CN214055268U

CN214055268U - Horizontal joint manipulator

Info

Publication number: CN214055268U
Application number: CN202022619524.2U
Authority: CN
Inventors: 张涛
Original assignee: Xi'an Palletizing Technology Co ltd
Current assignee: Xi'an Palletizing Technology Co ltd
Priority date: 2020-11-12
Filing date: 2020-11-12
Publication date: 2021-08-27
Anticipated expiration: 2030-11-12

Abstract

The utility model discloses a horizontal joint manipulator, which comprises a lifting part, a first rotary servo motor, an installation arm seat, a first horizontal rotary arm, a second horizontal rotary arm, a first protection cover, a sucker or a mechanical gripper, a flange bearing, a toothless slewing bearing, a flange shaft, a large synchronous belt wheel A, a second rotary servo motor, a small synchronous belt wheel A, a second rotary servo motor installation plate, an external tooth slewing bearing and a rotary gear; the lower end of the shaft is fixedly connected with the manipulator through a mounting flange piece. The manipulator is any one of a sucker and a mechanical paw. The utility model discloses a swing of two manipulators, the rotation of manipulator, this mechanism is simple, has realized the low-cost effect of carrying out the goods and taking, and is more practical in the industrial application field.

Description

Horizontal joint manipulator

Technical Field

The utility model relates to a manipulator technical field, in particular to horizontal joint manipulator.

Background

At present, in the technical field of the existing industry, a manipulator is mostly a multi-degree-of-freedom pitching robot or other gantry type manipulators with XY horizontal and vertical motion. The multi-degree-of-freedom pitching robot has the advantages that the processing cost and a system in the machine are expensive, the moving angle of the gantry type mechanical arm is small, and the lightweight robot needs the mechanical arm with low cost and multiple moving angles to be applied to the market.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a horizontal joint manipulator to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a horizontal joint manipulator comprises a lifting part, a first rotary servo motor, an installation arm seat, a first horizontal rotary arm, a second horizontal rotary arm, a first protective cover, a sucker or a manipulator, a flange bearing, a toothless slewing bearing, a flange shaft, a large synchronous pulley A, a second rotary servo motor, a small synchronous pulley A, a second rotary servo motor installation plate, an external tooth slewing bearing and a rotary gear;

the sliding end of the lifting part is fixedly connected with an installation arm seat, the upper end of the installation arm seat is fixedly provided with a first rotary servo motor, the output end of the first rotary servo motor is fixedly connected with a rotary gear, the rotary gear is meshed with an external rotary bearing, the external rotary bearing is rotatably connected on the installation arm seat, the installation arm seat is rotatably connected with one end of a first horizontal rotary arm through a flange bearing, the inside of the external rotary bearing is fixedly connected with one end of the first horizontal rotary arm, one end of the first horizontal rotary arm is internally and fixedly provided with a second rotary servo motor, the second rotary servo motor is fixedly connected with a second installation plate of the second rotary servo motor, the second installation plate of the second rotary servo motor is fixedly connected with the outside of the first horizontal rotary arm, and the second rotary servo motor passes through a small synchronous belt pulley A fixedly connected with an, the small synchronous belt pulley A is connected with a large synchronous belt pulley A through synchronous belt transmission, the center of the large synchronous belt pulley A is rotationally connected with the other end of the first horizontal rotating arm through a flange shaft, the center of rotation of the large synchronous belt pulley A is fixedly connected with the center of rotation of the toothless rotary bearing, the toothless rotary bearing is fixedly connected with one end of the second horizontal rotating arm, a third rotary motor is fixedly arranged in the middle position of the second horizontal rotating arm, the third rotary motor is fixedly connected with a third mounting plate of the rotary motor, the third mounting plate of the rotary motor is fixedly connected with the outer part of the horizontal rotating arm, the third rotary motor penetrates through an output shaft at the upper end of the second horizontal rotating arm and is fixedly connected with a small synchronous belt pulley, the small synchronous belt pulley is connected with a large synchronous belt pulley through synchronous belt transmission, the center of the large synchronous belt pulley A is fixedly connected with a connecting shaft through a belt seat bearing, and the lower end of the shaft is fixedly connected with a mechanical arm, and the bearing with the seat is fixedly connected to the second horizontal rotating arm.

Preferably, a first protection cover is sleeved outside the other end of the second horizontal rotating arm.

Preferably, the lower end of the shaft is fixedly connected with the manipulator through a mounting flange part.

Preferably, the manipulator is any one of a suction cup and a manipulator claw.

Preferably, a first protective cover is fixedly sleeved outside the other end of the first horizontal rotating arm.

The utility model discloses a technological effect and advantage: the utility model discloses a swing of two manipulators, the rotation of manipulator, this mechanism is simple, has realized the low-cost effect of carrying out the goods and taking, and is more practical in the industrial application field. This manipulator is the manipulator of another kind of form, and he carries out the accurate positioning through the rotation of control swinging boom, realizes accurate snatching, and the motion form is different from the manipulator of other forms, and manufacturing cost is lower, and the function is relatively more perfect, the effectual use form that supplements the manipulator field.

Drawings

FIG. 1 is a first perspective view of the present invention;

FIG. 2 is a second perspective view of the present invention;

FIG. 3 is a partial structural view of the present invention;

fig. 4 is an enlarged structural view of the utility model at the H point in fig. 3;

fig. 5 is a structural diagram of the second horizontal rotating arm of the present invention.

In the figure: the device comprises a lifting part (1), a first rotary servo motor (2), an installation arm seat (3), a first horizontal rotary arm (4), a first protective cover (5), a second horizontal rotary arm (6), a second protective cover (7), a sucker or a mechanical hand (8), an installation flange part (9), a flange bearing (10), a toothless slewing bearing (11), a flange shaft (12), a large synchronous pulley A (13), a second rotary servo motor (14), a small synchronous pulley A (15), a second rotary servo motor installation plate (16), an external tooth slewing bearing (17), a rotary gear (18), a third rotary motor installation plate (601), a small synchronous pulley (602), a third rotary motor (603), a large synchronous pulley (604), a shaft (605) and a bearing with a seat (606).

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.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection or a removable connection; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The utility model provides a horizontal joint manipulator as shown in figures 1-5, which comprises a lifting part 1, a first rotary servo motor 2, an installation arm seat 3, a first horizontal rotary arm 4, a second horizontal rotary arm 6, a second protective cover 7, a sucking disc or a manipulator 8, a flange bearing 10, a toothless slewing bearing 11, a flange shaft 12, a large synchronous pulley A13, a second rotary servo motor 14, a small synchronous pulley A15, a second rotary servo motor installation plate 16, an external tooth slewing bearing 17 and a rotary gear 18;

lifting unit 1's slip end fixedly connected with

installation arm seat

3, 3 upper ends fixed mounting of installation arm seat have change servo motor one 2, output fixedly connected with rotating gear 18 of rotatory servo motor one 2, 18 meshing of rotating gear is connected with external tooth slewing bearing 17, external tooth slewing bearing 17 swivelling joint is on installation arm seat 3, there is one 4 one ends of horizontal swivel arm through flange bearing 10 swivelling joint on the installation arm seat 3, external tooth slewing bearing 17's inside with one 4 one ends fixed connection of horizontal swivel arm, the inside fixed rotatory servo motor two 14 that is provided with of one 4 one ends of horizontal swivel arm, rotatory servo motor two 14 and the two mounting panels 16 fixed connection of commentaries on classics servo motor, two mounting panels 16 of rotatory servo motor and one 4 outside fixed connections of horizontal swivel arm, rotatory servo motor two 14 passes the little synchronous pulley of output shaft fixedly connected with of the upper end of one 4 of horizontal swivel arm A15, the small synchronous pulley A15 is connected with a large synchronous pulley A13 through synchronous belt transmission, the center of the large synchronous pulley A13 is connected with the other end of a horizontal rotating arm I4 through a flange shaft 12 in a rotating mode, the rotating center of the large synchronous pulley A13 is fixedly connected with the rotating center of a toothless rotary bearing 11, the toothless rotary bearing 11 is fixedly connected with one end of a horizontal rotating arm II 6, a rotary motor III 603 is fixedly arranged inside the middle position of the horizontal rotating arm II 6, the rotary motor III 603 is fixedly connected with a rotary motor III mounting plate 601, the rotary motor III mounting plate 601 is fixedly connected with the outside of the horizontal rotating arm II 6, an output shaft of the rotary motor III 603 penetrating through the upper end of the horizontal rotating arm II 6 is fixedly connected with a small synchronous pulley 602, the small synchronous pulley 602 is connected with a large synchronous pulley 604 through synchronous belt transmission, the rotating center of the large synchronous pulley A13 is fixedly connected with a connecting shaft 605 through a belt seat bearing 606, the lower end of the shaft 605 is fixedly connected with the manipulator 8, and the bearing 606 with a seat is fixedly connected with the horizontal rotating arm II 6.

Furthermore, a second protection cover 7 is sleeved outside the other end of the second horizontal rotating arm 6.

Further, the lower end of the shaft 605 is fixedly connected with the manipulator 8 through a mounting flange member 9.

Further, the manipulator 8 may be any one of a suction cup and a gripper.

Furthermore, a first protection cover 5 is fixedly sleeved outside the other end of the first horizontal rotating arm 4.

When the device is used, a simple control button is arranged, the following functions (the technology which can be easily realized by technical personnel in the field is achieved without specific description) can be realized by connecting the electrical element to industrial electricity, the swinging of the two mechanical arms and the rotation of the mechanical arm 8 are realized, the mechanism is simple, the effect of taking goods at low cost is realized, and the device is more practical in the field of industrial application.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications and variations can be made in the embodiments or in part of the technical features of the embodiments without departing from the spirit and the scope of the invention.

Claims

1. A horizontal joint manipulator which is characterized in that: the device comprises a lifting part (1), a first rotary servo motor (2), an installation arm seat (3), a first horizontal rotary arm (4), a second horizontal rotary arm (6), a second protective cover (7), a sucker or a mechanical hand (8), a flange bearing (10), a toothless slewing bearing (11), a flange shaft (12), a large synchronous pulley A (13), a second rotary servo motor (14), a small synchronous pulley A (15), a second rotary servo motor installation plate (16), an external tooth slewing bearing (17) and a rotary gear (18);

the sliding end of the lifting part (1) is fixedly connected with an installation arm seat (3), the upper end of the installation arm seat (3) is fixedly connected with a first rotary servo motor (2), the output end of the first rotary servo motor (2) is fixedly connected with a rotary gear (18), the rotary gear (18) is meshed with an outer tooth slewing bearing (17), the outer tooth slewing bearing (17) is rotatably connected onto the installation arm seat (3), the installation arm seat (3) is rotatably connected with one end of a first horizontal rotating arm (4) through a flange bearing (10), the inside of the outer tooth slewing bearing (17) is fixedly connected with one end of the first horizontal rotating arm (4), a second rotary servo motor (14) is fixedly arranged inside one end of the first horizontal rotating arm (4), the second rotary servo motor (14) is fixedly connected with a second rotary servo motor installation plate (16), the two mounting panels of rotatory servo motor (16) and horizontal rotation arm (4) outside fixed connection, rotatory servo motor two (14) pass the output shaft fixedly connected with little synchronous pulley A (15) of the upper end of horizontal rotation arm (4), little synchronous pulley A (15) are connected with big synchronous pulley A (13) through synchronous belt drive, big synchronous pulley A (13) center is through flange axle (12) swivelling joint at the other end of horizontal rotation arm (4), the centre of rotation of big synchronous pulley A (13) centre of rotation fixed connection toothless slewing bearing (11), toothless slewing bearing (11) fixed connection horizontal rotation arm two (6) one end, horizontal rotation arm two (6) intermediate position inside fixed is provided with rotating electrical machines three (603), rotating electrical machines three (603) and three mounting panels of rotating electrical machines (601) fixed connection, the three mounting panels of rotating electrical machines (601) and the outside fixed connection of horizontal swivel arm two (6), the output shaft fixedly connected with little synchronous pulley (602) of the upper end of horizontal swivel arm two (6) is passed in rotating electrical machines three (603), little synchronous pulley (602) are connected with big synchronous pulley (604) through synchronous belt drive, big synchronous pulley A (13) rotation center is through taking seat bearing (606) fixed connection axle (605), axle (605) lower extreme fixed connection manipulator (8), take seat bearing (606) fixed connection on horizontal swivel arm two (6).

2. The horizontal joint robot as claimed in claim 1, wherein: and a second protective cover (7) is sleeved outside the other end of the second horizontal rotating arm (6).

3. The horizontal joint robot as claimed in claim 1, wherein: the lower end of the shaft (605) is fixedly connected with the manipulator (8) through a mounting flange piece (9).

4. The horizontal joint robot as claimed in claim 1, wherein: the manipulator (8) is any one of a sucker and a mechanical paw.

5. The horizontal joint robot as claimed in claim 1, wherein: the outer part of the other end of the horizontal rotating arm I (4) is fixedly sleeved with a protective cover I (5).