CN216299291U

CN216299291U - Six-axis multi-joint manipulator

Info

Publication number: CN216299291U
Application number: CN202122832745.2U
Authority: CN
Inventors: 张伟; 许秀静
Original assignee: Vobosh Robot Kunshan Co ltd
Current assignee: Vobosh Robot Kunshan Co ltd
Priority date: 2021-11-18
Filing date: 2021-11-18
Publication date: 2022-04-15
Anticipated expiration: 2031-11-18

Abstract

The utility model discloses a six-axis multi-joint manipulator which comprises a base, supporting components, adjusting components, a mounting seat, a locking component and a manipulator body, wherein the supporting components are arranged on two sides of the bottom of the base, the adjusting components are arranged on the inner side of the base, the top of the base is connected with the mounting seat in a sliding mode, a mounting groove is formed in the middle of the mounting seat, the locking component is arranged on one side of the mounting groove, and the manipulator body is connected with the mounting seat in a sliding mode through the mounting groove. The mechanical arm mounting and dismounting device is convenient for a user to mount and dismount the mechanical arm by arranging the base, the mounting seat, the mounting groove, the guide rail, the connecting groove and the locking assembly, so that the use convenience of the device is improved, and meanwhile, the stability of the device in the use process is improved by arranging the supporting assembly, so that the use effect of the device is ensured.

Description

Six-axis multi-joint manipulator

Technical Field

The utility model relates to the technical field of manipulator correlation, in particular to a six-axis multi-joint manipulator.

Background

The robot is an automatic operation device which can imitate some action functions of human hands and arms and is used for grabbing, carrying objects or operating tools according to a fixed program.

The prior art has the following defects: all install fixedly between the six-axis articulated manipulator that adopts at present and the base through a plurality of bolts and use, this kind of mounting structure is comparatively loaded down with trivial details for the installation and the dismantlement work of six-axis articulated manipulator, and then has reduced the convenience of user to the installation of manipulator, dismantlement.

SUMMERY OF THE UTILITY MODEL

The present invention is directed to a six-axis multi-joint manipulator, which solves the above problems of the prior art.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a six multi-joint manipulator, includes base, supporting component, adjusting part, mount pad, locking Assembly and manipulator body, the supporting component sets up in base bottom both sides, adjusting part sets up in the base inboard base top sliding connection has the mount pad, the mounting groove has been seted up to the mount pad intermediate position, and is in mounting groove one side is provided with locking Assembly, the manipulator body passes through mounting groove sliding connection with the mount pad.

As a further preferred aspect of the present technical solution, a guide rail is fixedly connected to an inner side of the bottom of the mounting groove, a connecting groove is formed in a middle position of the bottom of the manipulator body, and the bottom of the manipulator body is slidably connected to the guide rail inside the mounting groove through the connecting groove.

As a further preferred of this technical scheme, the supporting component comprises bracing piece, pulley, slider, positioning bolt, link and conflict board, bracing piece top and base bottom fixed connection, the pulley is installed to the bracing piece bottom the inside spout that has seted up in bracing piece one side, spout intermediate position fixedly connected with gag lever post, just gag lever post outer wall sliding connection has the slider positioning bolt is installed to slider one side, positioning bolt one end runs through the bracing piece outer wall, the link sets up in bracing piece one side, link one end runs through bracing piece and slider one side outer wall fixed connection, the link other end and conflict board fixed connection.

As a further preferred of the technical scheme, a compression spring is fixedly connected between the top of the sliding block and the inner wall of the top of the sliding groove, and the compression spring is sleeved on the outer wall of the limiting rod.

As a further preferable mode of the present technical solution, the adjusting assembly includes a motor, a screw shaft, and an adjusting block, the motor is installed on one side of the base, the screw shaft is rotatably connected inside the base, one end of the screw shaft is connected to the output end of the motor through a coupling, the adjusting block is connected to the outer wall of the screw shaft through a thread, and the top of the adjusting block penetrates through the base and is fixedly connected to the bottom of the mounting base.

As a further preferred of this technical scheme, locking Assembly comprises locking chamber, check lock lever, locking hole, limiting plate and reset spring, the locking chamber has been seted up respectively to mount pad both sides inside, the opening has been seted up to locking chamber one side, just locking intracavity part sliding connection has the check lock lever respectively locking hole has been seted up respectively to manipulator bottom both sides, check lock lever one end and locking downthehole wall block, the check lock lever other end runs through the mount pad respectively and is connected with the carousel locking chamber one side inner wall is provided with the limiting plate, limiting plate and check lock lever outer wall fixed connection, fixedly connected with reset spring between limiting plate and the locking chamber one side.

As a further preferred aspect of the present technical solution, the size of the opening is the same as the size of the limiting plate, and the length of the limiting plate is smaller than the cross-sectional diameter of the locking cavity.

The utility model provides a six-axis multi-joint manipulator which has the following beneficial effects:

(1) according to the utility model, by arranging the base, the mounting seat, the mounting groove, the guide rail, the connecting groove and the locking assembly, when the device is used, a user can slide and connect the mounting seat of the manipulator body and then can complete the mounting and dismounting work of the manipulator body by controlling the turntable, so that the mounting and dismounting work of the manipulator is facilitated for the user, and the use convenience of the device is improved.

(2) By arranging the supporting component, when the device is used, the positioning bolt can be screwed after the position of the device is adjusted through the pulley, so that the sliding block can move downwards under the action of the compression spring, and the contact plate can be driven to be in contact with the ground, the contact area between the bottom of the device and the ground is increased, and the stability of the device in the using process can be improved.

Drawings

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

FIG. 2 is a schematic view of the internal structure of the base of the present invention;

FIG. 3 is a side view of the mounting base of the present invention;

FIG. 4 is a schematic view of a connection structure of the mounting base and the robot of the present invention;

fig. 5 is an enlarged view of the point a in fig. 4 according to the present invention.

In the figure: 1. a base; 2. a support assembly; 3. an adjustment assembly; 4. a mounting seat; 5. a locking assembly; 6. a manipulator body; 7. mounting grooves; 8. a guide rail; 9. connecting grooves; 10. a support bar; 11. a pulley; 12. a slider; 13. positioning the bolt; 14. a connecting frame; 15. a touch plate; 16. a chute; 17. a limiting rod; 18. a compression spring; 19. a motor; 20. a screw shaft; 21. an adjusting block; 22. a locking cavity; 23. a locking lever; 24. a locking hole; 25. a limiting plate; 26. a return spring; 27. and (4) opening.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

As shown in fig. 1 to 5, the present invention provides the technical solutions: the utility model provides a six multi-joint manipulator, includes base 1, supporting component 2, adjusting part 3, mount pad 4, locking Assembly 5 and manipulator body 6, supporting component 2 sets up in 1 bottom both sides of base, adjusting part 3 sets up in 1 inboard of base 1 top sliding connection of base has mount pad 4, mounting groove 7 has been seted up to mount pad 4 intermediate position, and is in mounting groove 7 one side is provided with locking Assembly 5, manipulator body 6 passes through mounting groove 7 sliding connection with mount pad 4.

In this embodiment, specifically: 7 inboard fixedly connected with guide rail 8 in bottom of mounting groove 6 bottom intermediate position has seted up spread

groove

9, 6 bottoms of manipulator are through spread groove 9 and 7 inside guide rail 8 sliding connection of mounting groove, through guide rail 8 and the spread groove 9 that set up, and then made things convenient for the installation of manipulator body 6 and mount pad 4.

In this embodiment, specifically: the supporting component 2 consists of a supporting rod 10, a pulley 11, a sliding block 12, a positioning bolt 13, a connecting frame 14 and a contact plate 15, the top of the support rod 10 is fixedly connected with the bottom of the base 1, the bottom of the support rod 10 is provided with a pulley 11, a sliding groove 16 is arranged in one side of the supporting rod 10, a limiting rod 17 is fixedly connected at the middle position of the sliding groove 16, a sliding block 12 is connected on the outer wall of the limiting rod 17 in a sliding manner, one side of the sliding block 12 is provided with a positioning bolt 13, one end of the positioning bolt 13 penetrates through the outer wall of the supporting rod 10, the connecting frame 14 is arranged at one side of the supporting rod 10, one end of the connecting frame 14 penetrates through the supporting rod 10 and is fixedly connected with the outer wall of one side of the sliding block 12, the other end of the connecting frame 14 is fixedly connected with the abutting plate 15, through the supporting component 2, the device is convenient to move and is stable to use when being fixed.

In this embodiment, specifically: fixedly connected with compression spring 18 between slider 12 top and 16 top inner walls of spout, just compression spring 18 cover is established at gag lever post 17 outer wall, through the compression spring 18 that sets up, and then has made things convenient for the resilience of slider 12 to the convenience of device use has been promoted.

In this embodiment, specifically: the adjusting assembly 3 is composed of a motor 19, a screw shaft 20 and an adjusting block 21, the motor 19 is installed on one side of the base 1, the screw shaft 20 is rotatably connected inside the base 1, one end of the screw shaft 20 is connected with the output end of the motor 19 through a coupler, the adjusting block 21 is connected to the outer wall of the screw shaft 20 in a threaded mode, the top of the adjusting block 21 penetrates through the base 1 and is fixedly connected with the bottom of the mounting seat 4, the adjusting assembly 3 is arranged to facilitate adjustment of a horizontal position of a manipulator by a user, and therefore the applicability of the device is improved.

In this embodiment, specifically: the locking assembly 5 consists of a locking cavity 22, a locking rod 23, a locking hole 24, a limit plate 25 and a return spring 26, a locking cavity 22 is respectively arranged inside two sides of the mounting seat 4, an opening 27 is arranged on one side of the locking cavity 22, a locking rod 23 is respectively connected inside the locking cavity 22 in a sliding way, locking holes 24 are respectively arranged at two sides of the bottom of the manipulator, one end of the locking rod 23 is clamped with the inner wall of the locking hole 24, the other end of the locking rod 23 is respectively connected with a turntable by penetrating through the mounting seat 4, a limiting plate 25 is arranged on the inner wall of one side of the locking cavity 22, the limiting plate 25 is fixedly connected with the outer wall of the locking rod 23, a return spring 26 is fixedly connected between the limiting plate 25 and one side of the locking cavity 22, the locking assembly 5 facilitates the installation and the use and the disassembly of the manipulator, and the use convenience of the device is further improved.

In this embodiment, specifically: the size of opening 27 is unanimous with the size of limiting plate 25, just the length of limiting plate 25 is less than the cross-sectional diameter in locking chamber 22, and is unanimous with the size of limiting plate 25 through the size with opening 27, and then has made things convenient for pulling out of limiting plate 25, and is less than the cross-sectional diameter that sets up locking chamber 22 with the length of limiting plate 25, and then has made things convenient for limiting plate 25 to rotate the work in locking chamber 22 inside.

The working principle is that when the device is used, a user can slide-connect the connecting groove 9 at the bottom of the manipulator body 6 with the guide rail 8 with the inner wall of the mounting groove 7 at the top of the mounting seat 4, and when the bottom of the manipulator body 6 is abutted against the inner wall of one end of the mounting groove 7, the user can press the rotary disc to drive the locking rod 23 to be clamped with the locking hole 24, at the moment, the limiting plate 25 can enter the locking cavity 22 through the opening 27, and the reset spring 26 is compressed, then the user can rotate the rotary disc to drive the limiting plate 25 to rotate in the locking cavity 22, so that the limiting plate 25 is clamped with the inner wall of the locking cavity 22, and further the installation and locking work of the manipulator body 6 can be realized, and in the using process of the device, the horizontal position of the manipulator can be adjusted by opening the motor 19 to drive the adjusting block 21 on the outer wall of the screw rod shaft 20 to move, further user can be when needs remove the device, the user can be through twisting positioning bolt 13, then through rebound to touch panel 15, make slider 12 shift up, rethread screws up positioning bolt 13 and realizes fixing to slider 12, compression spring 18 is compressed this moment, then through the removal of pulley 11 realization device, can loosen positioning bolt 13 through unscrewing after the device removes the assigned position, make to touch panel 15 can move down the realization fixed to the enhancement of device under compression spring 18's effect, thereby guarantee the stability that the device used, and when manipulator body 6 uses the completion needs to dismantle, only need make limiting plate 25 can be parallel with opening 27 through rotating the carousel, locking lever 23 can be rebounded under reset spring 26's effect this moment, then outwards pull out manipulator body 6 can.

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 utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a six multi-joint manipulator which characterized in that: including base (1), supporting component (2), adjusting part (3), mount pad (4), locking Assembly (5) and manipulator body (6), supporting component (2) set up in base (1) bottom both sides, adjusting part (3) set up in base (1) inboard base (1) top sliding connection has mount pad (4), mounting groove (7) have been seted up to mount pad (4) intermediate position, and mounting groove (7) one side is provided with locking Assembly (5), manipulator body (6) pass through mounting groove (7) sliding connection with mount pad (4).

2. The six-axis multi-joint robot of claim 1, wherein: mounting groove (7) bottom inboard fixedly connected with guide rail (8) spread groove (9) have been seted up to manipulator body (6) bottom intermediate position, manipulator body (6) bottom is through spread groove (9) and mounting groove (7) inside guide rail (8) sliding connection.

3. The six-axis multi-joint robot of claim 1, wherein: the supporting component (2) is composed of a supporting rod (10), a pulley (11), a sliding block (12), a positioning bolt (13), a connecting frame (14) and a touch plate (15), the top of the supporting rod (10) is fixedly connected with the bottom of the base (1), the pulley (11) is installed at the bottom of the supporting rod (10), a sliding groove (16) is formed in one side of the supporting rod (10), a limiting rod (17) is fixedly connected to the middle position of the sliding groove (16), the sliding block (12) is connected to the outer wall of the limiting rod (17) in a sliding mode, the positioning bolt (13) is installed on one side of the sliding block (12), one end of the positioning bolt (13) penetrates through the outer wall of the supporting rod (10), the connecting frame (14) is arranged on one side of the supporting rod (10), and one end of the connecting frame (14) penetrates through the outer wall of one side of the supporting rod (10) and is fixedly connected with the outer wall of one side of the sliding block (12), the other end of the connecting frame (14) is fixedly connected with the touch plate (15).

4. A six-axis multi-joint robot as claimed in claim 3, wherein: a compression spring (18) is fixedly connected between the top of the sliding block (12) and the inner wall of the top of the sliding groove (16), and the compression spring (18) is sleeved on the outer wall of the limiting rod (17).

5. The six-axis multi-joint robot of claim 4, wherein: the adjusting assembly (3) is composed of a motor (19), a screw shaft (20) and an adjusting block (21), the motor (19) is installed on one side of the base (1), the screw shaft (20) is rotatably connected inside the base (1), one end of the screw shaft (20) is connected with the output end of the motor (19) through a coupler, the adjusting block (21) is connected to the outer wall of the screw shaft (20) in a threaded mode, and the top of the adjusting block (21) penetrates through the base (1) and is fixedly connected with the bottom of the mounting seat (4).

6. The six-axis multi-joint robot of claim 1, wherein: the locking component (5) consists of a locking cavity (22), a locking rod (23), a locking hole (24), a limiting plate (25) and a return spring (26), a locking cavity (22) is respectively arranged inside two sides of the mounting seat (4), an opening (27) is arranged at one side of the locking cavity (22), and the locking cavity (22) is respectively connected with a locking rod (23) in a sliding way, locking holes (24) are respectively arranged at two sides of the bottom of the manipulator, one end of the locking rod (23) is clamped with the inner wall of the locking hole (24), the other end of the locking rod (23) is respectively connected with a turntable by penetrating through the mounting seat (4), a limiting plate (25) is arranged on the inner wall of one side of the locking cavity (22), the limiting plate (25) is fixedly connected with the outer wall of the locking rod (23), and a return spring (26) is fixedly connected between the limiting plate (25) and one side of the locking cavity (22).

7. The six-axis multi-joint robot of claim 6, wherein: the size of the opening (27) is consistent with that of the limiting plate (25), and the length of the limiting plate (25) is smaller than the section diameter of the locking cavity (22).