CN214686508U

CN214686508U - High-stability cooperative control mechanical arm

Info

Publication number: CN214686508U
Application number: CN202120370129.7U
Authority: CN
Inventors: 马卫华; 严平
Original assignee: Zhenjiang Xinghe Robot Co ltd
Current assignee: Zhenjiang Xinghe Robot Co ltd
Priority date: 2021-02-10
Filing date: 2021-02-10
Publication date: 2021-11-12
Anticipated expiration: 2031-02-10

Abstract

The utility model discloses a high-stability cooperative control mechanical arm, which comprises a first mechanical arm, a second mechanical arm and a mobile platform, wherein the upper surface of the mobile platform is respectively and fixedly provided with two groups of electric sliding tables and two groups of linear guide rails, the first mechanical arm and the second mechanical arm are respectively and fixedly arranged on the electric sliding tables and the linear guide rails, four corners of the mobile platform are respectively and fixedly provided with two groups of first screw rods and two groups of second screw rods, the adjacent first screw rods and the second screw rods are in transmission connection with a motor, the bottom ends of the two groups of first screw rods and the two groups of second screw rods are respectively and fixedly provided with self-locking universal wheels, the adjacent sliding blocks of the electric sliding tables and the linear guide rails are respectively and fixedly provided with a support plate, the first mechanical arm and the second mechanical arm both comprise two groups of rotating arms, the four corners of the mobile platform are respectively provided with lifting screw rods for adjusting the height of the mobile platform, the mechanical arm with the pneumatic wrench or the hydraulic wrench is put into a narrow space.

Description

High-stability cooperative control mechanical arm

Technical Field

The utility model relates to a robotic arm technical field, concretely relates to high stable cooperation control robotic arm.

Background

The manipulator is widely researched as the most main tool in the major equipment manufacturing industry, and is applied to industries such as automobiles, ships, naval vessels, airplanes, satellites, rockets, spacecrafts, ferrous metallurgy and the like. However, in the production links of manufacturing, mounting/assembling and the like of important equipment, higher requirements are put forward on the load capacity and the precision performance of the industrial manipulator, and higher requirements are put forward on the safety performance of the manipulator in some special industries.

Because the workman can't get into, robotic arm often needs carry out bolt dismouting operation in some specific spaces, and each festival size of current manipulator rocking arm is fixed, and be not convenient for get into, and it is very difficult that current mode can only send into pneumatic spanner or hydraulic spanner into workspace through making customization instrument to carry out work operation, has certain limitation.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a high stable cooperation control robotic arm with two sets of manipulator slidable mounting on moving platform to there is a lifting screw at the equal threaded connection in moving platform four corners, adjusts the moving platform height, and the robotic arm that is convenient for will be equipped with air wrench or hydraulic wrench gets into narrow and small space, with the problem of proposing in solving above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a high-stability cooperative control mechanical arm comprises a first mechanical arm, a second mechanical arm and a moving platform, wherein two groups of electric sliding tables and two groups of linear guide rails are fixedly installed on the upper surface of the moving platform respectively, and the first mechanical arm and the second mechanical arm are fixedly installed on the electric sliding tables and the linear guide rails respectively;

two groups of first screw rods and two groups of second screw rods are fixedly installed at four corners of the mobile platform respectively, a motor is connected between the adjacent first screw rods and the adjacent second screw rods in a transmission mode, and self-locking universal wheels are fixedly installed at the bottom ends of the two groups of first screw rods and the bottom ends of the two groups of second screw rods.

Wherein, adjacent fixed mounting has the backup pad on electric sliding table and linear guide's the sliding block.

The first mechanical arm and the second mechanical arm respectively comprise two groups of rotating arms, a mounting seat is arranged between one group of rotating arms and the supporting plate, the mounting seat is in pin joint with one group of rotating arms, and the two groups of rotating arms are in pin joint.

The first screw rod is connected with a first threaded sleeve in a threaded manner on the surface, and the second screw rod is connected with a second threaded sleeve in a threaded manner on the surface.

The first threaded sleeve and the second threaded sleeve are rotatably installed in the mobile platform through deep groove ball bearings.

The output shaft end of the motor is fixedly connected with two groups of first synchronous belt pulleys, the surfaces of the first thread insert and the second thread insert are fixedly connected with second synchronous belt pulleys, and the two groups of first synchronous belt pulleys are in transmission connection with the two groups of second synchronous belt pulleys respectively.

To sum up, owing to adopted above-mentioned technique, the beneficial effects of the utility model are that:

in the utility model, two groups of mechanical arms are slidably arranged on the mobile platform, and tools with different loads are used for entering a working space, so that the application range of the mechanical arms is enlarged;

the utility model discloses in, there is a lifting screw at the equal threaded connection in moving platform four corners, adjusts the moving platform height, and the robotic arm that is convenient for will be equipped with air wrench or hydraulic wrench gets into narrow and small space.

Drawings

Fig. 1 is a schematic structural view of a high-stability cooperative manipulator arm according to the present invention;

fig. 2 is a schematic side view of a control robot arm with high stability and cooperation according to the present invention;

fig. 3 is a schematic view of a top view structure of a control robot arm with high stability cooperation.

In the figure: 1. a first manipulator; 101. a rotating arm; 102. a mounting seat; 2. a second manipulator; 3. a mobile platform; 4. an electric sliding table; 5. a linear guide rail; 6. a first screw; 7. a second screw; 8. a motor; 9. a support plate; 10. a first threaded sleeve; 11. a second thread insert; 12. a first timing pulley; 13. a second timing pulley.

Detailed Description

To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined to clearly and completely describe the technical solutions of the embodiments of the present invention, and obviously, the described embodiments are 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. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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 indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the equipment or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific situation of the specification.

The utility model provides a manipulator arm that cooperates high-stably as shown in fig. 1-3, including first manipulator 1, second manipulator 2 and moving platform 3, moving platform 3 upper surface difference fixed mounting has two sets of electronic slip tables 4 and two sets of linear guide 5, first manipulator 1 and second manipulator 2 respectively fixed mounting on a set of electronic slip table 4 and a set of linear guide 5, adjacent fixed mounting has backup pad 9 on the sliding block of electronic slip table 4 and linear guide 5, first manipulator 1 and second manipulator 2 all include two sets of rocking arms 101, and one of them is a set of be provided with mount pad 102 between rocking arm 101 and the backup pad 9, mount pad 102 and one of them set of rocking arm 101 pin joint, two sets of rocking arm 101 pin joint.

The four corners of the moving platform 3 are respectively fixedly provided with two groups of first screw rods 6 and two groups of second screw rods 7, the four corners of the moving platform are respectively fixedly provided with a motor 8 in a transmission manner, the four corners of the moving platform are adjacent to each other, the bottom ends of the first screw rods 6 and the bottom ends of the two groups of second screw rods 7 are respectively fixedly provided with a self-locking universal wheel, the surface of each first screw rod 6 is in threaded connection with a first threaded sleeve 10, the surface of each second screw rod 7 is in threaded connection with a second threaded sleeve 11, the first threaded sleeves 10 and the second threaded sleeves 11 are respectively rotatably arranged in the moving platform 3 through deep groove ball bearings, the output shaft end of each motor 8 is fixedly connected with two groups of first synchronous belt wheels 12, the surfaces of the first threaded sleeves 10 and the second threaded sleeves 11 are respectively and fixedly connected with second synchronous belt wheels 13, and the first synchronous belt wheels 12 are respectively in transmission connection with the two groups of second synchronous belt wheels 13.

The working principle is as follows: the supporting tool fixed connection that will install needs is on first manipulator 1 and second manipulator 2, and the manual work will originally use neotype robotic arm to push workspace in, as required starter motor 8 work, through first synchronous pulley 12 and the transmission power of second synchronous pulley 13, drives first screw rod 6 and the synchronous lift of second screw rod 7 to change robotic arm's whole height, adapt to different workspaces.

The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.

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.

Claims

1. The utility model provides a high stable cooperation control robotic arm, includes first manipulator (1), second manipulator (2) and moving platform (3), its characterized in that: the upper surface of the moving platform (3) is respectively and fixedly provided with two groups of electric sliding tables (4) and two groups of linear guide rails (5), and the first mechanical arm (1) and the second mechanical arm (2) are respectively and fixedly arranged on the electric sliding tables (4) and the linear guide rails (5);

the four corners of the moving platform (3) are respectively fixedly provided with two groups of first screw rods (6) and two groups of second screw rods (7), the four corners of the moving platform are adjacent to each other, a motor (8) is connected between the first screw rods (6) and the second screw rods (7) in a transmission manner, and the bottom ends of the first screw rods (6) and the two groups of second screw rods (7) are respectively fixedly provided with a self-locking universal wheel.

2. A high stability cooperative manipulation robot arm according to claim 1, wherein: and adjacent sliding blocks of the electric sliding table (4) and the linear guide rail (5) are fixedly provided with supporting plates (9).

3. A high stability cooperative manipulation robot arm according to claim 2, wherein: the first mechanical arm (1) and the second mechanical arm (2) respectively comprise two groups of rotating arms (101), a mounting seat (102) is arranged between one group of rotating arms (101) and the supporting plate (9), the mounting seat (102) is in pin joint with one group of rotating arms (101), and the two groups of rotating arms (101) are in pin joint.

4. A high stability cooperative manipulation robot arm according to claim 1, wherein: the surface of the first screw rod (6) is in threaded connection with a first threaded sleeve (10), and the surface of the second screw rod (7) is in threaded connection with a second threaded sleeve (11).

5. A high stability cooperative steering robot arm according to claim 4, wherein: the first threaded sleeve (10) and the second threaded sleeve (11) are rotatably mounted in the movable platform (3) through deep groove ball bearings.

6. A high stability cooperative steering robot arm according to claim 5, wherein: the output shaft end of motor (8) fixedly connected with two sets of first synchronous pulley (12), first swivel nut (10) and second swivel nut (11) equal fixedly connected with second synchronous pulley (13) in surface, two sets of first synchronous pulley (12) are connected with two sets of second synchronous pulley (13) transmission respectively.