CN216266031U - Three-axis double-arm manipulator - Google Patents
Three-axis double-arm manipulator Download PDFInfo
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- CN216266031U CN216266031U CN202122584012.1U CN202122584012U CN216266031U CN 216266031 U CN216266031 U CN 216266031U CN 202122584012 U CN202122584012 U CN 202122584012U CN 216266031 U CN216266031 U CN 216266031U
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- 238000005272 metallurgy Methods 0.000 description 1
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Abstract
The utility model discloses a three-axis double-arm manipulator which comprises a first transmission box, wherein the bottom of the first transmission box is fixedly connected with a supporting base, one side of the outer wall of the transmission box is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a transmission rotating shaft, and two sides of the outer wall of the transmission rotating shaft are fixedly connected with transmission wheels. The transmission rotating shaft can be rotated by starting the first motor, so that the transmission belt on the outer wall of the transmission rotating shaft drives the second transmission box to move, the manipulator body is driven to move back and forth on the X-axis direction, meanwhile, the threaded screw rod can be rotated by starting the second motor, the ball nut seat on the outer wall of the transmission rotating shaft is further driven to move, the manipulator body can be driven to move on the Y-axis direction by the lifting upright post, the lifting plate can be driven to lift by starting the driving cylinder in the lifting upright post, and the manipulator body can be driven to slide up and down in the vertical direction.
Description
Technical Field
The utility model relates to the technical field of three-axis double-arm manipulators, in particular to a three-axis double-arm manipulator.
Background
The manipulator is an automatic operating device which can imitate some action functions of human hand and arm, and can be used for gripping and carrying article or operating tool according to fixed program, and is characterized by that it can implement various desired operations by means of programming, and can be substituted for heavy labour of human body to implement mechanization and automation of production, and can be operated under the harmful environment to protect personal safety, so that it can be extensively used in the departments of mechanical manufacture, metallurgy, electronics, light industry and atomic energy, etc. and can be divided into hydraulic type, pneumatic type, electric type and mechanical type according to its driving mode. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
Most of the existing manipulators are single in function due to simple structures, namely, the manipulators can only move in a certain direction, and cannot grab target objects in multiple directions and angles according to specific conditions.
SUMMERY OF THE UTILITY MODEL
The utility model aims to provide a three-axis double-arm manipulator, and aims to solve the problems that most of the existing manipulators are single in structure, can only grab in one direction, and cannot grab objects at different positions.
In order to solve the technical problems, the utility model adopts a technical scheme that: the three-axis double-arm manipulator comprises a first transmission box;
the bottom of the first transmission box is fixedly connected with a supporting base, one side of the outer wall of the transmission box is fixedly connected with a first motor, the output end of the first motor is fixedly connected with a transmission rotating shaft, two sides of the outer wall of the transmission rotating shaft are fixedly connected with transmission wheels, and the outer walls of the two transmission wheels are provided with transmission belts;
the top of first transmission case is provided with the second transmission case corresponding with two conveyer belts, one side fixedly connected with second motor of second transmission case outer wall, the output fixedly connected with screw lead screw of second motor, ball nut seat has been cup jointed to one side of screw lead screw outer wall, the top fixedly connected with lift stand of ball nut seat, the bottom fixedly connected with at lift stand center drives actuating cylinder, drive actuating cylinder's output fixedly connected with lifter plate, one side fixedly connected with manipulator body that the lifter plate kept away from the lift stand.
Preferably, the output shafts of the first motor and the second motor are respectively and fixedly connected with the transmission rotating shaft and one end of the threaded screw rod through the coupler, the transmission rotating shaft and the threaded screw rod can be respectively driven to rotate through the first motor and the second motor, and then the manipulator body can be moved in different directions, so that the grabbing at multiple angles can be performed.
Preferably, one end of the threaded screw rod, which is far away from the second motor, is fixedly connected with one side of the inner wall of the second transmission box, so that the threaded screw rod can be driven by the second motor to stably rotate in the second transmission box, and further can drive the ball nut seat sleeved on the outer wall of the threaded screw rod to move back and forth, and the manipulator body can move.
Preferably, the telescopic shaft at the top of the driving cylinder is fixedly connected with one side of the bottom of the lifting plate, when the first motor and the second motor move in the plane direction, the driving cylinder can be started to drive the telescopic shaft of the driving cylinder to drive the lifting plate to ascend, and then the manipulator body can be driven to ascend and descend in the vertical direction to grab.
Preferably, the two sides of the center of the first transmission box are provided with rotating grooves corresponding to the transmission wheels, the transmission rotating shaft can rotate in the first transmission box under the action of the first motor, and then the transmission wheels on the two outer walls of the transmission box can be driven to rotate in the two rotating grooves respectively, and then the two transmission belts are driven to roll, so that the second transmission box slides back and forth on the top of the first transmission box.
Preferably, a first sliding groove corresponding to the ball nut seat is formed in the center of the top of the second transmission box, so that the threaded screw can drive the ball nut seat to slide in the first sliding groove, and further drive the lifting upright column at the top of the threaded screw to move together with the manipulator body.
Preferably, a second sliding groove corresponding to the lifting plate is formed in the center of one side of the outer wall of the lifting upright column, so that the driving cylinder can push the lifting plate to slide up and down in the second sliding groove, and the manipulator body can be lifted and lowered.
The utility model has the following beneficial effects:
1. according to the three-axis double-arm manipulator, the transmission rotating shaft can be rotated by starting the first motor, so that the two transmission wheels are driven to rotate, the transmission belt on the outer wall of the three-axis double-arm manipulator drives the second transmission box to move, and the manipulator body is driven to move back and forth in the X-axis reverse direction;
2. according to the three-axis double-arm manipulator, the threaded screw rod can be rotated by starting the second motor, so that the ball nut seat on the outer wall of the threaded screw rod can be moved, and the manipulator body can be moved on the Y axis through the lifting upright column, so that multi-angle object grabbing can be performed conveniently;
3. according to the three-shaft double-arm manipulator disclosed by the utility model, the lifting plate can be pushed to lift by starting the driving cylinder in the lifting upright post, so that the manipulator body can be driven to slide up and down in the vertical direction, and the use universality is improved.
Drawings
Fig. 1 is a three-dimensional structure diagram of a three-axis double-arm manipulator according to the present invention;
fig. 2 is a schematic structural diagram of a three-axis dual-arm manipulator according to the present invention;
FIG. 3 is an enlarged view of a portion of FIG. 2 at A;
fig. 4 is a partially enlarged view of fig. 2 at B.
In the figure: 1. a first transmission case; 2. a support base; 3. a first motor; 4. a transmission rotating shaft; 5. a driving wheel; 6. a transmission belt; 7. a second transmission case; 8. a second motor; 9. a threaded lead screw; 10. a ball nut seat; 11. lifting the upright post; 12. a driving cylinder; 13. a lifting plate; 14. a manipulator body; 15. a rotating groove; 16. a first sliding groove; 17. a second sliding groove.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the utility model easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the utility model.
Referring to fig. 1-2, a three-axis double-arm manipulator comprises a first transmission case 1, a supporting base 2 is fixedly connected to the bottom of the first transmission case 1, a first motor 3 is fixedly connected to one side of the outer wall of the transmission case, a transmission rotating shaft 4 is fixedly connected to the output end of the first motor 3, transmission wheels 5 are fixedly connected to both sides of the outer wall of the transmission rotating shaft 4, transmission belts 6 are respectively arranged on the outer walls of the two transmission wheels 5, a second transmission case 7 corresponding to the two transmission belts is arranged on the top of the first transmission case 1, a second motor 8 is fixedly connected to one side of the outer wall of the second transmission case 7, a threaded screw 9 is fixedly connected to the output end of the second motor 8, output shafts of the first motor 3 and the second motor 8 are respectively fixedly connected to one ends of the transmission rotating shaft 4 and the threaded screw 9 through couplers, the transmission rotating shaft 4 and the threaded screw 9 can be respectively driven to rotate by the first motor 3 and the second motor 8, and further the manipulator body 14 can move in different directions, so as to perform multi-angle grabbing, and one end of the screw thread lead screw 9, which is far away from the second motor 8, is fixedly connected with one side of the inner wall of the second transmission case 7, so that the screw thread lead screw 9 can stably rotate with the second transmission case 7 under the driving of the second motor 8, and further the ball nut seat 10 sleeved on the outer wall of the screw thread lead screw can be driven to move back and forth, so as to enable the manipulator body 14 to move, the ball nut seat 10 is sleeved on one side of the outer wall of the screw thread lead screw 9, and the center of the top of the second transmission case 7 is provided with a first sliding groove 16 corresponding to the ball nut seat 10, so that the screw thread lead screw 9 can drive the ball nut seat 10 to slide in the first sliding groove 16, and further drive the lifting upright column 11 at the top of the screw thread lead screw 9 to move with the manipulator body 14, the lifting upright column 11 is fixedly connected with the top of the ball nut seat 10, the bottom fixedly connected with at lift stand 11 center drives actuating cylinder 12, drives the output fixedly connected with lifter plate 13 of actuating cylinder 12, and the center of lift stand 11 outer wall one side is seted up with the corresponding second sliding tray 17 of lifter plate 13 for drive actuating cylinder 12 and can promote lifter plate 13 and slide from top to bottom in second sliding tray 17, make manipulator body 14 go up and down with this, one side fixedly connected with manipulator body 14 that lift stand 11 was kept away from to lifter plate 13.
Referring to fig. 3-4, the telescopic shaft at the top of the driving cylinder 12 is fixedly connected to one side of the bottom of the lifting plate 13, when the first motor 3 and the second motor 8 move in the plane direction, the driving cylinder 12 can be started to drive the telescopic shaft to drive the lifting plate 13 to ascend, so as to drive the manipulator body 14 to ascend and descend in the vertical direction for grabbing, the two sides of the center of the first transmission box 1 are both provided with rotating grooves 15 corresponding to the driving wheels 5, the driving rotating shaft 4 can rotate in the first transmission box 1 under the action of the first motor 3, so as to drive the two driving wheels 5 on the outer wall of the manipulator body to rotate in the two rotating grooves 15, so as to drive the two driving belts 6 to roll, so as to enable the second transmission box 7 to slide back and forth on the top of the first transmission box 1.
When the utility model is used, firstly, a second transmission box 7 can be placed at the top of a first transmission box 1 through two transmission belts, then a first motor 3 is started to enable a transmission rotating shaft 4 to rotate, and further two transmission wheels 5 on two sides of the outer wall of the second transmission box are driven to rotate, and further two transmission belts 6 are driven to drive the second transmission box 7 to move back and forth on a Y axis, meanwhile, a second motor 8 can be started to drive a thread screw 9 to rotate, and further a ball nut seat 10 on the outer wall of the second transmission box is driven to move in a first sliding groove 16, so that a lifting upright post 11 on the top of the second transmission box is driven to move, and further a mechanical gripper can be driven to move and grab in the X axis direction, then a driving cylinder 12 in the lifting upright post 11 can be started according to objects with different heights, so that a telescopic shaft at the output end of the lifting upright post 11 extends, and further a lifting plate 13 is driven to slide up and down in a second sliding groove 17, therefore, the manipulator body 14 can slide up and down in the vertical direction, and can grab target objects in multiple directions.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (7)
1. The utility model provides a triaxial double-arm manipulator, includes first transmission case (1), its characterized in that: the bottom of the first transmission box (1) is fixedly connected with a supporting base (2), one side of the outer wall of the transmission box is fixedly connected with a first motor (3), the output end of the first motor (3) is fixedly connected with a transmission rotating shaft (4), two sides of the outer wall of the transmission rotating shaft (4) are fixedly connected with transmission wheels (5), and the outer walls of the two transmission wheels (5) are provided with transmission belts (6);
the top of first transmission case (1) is provided with second transmission case (7) corresponding with two conveyer belts, one side fixedly connected with second motor (8) of second transmission case (7) outer wall, the output end fixedly connected with screw lead screw (9) of second motor (8), ball nut seat (10) has been cup jointed to one side of screw lead screw (9) outer wall, top fixedly connected with lift stand (11) of ball nut seat (10), the bottom fixedly connected with at lift stand (11) center drives actuating cylinder (12), drive output fixedly connected with lifter plate (13) of actuating cylinder (12), one side fixedly connected with manipulator body (14) of lift stand (11) are kept away from in lifter plate (13).
2. The three-axis dual-arm manipulator according to claim 1, wherein: and output shafts of the first motor (3) and the second motor (8) are respectively and fixedly connected with one end of the transmission rotating shaft (4) and one end of the threaded screw rod (9) through a coupler.
3. The three-axis dual-arm manipulator according to claim 1, wherein: one end of the threaded screw rod (9) far away from the second motor (8) is fixedly connected with one side of the inner wall of the second transmission case (7).
4. The three-axis dual-arm manipulator according to claim 1, wherein: the telescopic shaft at the top of the driving cylinder (12) is fixedly connected with one side of the bottom of the lifting plate (13).
5. The three-axis dual-arm manipulator according to claim 1, wherein: two sides of the center of the first transmission box (1) are provided with rotating grooves (15) corresponding to the two transmission wheels (5).
6. The three-axis dual-arm manipulator according to claim 1, wherein: the center of the top of the second transmission case (7) is provided with a first sliding groove (16) corresponding to the ball nut seat (10).
7. The three-axis dual-arm manipulator according to claim 1, wherein: and a second sliding groove (17) corresponding to the lifting plate (13) is formed in the center of one side of the outer wall of the lifting upright post (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122584012.1U CN216266031U (en) | 2021-10-26 | 2021-10-26 | Three-axis double-arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122584012.1U CN216266031U (en) | 2021-10-26 | 2021-10-26 | Three-axis double-arm manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216266031U true CN216266031U (en) | 2022-04-12 |
Family
ID=81073731
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122584012.1U Active CN216266031U (en) | 2021-10-26 | 2021-10-26 | Three-axis double-arm manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216266031U (en) |
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2021
- 2021-10-26 CN CN202122584012.1U patent/CN216266031U/en active Active
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