CN214924410U

CN214924410U - Multi-joint manipulator

Info

Publication number: CN214924410U
Application number: CN202120908887.XU
Authority: CN
Inventors: 陈增寿; 曹轶杰; 黄美丽; 吴小花
Original assignee: Shanghai Dizi Precision Machinery Co ltd
Current assignee: Shanghai Dizi Precision Machinery Co ltd
Priority date: 2021-04-29
Filing date: 2021-04-29
Publication date: 2021-11-30
Anticipated expiration: 2031-04-29

Abstract

The utility model relates to a manipulator technical field just discloses a multi-joint manipulator, including the installation base, the upper end fixedly connected with stationary mast of installation base, the seat that goes up and down is installed in the outside of stationary mast, the lower extreme of seat that goes up and down is installed and is rotated the seat, the inboard fixedly connected with rotation motor of seat that goes up and down. This many joints manipulator, utilize elevator motor's rotation, it is rotatory to drive the threaded rod, make elevator base position threaded rod surface reciprocate, the upper and lower altitude mixture control of manipulator has been realized, the cooperation production line of being convenient for uses the installation, the flexibility of manipulator has been improved, utilize the rotation of rotating the motor simultaneously, the removal about having realized the manipulator, the home range of manipulator has been improved, and the avris of stationary mast is provided with two sets of grabbing device, snatch when having realized the both sides direction, the use cost of manipulator is reduced, the practicality of manipulator has been improved greatly.

Description

Multi-joint manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a multi-joint manipulator.

Background

The manipulator is an automatic operating device which can imitate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be completed through programming, the advantages of the human and the manipulator machines are combined in structure and performance, and the manipulator has better application in a flow production line due to the accuracy of repeated single operation.

The existing manipulator is generally a single-arm manipulator, the moving angle is small, and the manipulator is not flexible enough, so that the manipulator is low in taking efficiency and cannot keep up with the production efficiency of a production line, more manipulators can be installed as far as possible, the use cost of the manipulator is improved, and the practicability of the manipulator is greatly reduced.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides a not enough to prior art, the utility model provides a multi-joint manipulator has solved current manipulator and generally is single arm-type manipulator, and the activity angle is less, and not nimble enough for the inefficiency of taking of manipulator can't follow up the production efficiency of production line, can only install more manipulators as far as possible, has improved the use cost of manipulator, greatly reduced the problem of the practicality of manipulator.

(II) technical scheme

In order to achieve the above object, the utility model provides a following technical scheme: a multi-joint manipulator comprises an installation base, wherein a fixed upright post is fixedly connected to the upper end of the installation base, a lifting seat is installed on the outer side of the fixed upright post, a rotating seat is installed at the lower end of the lifting seat, a rotating motor is fixedly connected to the inner side of the lifting seat, a driving gear is fixedly connected to the lower end of the rotating motor and extends to the outer side of the lifting seat, a driven gear is meshed with the side of the driving gear, a limiting plate is fixedly connected to the side of the rotating seat, a first motor is installed on the outer side of the limiting plate, a first connecting rod is fixedly connected to the output end of the first motor and rotatably connected with the limiting plate through a bearing, a first arm body is fixedly connected to the inner side of the limiting plate on the surface of the first connecting rod, a first rotating groove is formed in one end, far away from the limiting plate, of the first arm body, a second motor is arranged on the outer side of the first rotating groove, a second connecting rod is fixedly connected with the output end of the second motor, the second connecting rod is rotatably connected with the first arm body through a bearing, the surface of the second connecting rod is positioned on the inner side of the first rotating groove, a second rotating groove is formed in one end, away from the first rotating groove, of the second arm body, a third motor is arranged on the outer side of the second rotating groove, a third connecting rod is fixedly connected with the output end of the third motor, the third connecting rod is rotatably connected with the second arm body through a bearing, a clamping arm is fixedly connected with the surface of the third connecting rod, positioned on the inner side of the second rotating groove, the lower end of the clamping arm is fixedly connected with an installation joint, a lifting groove is formed in the outer side of the fixed upright post, a connecting plate is fixedly connected with one end of the lifting seat, and one end, away from the lifting seat, of the connecting plate penetrates through a lifting base, the inside lower extreme fixedly connected with elevator motor of stationary mast, elevator motor's output fixedly connected with threaded rod.

Preferably, the upper end of the driven gear is movably connected with the lifting seat through a bearing, and the lower end of the driven gear is fixedly connected with the rotating seat, so that the left and right movement of the manipulator is realized.

Preferably, the limiting plates are arranged on the front side and the rear side of the rotating seat, one ends of the limiting plates are in arc-shaped structural design, the two sides of the first arm bodies are limited, and movement of one ends of the first arm bodies is facilitated.

Preferably, the left and right sides of fixed upright post all sets up two lift grooves that the structure is the same and set up perpendicularly, the connecting plate is located two lift grooves and is provided with two, connecting plate and lift groove sliding connection utilize the removal that the connecting plate is located lift groove, drive the removal of lift seat.

Preferably, both ends respectively with two connecting plate fixed connection around the lifting base avris, lifting base and threaded rod threaded connection have realized the regulation to the manipulator height.

Preferably, the threaded rod is located the inside left and right sides symmetry of fixed column and is provided with two, has realized that the manipulator is located the synchronous work of snatching in device both sides, has improved the efficiency of snatching of manipulator.

Compared with the prior art, the utility model provides a multi-joint manipulator possesses following beneficial effect:

1. this many joints manipulator through elevating base, threaded rod and elevator motor's setting, utilizes elevator motor's rotation, and it is rotatory to drive the threaded rod for elevating base position threaded rod surface reciprocates, has realized the upper and lower altitude mixture control of manipulator, and the cooperation production line of being convenient for uses the installation, has improved the flexibility of manipulator.

2. This many joints manipulator through the stationary mast, rotate the motor and rotate the setting of seat, utilizes the rotation of rotating the motor, has realized removing about the manipulator, has improved the home range of manipulator, and the avris of stationary mast is provided with two sets of grabbing device simultaneously, snatchs when having realized the both sides direction, has reduced the use cost of manipulator, has improved the practicality of manipulator greatly.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the front cross-section structure of the present invention;

fig. 3 is a schematic front view of the present invention;

fig. 4 is a schematic cross-sectional structure of the present invention;

fig. 5 is an enlarged schematic structural diagram of a in fig. 2 according to the present invention.

Wherein: 1. installing a base; 2. fixing the upright post; 3. a lifting seat; 4. a rotating seat; 5. rotating the motor; 6. a driving gear; 7. a driven gear; 8. a limiting plate; 9. a first motor; 10. a first connecting rod; 11. a first arm body; 12. a first rotating groove; 13. a second motor; 14. a second connecting rod; 15. a second arm body; 16. a second rotating groove; 17. a third motor; 18. a third connecting rod; 19. a clamp arm; 20. installing a connector; 21. a lifting groove; 22. a connecting plate; 23. a lifting base; 24. a lifting motor; 25. a threaded 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.

Referring to fig. 1-5, the present invention provides a technical solution: a multi-joint manipulator comprises an installation base 1, wherein the upper end of the installation base 1 is fixedly connected with a fixed upright post 2, the outer side of the fixed upright post 2 is provided with a lifting seat 3, the lower end of the lifting seat 3 is provided with a rotating seat 4, the inner side of the lifting seat 3 is fixedly connected with a rotating motor 5, the lower end of the rotating motor 5 extends to the outer side of the lifting seat 3 and is fixedly connected with a driving gear 6, the side of the driving gear 6 is meshed with a driven gear 7, the side of the rotating seat 4 is fixedly connected with a limiting plate 8, the outer side of the limiting plate 8 is provided with a first motor 9, the output end of the first motor 9 is fixedly connected with a first connecting rod 10, the first connecting rod 10 is rotatably connected with the limiting plate 8 through a bearing, the surface of the first connecting rod 10 is positioned at the inner side of the limiting plate 8 and is fixedly connected with a first arm body 11, one end of the first arm body 11, which is far away from the limiting plate 8, is provided with a first rotating groove 12, a second motor 15 is arranged on the outer side of the first rotating groove 12, a second connecting rod 14 is fixedly connected with the output end of the second motor 15, the second connecting rod 14 is rotatably connected with the first arm body 11 through a bearing, a second arm body 13 is fixedly connected with the surface of the second connecting rod 14 on the inner side of the first rotating groove 12, a second rotating groove 16 is arranged at one end of the second arm body 13 far away from the first rotating groove 12, a third motor 17 is arranged on the outer side of the second rotating groove 16, a third connecting rod 18 is fixedly connected with the output end of the third motor 17, the third connecting rod 18 is rotatably connected with the second arm body 15 through a bearing, a clamping arm 19 is fixedly connected with the surface of the third connecting rod 18 on the inner side of the second rotating groove 16, a mounting joint 20 is fixedly connected with the lower end of the clamping arm 19, a lifting groove 21 is arranged on the outer side of the fixed upright post 2, and a connecting plate 22 is fixedly connected with one end of the lifting seat 3, one end of the connecting plate 22 far away from the lifting seat 3 passes through the lifting groove 21 and is fixedly connected with a lifting base 23, the lower end inside the fixed upright post 2 is fixedly connected with a lifting motor 24, and the output end of the lifting motor 24 is fixedly connected with a threaded rod 25.

Furthermore, the upper end of the driven gear 7 is movably connected with the lifting seat 3 through a bearing, and the lower end of the driven gear 7 is fixedly connected with the rotating seat 4, so that the left and right movement of the manipulator is realized.

Further, limiting plate 8 is located and is rotated seat 4 around both sides and be provided with two, and limiting plate 8's one end is arc structural design, and is spacing to the both sides of first arm body 11, the activity of the 11 one end of first arm body of being convenient for.

Further, two lifting grooves 21 which are the same in structure and are vertically arranged are formed in the left side and the right side of the fixed stand column 2, two connecting plates 22 are arranged in the two lifting grooves 21, the connecting plates 22 are connected with the lifting grooves 21 in a sliding mode, and the connecting plates 22 are located on the lifting grooves 21 and move to drive the lifting seats 3 to move.

Furthermore, the front end and the rear end of the side of the lifting base 23 are respectively fixedly connected with the two connecting plates 22, and the lifting base 23 is in threaded connection with the threaded rod 25, so that the height of the manipulator is adjusted.

Furthermore, the left side and the right side of the threaded rod 25 in the fixed upright post 2 are symmetrically provided with two, so that the manipulator is positioned on two sides of the device to synchronously grab, and the grabbing efficiency of the manipulator is improved.

When the manipulator is used, the manipulator is installed at a proper position, a mechanical claw suitable for the appearance of a product is installed at the lower end of the installation joint 20, the lifting motor 24 is controlled to operate to drive the threaded rod 25 to rotate, the lifting base 23 is positioned on the surface of the threaded rod 25 to move, so that the height of the lifting seat 3 is adjusted, the manipulator is convenient to use on a matching production line, the fixed end of the first arm body 11 is driven to rotate up and down between the limiting plates 8 through the rotation of the first motor 9, the movable end of the first arm body 11 moves up and down, the second arm body 15 and the clamping arm 19 move back and forth through the rotation of the second motor 13 and the third motor 17, so that the product is grabbed and placed in a moving mode, meanwhile, the rotating seat 4 is positioned below the lifting seat 3 to rotate through the rotation of the rotating motor 5, the left and right movement of the manipulator is realized, and the moving range of the manipulator is increased, the flexibility of manipulator has been improved greatly, and the left and right sides of fixed upright 2 all is provided with grabbing device, has improved the work efficiency of manipulator and has snatched the scope, has improved the practicality of manipulator greatly.

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 multi-joint manipulator, includes installation base (1), its characterized in that: the upper end of the installation base (1) is fixedly connected with a fixed upright post (2), the outer side of the fixed upright post (2) is provided with a lifting seat (3), the lower end of the lifting seat (3) is provided with a rotating seat (4), the inner side of the lifting seat (3) is fixedly connected with a rotating motor (5), the lower end of the rotating motor (5) extends to the outer side of the lifting seat (3) and is fixedly connected with a driving gear (6), the side of the driving gear (6) is meshed with a driven gear (7), the side of the rotating seat (4) is fixedly connected with a limiting plate (8), the outer side of the limiting plate (8) is provided with a first motor (9), the output end of the first motor (9) is fixedly connected with a first connecting rod (10), the first connecting rod (10) is rotatably connected with the limiting plate (8) through a bearing, the surface of the first connecting rod (10) is positioned on the inner side of the limiting plate (8) and is fixedly connected with a first arm body (11), the one end that limiting plate (8) was kept away from to first arm body (11) has seted up first rotation groove (12), second motor (13) are installed in the outside of first rotation groove (12), the output fixedly connected with second connecting rod (14) of second motor (13), second connecting rod (14) are connected through bearing rotation with first arm body (11), the inboard fixedly connected with second arm body (15) of surface position first rotation groove (12) of second connecting rod (14), second rotation groove (16) have been seted up to the one end that first rotation groove (12) was kept away from to second arm body (15), third motor (17) are installed in the outside of second rotation groove (16), the output fixedly connected with third connecting rod (18) of third motor (17), third connecting rod (18) are connected through bearing rotation with second arm body (15), the surface of third connecting rod (18) is located inboard fixedly connected with centre gripping arm (19) that the second rotated groove (16), the lower extreme fixedly connected with erection joint (20) of centre gripping arm (19), lift groove (21) have been seted up in the outside of stationary mast (2), the one end fixedly connected with connecting plate (22) of lift seat (3), lift groove (21) fixedly connected with lifting base (23) are passed to the one end that lift seat (3) were kept away from in connecting plate (22), inside lower extreme fixedly connected with elevator motor (24) of stationary mast (2), the output fixedly connected with threaded rod (25) of elevator motor (24).

2. A multi-joint robot as claimed in claim 1, wherein: the upper end of the driven gear (7) is movably connected with the lifting seat (3) through a bearing, and the lower end of the driven gear (7) is fixedly connected with the rotating seat (4).

3. A multi-joint robot as claimed in claim 1, wherein: the limiting plates (8) are arranged on the front side and the rear side of the rotating seat (4), and one end of each limiting plate (8) is designed to be of an arc-shaped structure.

4. A multi-joint robot as claimed in claim 1, wherein: the left and right sides of fixed upright (2) all sets up two lift grooves (21) that the structure is the same and set up perpendicularly, connecting plate (22) are located two lift grooves (21) and are provided with two, connecting plate (22) and lift groove (21) sliding connection.

5. A multi-joint robot as claimed in claim 1, wherein: the front end and the rear end of the side of the lifting base (23) are fixedly connected with the two connecting plates (22) respectively, and the lifting base (23) is in threaded connection with the threaded rod (25).

6. A multi-joint robot as claimed in claim 1, wherein: the left side and the right side of the threaded rod (25) in the fixed upright post (2) are symmetrically provided with two.