CN215825346U - Driving device for manipulator - Google Patents
Driving device for manipulator Download PDFInfo
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- CN215825346U CN215825346U CN202121730958.8U CN202121730958U CN215825346U CN 215825346 U CN215825346 U CN 215825346U CN 202121730958 U CN202121730958 U CN 202121730958U CN 215825346 U CN215825346 U CN 215825346U
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- connecting rod
- lifting
- robot hand
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- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims description 7
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 10
- 239000002184 metal Substances 0.000 description 8
- 229910052751 metal Inorganic materials 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 238000002161 passivation Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003014 reinforcing effect Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009713 electroplating Methods 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000004381 surface treatment Methods 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a driving device for a manipulator, which comprises a movable frame and a mounting frame fixedly connected to the movable frame; the moving frame comprises two parallel travelling wheel mechanisms and a horizontal connecting rod arranged between the two travelling wheel mechanisms in parallel; the mounting frame comprises a top frame, a bottom frame and a vertical connecting rod connected between the top frame and the bottom frame; a lifting frame is also arranged between the top frame and the bottom frame; the lifting frame is connected to the two vertical connecting rods on the same side in a sliding manner; a fixed connecting rod is fixedly connected between the top frame and the horizontal connecting rod; the movable frame and the mounting frame which are fixed together not only better ensure the mounting effect of other parts such as the gripping device, but also have better moving capability; the movable frame and the mounting frame are better fixed together through the fixed connecting rod, and better connection strength between the movable frame and the mounting frame is ensured; the lifting function of the manipulator is realized through the lifting frame.
Description
Technical Field
The utility model relates to the field of electroplating, in particular to a driving device for a manipulator.
Background
The crown block is very common in the field of industrial production, and the production efficiency can be effectively improved. In the surface treatment process, especially the passivation treatment process of the metal workpiece, a plurality of procedures such as a light-emitting groove, a rinsing groove, a passivation groove, a rinsing groove and a hot water rinsing groove are involved, and the passivation efficiency can be effectively improved by using a crown block to transfer the metal workpiece. The existing crown block can realize the transfer of the metal workpiece in the field of the surface processing of the metal workpiece, but cannot participate in the surface processing process of the metal workpiece. The surface processing process of the metal processing piece, particularly the passivation process, needs to continuously turn over the metal processing piece arranged in the inner basket in order to ensure the processing effect of the metal processing piece. The basket in the mode such as rope is fixed through current overhead traveling crane, and basket in the unable fine use overhead traveling crane swings, relies on the artifical mode of rocking, both consumes the manpower, hardly guarantees the swing effect again. Meanwhile, personnel can easily collide with the overhead travelling crane when operating the passivation device, and great potential safety hazards exist.
Based on the above situation, the present invention provides a driving device for a robot hand, which can effectively solve the above problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a driving device for a manipulator. The driving device for the manipulator is simple in structure and convenient to use, and not only is the installation effect of other parts such as a gripping device better ensured, but also the driving device has better moving capability through the moving frame and the mounting frame which are fixed together; the walking wheel mechanism is used for better ensuring the stable movement of the manipulator; the movable frame and the mounting frame are better fixed together through the fixed connecting rod, and better connection strength between the movable frame and the mounting frame is ensured; the lifting function of the manipulator is realized through the lifting frame.
The utility model is realized by the following technical scheme:
a driving device for a manipulator comprises a movable frame and a mounting frame fixedly connected to the movable frame; the moving frame comprises two parallel travelling wheel mechanisms and a horizontal connecting rod arranged between the two travelling wheel mechanisms in parallel; the mounting frame comprises a top frame, a bottom frame and a vertical connecting rod connected between the top frame and the bottom frame; a lifting frame is also arranged between the top frame and the bottom frame; the lifting frame is connected to the two vertical connecting rods on the same side in a sliding manner; and a fixed connecting rod is fixedly connected between the top frame and the horizontal connecting rod.
According to the utility model, through the movable frame and the mounting frame which are fixed together, the mounting effect of other parts such as a gripping device is better ensured, and the movable frame has better moving capability; the walking wheel mechanism is used for better ensuring the stable movement of the manipulator; the movable frame and the mounting frame are better fixed together through the fixed connecting rod, and better connection strength between the movable frame and the mounting frame is ensured; the lifting function of the manipulator is realized through the lifting frame.
Preferably, the vertical connecting rod is I-shaped steel, and grooves are formed in the two sides of the vertical connecting rod.
Preferably, the lifting frame comprises a lifting frame; a plurality of first mounting frames which are parallel to each other are fixed on the inner side of the lifting frame; a plurality of second mounting frames which are parallel to each other are fixed on the outer side of the lifting frame; rollers are arranged at the two ends of the outer side of the lifting frame; four corners of the outer side of the lifting frame are respectively provided with a first guide wheel which is used for being in sliding connection with the vertical connecting rod, and the first guide wheels are embedded in the grooves of the vertical connecting rod; the first guide wheel is fixedly connected to the lifting frame through a guide wheel fixing seat.
Preferably, the first mounting frame is used for mounting a gripping device; two sides of each grabbing device are respectively provided with one first mounting frame, and the number of the grabbing devices is two; each grabbing device is correspondingly provided with a rotating cylinder; each rotary cylinder is fixedly connected to the tops of the two second mounting frames through a cylinder rotary seat; the bottom of first installing frame is equipped with the live-rollers, just correspond every on the live-rollers first installing frame all overlaps and is equipped with the third and rotates the seat, the live-rollers passes through the third rotates the seat to be fixed on the first installing frame.
Preferably, a counterweight frame is further arranged between the two vertical connecting rods which are not connected with the mounting frame; two sides of the counterweight frame are respectively provided with a second guide wheel embedded in the groove of the vertical connecting rod, and the number of the second guide wheels on each side is two; connecting seats are arranged at the tops of the two sides of the counterweight frame; four steering rollers which are arranged in a matrix form are arranged on the top frame corresponding to the connecting seat; the connecting seat of the counterweight frame is connected with a flexible connecting piece which is connected to the lifting frame through the steering roller.
Preferably, two of the steering rollers are arranged above the counterweight frame; the other two steering rollers are arranged above the lifting frame; a lifting motor is connected between the two steering rollers arranged above the counterweight frame in a transmission manner; and the steering roller is provided with a lifting driving wheel in transmission connection with the flexible connecting piece.
Preferably, the road wheel mechanism comprises a cross beam; both ends of the top of the cross beam are provided with mounting grooves which are formed downwards; a traveling wheel is embedded in the mounting groove; the mounting groove is also covered with a fixed cover plate; the walking wheels penetrate through the bottom of the cross beam, and through holes for accommodating the penetrating parts of the walking wheels are formed in the bottom of the cross beam; and side plates are arranged on two sides of the fixed cover plate and are also fixed on the cross beam.
Preferably, a rotating shaft penetrates through the travelling wheel; the rotating shaft is embedded in the mounting groove in a penetrating manner; and the outer sides of the two side plates are also provided with shaft fixing seats which are sleeved on the rotating shaft.
Preferably, the shaft fixing seat is fixedly connected with the side plate through a bolt; the fixed cover plate is fixedly connected with the cross beam through a bolt; the side plates are fixedly connected with the cross beam through bolts.
Preferably, the walking wheels are rubber wheels.
Compared with the prior art, the utility model has the following advantages and beneficial effects:
the driving device for the manipulator is simple in structure and convenient to use, and not only is the installation effect of other parts such as a gripping device better ensured, but also the driving device has better moving capability through the moving frame and the mounting frame which are fixed together; the walking wheel mechanism is used for better ensuring the stable movement of the manipulator; the movable frame and the mounting frame are better fixed together through the fixed connecting rod, and better connection strength between the movable frame and the mounting frame is ensured; the lifting function of the manipulator is realized through the lifting frame.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the head frame according to the present invention;
FIG. 3 is a schematic structural diagram of the lifting frame of the utility model;
FIG. 4 is a schematic structural view of the weight frame according to the present invention;
FIG. 5 is a schematic structural diagram of the traveling wheel mechanism according to the present invention;
FIG. 6 is a schematic structural view of the present invention with the fixed cover plate removed;
fig. 7 is a schematic structural view of the fixed cover plate and the road wheel of the utility model.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the following description of the preferred embodiments of the present invention is provided in conjunction with specific examples, but it should be understood that the drawings are for illustrative purposes only and should not be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
Example 1:
as shown in fig. 1 to 7, a driving apparatus for a robot includes a moving frame 31 and a mounting frame 32 fixedly coupled to the moving frame 31; the moving frame 31 comprises two parallel travelling wheel mechanisms 2 and a horizontal connecting rod 311 arranged between the two travelling wheel mechanisms 2 in parallel; the mounting frame 32 comprises a top frame 321, a bottom frame 322 and a vertical connecting rod 323 connected between the top frame 321 and the bottom frame 322; a lifting frame 324 is also arranged between the top frame 321 and the bottom frame 322; the lifting frame 324 can be connected to the two vertical connecting rods 323 on the same side in a sliding manner; a fixed connecting rod 328 is fixedly connected between the top frame 321 and the horizontal connecting rod 311.
According to the utility model, the movable frame 31 and the mounting frame 32 which are fixed together not only can better ensure the mounting effect of other parts such as a gripping device, but also have better moving capability; the walking wheel mechanism 2 is used for better ensuring the stable movement of the manipulator; the movable frame 31 and the mounting frame 32 are better fixed together through the fixed link 328, so that the movable frame 31 and the mounting frame 32 have better connection strength; the lifting and lowering functions of the manipulator are realized by the lifting frame 324.
Further, in another embodiment, the vertical link 323 is an i-steel, and both sides of the vertical link 323 have grooves.
The I-shaped steel is adopted, so that the structural strength is good, and the groove of the I-shaped steel can be used as a guide rail, so that the structure is simplified.
Further, in another embodiment, the crane 324 includes a lifting frame 3241; a plurality of first installation frames 3242 which are parallel to each other are fixed on the inner side of the lifting frame 3241; a plurality of second mounting frames 3243 which are parallel to each other are fixed on the outer side of the lifting frame 3241; rollers 3244 are arranged at two ends of the outer side of the lifting frame 3241; four corners of the outer side of the lifting frame 3241 are respectively provided with a first guide wheel 3245 which is used for being in sliding connection with the vertical connecting rod 323, and the first guide wheels 3245 are embedded in a groove of the vertical connecting rod 323; the first guide wheel 3245 is fixedly connected to the lifting frame 3241 through a guide wheel fixing seat 3246.
The lifting frame 3241 is matched with the first guide wheel 3245, so that the lifting frame 324 is limited between the two vertical connecting rods 323 and can only move up and down along the vertical connecting rods 323; through the rollers 3244 arranged at the two ends of the outer side of the lifting frame 3241, friction generated when the lifting frame 3241 moves with the vertical connecting rod 323 is reduced, so that the lifting frame 324 moves more smoothly, and the service lives of the lifting frame 3241 and the vertical connecting rod 323 can be prolonged.
Further, in another embodiment, the first mounting frame 3242 is used for mounting a grasping device; two sides of each grabbing device are respectively provided with one first mounting frame 3242, and the number of the grabbing devices is two; each grabbing device is correspondingly provided with a rotating cylinder; each rotary cylinder is fixedly connected to the tops of the two second mounting frames 3243 through a cylinder rotary seat 3247; the bottom of first installing frame 3242 is equipped with live-rollers 3248, just it all overlaps to correspond every on the live-rollers 3248 first installing frame 3242 is equipped with third and rotates seat 3249, live-rollers 3248 passes through third rotates seat 3249 and fixes on the first installing frame 3242.
Further, in another embodiment, a counterweight frame 33 is further disposed between the two vertical connecting rods 323 which are not connected with the mounting frame; two sides of the counterweight frame 33 are respectively provided with a second guide wheel 331 embedded in the groove of the vertical connecting rod 323, and the number of the second guide wheels 331 on each side is two; the top parts of the two sides of the counterweight frame 33 are also provided with connecting seats 332; four steering rollers 325 which are arranged in a matrix form are arranged on the top frame 321 corresponding to the connecting seat 332; the connecting base 332 of the counterweight frame 33 is connected with a flexible connecting piece which is connected to the lifting frame 324 through the steering roller 325.
The flexible connecting piece is an iron chain or a steel cable.
Further, in another embodiment, two of the steering rollers 325 are disposed above the weight frame 33; the other two steering rollers 325 are arranged above the lifting frame 324; a lifting motor 326 is connected between the two steering rollers 325 arranged above the counterweight frame 33 in a transmission way; and the steering roller 325 is provided with a lifting transmission wheel 327 in transmission connection with the flexible connecting piece.
Through the counterweight frame 33, the required torque of the lifting motor 326 for driving the lifting frame 324 is reduced, the lifting difficulty is reduced, and the effect of protecting the lifting motor 326 can be achieved.
Further, in another embodiment, the road wheel mechanism 2 includes a cross beam 21; both ends of the top of the cross beam 21 are provided with mounting grooves 22 which are opened downwards; a traveling wheel 23 is embedded in the mounting groove 22; the mounting groove 22 is also covered with a fixed cover plate 24; the walking wheels 23 penetrate through the bottom of the cross beam 21, and through holes 211 for accommodating penetrating parts of the walking wheels 23 are formed in the bottom of the cross beam 21; both sides of the fixed cover plate 24 are provided with side plates 241, and the side plates 241 are also fixed on the cross beam 21.
Through the mounting groove 22 extending downwards from the top of the cross beam 21, the travelling wheels 23 only need to be placed from top to bottom, so that the mounting difficulty of the travelling wheels 23 is reduced, and the maintenance efficiency of the travelling wheels 23 is improved; through the fixed cover plate 24, the travelling wheels 23 can be well fixed on the mounting grooves 22, and the structural strength of the cross beam 21 can be enhanced; through curb plate 241, not only can be better reinforcing right the fixed effect of walking wheel 23, can also better reinforcing the structural strength of crossbeam 21.
Further, in another embodiment, a rotating shaft 231 is penetratingly arranged on the travelling wheel 23; the rotating shaft 231 is embedded in the mounting groove 22 in a penetrating manner; the outer sides of the two side plates 241 are provided with shaft fixing seats 232 which are sleeved on the rotating shaft 231.
The rotating shaft 231 is in transmission connection with a horizontal moving motor.
Further, in another embodiment, the shaft fixing seat 232 is fixedly connected with the side plate 241 by a bolt; the fixed cover plate 24 is fixedly connected with the cross beam 21 through bolts; the side plate 241 is fixedly connected to the cross member 21 by bolts.
Further, in another embodiment, the walking wheels 23 are rubber wheels.
Adopt the rubber tyer as walking wheel 23 not only can provide great frictional force, orders about the removal of walking wheel mechanism, the rubber tyer still has absorbing effect moreover, better assurance above-mentioned walking wheel mechanism's even running.
Unless otherwise specified, in the present invention, if there is an orientation or positional relationship indicated by terms of "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, rather than to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore, the terms describing orientation or positional relationship in the present invention are for illustrative purposes only, and should not be construed as limiting the present patent, specific meanings of the above terms can be understood by those of ordinary skill in the art in light of the specific circumstances in conjunction with the accompanying drawings.
Unless expressly stated or limited otherwise, the terms "disposed," "connected," and "connected" are used broadly and encompass, for example, being fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (10)
1. A drive device for a robot hand, characterized in that: comprises a moving frame (31) and a mounting frame (32) fixedly connected to the moving frame (31); the moving frame (31) comprises two parallel walking wheel mechanisms (2) and a horizontal connecting rod (311) arranged between the two walking wheel mechanisms (2) in parallel; the mounting frame (32) comprises a top frame (321), a bottom frame (322) and a vertical connecting rod (323) connected between the top frame (321) and the bottom frame (322); a lifting frame (324) is also arranged between the top frame (321) and the bottom frame (322); the lifting frame (324) is connected to the two vertical connecting rods (323) on the same side in a sliding manner; and a fixed connecting rod (328) is fixedly connected between the top frame (321) and the horizontal connecting rod (311).
2. A driving apparatus for a robot hand according to claim 1, wherein: the vertical connecting rod (323) is I-shaped steel, and grooves are formed in the two sides of the vertical connecting rod (323).
3. A driving apparatus for a robot hand according to claim 2, wherein: the lifting frame (324) comprises a lifting frame (3241); a plurality of first mounting frames (3242) which are parallel to each other are fixed on the inner side of the lifting frame (3241); a plurality of second mounting frames (3243) which are parallel to each other are further fixed on the outer side of the lifting frame (3241); rollers (3244) are arranged at two ends of the outer side of the lifting frame (3241); four corners of the outer side of the lifting frame (3241) are respectively provided with a first guide wheel (3245) which is used for being in sliding connection with the vertical connecting rod (323), and the first guide wheels (3245) are embedded in grooves of the vertical connecting rod (323); the first guide wheel (3245) is fixedly connected to the lifting frame (3241) through a guide wheel fixing seat (3246).
4. A driving apparatus for a robot hand according to claim 3, wherein: the first mounting frame (3242) is used for mounting a grabbing device; two sides of each grabbing device are respectively provided with one first mounting frame (3242), and the number of the grabbing devices is two; each grabbing device is correspondingly provided with a rotating cylinder; each rotary cylinder is fixedly connected to the tops of the two second mounting frames (3243) through a cylinder rotary seat (3247); the bottom of first installing frame (3242) is equipped with live-rollers (3248), just it all overlaps to be equipped with third and rotates seat (3249) to correspond every on live-rollers (3248) first installing frame (3242), live-rollers (3248) pass through third rotates seat (3249) and fixes on first installing frame (3242).
5. A driving apparatus for a robot hand according to claim 3, wherein: a counterweight frame (33) is arranged between the two vertical connecting rods (323) which are not connected with the mounting frame; two sides of the counterweight frame (33) are respectively provided with a second guide wheel (331) embedded in the groove of the vertical connecting rod (323), and the number of the second guide wheels (331) on each side is two; the top parts of the two sides of the counterweight frame (33) are provided with connecting seats (332); four steering rollers (325) which are arranged in a matrix are arranged on the top frame (321) corresponding to the connecting seat (332); the connecting seat (332) of the counterweight frame (33) is connected with a flexible connecting piece which is connected to the lifting frame (324) through the steering roller (325).
6. A driving apparatus for a robot hand according to claim 5, wherein: the two steering rollers (325) are arranged above the counterweight frame (33); the other two steering rollers (325) are arranged above the lifting frame (324); a lifting motor (326) is connected between the two steering rollers (325) arranged above the counterweight frame (33) in a transmission way; and the steering roller (325) is provided with a lifting driving wheel (327) in driving connection with the flexible connecting piece.
7. A driving apparatus for a robot hand according to claim 1, wherein: the travelling wheel mechanism (2) comprises a cross beam (21); both ends of the top of the cross beam (21) are provided with mounting grooves (22) which are opened downwards; a traveling wheel (23) is embedded in the mounting groove (22); a fixed cover plate (24) is covered on the mounting groove (22); the walking wheels (23) penetrate through the bottom of the cross beam (21), and through holes (211) for accommodating penetrating parts of the walking wheels (23) are formed in the bottom of the cross beam (21); both sides of the fixed cover plate (24) are provided with side plates (241), and the side plates (241) are also fixed on the cross beam (21).
8. A driving apparatus for a robot hand according to claim 7, wherein: a rotating shaft (231) penetrates through the traveling wheel (23); the rotating shaft (231) is embedded in the mounting groove (22) in a penetrating manner; the outer sides of the two side plates (241) are also provided with shaft fixing seats (232) which are sleeved on the rotating shaft (231).
9. A driving apparatus for a robot hand according to claim 8, wherein: the shaft fixing seat (232) is fixedly connected with the side plate (241) through a bolt; the fixed cover plate (24) is fixedly connected with the cross beam (21) through bolts; the side plates (241) are fixedly connected with the cross beam (21) through bolts.
10. A driving apparatus for a robot hand according to claim 7, wherein: the walking wheels (23) are rubber wheels.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121730958.8U CN215825346U (en) | 2021-07-28 | 2021-07-28 | Driving device for manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121730958.8U CN215825346U (en) | 2021-07-28 | 2021-07-28 | Driving device for manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215825346U true CN215825346U (en) | 2022-02-15 |
Family
ID=80193037
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121730958.8U Active CN215825346U (en) | 2021-07-28 | 2021-07-28 | Driving device for manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215825346U (en) |
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2021
- 2021-07-28 CN CN202121730958.8U patent/CN215825346U/en active Active
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| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A driving device for robotic arms Effective date of registration: 20231024 Granted publication date: 20220215 Pledgee: Zhejiang Hecheng Rural Commercial Bank Co.,Ltd. Pledgor: Jiaxing Hengxin Environmental Protection Technology Co.,Ltd. Registration number: Y2023990000517 |