CN214110454U

CN214110454U - Manipulator driving device

Info

Publication number: CN214110454U
Application number: CN202022426080.0U
Authority: CN
Inventors: 戚永华
Original assignee: Taizhou Yiqun Information Technology Co ltd
Current assignee: Xi'an Yishidi Mechanical Equipment Co ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-09-03
Anticipated expiration: 2030-10-28

Abstract

The utility model discloses a manipulator driving device, include: the upper part and the lower part of the inner side of the base are respectively and fixedly provided with a mounting column; drive structure, drive structure is located the outside of base, drive structure includes live-rollers, first rotation motor, backup pad and pneumatic cylinder, the base internal rotation is provided with the live-rollers, the first rotation motor of one end fixedly connected with of live-rollers, the fixed cover of the other end of live-rollers has connect the backup pad. The utility model discloses a first motor that rotates drives the live-rollers and rotates, can drive the manipulator structure and rotate, is convenient for adjust the direction that snatchs of manipulator structure, can also drive the manipulator structure through the pneumatic cylinder and stretch out and draw back, reaches the effect of adjusting manipulator structure length, then rotates the motor through the second and drives two first pivots and rotate simultaneously, just can make the centre gripping arm replace the process that the staff accomplished some centre grippings, simple structure and the operation of being convenient for.

Description

Manipulator driving device

Technical Field

The utility model relates to a manipulator equipment technical field specifically is a manipulator drive arrangement.

Background

The manipulator is a novel device developed in the process of mechanization and automation production. In the modern production process, the mechanical arm is widely applied to an automatic production line, the development and production of a robot become a new technology which is rapidly developed in the high-tech field, and the development of the mechanical arm is promoted, so that the mechanical arm can be organically combined with mechanization and automation better. Although the manipulator is not as flexible as a human hand, it has the characteristics of repeated work and labor, no fatigue, danger resistance, and larger force for grabbing heavy objects than the human hand, so the manipulator has received attention from many departments and is more and more widely used. The manipulator needs to provide a driving structure when in use so as to enable the manipulator to move.

The traditional driving structure is too complex in structure, the direction and the length of the structure of the manipulator cannot be adjusted according to actual use in the using process, the use is inconvenient, most of manipulators are complex in structure, the manufacturing cost is high, and the operation is inconvenient.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a manipulator driving device 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 manipulator drive device comprising: the upper part and the lower part of the inner side of the base are respectively and fixedly provided with a mounting column; the driving structure is positioned on the outer side of the base and comprises a rotating roller, a first rotating motor, a supporting plate and a hydraulic cylinder, the rotating roller is arranged in the base in a rotating mode, one end of the rotating roller is fixedly connected with the first rotating motor, the other end of the rotating roller is fixedly sleeved with the supporting plate, and the hydraulic cylinder is fixedly arranged on the side face of the other end of the supporting plate; the manipulator structure is located on one side of the supporting plate and comprises a supporting seat, a mounting rod, a supporting rod and a clamping arm.

Preferably, the side of the supporting plate is also fixedly provided with a supporting column, and the other end of the supporting column is fixedly connected with the hydraulic cylinder.

Preferably, the fixed supporting seat that is provided with of output of pneumatic cylinder, the fixed mount pad that is provided with of opposite side of supporting seat, the both sides of mount pad are rotated respectively and are provided with first pivot, the upper and lower both ends of first pivot are fixed the cover respectively and are connect the installation pole, two it is provided with the centre gripping arm to rotate between the installation pole.

Preferably, the both sides of mount pad tip still rotate respectively and are provided with the second pivot, the upper and lower both ends of second pivot are fixed the cup respectively and are connect the bracing piece, the other end and the centre gripping arm of bracing piece rotate to be connected.

Preferably, two the top of first pivot is fixed respectively to be cup jointed first gear, two for the meshing connection between the first gear, the inside of supporting seat is fixed and is provided with the second and rotates the motor, the fixed second gear that has cup jointed of output that the second rotated the motor, be the meshing connection between second gear and the first gear.

Preferably, the two groups of mounting rods, the supporting rods and the clamping arms are symmetrically arranged.

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

1. the utility model discloses a rotate in one side of base and be provided with the live-rollers, then at the fixed backup pad that has cup jointed of the tip of live-rollers, still fixedly at the other end of backup pad and be provided with the pneumatic cylinder, the output of pneumatic cylinder is fixed and is provided with manipulator structure, drive the live-rollers rotation through first rotation motor, can drive manipulator structure rotation, be convenient for adjust the direction of snatching of manipulator structure, can also drive manipulator structure through the pneumatic cylinder and stretch out and draw back, reach the effect of adjusting manipulator structure length, facilitate the use;

2. the utility model discloses a manipulator structure comprises a support seat, a mounting seat, mounting rods, a support rod, a clamping arm and other structures, the support seat is fixedly connected with the output end of a hydraulic cylinder, the mounting seat is fixedly arranged at the other side of the support seat, then first rotating shafts are respectively and rotatably arranged at the two sides of the mounting seat, the mounting rods are respectively and fixedly sleeved at the upper and lower ends of the first rotating shafts, the clamping arm is rotatably arranged between the two mounting rods, second rotating shafts are respectively and rotatably arranged at the two sides of the end part of the mounting seat, the support rod is respectively and fixedly sleeved at the upper and lower ends of the second rotating shafts, the other end of the support rod is also rotatably connected with the clamping arm, a supporting force can be provided for the clamping arm, first gears are fixedly sleeved at the top ends of the two first rotating shafts, the two first gears are in meshed connection, a second rotating motor is also fixedly arranged in the support seat, the output end of the second rotating motor is fixedly sleeved with a second gear, and the second gear is meshed with one of the first gears, so that the second rotating motor can drive the two first rotating shafts to rotate simultaneously, the clamping arm replaces a hand to complete the clamping process, and the structure is simple and convenient to operate.

Drawings

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

FIG. 2 is a view of the structure of FIG. 1A according to the present invention;

fig. 3 is a top view of the local structure of the present invention.

In the figure: 1-a base; 101-a mounting post; 2-rotating the roller; 201-a first rotating electrical machine; 3-a support plate; 4-a hydraulic cylinder; 401-support column; 5-a support seat; 6-mounting a base; 601-a first shaft; 602-a second shaft; 7-mounting a rod; 701-a first gear; 8-a support bar; 9-a clamping arm; 10-a second rotating electrical machine; 11-second gear.

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.

Referring to fig. 1-3, the present invention provides a technical solution: a manipulator drive device comprising: the device comprises a base 1, wherein the upper part and the lower part of the inner side of the base 1 are respectively and fixedly provided with a mounting column 101; the driving structure is positioned on the outer side of the base 1 and comprises a rotating roller 2, a first rotating motor 201, a supporting plate 3 and a hydraulic cylinder 4, the rotating roller 2 is rotatably arranged in the base 1, one end of the rotating roller 2 is fixedly connected with the first rotating motor 201, the other end of the rotating roller 2 is fixedly sleeved with the supporting plate 3, and the side face of the other end of the supporting plate 3 is fixedly provided with the hydraulic cylinder 4; the manipulator structure is located on one side of the supporting plate 3 and comprises a supporting seat 5, a mounting seat 6, a mounting rod 7, a supporting rod 8 and a clamping arm 9.

Referring to fig. 1, a supporting column 401 is further fixedly disposed on a side surface of the supporting plate 3, and the other end of the supporting column 401 is fixedly connected with the hydraulic cylinder 4, so that a supporting force can be provided for the hydraulic cylinder 4, and the stability of the structure is improved.

Referring to fig. 1 and 3, the fixed supporting seat 5 that is provided with of output of pneumatic cylinder 4, the fixed mount pad 6 that is provided with of opposite side of supporting seat 5, the both sides of mount pad 6 are rotated respectively and are provided with first pivot 601, the upper and lower both ends of first pivot 601 are fixed the cover respectively and are connect installation pole 7, two it is provided with centre gripping arm 9 to rotate between the installation pole 7, rotate through first pivot 601 and can drive centre gripping arm 9 and rotate to replace the process that the staff accomplished some centre grippings.

Referring to fig. 1 and 3, two sides of the end of the mounting base 6 are further respectively rotatably provided with a second rotating shaft 602, the upper end and the lower end of the second rotating shaft 602 are respectively fixedly sleeved with a supporting rod 8, the other end of the supporting rod 8 is rotatably connected with the clamping arm 9, a supporting effect can be provided for the clamping arm 9, and the clamping arm 9 can also rotate in the rotating process.

Referring to fig. 1-3, the top of the two first rotating shafts 601 is respectively and fixedly sleeved with a first gear 701, the two first gears 701 are connected in a meshing manner, a second rotating motor 10 is fixedly arranged inside the supporting seat 5, the output end of the second rotating motor 10 is fixedly sleeved with a second gear 11, the second gear 11 is connected with the first gears 701 in a meshing manner, and the second rotating motor 10 can drive the two first rotating shafts 601 to rotate simultaneously by meshing the second gear 11 with one of the first gears 701.

Referring to fig. 3, two sets of the mounting rods 7, the support rods 8 and the clamping arms 9 are symmetrically arranged, so that the two clamping arms 9 can rotate synchronously, and thus, two sides of a workpiece can be fixedly clamped.

The working principle is as follows: the utility model discloses a through rotate in one side of base 1 and be provided with live-rollers 2, then at live-rollers 2's tip fixed cover connect with backup pad 3, still at backup pad 3's other end fixed be provided with pneumatic cylinder 4, pneumatic cylinder 4's output end fixed be provided with manipulator structure, drive live-rollers 2 through first rotating motor 201 and rotate, can drive manipulator structure rotation, be convenient for adjust manipulator structure's the direction of snatching, can also drive manipulator structure through pneumatic cylinder 4 and stretch out and draw back, reach the effect of adjusting manipulator structure length, facilitate the use; meanwhile, the manipulator structure comprises a support seat 5, a mounting seat 6, mounting rods 7, support rods 8, clamping arms 9 and the like, wherein the support seat 5 is fixedly connected with the output end of the hydraulic cylinder 4, the mounting seat 6 is fixedly arranged on the other side of the support seat 5, first rotating shafts 601 are respectively and rotatably arranged on two sides of the mounting seat 6, the mounting rods 7 are respectively and fixedly sleeved on the upper end and the lower end of each first rotating shaft 601, the clamping arms 9 are rotatably arranged between the two mounting rods 7, second rotating shafts 602 are respectively and rotatably arranged on two sides of the end part of the mounting seat 6, the support rods 8 are respectively and fixedly sleeved on the upper end and the lower end of each second rotating shaft 602, the other ends of the support rods 8 are also rotatably connected with the clamping arms 9, a supporting force can be provided for the clamping arms 9, first gears 701 are fixedly sleeved on the top ends of the two first rotating shafts 601, and the two first gears 701 are in meshed connection, still fixed mounting has the second to rotate motor 10 in the supporting seat 5, and the fixed cover of output that the second rotated motor 10 has connect second gear 11, meshes through second gear 11 and one of them first gear 701, can make the second rotate motor 10 and drive two first pivots 601 and rotate simultaneously to make centre gripping arm 9 replace the process that some centre grippings were accomplished to the staff, simple structure and the operation of being convenient for.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A manipulator driving device, comprising:

the device comprises a base (1), wherein the upper part and the lower part of the inner side of the base (1) are respectively and fixedly provided with a mounting column (101);

the driving structure is positioned on the outer side of the base (1), the driving structure comprises a rotating roller (2), a first rotating motor (201), a supporting plate (3) and a hydraulic cylinder (4), the rotating roller (2) is rotatably arranged in the base (1), one end of the rotating roller (2) is fixedly connected with the first rotating motor (201), the other end of the rotating roller (2) is fixedly sleeved with the supporting plate (3), and the side face of the other end of the supporting plate (3) is fixedly provided with the hydraulic cylinder (4);

the manipulator structure is located on one side of the supporting plate (3) and comprises a supporting seat (5), a mounting seat (6), a mounting rod (7), a supporting rod (8) and a clamping arm (9).

2. The robot driving device according to claim 1, wherein: the side of the supporting plate (3) is also fixedly provided with a supporting column (401), and the other end of the supporting column (401) is fixedly connected with the hydraulic cylinder (4).

3. The robot driving device according to claim 1, wherein: the fixed supporting seat (5) that is provided with of output of pneumatic cylinder (4), the fixed mount pad (6) that is provided with of opposite side of supporting seat (5), the both sides of mount pad (6) are rotated respectively and are provided with first pivot (601), the upper and lower both ends of first pivot (601) are fixed respectively and have been cup jointed installation pole (7), two it is provided with centre gripping arm (9) to rotate between installation pole (7).

4. The robot driving device according to claim 1, wherein: the both sides of mount pad (6) tip still rotate respectively and are provided with second pivot (602), the upper and lower both ends of second pivot (602) are fixed the cup respectively and are connect bracing piece (8), the other end and centre gripping arm (9) of bracing piece (8) rotate and are connected.

5. A robot driving apparatus according to claim 3, wherein: two first gear (701) have been fixed to have cup jointed respectively at the top of first pivot (601), two connect for the meshing between first gear (701), the inside of supporting seat (5) is fixed and is provided with second rotation motor (10), the fixed cover of output that second rotated motor (10) has connect second gear (11), be connected for the meshing between second gear (11) and first gear (701).

6. The robot driving device according to claim 1, wherein: the two groups of mounting rods (7), the supporting rods (8) and the clamping arms (9) are symmetrically arranged.