CN214643642U

CN214643642U - Single-shaft mechanical arm

Info

Publication number: CN214643642U
Application number: CN202120602089.4U
Authority: CN
Inventors: 汪安威
Original assignee: Antaike Automation Technology Suzhou Co ltd
Current assignee: Antaike Automation Technology Suzhou Co ltd
Priority date: 2021-03-24
Filing date: 2021-03-24
Publication date: 2021-11-09
Anticipated expiration: 2031-03-24

Abstract

The utility model discloses a single-axis manipulator, belonging to the field of machinery. A No. 1 motor is fixedly installed on the side, a No. 1 box body is fixedly connected to the top of the support block, a No. 1 screw rod is movably sleeved inside the No. 1 box body, and a No. 2 box body is sleeved on the outer thread of the No. 1 screw rod. , the No. 2 motor is fixedly installed at one end of the No. 2 box body, and the No. 2 screw rod is movably sleeved inside the No. 2 box body; Fix the shaft and the baffle. When clamping the workpiece, the baffle blocks the workpiece, which avoids the problem that the workpiece may fall off during the clamping process due to the roundness of the outer surface of the workpiece, so as to bring great advantages to the workpiece clamping. convenience.

Description

Single-shaft mechanical arm

Technical Field

The utility model belongs to the technical field of machinery, concretely relates to single-shaft manipulator.

Background

The single-shaft mechanical arm is generally driven by a ball screw or a synchronous toothed belt, and takes a precise linear guide rail as a guide mechanism to realize the functions of carrying, transferring, taking and the like in a single direction, the single-shaft mechanical arm is widely applied in the field of automation, the single-shaft mechanical arm is matched with a servo motor or a stepping motor to realize accurate positioning in different application occasions, and as the continuous application of modern industrial modularization and integration concepts, the appearance of the single-shaft mechanical arm/the precision electric sliding table undoubtedly reduces the development time and efficiency of an automatic production line and automatic equipment, however, most of the existing single-shaft mechanical arms are used, the workpiece may be damaged due to the excessive clamping pressure on the workpiece, and when the single-shaft manipulator clamps the workpiece, the problem that the workpiece may fall off due to the fact that the outer portion of the workpiece is round and smooth is solved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a single-axis 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 single-shaft manipulator comprises a base, wherein a supporting block is fixedly connected to one side of the top of the base, a mounting plate is fixedly connected to the top of the supporting block, a first motor is fixedly mounted on one side of the mounting plate, a first box body is fixedly connected to the top of the supporting block, a first screw rod is movably sleeved in the first box body, a second box body is sleeved with external threads of the first screw rod, a second motor is fixedly mounted at one end of the second box body, a second screw rod is movably sleeved in the second box body, one end of the second screw rod is fixedly connected with an output shaft of the second motor, a moving block is sleeved with external threads of the second screw rod, a third screw rod is sleeved with internal threads of the moving block, a third box body is movably sleeved in the external of the third screw rod, and a third motor is fixedly mounted at the top of the third box body, one side fixed connection anticollision institution of No. three box body bottoms, one side fixedly connected with fixed connection splint of anticollision institution, one side fixedly connected with cushion of splint, one side fixedly connected with swinging plate of cushion, the transmission is connected with No. three springs between one side of swinging plate and one side of splint inner chamber, the inside fixedly connected with center pin of splint, the swinging arms has been cup jointed in the outside activity of center pin, the top of swinging arms and the bottom swing joint of swinging plate, the fixed axle has been cup jointed in the inside activity of swinging arms bottom, the outside fixedly connected with baffle of fixed axle.

As a preferred embodiment, an internal thread is formed in one end of the second box body, and the internal thread of the second box body is matched with the external thread of the first screw rod.

As a preferred embodiment, two kinds of internal threads are formed inside the moving block, one kind of internal thread of the moving block is matched with the external thread of the second screw, and the other kind of internal thread of the moving block is matched with the external thread of the third screw.

As a preferred embodiment, the number of the moving blocks is two, and two external threads are formed on the outer portion of the second screw rod.

As a preferred embodiment, the number of the third screw, the third motor and the third box body is two, and the two third screws, the three motors and the third box body are symmetrically distributed on the front surface of the third screw.

As a preferred embodiment, anticollision institution is including fixed cover, bracing piece, a spring, No. two springs and movable sleeve, one side fixedly connected with bracing piece of fixed cover inner chamber, the movable sleeve has been cup jointed in the outside activity of bracing piece one end, the one end fixedly connected with splint of movable sleeve, the transmission is connected with No. two springs between the one end of splint and the one end of bracing piece, the transmission is connected with a spring between the one end of splint and one side of fixed cover inner chamber.

As a preferred embodiment, one end of the first spring is positioned inside the fixed sleeve, and the second spring is positioned inside the movable sleeve.

In a preferred embodiment, the number of the swing rods, the central shaft, the fixed shaft and the baffle plates is two, and the two swing rods, the central shaft, the fixed shaft and the baffle plates are symmetrically distributed at the top and the bottom of the swing plate.

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

the single-shaft manipulator is provided with the anti-collision mechanism, so that the clamping pressure can be relieved when a workpiece is clamped, the problem that the workpiece is damaged due to overlarge clamping pressure on the workpiece is avoided, and the workpiece is protected;

this unipolar manipulator through setting up No. three springs, swing board, cushion, swinging arms, center pin, fixed axle and baffle, when carrying out the centre gripping to the work piece, blocks the work piece through the baffle, has avoided probably leading to the problem that the work piece dropped in the centre gripping process because of the work piece outside is mellow and smooth to for the work piece centre gripping has brought the facility.

Drawings

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

FIG. 2 is a top view of the structure of the present invention;

fig. 3 is an enlarged schematic view of a portion a of fig. 1 in the present invention.

In the figure: 1. a base; 2. a support block; 3. mounting a plate; 4. a first motor; 5. a first box body; 6. a second box body; 7. a second motor; 8. a moving block; 9. a third screw; 10. a third motor; 11. fixing a sleeve; 12. a first spring; 13. a support bar; 14. a movable sleeve; 15. a second spring; 16. a splint; 17. a third spring; 18. a swing plate; 19. a soft cushion; 20. a swing lever; 21. a central shaft; 22. a fixed shaft; 23. a baffle plate; 24. a first screw rod; 25. a second screw; 26. and a third box body.

Detailed Description

The present invention will be further described with reference to the following examples.

The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention. The condition in the embodiment can be further adjusted according to concrete condition the utility model discloses a it is right under the design prerequisite the utility model discloses a simple improvement of method all belongs to the utility model discloses the scope of claiming.

Referring to fig. 1-3, the present invention provides a single-shaft manipulator, which comprises a base 1, a supporting block 2 fixedly connected to one side of the top of the base 1, a mounting plate 3 fixedly connected to the top of the supporting block 2, a motor 4 fixedly mounted to one side of the mounting plate 3, a box 5 fixedly connected to the top of the supporting block 2, a first screw 24 movably sleeved in the box 5, a second box 6 fixedly sleeved in the outer thread of the first screw 24, a second motor 7 fixedly mounted to one end of the second box 6, a second screw 25 movably sleeved in the box 6, a moving block 8 fixedly connected to one end of the second screw 25 and an output shaft of the second motor 7, a third screw 9 sleeved in the inner thread of the moving block 8, and a third box 26 movably sleeved in the outer thread of the third screw 9, the top of the third box body 26 is fixedly provided with a third motor 10, one side of the bottom end of the third box body 26 is fixedly connected with an anti-collision mechanism, one side of the anti-collision mechanism is fixedly connected with a fixedly connected clamping plate 16, one side of the clamping plate 16 is fixedly connected with a soft cushion 19, one side of the soft cushion 19 is fixedly connected with a swinging plate 18, one side of the swinging plate 18 and one side of the inner cavity of the clamping plate 16 are in transmission connection with a third spring 17, the inside of the clamping plate 16 is fixedly connected with a central shaft 21, the outside of the central shaft 21 is movably sleeved with a swinging rod 20, the top end of the swinging rod 20 is movably connected with the bottom end of the swinging plate 18, the inside of the bottom end of the swinging rod 20 is movably sleeved with a fixed shaft 22, and the outside of the fixed shaft 22 is fixedly connected with a baffle plate 23; through setting up anticollision institution, can alleviate clamping pressure when the work piece centre gripping, avoided because of too big to work piece clamping pressure, and lead to the problem that the work piece takes place to damage to protect is provided for the work piece.

An internal thread is formed in one end of the second box body 6, and the internal thread of the second box body 6 is matched with the external thread of the first screw rod 24; when clamping the workpiece, the first motor 4 is opened, the output shaft of the first motor 4 drives the first screw rod 24 to rotate, so that the second box body 6 carries out threaded motion along the outside of the first screw rod 24, and the workpiece clamped at the bottom of the second box body 6 is driven to be carried and transferred.

Two internal threads are formed in the moving block 8, one internal thread of the moving block 8 is matched with the external thread of the second screw 25, and the other internal thread of the moving block 8 is matched with the external thread of the third screw 9; when a workpiece needs to be clamped, the two third motors 10 are turned on, output shafts of the two third motors 10 drive the two third screws 9 to rotate, the third screws 9 are in threaded sleeve connection with the moving block 8, threaded motion is carried out on the third screws 9 inside the moving block 8, when the two third screws 9 move downwards to be in contact with the base 1, the second motor 7 is turned on, the second motor 7 drives the second screw 25 to rotate, the second screw 25 rotates to enable the two moving blocks 8 to move outside the second screw 25, the two moving blocks 8 drive the two third screws 9 to move, when the two third screws 9 all move towards the middle of the second screw 25, the two third screws 9 drive the bottom clamping part to clamp the workpiece, and the workpiece can be taken and placed.

Two moving blocks 8 are arranged, and two external threads are arranged outside the second screw 25; the second motor 7 is turned on, the second motor 7 drives the second screw rod 25 to rotate, the second screw rod 25 rotates to enable the two moving blocks 8 to move outside the second screw rod 25, the two moving blocks 8 drive the two third screw rods 9 to move, and then the third screw rods 9 are driven to move in the horizontal direction.

The number of the third screw rods 9, the number of the third motors 10 and the number of the third box bodies 26 are two, and the two third screw rods 9, the two third motors 10 and the two third box bodies 26 are symmetrically distributed on the front surfaces of the third screw rods 9; two motors 10 of three numbers are opened for the output shaft of two motors 10 of three numbers drives two screws 9 of three numbers and rotates, cup joints because of No. three screws 9 and movable block 8 screw thread, makes No. three screws 9 carry out the screw motion in the inside of movable block 8, and then adjusts No. three screws 9's height.

The anti-collision mechanism comprises a fixed sleeve 11, a support rod 13, a first spring 12, a second spring 15 and a movable sleeve 14, wherein the support rod 13 is fixedly connected to one side of the inner cavity of the fixed sleeve 11, the movable sleeve 14 is movably sleeved outside one end of the support rod 13, one end of the movable sleeve 14 is fixedly connected with a clamping plate 16, the second spring 15 is connected between one end of the clamping plate 16 and one end of the support rod 13 in a transmission manner, and the first spring 12 is connected between one end of the clamping plate 16 and one side of the inner cavity of the fixed sleeve 11 in a transmission manner; when the workpieces are clamped by the two clamping plates 16, the pressure of the workpieces by the two clamping plates 16 is buffered by the first spring 12 and the second spring 15, so that the problem that the workpieces are damaged due to overlarge clamping pressure of the workpieces is solved, and the workpieces are protected.

Wherein, one end of the first spring 12 is positioned inside the fixed sleeve 11, and the second spring 15 is positioned inside the movable sleeve 14; when the workpieces are clamped by the two clamping plates 16, the pressure of the workpieces by the two clamping plates 16 is buffered by the first spring 12 and the second spring 15, so that the problem that the workpieces are damaged due to overlarge clamping pressure of the workpieces is solved, and the workpieces are protected.

The number of the oscillating rods 20, the central shaft 21, the fixed shaft 22 and the baffle plates 23 is two, and the two oscillating rods 20, the central shaft 21, the fixed shaft 22 and the baffle plates 23 are symmetrically distributed at the top and the bottom of the oscillating plate 18; when the two clamping plates 16 clamp the workpiece, the workpiece generates pressure on the cushion 19, so that the cushion 19 applies pressure on the swinging plate 18, the swinging plate 18 moves towards the inside of the clamping plates 16, one end of the swinging plate 18, which drives the swinging rod 20, is moved, the swinging rod 20 takes the central shaft 21 as an axis, the other end of the swinging rod 20 drives the fixing shaft 22 to move towards the other side, the fixing shaft 22 drives the baffle plate 23 to move, the baffle plate 23 prevents the workpiece from dropping, the problem that the workpiece drops in the clamping process due to the fact that the workpiece is possibly rounded outside is avoided, and convenience is brought to workpiece clamping.

The utility model discloses a theory of operation and use flow: firstly, when a workpiece needs to be clamped, two third motors 10 are opened, output shafts of the two third motors 10 drive two third screws 9 to rotate, the third screws 9 are in threaded sleeve connection with a moving block 8, the third screws 9 perform threaded motion in the moving block 8, when the two third screws 9 move downwards to contact with a base 1, a second motor 7 is opened, the second motor 7 drives a second screw 25 to rotate, the second screw 25 rotates to enable the two moving blocks 8 to move outside the second screw 25, the two moving blocks 8 drive the two third screws 9 to move, when the two third screws 9 move towards the middle of the second screw 25, the two third screws 9 drive a bottom clamping part to clamp the workpiece, the workpiece can be taken and placed, then the pressure of the workpiece by two clamping plates 16 is buffered by a first spring 12 and a second spring 15, the problem that the workpiece is damaged due to overlarge clamping pressure on the workpiece is solved, so that the workpiece is protected, the first motor 4 is opened, the output shaft of the first motor 4 drives the first screw rod 24 to rotate, the second box body 6 is in threaded motion along the outside of the first screw rod 24, the workpiece clamped at the bottom of the second box body 6 is driven to be carried and transferred, finally, the workpiece generates pressure on the cushion 19, the cushion 19 applies pressure on the swinging plate 18, the swinging plate 18 moves towards the inside of the clamping plate 16, the swinging plate 18 moves towards the swinging plate 18 to drive one end of the swinging rod 20 to move, the swinging rod 20 takes the central shaft 21 as the shaft, the other end of the swinging rod 20 drives the fixing shaft 22 to move towards the other side, the fixing shaft 22 drives the baffle plate 23 to move, the baffle plate 23 prevents the workpiece from falling off, and the problem that the workpiece can fall off due to the fact that the workpiece is round and moist outside of the workpiece is possibly caused in the clamping process is solved, thereby bringing convenience to workpiece clamping.

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. The utility model provides a single-axis manipulator, includes base (1), its characterized in that: a supporting block (2) is fixedly connected to one side of the top of the base (1), a mounting plate (3) is fixedly connected to the top of the supporting block (2), a first motor (4) is fixedly mounted to one side of the mounting plate (3), a first box body (5) is fixedly connected to the top of the supporting block (2), a first screw rod (24) is movably sleeved on the inner portion of the first box body (5), a second box body (6) is sleeved on the outer thread of the first screw rod (24), a second motor (7) is fixedly mounted to one end of the second box body (6), a second screw rod (25) is movably sleeved on the inner portion of the second box body (6), one end of the second screw rod (25) is fixedly connected with an output shaft of the second motor (7), a moving block (8) is sleeved on the outer thread of the second screw rod (25), a third screw rod (9) is sleeved on the inner thread of the moving block (8), the outer activity of No. three screw rods (9) has cup jointed No. three box bodies (26), the top fixed mounting of No. three box bodies (26) has No. three motor (10), one side fixed connection anticollision institution of No. three box bodies (26) bottom, one side fixed connection splint (16) of anticollision institution, one side fixed connection cushion (19) of splint (16), one side fixed connection swing board (18) of cushion (19), the transmission is connected with No. three spring (17) between one side of swing board (18) and one side of splint (16) inner chamber, the inside fixed connection center pin (21) of splint (16), swing lever (20) has been cup jointed in the outer activity of center pin (21), the bottom swing joint of the top of swing lever (20) and swing board (18), fixed axle (22) has been cup jointed in the inner activity of swing lever (20) bottom, the outer part of the fixed shaft (22) is fixedly connected with a baffle plate (23).

2. The single-axis robot of claim 1, wherein: an internal thread is formed in one end of the second box body (6), and the internal thread of the second box body (6) is matched with an external thread of the first screw rod (24).

3. The single-axis robot of claim 1, wherein: two internal threads are formed in the moving block (8), one internal thread of the moving block (8) is matched with the external thread of the second screw (25), and the other internal thread of the moving block (8) is matched with the external thread of the third screw (9).

4. The single-axis robot of claim 1, wherein: the number of the moving blocks (8) is two, and two external threads are arranged on the outer portion of the second screw rod (25).

5. The single-axis robot of claim 1, wherein: the number of the third screw rods (9), the third motors (10) and the third box bodies (26) is two, and the third screw rods (9), the third motors (10) and the third box bodies (26) are symmetrically distributed on the front surfaces of the third screw rods (9).

6. The single-axis robot of claim 1, wherein: anticollision institution is including fixed cover (11), bracing piece (13), spring (12), No. two spring (15) and movable sleeve (14), one side fixedly connected with bracing piece (13) of fixed cover (11) inner chamber, movable sleeve (14) have been cup jointed in the outside activity of bracing piece (13) one end, the one end fixedly connected with splint (16) of movable sleeve (14), the transmission is connected with No. two spring (15) between the one end of splint (16) and the one end of bracing piece (13), the transmission is connected with spring (12) between the one end of splint (16) and the one side of fixed cover (11) inner chamber.

7. The single-axis robot of claim 6, wherein: one end of the first spring (12) is positioned in the fixed sleeve (11), and the second spring (15) is positioned in the movable sleeve (14).

8. The single-axis robot of claim 1, wherein: the number of the swing rods (20), the central shaft (21), the fixed shaft (22) and the baffle plates (23) is two, and the swing rods (20), the central shaft (21), the fixed shaft (22) and the baffle plates (23) are symmetrically distributed at the top and the bottom of the swing plate (18).