CN213765861U

CN213765861U - Industrial manipulator with loading and unloading function

Info

Publication number: CN213765861U
Application number: CN202022448013.9U
Authority: CN
Inventors: 于学辉; 陈凤娇; 辛凤文; 杨祖杰
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2020-10-29
Filing date: 2020-10-29
Publication date: 2021-07-23
Anticipated expiration: 2030-10-29

Abstract

The utility model provides an industrial manipulator, including bottom, waist, arm portion and hand claw portion assembly. The utility model has the characteristics that: a waist revolving body is connected to the upper surface of the base which fixes the whole mechanical structure and bears the weight of the upper part in a matching way, and the revolving body is inserted into the base through an intermediate shaft, so that the revolving motion of the mechanical arm is mainly realized; a secondary speed reducing mechanism is designed in the base for reducing speed to prevent the revolving body from rotating too fast; the rotation of the screw rod is converted into the transverse movement of the sliding block, so that the transverse movement of the claw part of the manipulator is realized; the claw part designs the gear claw structure of integral type, improves and gets the dynamics of getting.

Description

Industrial manipulator with loading and unloading function

Technical Field

The utility model relates to an industrial robot field, concretely relates to industrial robot with loading and unloading function.

Background

In recent years, with the rapid development of electronic technology, the development, manufacture and production of manipulators have slowly become a new key technology for the rapid development of high and new technical fields, and the manipulators are developing towards the direction of mechatronics. The manipulator can replace people to complete dangerous work, and can improve the labor productivity of enterprise factories, and the manipulator is applied to the machine manufacturing industry more and more.

China is a large manufacturing country, the application field and the marketization level of industrial manipulators in China are still relatively low, and until now, workers mainly mount and dismount workpieces on an enterprise factory production line, so that the labor intensity of the workers is high, and the manufacturing efficiency is low. In order to improve the efficiency of a workshop manufacturing production line, reduce the production cost and consider the modern automatic control production, an industrial manipulator with a loading and unloading function is designed, and the industrial manipulator has important application value.

SUMMERY OF THE UTILITY MODEL

The utility model provides an industrial robot with loading and unloading function, including bottom, waist, arm portion and hand claw portion assembly, can effectual reduction in production cost, improve production efficiency.

The utility model adopts the technical proposal that:

the utility model provides an industrial manipulator, industrial manipulator includes the base, the cooperation is connected with the waist solid of revolution above the base, the waist lead screw is equipped with on the waist solid of revolution, waist screw nut and waist lead screw slider are equipped with on the waist lead screw, be connected with hand lead screw fixed station on the waist lead screw slider, arm lead screw, slide and arm slider are equipped with on the hand lead screw fixed station, arm slider below is connected with the hand claw part, the inside design of base has a second grade reduction gears.

Preferably, the waist revolving body is connected to the upper surface of the base in a matching manner, so that the revolving motion of the manipulator can be realized.

Preferably, a secondary speed reducing mechanism is designed in the base to reduce the speed, so that the rotating speed of the revolving body can be effectively prevented from being too high.

The waist lead screw is driven to rotate through the rotation of the motor preferably, the up-and-down movement of the mechanism is achieved, and meanwhile, the motion precision is high due to the adoption of lead screw transmission.

Preferably, the rotation of the arm screw can be converted into the transverse movement of the arm slider, so that the transverse movement of the claw part of the manipulator is realized.

The optimized paw part is designed into an integrated gear paw structure, so that the clamping force can be effectively improved.

The utility model has the advantages that:

the waist revolving body is matched and connected on the base, so that 360-degree revolving motion of the manipulator is realized; the waist screw is driven to rotate through the rotation of the motor, so that the mechanism can move up and down, and meanwhile, the screw is adopted for transmission, so that the transmission precision can be effectively improved; the rotation of the arm part screw rod is converted into the transverse movement of the arm part slide block, so that the transverse movement of the claw part of the manipulator is realized; the manipulator claw part is designed into an integrated gear claw structure, so that the clamping force can be effectively improved; a secondary speed reducing mechanism is designed in the base for reducing speed, so that the revolving body can be effectively prevented from rotating too fast.

Drawings

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

fig. 2 is a schematic front view of the structure of the present invention;

fig. 3 is a schematic diagram of the right-side view structure of the present invention;

fig. 4 is a schematic top view of the present invention;

fig. 5 is a schematic structural view of the gear claw portion of the present invention.

In the figure: 1-a base; 2-bottom platen bolts; 3-low speed shaft sleeve; 4-low speed shaft bearing; 5-a lumbar sleeve; 6-front clamping plate of claw gear; 7-waist revolving body; 8-a support frame; 9-slide fastener-clamping plate connecting bolt; 10-transverse plate-sliding plate connecting bolt; 11-waist lead screw nut; 12-waist lead screw press plate; 13-a skateboard; 14-slide fastener-hand slider connecting bolt; 15-arm slider; 16-hand screw fixing table; 17-arm lead screw; 18-lumbar lead screw; 19-waist lead screw nut; 20-transverse plate-waist lead screw nut connecting bolt; 21-arm part slide block-paw buckle connecting bolt; 22-waist lead screw slide block; 23-transverse plate-waist screw nut connecting nut; 24-support frame bottom bolts; 25-paw button; 26-paw clamp plate connecting bolt; 27-right gripper gear; 28-gripper gear rear clamping plate; 29-bottom large platen; 30-waist revolved body bearing; 31-bottom small press plate; 32-high speed gear shaft; 33-low speed gear shaft; 34-low speed shaft key; 35-low speed shaft gearwheel; 36-waist slewing gear; 37-gear pawl; 38-slide-cleat attachment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Referring to fig. 2, the base (1) is used for fixing the whole mechanical structure and bearing the weight of the upper part, the rotary motion of the manipulator is realized through the waist rotary body (7) which is matched and connected with the upper surface of the base (1), and the rotary motion of the rotary body is driven by the rotating shaft driven by the motor; a two-stage speed reducing mechanism is arranged in the base (1) to prevent the rotating speed of the rotating body from being too high.

Referring to fig. 2, the waist part adopts screw transmission, so that the transmission precision is improved, and the rotation of the motor drives the waist part screw rod (18) to rotate, so that the mechanism can move up and down.

Referring to fig. 3, the main components of the arm part are composed of a sliding plate (13), an arm part lead screw (17), an arm part slide block (15) and a paw buckle (25). The screw rod is connected with a stop block and is installed on the sliding plate through a bolt, a threaded hole is formed in the middle of the arm part sliding block (15) and is connected with the arm part screw rod (17), and the rotation of the arm part screw rod (17) is converted into the transverse movement of the arm part sliding block (15), so that the transverse movement of the claw part of the manipulator is realized.

Referring to fig. 5, the gripper portion is an integral gear gripper structure, i.e., a pair of gears engaged with each other, and driven by a motor installed at the gripper to drive the gear gripper (37) to grip a workpiece.

It should be understood that any modification, equivalent replacement, and improvement made within the spirit and principles of the present invention should be included within the scope of the present invention.

Claims

1. The industrial manipulator is characterized by comprising a base (1), wherein a waist revolving body (7) is connected to the upper surface of the base (1) in a matching manner, a waist lead screw (18) is arranged on the waist revolving body (7), a waist lead screw nut (19) and a waist lead screw sliding block (22) are arranged on the waist lead screw (18), a hand lead screw fixing table (16) is connected to the waist lead screw sliding block (22), a hand lead screw (17), a sliding plate (13) and a hand lead screw sliding block (15) are arranged on the hand lead screw fixing table (16), and a paw part is connected to the lower part of the hand lead screw sliding block (15); a two-stage speed reducing mechanism is designed in the base (1).

2. The industrial robot of claim 1, wherein the waist revolving body (7) is fittingly connected to the base (1) to realize revolving motion of the robot.

3. The industrial robot as claimed in claim 1, wherein a secondary speed reducing mechanism is designed in the base (1) for reducing speed, and has the function of preventing the revolving body from rotating too fast.

4. The industrial robot according to claim 1, wherein the waist screw (18) of the waist revolving body (7) is rotated by a motor to move the mechanism up and down.

5. The industrial robot according to claim 1, wherein the arm screw (17) on the arm screw fixing table (16) is electrically driven to rotate, and is converted into lateral movement of the arm slider (15), thereby realizing the function of lateral movement of the claw of the robot arm.

6. The industrial robot of claim 1, wherein the gripper portion is configured as an integral gear gripper structure that effectively improves gripping strength.