. 3 is a schematic structural diagram of the elastic module in this embodiment.
Detailed Description
The technical solution provided by the present invention is explained in more detail with reference to fig. 1-3.
The manipulator comprises a manipulator body 100, wherein the manipulator body 100 comprises an elastic module 110, a gripping and clamping driving device 120 connected with the elastic module 110, and a gripping and clamping module arranged on the gripping and clamping driving device 120; the elastic module 110 includes a mounting base 111 and an elastic component, wherein the elastic component includes a linear bearing 112, a guide shaft 113 and a spring 114; the linear bearing 112 is installed on the installation base 111, one end of the guide shaft 113 is connected with the linear bearing 112, the other end of the guide shaft 113 is connected with the gripper driving device 120, and the spring 114 is sleeved on the guide shaft 113, wherein the gripper driving device 120 is driven by an air cylinder and used for driving the gripper module to grip and release a workpiece.
Further, the elastic module 110 includes a plurality of sets of elastic components, and the sets of elastic components are uniformly distributed on the mounting base 111 at intervals; the design can enable the manipulator body 100 to have certain elasticity in all directions, so that the manipulator body 100 can be finely adjusted in all directions.
Further, the guide shaft 113 is a hard optical axis structural member.
Further, the gripper module comprises a plurality of gripping jaws 131, and the gripping jaws 131 are uniformly fixed on the gripper driving device 120; this structure can grasp the workpiece more firmly.
Further, a clamping block 132 is fixed on the inner side of the clamping jaw 131, and the inner side surface of the clamping block 132 is provided with sawtooth-shaped stripes; the saw-toothed stripes increase the friction between the clamping blocks 132 and the workpiece, so that the robot body 100 can stably grip the workpiece.
Further, the manipulator further comprises a support bracket 200 and a first connecting piece 300 arranged on the support bracket 200; the elastic module 110 in the manipulator body is fixedly connected with the first connecting piece 300; the supporting bracket 200 facilitates the mechanical arm to be fixed on various production equipment; in the present embodiment, the first connecting member 300 is connected to the mounting base 111.
Further, the first connector 300 is a SCARA robot arm connector; the SCARA mechanical arm has four freedom degrees of motion, namely translation along the direction of X, Y, Z and rotation around the Z axis; therefore, the use of this as a connecting member of the robot body 100 can enlarge the working space of the robot body 100, thereby increasing the range of application of the robot body 100.
The manipulator in this embodiment includes a manipulator body 100, where the manipulator body 100 includes an elastic module 110, a gripper driving device 120 connected to the elastic module 110, and a gripper module disposed on the gripper driving device 120; the elastic module 110 includes a mounting base 111 and an elastic component, wherein the elastic component includes a linear bearing 112, a guide shaft 113 and a spring 114; the linear bearing 112 is mounted on the mounting base 111, one end of the guide shaft 113 is connected with the linear bearing 112, the other end of the guide shaft 113 is connected with the gripper driving device 120, and the spring 114 is sleeved on the guide shaft 113; in the present implementation, the elastic module 110 is disposed on the manipulator body 100, and the elastic component includes the linear bearing 112, the guide shaft 113 and the spring 114, and the elastic module 110 with this structure can make the manipulator body 100 have a certain elasticity, so that when the manipulator body 100 is used for clamping and assembling a workpiece, if the manipulator body 100 is in contact with an assembly part, the manipulator body 100 has a certain elasticity and can be automatically adjusted finely, so as to avoid hard contact with the assembly part, and further avoid the problem of workpiece damage; the linear bearing 112 has small friction and is stable, does not change along with the bearing speed, and can obtain stable motion with high sensitivity and high precision, so the elastic module 110 can better realize fine adjustment of the manipulator body 100 by adopting the linear bearing 112; and the elastic module 110 has a simple structure and is easily assembled.
The utility model also provides a motor planet wheel equipment, including the aforesaid manipulator.
In the description of the present invention, it is to be understood that the terms "center", "left", "right", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and simplification of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the scope of the present invention.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the use of "first" and "second" is merely for convenience in describing the invention and to simplify the description, and the words are not intended to have a special meaning unless otherwise stated.
The present invention is not limited to the above embodiment, and if various modifications or variations of the present invention do not depart from the spirit and scope of the present invention, they are intended to be covered if they fall within the scope of the claims and the equivalent technology of the present invention.
Claims (8)
1. A manipulator, characterized by comprising:
the manipulator body comprises an elastic module, a gripping and clamping driving device connected with the elastic module, and a gripping and clamping module arranged on the gripping and clamping driving device; the elastic module comprises a mounting base and an elastic component,
the elastic assembly comprises a linear bearing, a guide shaft and a spring; the linear bearing is installed on the installation base, one end of the guide shaft is connected with the linear bearing, the other end of the guide shaft is connected with the gripper driving device, and the spring is sleeved on the guide shaft.
2. The robot hand of claim 1, wherein the spring module comprises a plurality of sets of spring assemblies, and the sets of spring assemblies are evenly spaced on the mounting base.
3. The manipulator according to claim 2, wherein the guide shaft is a hard optical axis structural member.
4. The robot of claim 1, wherein the gripper module comprises a plurality of jaws, and the plurality of jaws are uniformly fixed on the gripper drive.
5. The manipulator according to claim 4, characterized in that a clamping block is fixed on the inner side of the clamping jaw, and the inner side surface of the clamping block is provided with sawtooth-shaped stripes.
6. The robot hand of claim 1, further comprising: the device comprises a supporting bracket and a first connecting piece arranged on the supporting bracket;
the elastic module in the manipulator body is fixedly connected with the first connecting piece.
7. The robot of claim 6, wherein the first linkage is a SCARA robot arm linkage.
8. An electric motor planet wheel assembly device is characterized by comprising the manipulator of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022190560.1U CN213499281U (en) | 2020-09-29 | 2020-09-29 | Manipulator and motor planetary gear assembly equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022190560.1U CN213499281U (en) | 2020-09-29 | 2020-09-29 | Manipulator and motor planetary gear assembly equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213499281U true CN213499281U (en) | 2021-06-22 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022190560.1U Active CN213499281U (en) | 2020-09-29 | 2020-09-29 | Manipulator and motor planetary gear assembly equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213499281U (en) |
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2020
- 2020-09-29 CN CN202022190560.1U patent/CN213499281U/en active Active
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