CN213859260U

CN213859260U - Manipulator is with base of being convenient for adjusting position

Info

Publication number: CN213859260U
Application number: CN202022810585.7U
Authority: CN
Inventors: 彭洪滨
Original assignee: Dalian Tianhong Automobile Steering Pump Co ltd
Current assignee: Dalian Tianhong Automobile Steering Pump Co ltd
Priority date: 2020-11-30
Filing date: 2020-11-30
Publication date: 2021-08-03
Anticipated expiration: 2030-11-30

Abstract

The utility model discloses a base convenient for adjusting the position for a manipulator, relating to the technical field of manipulators; comprises an operation table, a control seat, a connecting seat, a driving device and a positioning roller; a track groove is fixedly connected above the operating platform, the driving seat is arranged in the track groove, a connecting seat is fixedly connected above the driving seat, and a control seat is fixedly connected above the connecting seat; the driving device is arranged on the inner side of the driving seat and comprises a transmission rod, a transmission gear, an auxiliary motor and wheels; the track groove flange is characterized in that grooves which are parallel to the track groove flange are formed in two sides above the driving seat, a plurality of groups of parallel connecting rods are fixedly connected in the grooves, and the connecting rods are sleeved with positioning rollers which are in contact with the lower surface of the track groove flange. The device can automatically drive and control the base to move and brake, reduce friction resistance and improve flexibility.

Description

Manipulator is with base of being convenient for adjusting position

Technical Field

The utility model relates to a manipulator technical field specifically is a manipulator is with base of being convenient for adjusting position.

Background

A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. At present, in the industries of mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and the like, a mechanical arm becomes a very common processing tool. The manipulator needs to be fixed on the base to the base is the benchmark, operates, therefore the base of manipulator needs can cooperate the action of predetermineeing of manipulator to carry out the nimble removal.

Chinese utility model patent specification CN209036573U discloses a fixed baseplate for manipulator based on adjustable technique, including base, rotary drum and manipulator, the device can make the adjustment to the angle of manipulator, but the device needs extra drive arrangement, otherwise can't remove along the track, and degree of automation is lower.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator is with base that is convenient for adjusting position to solve the problem that proposes among the above-mentioned background art. Provided is a robot base which can be adjusted efficiently and has the capability of actively controlling the movement.

In order to achieve the above object, the utility model provides a following technical scheme:

a base convenient for position adjustment for a manipulator comprises an operating platform, a control seat, a connecting seat, a driving seat, a main motor, an auxiliary motor, a hydraulic cylinder, a driving device and a positioning roller; a track groove is fixedly connected above the operating platform, the driving seat is arranged in the track groove, a connecting seat is fixedly connected above the driving seat, and a control seat is fixedly connected above the connecting seat; the connecting seat is embedded between the track groove flanges at two sides; the driving device is arranged on the inner side of the driving seat and comprises a transmission rod, a transmission gear, an auxiliary motor and wheels; the track groove flange is characterized in that grooves which are parallel to the track groove flange are formed in two sides above the driving seat, a plurality of groups of parallel connecting rods are fixedly connected in the grooves, and the connecting rods are sleeved with positioning rollers which are in contact with the lower surface of the track groove flange.

As a further aspect of the present invention: the driving rod is fixedly connected in the driving seat through a supporting rod, wheels are fixedly connected to two ends of the driving rod, and the wheels penetrate through the bottom of the driving seat and contact the operating table; the transmission rod is fixedly connected with a transmission gear, the auxiliary motor is fixedly connected in the driving seat, the auxiliary motor is fixedly connected with a power transmission gear, and the transmission gears are meshed with each other.

As a further aspect of the present invention: driven rods symmetrical to the transmission rods are arranged in the driving seat, wheels are fixedly connected to two ends of each driven rod, and the wheels penetrate through the bottom surface of the driving seat and contact the operating table.

As a further aspect of the present invention: the side wall of the connecting seat is provided with a groove, a plurality of groups of vertical connecting rods are fixedly connected in the groove, the connecting rods are sleeved with positioning rollers, and the inner side of the connecting seat is fixedly connected with a main motor.

As a further aspect of the present invention: the bottom of the control seat is provided with a groove parallel to the rail grooves, a plurality of groups of connecting rods perpendicular to the rail grooves are fixedly connected in the groove, and the connecting rods are sleeved with positioning rollers.

As a further aspect of the present invention: the inside rigid coupling of control seat has the bearing sleeve, the inside rigid coupling of bearing sleeve has the roating seat, main motor top rigid coupling rotation axis bottom.

As a further aspect of the present invention: the hydraulic cylinder is fixedly connected in the rotating seat, a telescopic rod is fixedly connected above the hydraulic cylinder, the telescopic rod penetrates out of the through hole above the control seat, and the telescopic rod is connected with the mechanical arm.

Compared with the prior art, the beneficial effects of the utility model are that:

the base convenient for position adjustment for the manipulator is adopted, an external driving system is not needed, the device can control the movement and braking of the manipulator along the track groove through a driving device, the automation degree of the device is improved, and the device is more convenient to move;

adopt above-mentioned manipulator to be convenient for adjusting position's base, drive seat top, connecting seat side and control seat bottom, all be equipped with positioning roller with the position of track groove contact, the drive seat, connecting seat and control seat do not all with track groove direct contact, when robotic arm bears great power when using, positioning roller can effectual reduction this device and the track groove between the frictional force, be transformed into rolling friction with sliding friction simultaneously, can effectual this device of promotion removal ability in operational environment, and reduce wear, extension equipment life.

Drawings

Fig. 1 is a schematic structural diagram of a base for a robot to facilitate position adjustment.

Fig. 2 is a schematic diagram of the driving device in the base for the robot to adjust the position conveniently.

Fig. 3 is a schematic view of the positioning of the rollers in the base for easy position adjustment by the robot.

In the figure: 1. a robot arm; 2. a telescopic rod; 3. a track groove; 4. a control seat; 5. a bearing sleeve; 6. a rotating base; 7. a hydraulic cylinder; 8. a through hole; 9. a main motor; 10. a groove; 11. positioning the roller; 12. a connecting rod; 13. an operation table; 14. a driving seat; 15. a connecting seat; 16. a wheel; 17. a transmission rod; 18. a transmission gear; 19. an auxiliary motor; 20. a support bar; 21. a drive device; 22. a driven rod.

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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

Referring to fig. 1 to 3, in embodiment 1 of the present invention, a base for a manipulator, which is convenient for adjusting a position, includes an operation platform 13, a control seat 4, a connection seat 15, a driving seat 14, a main motor 9, an auxiliary motor 19, a hydraulic cylinder 7, a driving device 21, and a positioning roller 11; a track groove 3 is fixedly connected above the operating platform 13, the driving seat 14 is arranged in the track groove 3, a connecting seat 15 is fixedly connected above the driving seat 14, and a control seat 4 is fixedly connected above the connecting seat 15; the connecting seat 15 is embedded between the flanges of the track grooves 3 at two sides; a driving device 21 is arranged on the inner side of the driving seat 14, and the driving device 21 comprises a transmission rod 17, a transmission gear 18, an auxiliary motor 19 and wheels 16; the two sides above the driving seat 14 are provided with parallel grooves 10 facing the track groove 3 flange, a plurality of groups of parallel connecting rods 12 are fixedly connected in the grooves 10, the connecting rods 12 are sleeved with positioning rollers 11, and the positioning rollers 11 are in contact with the lower surface of the track groove 3 flange.

The device is embedded in the track groove 3, the control seat 4 is positioned above the track groove 3, and the device can move forwards, backwards and brake along the track groove 3 under the action of the driving device 21 of the bottom driving seat 14, so that the adjustment of the base is more flexible and the movement is more convenient.

The driving rod 17 is fixedly connected in the driving seat 14 through a supporting rod 20, wheels 16 are fixedly connected at two ends of the driving rod 17, and the wheels 16 pass through the bottom of the driving seat 14 and contact the operating platform 13; the transmission rod 17 is fixedly connected with a transmission gear 18, the auxiliary motor 19 is fixedly connected in the driving seat 14, the auxiliary motor 19 is fixedly connected with a power transmission gear, and the transmission gear 18 is meshed with each other. Driven rods 22 symmetrical to the transmission rods 17 are arranged in the driving seat 14, wheels 16 are fixedly connected to two ends of each driven rod 22, and the wheels 16 penetrate through the bottom surface of the driving seat 14 and contact the operating table 13. The side wall of the connecting seat 15 is provided with a groove 10, a plurality of groups of vertical connecting rods 12 are fixedly connected in the groove 10, the connecting rods 12 are sleeved with positioning rollers 11, and the inner side of the connecting seat 15 is fixedly connected with a main motor 9. The bottom of the control seat 4 is provided with a groove 10 of the parallel track groove 3, a plurality of groups of connecting rods 12 of the vertical track grooves 3 are fixedly connected in the groove 10, and the connecting rods 12 are sleeved with a positioning roller 11. The inside rigid coupling of control seat 4 has bearing sleeve 5, the inside rigid coupling of bearing sleeve 5 has roating seat 6, main motor 9 top rigid coupling rotation axis bottom. The hydraulic cylinder 7 is fixedly connected into the rotating seat 6, the telescopic rod 2 is fixedly connected above the hydraulic cylinder 7, the telescopic rod 2 penetrates out of the through hole 8 above the control seat 4, and the telescopic rod 2 is connected with the mechanical arm 1.

The telescopic rod 2 of the device is connected with the mechanical arm 1, the telescopic rod 2 is driven by the hydraulic cylinder 7, and the mechanical arm 1 can be controlled to move up and down under the action of the hydraulic cylinder 7. The hydraulic cylinder 7 of the device is fixedly connected in the rotating base 6, the main motor 9 is fixedly connected to the bottom of the rotating base 6, and the main motor 9 drives the rotating shaft to rotate when being started, so that the mechanical arm 1 can be controlled to rotate synchronously. The bottom of the device is provided with a driving device 21, an auxiliary motor 19 is started to control a transmission gear 18 to drive a transmission rod 17, the rotation of the transmission rod 17 is transmitted to a wheel 16, the device can be controlled to horizontally move in a track groove 3 through the wheel 16, and the mechanical arm 1 can be controlled to horizontally move through transmission. This device provides and is mostly the drive, can the simultaneous control robotic arm 1 in the level, the ascending action of vertical direction and rotation direction, is convenient for more adjust, operates more in a flexible way.

Example 2

Referring to fig. 1 to 3, the main differences between the embodiment 2 and the embodiment 1 are:

the side wall of the connecting seat 15 is provided with a groove 10, a plurality of groups of vertical connecting rods 12 are fixedly connected in the groove 10, the connecting rods 12 are sleeved with positioning rollers 11, and the inner side of the connecting seat 15 is fixedly connected with a main motor 9. The bottom of the control seat 4 is provided with a groove 10 of the parallel track groove 3, a plurality of groups of connecting rods 12 of the vertical track grooves 3 are fixedly connected in the groove 10, and the connecting rods 12 are sleeved with a positioning roller 11.

The control seat 4 of this device, connecting seat 15 and drive seat 14, it all is equipped with positioning roller 11 to be high at the interface with track groove 3, when manipulator 1 drops into the use, need regard as fixed source with the base, it can exert great interior to the base to establish a process, the base is through the reciprocal anchorage with track groove 3 and ensures manipulator 1's stability, the relevant position of this in-process base forms the contact of great pressure with track groove 3, can form very big resistance, influence the removal flexibility of base. This device turns into rolling friction with sliding friction's resistance through setting up positioning roller 11, very big reduction frictional force, improved the flexibility of this device, makes this device adjust more convenient.

The utility model discloses a theory of operation is:

this device carries out the regulation of describing job orientation to robotic arm 1 through the cooperation of pneumatic cylinder 7 and telescopic link 2. The main motor 9 of the device controls the rotating seat 6 to rotate, drives the telescopic rod 2 and the mechanical arm 1 to rotate, and realizes control of the rotation behavior of the mechanical arm 1. The bottom of the device is provided with a driving device 21, and the driving device 21 can control the device to horizontally advance, retreat and brake along the track groove 3 and control the movement of the mechanical arm 1 in the horizontal direction. All faces of this device with track groove 3 contact all are equipped with positioning roller 11, and when robotic arm 1 during operation, the pressure of production transmits for track groove 3 through positioning roller 11, and positioning roller 11 is guaranteeing that this device does not change the angle, when not influencing robotic arm 1 sensitivity, will turn into rolling friction with track groove 3's frictional force, very big reduction frictional force, improved the flexibility of this device control.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A base convenient for position adjustment for a manipulator is characterized by comprising an operating platform (13), a control base (4), a connecting base (15), a driving base (14), a main motor (9), an auxiliary motor (19), a hydraulic cylinder (7), a driving device (21) and a positioning roller (11); a track groove (3) is fixedly connected above the operating platform (13), the driving seat (14) is arranged in the track groove (3), a connecting seat (15) is fixedly connected above the driving seat (14), and a control seat (4) is fixedly connected above the connecting seat (15); the connecting seat (15) is embedded between the flanges of the track grooves (3) at two sides; a driving device (21) is arranged on the inner side of the driving seat (14), and the driving device (21) comprises a transmission rod (17), a transmission gear (18), an auxiliary motor (19) and wheels (16); drive seat (14) top both sides and be equipped with parallel just recess (10) to track groove (3) flange, the rigid coupling has connecting rod (12) that the multiunit is parallel in recess (10), cup jointed positioning roller (11) on connecting rod (12), positioning roller (11) and the lower surface contact of track groove (3) flange.

2. The base convenient for adjusting the position of the manipulator as claimed in claim 1, wherein the transmission rod (17) is fixedly connected in the driving seat (14) through a support rod (20), wheels (16) are fixedly connected to two ends of the transmission rod (17), and the wheels (16) pass through the bottom of the driving seat (14) and contact the operation table (13); the transmission rod (17) is fixedly connected with a transmission gear (18), the auxiliary motor (19) is fixedly connected in the driving seat (14), the auxiliary motor (19) is fixedly connected with a power transmission gear, and the transmission gear (18) are meshed with each other.

3. The manipulator base convenient for adjusting the position as claimed in claim 1 or 2, wherein a driven rod (22) symmetrical to the transmission rod (17) is arranged in the driving seat (14), two ends of the driven rod (22) are fixedly connected with wheels (16), and the wheels (16) pass through the bottom surface of the driving seat (14) and contact the operation table (13).

4. The base convenient for adjusting the position of a manipulator as claimed in claim 1, wherein a groove (10) is formed in a side wall of the connecting base (15), a plurality of groups of vertical connecting rods (12) are fixedly connected in the groove (10), a positioning roller (11) is sleeved on each connecting rod (12), and a main motor (9) is fixedly connected to the inner side of the connecting base (15).

5. The base convenient for adjusting the position of a manipulator as claimed in claim 1, wherein a groove (10) of the parallel track groove (3) is formed at the bottom of the control seat (4), a plurality of groups of connecting rods (12) of the vertical track grooves (3) are fixedly connected in the groove (10), and a positioning roller (11) is sleeved on the connecting rods (12).

6. The manipulator base convenient for adjusting the position as claimed in claim 1 or 5, wherein a bearing sleeve (5) is fixedly connected inside the control seat (4), a rotating seat (6) is fixedly connected inside the bearing sleeve (5), and the top end of the main motor (9) is fixedly connected to the bottom of the rotating shaft.

7. The base convenient for adjusting the position of the manipulator according to claim 6, wherein a hydraulic cylinder (7) is fixedly connected in the rotating base (6), a telescopic rod (2) is fixedly connected above the hydraulic cylinder (7), the telescopic rod (2) penetrates through a through hole (8) above the control base (4), and the telescopic rod (2) is connected with the manipulator (1).