CN216991955U

CN216991955U - Mechanical arm

Info

Publication number: CN216991955U
Application number: CN202220840412.6U
Authority: CN
Inventors: 蒋丽娟; 王子豪
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-04-09
Filing date: 2022-04-09
Publication date: 2022-07-19
Anticipated expiration: 2032-04-09

Abstract

The utility model belongs to the technical field of manipulators, and particularly relates to a manipulator which comprises a base, wherein a rotating seat is connected to the base in a transverse rotating mode, the rotating seat is driven by a first motor through a transmission assembly to rotate in a reciprocating mode, a transverse sliding seat is connected to the rotating seat in a left-right transverse sliding mode, the transverse sliding seat is driven by a second motor through a transmission assembly to slide in a reciprocating mode, a lifting sliding seat is connected to the transverse sliding seat in a vertical lifting sliding mode, the lifting sliding seat is driven by a third motor through a transmission assembly to slide in a reciprocating mode, a clamping jaw assembly is arranged on the lifting sliding seat, and the clamping jaw assembly is driven by a fourth motor to clamp, close or separate. The clamping jaw assembly can be obliquely adjusted in a front-back angle mode, can also freely move transversely and vertically, effectively meets the requirements of modern industrial manufacturing, and meanwhile, the motor is used as a power source of the manipulator, so that the precision is high, the action execution can be timely responded, and the overall machining efficiency is improved.

Description

Mechanical arm

The technical field is as follows:

the utility model belongs to the technical field of manipulators, and particularly relates to a manipulator.

Background art:

at present, in most of industrial manufacturing such as mechanical processing and injection molding processing, a manipulator is adopted to replace manual work to perform certain operations with strong repeatability, for example, picking up a workpiece, and the operation is simple. Most of the existing manipulators adopt pneumatics as a power source to carry out a series of moving actions, and have the problems of poor precision and untimely response.

The utility model content is as follows:

the utility model aims to provide a manipulator, which adopts a motor as a power source of the manipulator, has higher precision, ensures timely response of action execution and improves the overall processing efficiency.

The utility model is realized by the following steps:

the utility model provides a manipulator, which comprises a base, be connected with around horizontal rotation on the base and rotate the seat, and rotate the seat and carry out reciprocating rotation through a drive assembly drive by first motor, it has horizontal slide to rotate to go up along controlling horizontal sliding connection on the seat, and horizontal slide carries out reciprocating sliding through drive assembly two drives by the second motor, it has the lift slide to follow oscilaltion sliding connection on the horizontal slide, and the lift slide carries out reciprocating sliding through drive assembly three drives by the third motor, be equipped with clamping jaw assembly on the lift slide, and clamping jaw assembly carries out the centre gripping closure or separation by fourth motor drive.

In a foretell manipulator, transmission assembly one is connected on the base and along the driven spindle who transversely sets up including rotating, and the cover is equipped with driven bevel gear on the driven spindle, rotate the seat and be connected and rotate in step with the driven spindle, first motor sets up on the base, and the cover is equipped with the drive bevel gear with driven bevel gear engaged with on the output shaft of first motor.

In the manipulator, the second transmission assembly comprises a left synchronous belt wheel and a right synchronous belt wheel which are rotatably connected to the left side and the right side of the transverse sliding seat, the second motor is arranged on the rotating seat, an output shaft of the second motor is in transmission connection with a driving synchronous belt wheel, a transverse synchronous belt is sleeved among the left synchronous belt wheel, the right synchronous belt wheel and the driving synchronous belt wheel, a transverse tensioning wheel which is abutted to the outer side wall of the transverse synchronous belt in a rolling mode is rotatably connected to the rotating seat, and the transverse sliding seat is fixedly connected to one side of the transverse synchronous belt.

In the above-mentioned manipulator, transmission assembly three is including the lift hold-in range that upper and lower both ends were fixed respectively on the lift slide, lower both ends, the third motor sets up on horizontal slide, and the output shaft of third motor is connected with drive synchronous pulley through the gearbox transmission, rotates respectively on the horizontal slide that is located drive synchronous pulley upper and lower both sides and is connected with take-up pulley and take-up pulley down, and the interior flank of tooth of lift hold-in range and drive synchronous pulley meshing transmission, lateral surface roll respectively in last take-up pulley and take-up pulley down and lean on.

In foretell manipulator, sliding connection has the lifter with the lifting slide syntropy gliding on the lifting slide, and the upper and lower both ends of lifting slide rotate respectively and are connected with synchronous pulley and synchronous pulley down, go up the cover between synchronous pulley and the lower synchronous pulley and be equipped with the synchronous clitellum of going up and down, and the synchronous clitellum of going up and down both sides opposite in moving direction are respectively in horizontal slide, lifter fixed connection, clamping jaw assembly sets up on the lifter.

In a aforesaid manipulator, the clamping jaw subassembly sets up along the slip direction of lift slide, and the clamping jaw subassembly passes through rotary device around the slip direction circumferential direction of lift slide.

In an above-mentioned manipulator, rotary device is including setting up the rotating electrical machines on the lifter, the clamping jaw subassembly rotates through the worm to be connected on the lifter, is equipped with the worm wheel with worm looks meshing on the output shaft of rotating electrical machines.

In a foretell manipulator, the clamping jaw subassembly is including the anchor clamps seat with fourth motor position relatively fixed, and the output shaft of fourth motor is the screw rod, and the cover is equipped with the nut, and the both ends of nut are articulated with the one end of two hinge parts respectively, rotate on the anchor clamps seat and are connected with splint one and splint two, and the inner of splint one and splint two is articulated with the other end that corresponds the hinge part respectively, and the outer end of splint one and splint two is the free end and forms the centre gripping space between the two.

Compared with the prior art, the utility model has the outstanding advantages that:

according to the utility model, by means of the relative sliding of the rotating seat, the transverse sliding seat and the lifting sliding seat, the clamping jaw assembly can not only be obliquely adjusted in a front-back angle manner, but also can be freely moved in a transverse direction and a vertical direction, so that the requirements of modern industrial manufacturing are effectively met, meanwhile, the motor is used as a power source of the manipulator, the manipulator has higher precision, the action execution can be ensured to be responded in time, the overall processing efficiency is improved, and compared with the existing design using pneumatic as the power source, the manipulator can be prevented from being distributed with too many air pipes and is disordered integrally.

Description of the drawings:

FIG. 1 is an overall perspective view of the present invention;

FIG. 2 is a schematic structural view between the rotary seat and the base of the present invention;

FIG. 3 is a schematic structural diagram between a second motor and a second transmission assembly of the present invention;

FIG. 4 is a schematic view of the construction between the lifting carriage and the transverse carriage of the present invention;

FIG. 5 is a schematic view of the structure between the lifting slider and the lifting rod of the present invention;

figure 6 is a schematic view of the arrangement between the jaw assembly of the present invention and a fourth motor.

In the figure: 1. a base; 2. a rotating seat; 3. a transverse slide carriage; 4. a second motor; 5. a lifting slide seat; 6. a third motor; 7. a jaw assembly; 8. a fourth motor; 9. a driven rotating shaft; 10. a driven bevel gear; 11. a drive bevel gear; 12. a left timing pulley; 13. a right timing pulley; 14. a driving synchronous pulley; 15. a transverse synchronous endless belt; 16. a transverse tension wheel; 17. lifting a synchronous belt; 18. driving a synchronous pulley; 19. an upper tension wheel; 20. a lower tension wheel; 21. a lifting rod; 22. an upper synchronous pulley; 23. a lower synchronous pulley; 24. lifting a synchronous endless belt; 25. a rotating electric machine; 26. a clamp seat; 27. a nut; 28. a hinge member; 29. a first clamping plate; 30. and a second clamping plate.

The specific implementation mode is as follows:

the utility model will now be further described by way of specific examples, with reference to figures 1 to 6:

the utility model provides a manipulator, including base 1, be connected with around horizontal rotation on the base 1 and rotate seat 2, and rotate seat 2 and carry out reciprocating rotation through the drive of drive assembly by first motor, it has horizontal slide 3 to rotate seat 2 and go up along controlling horizontal sliding connection, and horizontal slide 3 carries out reciprocating sliding through the drive of drive assembly two by second motor 4, there is lift slide 5 along oscilaltion sliding connection on the horizontal slide 3, and lift slide 5 carries out reciprocating sliding through the drive assembly three drive by third motor 6, be equipped with clamping jaw subassembly 7 on the lift slide 5, and clamping jaw subassembly 7 carries out the centre gripping closure or separation by the drive of fourth motor 8.

According to the utility model, by means of the relative sliding of the rotating seat 2, the transverse sliding seat 3 and the lifting sliding seat 5, the clamping jaw assembly 7 can not only be obliquely adjusted in a front-back angle manner, but also can freely move transversely and vertically, so that the requirements of modern industrial manufacturing are effectively met, meanwhile, the motor is used as a power source of the manipulator, the manipulator has higher precision, the action execution can be ensured to respond timely, the overall processing efficiency is improved, and compared with the existing design using pneumatic as a power source, excessive air pipes can be prevented from being distributed on the manipulator and appearing to be overall disorderly.

Meanwhile, in order to further improve the operation capacity of the clamping jaw assembly 7 to meet a specific clamping requirement, the clamping jaw assembly 7 is arranged along the sliding direction of the lifting slide 5, and the clamping jaw assembly 7 circumferentially rotates around the sliding direction of the lifting slide 5 through a rotating device.

In addition, the rotating device may directly drive the jaw assembly 7 to rotate by using a motor, and in this embodiment, in order to enable the jaw assembly 7 to stably rotate, the rotating device includes a rotating motor 25 disposed on the lifting rod 21, the jaw assembly 7 is rotatably connected to the lifting rod 21 by a worm, and an output shaft of the rotating motor 25 is provided with a worm wheel engaged with the worm.

Furthermore, in order to enable the first motor to drive the rotating base 2 to rotate reciprocally through the first transmission assembly, the first transmission assembly may employ a plurality of sets of common axially parallel gear sets to achieve speed reduction and transmission, and in this embodiment, the first transmission assembly includes a driven rotating shaft 9 rotatably connected to the base 1 and transversely disposed, the driven rotating shaft 9 is sleeved with a driven bevel gear 10, the rotating base 2 is connected with the driven rotating shaft 9 and rotates synchronously, the first motor is disposed on the base 1, and an output shaft of the first motor is sleeved with a driving bevel gear 11 engaged with the driven bevel gear 10.

Meanwhile, in order to enable the second motor 4 to drive the transverse sliding base 3 to slide back and forth through the second transmission assembly, the second transmission assembly may adopt a common screw nut 27 assembly, and in this embodiment, the second transmission assembly includes a left synchronous pulley 12 and a right synchronous pulley 13 rotatably connected to the left and right sides of the transverse sliding base 3, the second motor 4 is disposed on the rotating base 2, an output shaft of the second motor 4 is connected with a driving synchronous pulley 14 in a transmission manner, a transverse synchronous belt 15 is sleeved among the left synchronous pulley 12, the right synchronous pulley 13 and the driving synchronous pulley 14, a transverse tensioning pulley 16 rolling against the outer side wall of the transverse synchronous belt 15 is rotatably connected on the rotating base 2, and the transverse sliding base 3 is fixedly connected to one side of the transverse synchronous belt 15. Namely, the second motor 4 drives the driving synchronous pulley 14 to rotate so as to drive the transverse synchronous belt 15 to rotate, and therefore the transverse sliding seat 3 slides transversely left and right.

Furthermore, in order to enable the third motor 6 to drive the lifting slide 5 to slide back and forth through the third transmission assembly, the third transmission assembly may employ a common screw nut 27 assembly, and in this embodiment, the third transmission assembly includes a lifting synchronous belt 17 having upper and lower ends fixed to the upper and lower ends of the lifting slide 5, respectively, the third motor 6 is disposed on the transverse slide 3, an output shaft of the third motor 6 is connected with a driving synchronous pulley 18 through a transmission of a gearbox, the transverse slide 3 on the upper and lower sides of the driving synchronous pulley 18 is respectively rotatably connected with an upper tension pulley 19 and a lower tension pulley 20, an inner tooth surface of the lifting synchronous belt 17 is in meshing transmission with the driving synchronous pulley 18, and an outer side surface of the lifting synchronous belt 17 is respectively in rolling contact with the upper tension pulley 19 and the lower tension pulley 20. Namely, the third motor 6 drives the synchronous pulley 18 to rotate through the gearbox so as to drive the lifting synchronous belt 17 to move, and then the lifting slide carriage 5 slides up and down relative to the transverse slide carriage 3.

In addition, in order to increase the stroke of reciprocating of clamping jaw subassembly 7, sliding connection has the lifter 21 with lift slide 5 syntropy gliding on the lift slide 5, and the upper and lower both ends of lift slide 5 are rotated respectively and are connected with synchronous pulley 22 and lower synchronous pulley 23, and the cover is equipped with lift synchronous clitellum 24 between synchronous pulley 22 and the lower synchronous pulley 23, and lift synchronous clitellum 24 moving direction's both sides are respectively in horizontal slide 3, lifter 21 fixed connection, clamping jaw subassembly 7 sets up on lifter 21. Namely, when the lifting slide 5 slides up and down, because the transverse slide 3 is relatively fixed, under the action of the lifting synchronous belt 24, the upper synchronous pulley 22 and the lower synchronous pulley 23, the lifting rod 21 can correspondingly slide up and down relative to the lifting slide 5, and further, the up-and-down movement stroke of the clamping jaw assembly 7 is effectively increased.

Furthermore, in order to enable the fourth motor 8 to drive the clamping jaw assembly 7 to perform the clamping action, the clamping jaw assembly 7 includes a clamp seat 26 fixed relative to the fourth motor 8, an output shaft of the fourth motor 8 is a screw rod and is sleeved with a nut 27, two ends of the nut 27 are respectively hinged to one end of each of the two hinge members 28, the clamp seat 26 is rotatably connected with a first clamping plate 29 and a second clamping plate 30, inner ends of the first clamping plate 29 and the second clamping plate 30 are respectively hinged to the other end of the corresponding hinge member 28, outer ends of the first clamping plate 29 and the second clamping plate 30 are both free ends, and a clamping space is formed between the outer ends of the first clamping plate 29 and the second clamping plate 30.

The above-mentioned embodiment is only one of the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, so: equivalent changes made according to the shape, structure and principle of the utility model are all covered by the protection scope of the utility model.

Claims

1. A manipulator, its characterized in that: including base (1), be connected with around horizontal rotation on base (1) and rotate seat (2), and rotate seat (2) and carry out reciprocating rotation through the drive of drive assembly by first motor, it has horizontal slide (3) to rotate seat (2) to go up to be connected with along controlling horizontal sliding about along, and horizontal slide (3) carry out reciprocating sliding through the drive of drive assembly two by second motor (4), it has lift slide (5) to go up to follow oscilaltion sliding connection on horizontal slide (3), and lift slide (5) carry out reciprocating sliding through the drive assembly three drive by third motor (6), be equipped with clamping jaw subassembly (7) on lift slide (5), and clamping jaw subassembly (7) carry out the centre gripping closure or separation by fourth motor (8) drive.

2. A manipulator according to claim 1, wherein: the first transmission assembly is connected on the base (1) and along the driven rotating shaft (9) transversely arranged including rotating, the driven rotating shaft (9) is sleeved with a driven bevel gear (10), the rotating seat (2) is connected with the driven rotating shaft (9) and synchronously rotates, the first motor is arranged on the base (1), and the output shaft of the first motor is sleeved with a driving bevel gear (11) meshed with the driven bevel gear (10).

3. A manipulator according to claim 1, wherein: the transmission assembly II comprises a left synchronous belt wheel (12) and a right synchronous belt wheel (13) which are rotatably connected to the left side and the right side of a transverse sliding seat (3), a second motor (4) is arranged on a rotating seat (2), an output shaft of the second motor (4) is connected with a driving synchronous belt wheel (14), a transverse synchronous ring belt (15) is sleeved among the left synchronous belt wheel (12), the right synchronous belt wheel (13) and the driving synchronous belt wheel (14), a transverse tension wheel (16) which is supported on the outer side wall of the transverse synchronous ring belt (15) in a rolling mode is rotatably connected to the rotating seat (2), and the transverse sliding seat (3) is fixedly connected to one side of the transverse synchronous ring belt (15).

4. A manipulator according to claim 1, wherein: the third transmission component comprises a lifting synchronous belt (17) with an upper end and a lower end fixed on the lifting slide seat (5) respectively, the third motor (6) is arranged on the transverse slide seat (3), an output shaft of the third motor (6) is connected with a driving synchronous belt wheel (18) through transmission of a gearbox, the transverse slide seat (3) on the upper side and the lower side of the driving synchronous belt wheel (18) are respectively connected with an upper tension pulley (19) and a lower tension pulley (20) in a rotating mode, an inner tooth surface of the lifting synchronous belt (17) is in meshing transmission with the driving synchronous belt wheel (18), and an outer side surface of the lifting synchronous belt (17) is respectively abutted to the upper tension pulley (19) and the lower tension pulley (20) in a rolling mode.

5. A manipulator according to claim 1, wherein: sliding connection has and goes up and down slide (5) syntropy gliding lifter (21) on lift slide (5), and the upper and lower both ends of lift slide (5) are rotated respectively and are connected with synchronous pulley (22) and synchronous pulley (23) down, go up synchronous pulley (22) and overlap between synchronous pulley (23) down and be equipped with lift synchronous clitellum (24), lift synchronous clitellum (24) moving direction opposite both sides respectively in horizontal slide (3), lifter (21) fixed connection, clamping jaw subassembly (7) set up on lifter (21).

6. A manipulator according to claim 5, wherein: the clamping jaw assembly (7) is arranged along the sliding direction of the lifting sliding seat (5), and the clamping jaw assembly (7) rotates around the sliding direction of the lifting sliding seat (5) in the circumferential direction through a rotating device.

7. A manipulator according to claim 6, wherein: the rotating device comprises a rotating motor (25) arranged on the lifting rod (21), the clamping jaw assembly (7) is connected to the lifting rod (21) through a worm in a rotating mode, and a worm wheel meshed with the worm is arranged on an output shaft of the rotating motor (25).

8. A manipulator according to claim 1 or 5 or 6 or 7, wherein: clamping jaw subassembly (7) including with fourth motor (8) position relatively fixed's anchor clamps seat (26), the output shaft of fourth motor (8) is the screw rod, and the cover is equipped with nut (27), the both ends of nut (27) are articulated with the one end of two hinge parts (28) respectively, it is connected with splint one (29) and splint two (30) to rotate on anchor clamps seat (26), the inner of splint one (29) and splint two (30) is articulated with the other end that corresponds hinge part (28) respectively, the outer end of splint one (29) and splint two (30) is the free end and forms the centre gripping space between the two.