CN213562595U

CN213562595U - Material loading and taking servo simulation machine

Info

Publication number: CN213562595U
Application number: CN202021479310.3U
Authority: CN
Inventors: 刘俊超; 陈亚兵
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2021-06-29
Anticipated expiration: 2030-07-24

Abstract

The utility model discloses a material loading and taking servo simulation machine belongs to simulation machinery technical field, the on-line screen storage device comprises a base, the upper end fixed mounting of base has the dwang, the lower pot head of dwang is equipped with the second helical gear, second helical gear and first helical gear meshing, the top of base is provided with the motor, the top welding of dwang has the horizontal pole, the below of horizontal pole is provided with servo motor a, left bearing frame and right bearing frame, swing joint has the lead screw between left side bearing frame and the right bearing frame, be provided with the mobile station on the lead screw, the lower extreme fixedly connected with servo motor c of mobile station, fixedly connected with fag end on the servo motor c, fixedly connected with wire rope is sheathe in to the fag end, wire rope's lower extreme fixedly connected with mount, the lower extreme fixedly connected with gripper. The servo motor is used for controlling the mechanical claw to grab the material and send the material to a designated position, and the material grabbing device is simple in structure, convenient to operate and convenient to maintain.

Description

Material loading and taking servo simulation machine

Technical Field

The utility model relates to a material loading and taking simulation machine technical field especially relates to a material loading and taking servo simulation machine.

Background

The manipulator can imitate some action functions of human hand and arm, and is used for grabbing, carrying objects or operating the automatic operation device of the tool according to the fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

Patent No. CN102689299A discloses a loading and unloading servo simulation manipulator belonging to a manipulator, which is used for loading and unloading large-sized workpieces. The invention is full hydraulic power, the vehicle body walks, the rotary worktable rotates, and the front big arm, the middle big arm, the rear big arm, the upper small arm, the lower small arm, the yoke plate, the upper toggle rod, the lower toggle rod and the rotary worktable are hinged to form three parallelograms; a cylinder rod of the lifting oil cylinder is hinged with the lower toggle rod, and a cylinder rod of the connecting rod telescopic oil cylinder is hinged with the middle big arm; the pivoting support hydraulic motor drives the jaw part to swing, the jaw telescopic cylinder drives the jaw to stretch, the jaw pivoting hydraulic motor is connected with the worm gear mechanism, the hollow worm wheel shaft is connected with the hollow shaft, the pull rod is connected with the jaw, the jaw pivoting hydraulic motor drives the jaw to rotate, the cylinder rod of the clamping cylinder located on the axis of the worm wheel shaft is connected with the pull rod, and the jaw is driven to clamp or loosen. The invention solves the technical problems that the angle between a mechanical arm driven by a pitching oil cylinder of the existing loading and unloading mechanical arm and a rotary worktable is constantly changed and the defects of a chuck rotating mechanism exist.

The loading and unloading simulation machine in the prior art has the following defects: 1. the traditional loading and unloading simulation machine has the advantages of large appearance, complex structure, lower precision, high manufacturing cost and difficult installation, maintenance and control of the traditional simulation machine 2.

SUMMERY OF THE UTILITY MODEL

The utility model provides a material loading and taking servo simulation machine is provided with multiunit servo motor, uses servo motor control gripper to snatch the material and send the material to appointed position, simple structure, convenient operation, the maintenance of being convenient for.

The utility model provides a specific technical scheme as follows:

the utility model provides a feeding and taking servo simulation machine, which comprises a base, wherein a rotating rod is fixedly arranged at the upper end of the base, a second bevel gear is sleeved at the lower end of the rotating rod, the second bevel gear is meshed and connected with a first bevel gear, a servo motor a is arranged above the base, the power output end of the servo motor a is connected with the power input end of the first bevel gear, a cross rod is welded at the top of the rotating rod, a servo motor d is arranged below the joint of the cross rod and the rotating rod, the lower surface of the cross rod is fixedly connected with a right bearing seat near the servo motor d, a left bearing seat is arranged at the position far away from the servo motor a on the cross rod, a lead screw is movably connected between the left bearing seat and the right bearing seat, the power input end of the lead screw is connected with the power output end of the, the lower extreme fixedly connected with servo motor c of mobile station, fixedly connected with noose on the servo motor c, fixedly connected with wire rope on the noose, wire rope's lower extreme fixedly connected with mount, the lower extreme fixedly connected with gripper of mount, the inside of gripper is provided with the worm, swing joint has connecting rod an on the gripper, the one end that the gripper was kept away from to connecting rod a articulates there is the claw pincers, the middle part of claw pincers articulates there is connecting rod b.

Optionally, a servo motor b is arranged inside the fixing frame, and a power output end of the servo motor b is connected with a power input end of the worm.

Optionally, the connecting rod a, the connecting rod b and the claw tongs have two groups.

Optionally, one end of the connecting rod b, which is far away from the claw clamp, is in a gear shape and is meshed with the worm.

Optionally, the servo motor a, the servo motor d, the servo motor b and the servo motor c are electrically connected with an external power supply.

The utility model has the advantages as follows:

the embodiment of the utility model provides a material servo emulation machinery is got to feeding:

1. be provided with servo motor a, the motor can drive first helical gear and rotate, thereby drive and first helical gear meshed second helical gear rotate together, the second helical gear cover is established on the dwang, make the dwang also can be along with rotating together, just so can adjust the gripper to the direction of depositing the goods, the top welding of dwang has the horizontal pole, the lower extreme of horizontal pole is provided with the lead screw, left side bearing frame, right side bearing frame and servo motor d, start servo motor d, servo motor d can drive the lead screw and rotate together, install the mobile station above the lead screw, when servo motor d corotation, the mobile station can remove to the direction of bearing frame left, when making servo motor d reversal, make the mobile station remove to the direction that has the bearing frame.

2. The lower part of the mobile station is provided with a servo motor c, the upper fixedly connected with rope sleeve of the servo motor c, a steel wire rope is installed on the rope sleeve, the servo motor c can be used for controlling the lifting of the steel wire rope, the lower end of the steel wire rope is connected with a mechanical claw, an object needing to be moved can be grabbed by the mechanical claw, the mechanical claw is provided with a servo motor b, a worm, a connecting rod a, a connecting rod b and claw tongs, the servo motor b is started, the worm is driven by the forward rotation of the servo motor b to rotate, and the claw tongs can be driven by the connecting rod b and the connecting rod a meshed with the worm to shrink towards the.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic view of an overall structure of a loading and unloading servo simulation machine according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a gripper of a loading and unloading servo simulation machine according to an embodiment of the present invention;

in the figure: 1. a servo motor a; 2. a base; 3. a first helical gear; 4. a second helical gear; 5. rotating the rod; 6. a servo motor d; 7. a right bearing seat; 8. a cross bar; 9. a left bearing seat; 10. a mobile station; 11. Rope sleeves; 12. a servo motor b; 13. a servo motor c; 14. a wire rope; 15. a fixed mount; 16. a gripper; 17. a worm; 18. a connecting rod a; 19. claw tongs; 20. a connecting rod b; 21. and a screw rod.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, 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 efforts belong to the protection scope of the present invention.

A loading and unloading servo simulation machine according to an embodiment of the present invention will be described in detail with reference to fig. 1 to 2.

Referring to fig. 1-2, an embodiment of the present invention provides a loading and unloading servo simulation machine, which includes a base 2, a rotation rod 5 is fixedly installed at an upper end of the base 2, a second bevel gear 4 is sleeved at a lower end of the rotation rod 5, the second bevel gear 4 is engaged with a first bevel gear 3, a servo motor a1 is disposed above the base 2, a power output end of the servo motor a1 is connected with a power input end of the first bevel gear 3, a cross rod 8 is welded at a top of the rotation rod 5, a servo motor d6 is disposed below a joint of the cross rod 8 and the rotation rod 5, a right bearing seat 7 is fixedly connected to a lower surface of the cross rod 8 near the servo motor d6, a left bearing seat 9 is disposed at a position on the cross rod 8 far from the servo motor d6, and a lead screw 21 is movably connected between the left bearing seat 9 and the right bearing seat, the power input end of lead screw 21 and servo motor a 1's power output end link to each other, be provided with the mobile station 10 on the lead screw 21, the lower extreme fixedly connected with servo motor c13 of mobile station 10, fixedly connected with fag end 11 on the servo motor c13, fixedly connected with wire rope 14 on the fag end 11, wire rope 14's lower extreme fixedly connected with mount 15, the lower extreme fixedly connected with gripper 16 of mount 15, the inside of gripper 16 is provided with worm 17, swing joint has connecting rod a18 on the gripper 16, the one end that the gripper was kept away from to connecting rod a18 articulates there is claw 19, the middle part of claw 19 articulates there is connecting rod b 20.

Illustratively, a servomotor a2 is used for controlling the rotation of the bevel gear so as to adjust the direction of the rotating rod, a servomotor d6 drives the screw rod 21 to rotate so as to move the mobile station 9 back and forth, a servomotor c controls the extension and contraction of the steel wire rope 14, and a servomotor b12 controls the mechanical claw 16 to grab the material.

Referring to fig. 1, a servo motor b12 is arranged inside the fixed frame 15, and the power output end of the servo motor b12 is connected with the power input end of the worm 17.

Illustratively, the worm 17 is rotated using a servomotor b 12.

Referring to fig. 1, the connecting rod a18, the connecting rod b20 and the claw 19 have two sets.

Illustratively, the link b20 engages with a worm that rotates the link b20, working in conjunction with the link a18 and the claw 19, to enable the gripper 16 to grasp the material.

Referring to fig. 2, the end of the connecting rod b20 remote from the claw 19 is shaped like a gear and meshes with the worm 17.

Illustratively, when the worm rotates, the connecting rod b20 is driven to move together, thereby driving the jaw 19 to move.

Referring to fig. 1, the servo motor a1, the servo motor d6, the servo motor b12 and the servo motor c13 are electrically connected to an external power source.

Illustratively, an external power source provides electrical power to a motor in the device.

When the mechanical claw is used, the servo motor a1 above the base is started, the motor can drive the first bevel gear 3 to rotate, so as to drive the second bevel gear 4 meshed with the first bevel gear 3 to rotate together, the second bevel gear 4 is sleeved on the rotating rod 5, so that the rotating rod 5 can also rotate along with the rotating rod, the mechanical claw 12 can be adjusted to the direction for storing goods, the top end of the rotating rod 5 is welded with the cross rod 8, the lower end of the cross rod 8 is provided with the screw rod 21, the left bearing seat 9, the right bearing seat 7 and the servo motor d6, the servo motor d6 is started, the servo motor d6 can drive the screw rod 21 to rotate together, the movable platform 10 is installed on the screw rod 21, when the servo motor d6 rotates forwards, the movable platform 10 can move towards the left bearing seat 9, when the servo motor d6 rotates backwards, the movable platform can move towards the direction with the bearing seat 7, the servo motor c13 is, a rope sleeve 11 is fixedly connected to the servo motor c13, a steel wire rope 14 is installed on the rope sleeve 11, the servo motor c13 can be used for controlling the lifting of the steel wire rope 14, a mechanical claw 16 is connected to the lower end of the steel wire rope 14, an object needing to be moved can be grabbed by the mechanical claw 16, and a servo motor b12, a worm 17, a connecting rod a18, a connecting rod b20 and claw tongs 19 are arranged on the mechanical claw 16; when materials are taken, a servo motor d6 is started, a servo motor d6 rotates forwards to enable a moving platform 10 to move above the materials to be taken, a servo motor c13 is started to lower a steel wire rope 14, a mechanical claw 16 can touch the materials, a servo motor b12 is started, the servo motor b12 rotates forwards to drive a worm 17 to rotate, a connecting rod b20 and a connecting rod a18 meshed with the worm 17 can drive a claw 19 to contract towards the middle, the materials can be grabbed, then the servo motor c13 rotates backwards to pack the steel wire rope, the mechanical claw 16 and the materials are pulled together, the servo motor a1 rotates backwards to enable a rotating shaft 5 to rotate, the materials and the mechanical claw are sent to the correct position, the steel wire rope 14 is placed down by using the servo motor c13, and the mechanical claw 16 is released to place the materials at the proper position; the utility model discloses simple structure, convenient operation.

It should be noted that the utility model relates to a material loading and taking servo simulation machine, which comprises a machine 1 and a servo motor a; 2. a base; 3. a first helical gear; 4. a second helical gear; 5. rotating the rod; 6. a servo motor d; 7. a right bearing seat; 8. a cross bar; 9. a left bearing seat; 10. a mobile station; 11. rope sleeves; 12. a servo motor b; 13. a servo motor c; 14. a wire rope; 15. a fixed mount; 16. a gripper; 17. a worm; 18. A connecting rod a; 19. claw tongs; 20. a connecting rod b; 21. the screw and the components are all universal standard parts or components known to those skilled in the art, and the structure and the principle of the screw and the components are known to those skilled in the technical manual or known by the routine experimental method.

It is apparent that those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if such modifications and variations of the embodiments of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The utility model provides a material loading and taking servo simulation machine, includes base (2), its characterized in that, the upper end fixed mounting of base (2) has dwang (5), the lower pot head of dwang (5) is equipped with second helical gear (4), second helical gear (4) meshing is connected with first helical gear (3), the top of base (2) is provided with servo motor a (1), the power take off end of servo motor a (1) and the power take off end of first helical gear (3) link to each other, the top welding of dwang (5) has horizontal pole (8), the below of horizontal pole (8) and dwang (5) handing-over department is provided with servo motor d (6), the position that the lower surface of horizontal pole (8) is close to servo motor d (6) is fixedly connected with right bearing frame (7), the position of keeping away from servo motor d (6) on horizontal pole (8) is provided with left bearing frame (9), a lead screw (21) is movably connected between the left bearing seat (9) and the right bearing seat (7), a power input end of the lead screw (21) is connected with a power output end of a servo motor a (1), a moving platform (10) is arranged on the lead screw (21), a servo motor c (13) is fixedly connected with the lower end of the moving platform (10), a rope sleeve (11) is fixedly connected onto the servo motor c (13), a steel wire rope (14) is fixedly connected onto the rope sleeve (11), a fixing frame (15) is fixedly connected with the lower end of the steel wire rope (14), a mechanical claw (16) is fixedly connected with the lower end of the fixing frame (15), a worm (17) is arranged inside the mechanical claw (16), a connecting rod a (18) is movably connected onto the mechanical claw (16), and a claw clamp (19) is hinged to one end, far away from the mechanical claw, of the connecting rod, the middle part of the claw clamp (19) is hinged with a connecting rod b (20).

2. A loading and unloading servo simulation machine according to claim 1, wherein a servo motor b (12) is arranged inside the fixed frame (15), and a power output end of the servo motor b (12) is connected with a power input end of the worm (17).

3. A loading and unloading servo simulation machine according to claim 1, wherein the connecting rod a (18), the connecting rod b (20) and the claw grip (19) have two groups.

4. A loading and unloading servo simulation machine according to claim 1, wherein the end of the connecting rod b (20) remote from the claw grip (19) is gear-shaped and engages with the worm (17).

5. The loading and unloading servo simulation machine as claimed in claim 1, wherein the servo motor a (1), the servo motor d (6), the servo motor b (12) and the servo motor c (13) are electrically connected with an external power supply.