CN217552394U

CN217552394U - Right-angle type manipulator capable of moving in multiple directions

Info

Publication number: CN217552394U
Application number: CN202220257331.3U
Authority: CN
Inventors: 陈德春; 陈磊
Original assignee: Shanghai Fanai Robot Technology Co ltd
Current assignee: Shanghai Fanai Robot Technology Co ltd
Priority date: 2022-02-08
Filing date: 2022-02-08
Publication date: 2022-10-11
Anticipated expiration: 2032-02-08

Abstract

The utility model discloses a right-angle type manipulator of multi-direction removal, the on-line screen storage device comprises a base, the inside of base is rotated through the bearing and is connected with pivot one, pivot two, the outside fixed mounting of pivot one has gear one, the outside fixed mounting of pivot two has gear two, the up end fixed mounting of base has motor one, the up end fixed mounting of pivot one has the carousel. This right-angle type manipulator of multi-direction removal, manipulator main part bottom is provided with the carousel, a pivot one of carousel bottom passes through gear one, gear two links to each other with pivot two, pivot two passes through motor drive, it rotates to drive the carousel during rotation, realize the horizontal angle regulation of manipulator main part, the carousel upper end is provided with the support frame, inboard lead screw one of support frame passes through motor drive two, reciprocate through the movable block during rotation, during the removal, the connecting rod in the outside passes through the upset about the ear seat drive manipulator main part, realize the right angle and switch, improve the multi-direction motile of manipulator.

Description

Right-angle type manipulator capable of moving in multiple directions

Technical Field

The utility model relates to a manipulator technical field specifically is a right angle type manipulator of multi-direction removal.

Background

The manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

At present, most of manipulators are complex in structure and limited in mobility, mostly can only do horizontal linear motion or vertical lifting motion, cannot realize direct switching of ninety degrees, and are greatly limited in mobility of multiformity.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a right angle type manipulator of multi-direction removal to it is complicated to provide most manipulator structure in solving above-mentioned background art, and mobility is limited, mostly can only carry out horizontal linear motion or vertical lift motion, can't realize ninety degrees direct switch-over, but the mobility of multiaspect nature is the problem of restricting greatly.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a right angle type manipulator of multi-direction removal, includes the base, the inside of base is rotated through the bearing and is connected with pivot one, pivot two, the outside fixed mounting of pivot one has gear one, the outside fixed mounting of pivot two has gear two, the up end fixed mounting of base has motor one, the up end fixed mounting of pivot one has the carousel, the up end fixed mounting of carousel has the support frame, the inboard of support frame is rotated and is connected with lead screw one, the up end fixed mounting of support frame has motor two, the inboard fixed mounting of support frame has the gag lever post, the outside movable mounting of gag lever post has movable block one, the avris fixed mounting of movable block one has the one end of dead lever, the other end of dead lever rotates the one end that is connected with the connecting rod through the bearing, movable groove one has been seted up to the inside of support frame, avris fixed mounting of support frame upper end has the ear seat, the outside of ear seat rotates and is connected with the adjustable shelf, movable groove two has been seted up to the inside of adjustable shelf, the inboard of movable groove two rotates and is connected with motor three, the outside threaded connection of adjustable block has the adjustable block two, the fixed mounting has the lead screw cylinder, the control cylinder outside of the control cylinder, the base control cylinder.

Preferably, the circle centers of the base, the first rotating shaft and the first gear are located on the same vertical line, the circle centers of the second rotating shaft and the second gear are located on the same vertical line, the output shaft of the first motor is fixedly connected with the second rotating shaft, the first gear is meshed with the second gear, the first motor drives the second rotating shaft to rotate, the second rotating shaft drives the second gear to rotate, and the second gear drives the first rotating shaft to rotate through the first gear.

Preferably, the circle center of the rotary table and the circle center of the first rotary shaft are located on the same vertical line, the support frame is perpendicular to the rotary table, the output shaft of the second motor is fixedly connected with the first screw rod, the first rotary shaft drives the rotary table to rotate, the rotary table adjusts the horizontal angle of the support frame, and the second motor drives the first screw rod to rotate.

Preferably, the limiting rod is symmetrically provided with two vertical central lines of the first screw rod, the first screw rod is in threaded connection with the inside of the first movable block, the fixed rod is movably connected to the inner side of the first movable groove, the limiting rod prevents the first movable block from rotating, the first movable block is driven to move up and down when the first screw rod rotates, and the first movable block drives the fixed rod to move up and down on the inner side of the first movable groove.

Preferably, the other end of connecting rod passes through the bearing and rotates the connection in the adjustable shelf both sides, the adjustable shelf is located the support frame and keeps away from one side of lead screw one, and the dead lever drives the one end of connecting rod and reciprocates, and the connecting rod other end drives the adjustable shelf and overturns along the ear seat outside.

Preferably, the output shaft of the motor III is fixedly connected with the screw rod II, the outer side of the movable block II is tightly attached to the inner side of the movable groove II, the lifting cylinder is perpendicular to the movable frame, the motor III drives the screw rod II to rotate, the screw rod II drives the movable block II to move along the inner side of the movable groove II, and the lifting cylinder drives the manipulator main body to move.

Compared with the prior art, the beneficial effects of the utility model are that:

1. this right-angle type manipulator of multi-direction removal, manipulator main part bottom are provided with the carousel, and the pivot one of carousel bottom links to each other with pivot two through gear one, gear two, and pivot two is passed through the drive of motor one, and drive the carousel and rotate during the rotation, realizes the horizontal angle regulation of manipulator main part.

2. This right-angle type manipulator of multi-direction removal, carousel upper end are provided with the support frame, and the inboard lead screw of support frame is first through the drive of motor two, reciprocates through the movable block during rotation, and during the removal, the connecting rod in the outside passes through ear seat and drives the manipulator main part and overturn from top to bottom, realizes the right angle and switches, improves the multi-direction active nature of manipulator.

Drawings

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

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a schematic view of the internal structure of the present invention;

fig. 4 is the schematic view of the sectional structure of the adjustable frame of the present invention.

In the figure: 1. a base; 2. a first rotating shaft; 3. a second rotating shaft; 4. a first gear; 5. a second gear; 6. a first motor; 7. a turntable; 8. a support frame; 9. a first screw rod; 10. a second motor; 11. a limiting rod; 12. a first movable block; 13. fixing the rod; 14. a connecting rod; 15. a first movable groove; 16. an ear mount; 17. a movable frame; 18. a second movable groove; 19. a second screw rod; 20. a third motor; 21. a second movable block; 22. a lifting cylinder; 23. a manipulator main body; 24. a control panel.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-4, the present invention provides a technical solution: a right-angle type mechanical arm capable of moving in multiple directions comprises a base 1, a first rotating shaft 2, a second rotating shaft 3, a first gear 4, a second gear 5, a first motor 6, a rotary table 7, a supporting frame 8, a first screw rod 9, a second motor 10, a limiting rod 11, a first movable block 12, a fixed rod 13, a connecting rod 14, a first movable groove 15, an ear seat 16, a movable frame 17, a second movable groove 18, a second screw rod 19, a third motor 20, a second movable block 21, a lifting cylinder 22, a mechanical arm main body 23 and a control panel 24, wherein the base 1 is rotatably connected with the first rotating shaft 2 and the second rotating shaft 3 through bearings, the first gear 4 is fixedly arranged on the outer side of the first rotating shaft 2, the second gear 5 is fixedly arranged on the outer side of the second rotating shaft 3, the first motor 6 is fixedly arranged on the upper end face of the base 1, the rotary table 7 is fixedly arranged on the upper end face of the first rotating shaft 2, the supporting frame 8 is fixedly arranged on the upper end face of the rotary table 7, the inner side of the supporting frame 8 is rotatably connected with the first screw rod 9, a motor II 10 is fixedly arranged on the upper end face of the support frame 8, a limiting rod 11 is fixedly arranged on the inner side of the support frame 8, a movable block I12 is movably arranged on the outer side of the limiting rod 11, one end of a fixed rod 13 is fixedly arranged on the side of the movable block I12, the other end of the fixed rod 13 is rotatably connected with one end of a connecting rod 14 through a bearing, a movable groove I15 is formed in the support frame 8, an ear seat 16 is fixedly arranged on the side of the upper end of the support frame 8, a movable frame 17 is rotatably connected with the outer side of the ear seat 16, a movable groove II 18 is formed in the movable frame 17, a lead screw II 19 is rotatably connected with the inner side of the movable groove II 18, a motor III 20 is fixedly arranged on the outer side of the movable frame 17, a movable block II 21 is connected with the outer side of the lead screw II 19 through threads, a lifting cylinder 22 is fixedly arranged in the movable block II 21, and a manipulator main body 23 is fixedly arranged on the output end of the lifting cylinder 22, a control panel 24 is arranged on the outer side of the base 1, and a first motor 6, a second motor 10, a third motor 20, a lifting cylinder 22, a manipulator main body 23 and the control panel 24 are in wireless connection;

the automatic adjusting device comprises a base 1, a first rotating shaft 2, a first gear 4, a second rotating shaft 3 and a second gear 5, wherein the centers of circles of the first rotating shaft 3 and the second gear 5 are located on the same vertical line, an output shaft of a first motor 6 is fixedly connected with the second rotating shaft 3, the first gear 4 is meshed with the second gear 5, the center of a rotary table 7 and the center of a first rotating shaft 2 are located on the same vertical line, a support frame 8 is perpendicular to the rotary table 7, an output shaft of a second motor 10 is fixedly connected with a first screw rod 9, two limiting rods 11 are symmetrically arranged about the vertical center line of the first screw rod 9, the first screw rod 9 is in threaded connection with the inner portion of a first movable block 12, a fixed rod 13 is movably connected to the inner side of a first movable groove 15, the first motor 6 drives the second rotating shaft 3 to rotate, the second rotating shaft 3 drives the second gear 5 to rotate, the second gear 5 drives the first rotating shaft 2 to rotate through the first gear 4, the first rotating shaft 2 drives the rotary table 7 to rotate, the rotary table 7 adjusts the horizontal angle of the support frame 8, the second motor 10 drives the first screw rod 9 to rotate, the first screw rod 11 to rotate, the limiting rod 11 prevents the first movable block 12 from rotating, the movable block 12 when the first screw rod 9 rotates, the first screw rod 12 drives the movable block to move up and down, the movable block 13 moves up and down in the movable groove 15;

the other end of connecting rod 14 passes through the bearing and rotates the connection in adjustable shelf 17 both sides, adjustable shelf 17 is located one side that lead screw 9 was kept away from to support frame 8, the output shaft of motor three 20 and two 19 fixed connection of lead screw, the outside of movable block two 21 closely laminates with the inboard of activity groove two 18, lift cylinder 22 perpendicular to adjustable shelf 17, dead lever 13 drives the one end of connecting rod 14 and reciprocates, the connecting rod 14 other end drives adjustable shelf 17 and overturns along the ear seat 16 outside, motor three 20 drives two 19 rotations of lead screw, two 19 drive movable block two 21 of lead screw move along two 18 inboards in activity groove, lift cylinder 22 drives manipulator main part 23 and removes.

The working principle is as follows: firstly, a first starting motor 6 drives a second rotating shaft 3 to rotate, the second rotating shaft 3 drives a second gear 5 to rotate, the second gear 5 drives a first rotating shaft 2 to rotate through a first gear 4, the first rotating shaft 2 drives a rotary table 7 to rotate, the rotary table 7 adjusts the horizontal angle of the manipulator main body 23, a second starting motor 10 drives a first lead screw 9 to rotate, a limiting rod 11 prevents a first movable block 12 from rotating, the first movable block 12 is driven to move up and down when the first lead screw 9 rotates, the first movable block 12 drives a fixed rod 13 to move up and down inside a first movable groove 15, the fixed rod 13 drives one end of a connecting rod 14 to move up and down, the other end of the connecting rod 14 drives a movable frame 17 to turn over along the outer side of an ear seat 16, the vertical angle of the manipulator main body 23 is adjusted, the movable frame 17 rotates at most ninety degrees, right-angle switching is achieved, a third motor 20 drives a second lead screw 19 to rotate, the second lead screw 19 drives a second movable block 21 to move along the inner side of a second movable groove 18, the horizontal position of the manipulator main body 23 is adjusted, a lifting cylinder 22 drives the manipulator main body 23 to move, the manipulator main body 23, the height of the manipulator main body is adjusted, the structure is simple, and multi-direction mobility of the manipulator main body 23 is greatly improved.

It should be finally noted that the above only serves to illustrate the technical solution of the present invention, and not to limit the scope of the present invention, and that simple modifications or equivalent replacements performed by those skilled in the art to the technical solution of the present invention do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. The utility model provides a right-angle type manipulator of multi-direction removal, includes base (1), its characterized in that: the inner part of the base (1) is rotatably connected with a first rotating shaft (2) and a second rotating shaft (3) through bearings, the outer side of the first rotating shaft (2) is fixedly provided with a first gear (4), the outer side of the second rotating shaft (3) is fixedly provided with a second gear (5), the upper end face of the base (1) is fixedly provided with a first motor (6), the upper end face of the first rotating shaft (2) is fixedly provided with a turntable (7), the upper end face of the turntable (7) is fixedly provided with a support frame (8), the inner side of the support frame (8) is rotatably connected with a first lead screw (9), the upper end face of the support frame (8) is fixedly provided with a second motor (10), the inner side of the support frame (8) is fixedly provided with a limit rod (11), the outer side of the limit rod (11) is movably provided with a first movable block (12), the lateral side of the first movable block (12) is fixedly provided with one end of a fixed rod (13), the other end of the fixed rod (13) is rotatably connected with one end of a connecting rod (14) through bearings, the inner part of the support frame (8) is provided with a first movable groove (15), the ear seat (16), and the outer side of the movable block (17) is connected with a movable frame (17), the inboard of activity groove two (18) is rotated and is connected with lead screw two (19), the outside fixed mounting of adjustable shelf (17) has motor three (20), the outside threaded connection of lead screw two (19) has movable block two (21), the inside fixed mounting of movable block two (21) has lift cylinder (22), fixed mounting has manipulator main part (23) on the output of lift cylinder (22), the outside of base (1) is provided with control panel (24).

2. A multi-directionally movable right-angle robot of claim 1, wherein: the centre of a circle of base (1), pivot (2), gear (4) is located same vertical line, the centre of a circle of pivot two (3), gear two (5) is located same vertical line, the output shaft and the second (3) fixed connection of pivot of motor (6), gear (4) and gear two (5) meshing are connected.

3. A multi-directionally movable right-angle robot of claim 1, wherein: the circle center of the rotary table (7) and the circle center of the first rotating shaft (2) are located on the same vertical line, the supporting frame (8) is perpendicular to the rotary table (7), and an output shaft of the second motor (10) is fixedly connected with the first screw rod (9).

4. A multi-directionally movable right-angle robot of claim 1, wherein: the limiting rod (11) is symmetrically provided with two limiting rods about a vertical central line of the first screw rod (9), the first screw rod (9) is in threaded connection with the inner portion of the first movable block (12), and the fixed rod (13) is movably connected to the inner side of the first movable groove (15).

5. A multi-directionally movable right-angle robot of claim 1, wherein: the other end of the connecting rod (14) is rotatably connected to two sides of the movable frame (17) through a bearing, and the movable frame (17) is located on one side, away from the first screw rod (9), of the support frame (8).

6. A multi-directionally movable right-angle robot of claim 1, wherein: an output shaft of the motor III (20) is fixedly connected with the screw rod II (19), the outer side of the movable block II (21) is tightly attached to the inner side of the movable groove II (18), and the lifting cylinder (22) is perpendicular to the movable frame (17).