CN217572877U - One-shaft transverse moving type servo manipulator stable in operation - Google Patents
One-shaft transverse moving type servo manipulator stable in operation Download PDFInfo
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- CN217572877U CN217572877U CN202221816261.7U CN202221816261U CN217572877U CN 217572877 U CN217572877 U CN 217572877U CN 202221816261 U CN202221816261 U CN 202221816261U CN 217572877 U CN217572877 U CN 217572877U
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Abstract
The utility model discloses a move steady one and walk formula servo manipulator violently, including guide holder, guide way, linkage screw rod. The utility model discloses a both ends are symmetrical formula about base and run through and are provided with the screw, both ends are provided with the riser about the guide holder, and both ends are rotary type horizontally connect with linkage screw rod through the bearing about the riser to be fixed with first servo motor on the riser, first servo motor's transmission axostylus axostyle all is provided with the linkage gear with linkage screw rod's one end, makes the base directionally move on the guide holder, and stability when improving the base and remove through setting up two linkage screw rods the utility model provides a bottom of connecting seat is provided with fourth servo motor, and the top level of fourth servo motor's rotation axostylus axostyle is fixed with the transfer line, and the one end of clamping jaw is the rotary type and is connected with the linkage driving lever, and the other end and the transfer line of linkage driving lever are the rotary type and are connected, make the clamping jaw can be with the quick centre gripping locking of work piece.
Description
Technical Field
The utility model relates to a servo manipulator specifically is a move steady one and walk formula servo manipulator violently, belongs to manipulator technical field.
Background
The multi-degree-of-freedom mechanical arm is an automatic production device which can imitate the functions of human limbs and allows automatic control of the mechanical arm so that the mechanical arm can convey workpieces or hold tools to carry out production operation according to preset requirements.
However, the existing servo manipulators mostly have various problems:
1) Most of the existing servo manipulators are provided with rollers at the bottom of a base during traversing, the rollers are driven by a servo motor to rotate so as to drive the whole servo manipulator to traverse, but the direction of the rollers can be cheap to a certain extent during rotation, so that the whole servo manipulator is deviated;
2) When two clamping jaws on a control manipulator are linked, the two clamping jaws of the existing manipulator are mostly rotated in a gear meshing reverse rotation mode so as to clamp and lock a workpiece, the contact area between the clamping jaws and the workpiece is small due to the linkage method, and further the local pressure of the workpiece is too large, so that the workpiece is damaged.
SUMMERY OF THE UTILITY MODEL
The object of the present invention is to provide a horizontal servo manipulator which operates stably for solving the above technical problems.
The utility model discloses a following technical scheme realizes above-mentioned purpose: a one-axis traversing servo manipulator which operates stably, comprising:
the guide mechanism comprises a guide seat and a guide groove, the guide seat with a rectangular structure is horizontally fixed on a fixed plane and is positioned at the bottom of the integral structure of the one-axis transversely-moving type servo manipulator, and the guide groove for guiding and limiting is arranged at the top of the guide seat in an inwards concave manner;
the supporting mechanism comprises a base, a second servo motor, a first supporting frame and a second supporting frame, the supporting mechanism is connected to the guide mechanism, the base is connected to the top of the guide seat in a sliding mode, the second servo motor is fixed at the center of the top of the base, the bottom of the first supporting frame is connected with a transmission shaft lever of the second servo motor, and one end of the second supporting frame is rotatably connected with the top end of the first supporting frame through a bearing;
fixture, it includes connecting seat, clamping jaw, cardboard, and fixture sets up on supporting mechanism, and the other end at the second support frame is fixed to the connecting seat, and the cardboard setting is provided with the notch in the edge of connecting seat, and the bottom of clamping jaw is the indent formula, and the clamping jaw is the spacing joint of slidingtype on the cardboard through the notch.
Still further, both ends are the symmetry formula about the base and run through and are provided with the screw, and both ends are provided with the riser about the guide holder, and both ends are rotary type horizontally connect through the bearing and have a linkage screw rod about the riser, and the linkage screw rod is the screw thread rotary type and connects in the screw to be fixed with first servo motor on the riser, the transmission axostylus axostyle of first servo motor all is provided with the linkage gear with the one end of linkage screw rod, is provided with the chain between the adjacent linkage gear.
Still further, the bottom of base is provided with spacing seat, spacing seat is provided with three and upper and lower one-to-one setting with the guide way equidistance, and be connected with the first support frame of gyro wheel through second servo motor and base in the horizontal direction in spacing seat for the rotary type and be connected, and be fixed with third servo motor on the lateral wall top of first support frame, third servo motor's rotation axostylus axostyle is connected with the second support frame, the second support frame is connected with first support frame through third servo motor in the vertical direction for the rotary type.
Still further, the bottom of connecting seat is provided with fourth servo motor, and the top level of fourth servo motor's rotation axis pole is fixed with the transfer line, and the one end of clamping jaw is the rotary type and is connected with the linkage driving lever, and the other end of linkage driving lever is connected with the transfer line in the rotary type.
Furthermore, the left and the right of the clamping jaw are symmetrically provided with two triangular structures, and a layer of rubber pad is glued on the vertical surface of the clamping jaw.
And furthermore, transverse plates are symmetrically welded and fixed at the left end and the right end of the bottom of the guide seat, through holes are formed in the transverse plates in a penetrating manner, expansion screws are arranged in the through holes, and expansion sleeves are connected to the expansion screws in an embedded manner.
Furthermore, the first support frame is rotatably connected with the base in the horizontal direction through a second servo motor, a third servo motor is fixed at the top end of the side wall of the first support frame, a rotating shaft rod of the third servo motor is connected with the second support frame, and the second support frame is rotatably connected with the first support frame in the vertical direction through the third servo motor.
The utility model has the advantages that:
1) The left end and the right end of the base in the utility model are symmetrically provided with screw holes in a penetrating way, the left end and the right end of the guide seat are provided with vertical plates, the left end and the right end of each vertical plate are in rotary type horizontal connection with a linkage screw rod through a bearing, a first servo motor is fixed on each vertical plate, a transmission shaft lever of the first servo motor and one end of each linkage screw rod are both provided with linkage gears, chains are arranged between adjacent linkage gears, so that the base can directionally move on the guide seat, and the stability of the base during moving is improved by arranging two linkage screw rods;
2) The bottom of the base in the utility model is provided with a limiting seat, and the limiting seat is rotatably connected with a roller, so that the base can move on the guide seat more stably by the rolling of the roller;
3) The utility model provides a bottom of connecting seat is provided with fourth servo motor, and the top level of fourth servo motor's rotation axostylus axostyle is fixed with the transfer line, and the one end of clamping jaw is the rotary type and is connected with the linkage driving lever, and the other end of linkage driving lever is the rotary type with the transfer line and is connected, makes the clamping jaw can be with the locking of the quick centre gripping of work piece.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the linkage screw connection structure of the present invention;
FIG. 3 is a schematic view of the overall connection structure of the support frame of the present invention;
fig. 4 is a schematic view of the clamping jaw and the overall connection structure thereof.
In the figure: 1. the guide holder, 2, the guide way, 3, the linkage screw rod, 4, the linkage gear, 5, the chain, 6, first servo motor, 7, the base, 8, spacing seat, 9, second servo motor, 10, first support frame, 11, third servo motor, 12, the second support frame, 13, the connecting seat, 14, fourth servo motor, 15, the transfer line, 16, the linkage driving lever, 17, the clamping jaw, 18, the cardboard.
Detailed Description
Example one
As shown in fig. 1 to 4, a one-axis traverse type servo robot which operates smoothly, includes:
the guide mechanism comprises a guide seat 1 and a guide groove 2, wherein the guide seat 1 with a rectangular structure is horizontally fixed on a fixed plane and is positioned at the bottom of the integral structure of the one-axis transverse servo manipulator, and the guide groove 2 for guiding and limiting is arranged at the top of the guide seat 1 in a concave manner;
the supporting mechanism comprises a base 7, a second servo motor 9, a first supporting frame 10 and a second supporting frame 12, the supporting mechanism is connected to the guide mechanism, the base 7 is connected to the top of the guide base 1 in a sliding mode, the second servo motor 9 is fixed to the center of the top of the base 7, the bottom of the first supporting frame 10 is connected with a transmission shaft rod of the second servo motor 9, and one end of the second supporting frame 12 is rotatably connected with the top end of the first supporting frame 10 through a bearing;
clamping mechanism, it includes connecting seat 13, clamping jaw 17, cardboard 18, clamping mechanism sets up on supporting mechanism, connecting seat 13 is fixed at the other end of second support frame 12, cardboard 18 sets up in the edge of connecting seat 13, the bottom of clamping jaw 17 is the indent formula and is provided with the notch, and clamping jaw 17 is the spacing joint of slidingtype through the notch on cardboard 18, the model of first servo motor 6, second servo motor 9, third servo motor 11, fourth servo motor 14 is UB35D24-1030.
The embodiment of the utility model provides an in, both ends are the symmetry formula about base 7 and run through and be provided with the screw, both ends are provided with the riser about guide holder 1, both ends are rotary type horizontally connect through the bearing and have linkage screw rod 3 about the riser, linkage screw rod 3 is screw thread rotary type and connects in the screw, and be fixed with first servo motor 6 on the riser, the transmission axostylus axostyle of first servo motor 6 all is provided with linkage gear 4 with linkage screw rod 3's one end, be provided with chain 5 between the adjacent linkage gear 4, make base 7 screw thread linkage through linkage screw rod 3, and then make base 7 directional movement on guide holder 1, and through setting up the stability when two linkage screw rods 3 improve base 7 and remove.
In the embodiment of the present invention, the bottom of the base 7 is provided with the limiting seat 8, the limiting seat 8 and the guiding groove 2 are equally spaced from each other and are provided with three and upper and lower one-to-one settings, and the rotating type is connected with the roller in the limiting seat 8, so that the base 7 can move more stably on the guiding seat 1 by the rolling of the roller.
Example two
As shown in fig. 1 to 4, a one-axis traverse type servo robot which operates smoothly, includes:
the guide mechanism comprises a guide seat 1 and a guide groove 2, the guide seat 1 with a rectangular structure is horizontally fixed on a fixed plane and is positioned at the bottom of the integral structure of the one-axis transversely-moving type servo manipulator, and the guide groove 2 for guiding and limiting is arranged at the top of the guide seat 1 in an inwards concave manner;
the supporting mechanism comprises a base 7, a second servo motor 9, a first supporting frame 10 and a second supporting frame 12, the supporting mechanism is connected to the guide mechanism, the base 7 is connected to the top of the guide base 1 in a sliding mode, the second servo motor 9 is fixed to the center of the top of the base 7, the bottom of the first supporting frame 10 is connected with a transmission shaft rod of the second servo motor 9, and one end of the second supporting frame 12 is rotatably connected with the top end of the first supporting frame 10 through a bearing;
fixture, it includes connecting seat 13, clamping jaw 17, cardboard 18, and fixture sets up on supporting mechanism, and connecting seat 13 is fixed at the other end of second support frame 12, and cardboard 18 sets up in the edge of connecting seat 13, and clamping jaw 17's bottom is the indent formula and is provided with the notch, and clamping jaw 17 is the spacing joint of slidingtype through the notch on cardboard 18.
The embodiment of the utility model provides an in, the bottom of connecting seat 13 is provided with fourth servo motor 14, the top level of the rotation axostylus axostyle of fourth servo motor 14 is fixed with transfer line 15, the one end of clamping jaw 17 is the rotary type and is connected with linkage driving lever 16, the other end of linkage driving lever 16 is the rotary type with transfer line 15 and is connected, drive transfer line 15 through fourth servo motor 14, linkage driving lever 16 linkage, and then drive two clamping jaws 17 and synchronous reverse slip on connecting seat 13, and then make clamping jaw 17 can be with the quick centre gripping locking of work piece.
The embodiment of the utility model provides an in, clamping jaw 17 left and right sides is symmetrical formula and is provided with two and be the triangle-shaped structure to it has the one deck rubber pad all to glue on its vertical face, avoids clamping jaw 17 to damage the work piece through the rubber pad.
The embodiment of the utility model provides an in, both ends are symmetry formula welded fastening and have the diaphragm about the bottom of guide holder 1, run through on the diaphragm and be provided with the through-hole, are provided with the inflation screw in the through-hole to nested connection has the inflation cover on the inflation screw, improves the overall stability between the device and the stationary plane.
In the embodiment of the present invention, the first support frame 10 is rotatably connected to the base 7 in the horizontal direction through the second servo motor 9, and a third servo motor 11 is fixed on the top end of the side wall of the first support frame 10, a rotating shaft of the third servo motor 11 is connected to the second support frame 12, the second support frame 12 is rotatably connected to the first support frame 10 in the vertical direction through the third servo motor 11, so that the angle of the clamping jaw 17 can be adjusted in the horizontal and vertical directions, respectively.
The working principle is as follows: when the servo manipulator is used, the guide seat 1 is fixed on a fixed plane, then the linkage gear 4 and the chain 5 are driven to rotate through the first servo motor 6, the left linkage screw and the right linkage screw 3 are driven to rotate synchronously, the base 7 is in threaded linkage through the rotation of the linkage screw 3, the base 7 and the whole structure of the base are driven to slide transversely on the guide seat 1, the servo manipulator can adjust the angles of the clamping jaws 17 in the horizontal direction and the vertical direction through the second servo motor 9 and the third servo motor 11 respectively during clamping, the transmission rod 15 is driven through the fourth servo motor 14, the linkage deflector rod 16 is linked, the two clamping jaws 17 are driven to slide synchronously and reversely on the connecting seat 13, and the clamping jaws 17 can clamp and lock workpieces quickly.
Claims (7)
1. The utility model provides a one that operates steadily walks formula servo manipulator which characterized in that includes:
the guide mechanism comprises a guide seat (1) and a guide groove (2), the guide seat (1) with a rectangular structure is horizontally fixed on a fixed plane and is positioned at the bottom of the integral structure of the one-axis transverse servo manipulator, and the guide groove (2) for guiding and limiting is arranged at the top of the guide seat (1) in an inwards concave manner;
the supporting mechanism comprises a base (7), a second servo motor (9), a first supporting frame (10) and a second supporting frame (12), the supporting mechanism is connected to the guide mechanism, the base (7) is connected to the top of the guide seat (1) in a sliding mode, the second servo motor (9) is fixed to the center of the top of the base (7), the bottom of the first supporting frame (10) is connected with a transmission shaft rod of the second servo motor (9), and one end of the second supporting frame (12) is rotatably connected with the top end of the first supporting frame (10) through a bearing;
fixture, it includes connecting seat (13), clamping jaw (17), cardboard (18), fixture sets up on supporting mechanism, and the other end at second support frame (12) is fixed in connecting seat (13), and cardboard (18) set up in the edge of connecting seat (13), and the bottom of clamping jaw (17) is the indent formula and is provided with the notch, and clamping jaw (17) are the spacing joint of slidingtype on cardboard (18) through the notch.
2. A smooth-running one-axis traversing servo manipulator as claimed in claim 1, wherein: both ends are the symmetry formula about base (7) and run through and are provided with the screw, both ends are provided with the riser about guide holder (1), both ends are rotary type horizontally connect and have linkage screw rod (3) through the bearing about the riser, linkage screw rod (3) are the screw thread rotary type and connect in the screw to be fixed with first servo motor (6) on the riser, the transmission axostylus axostyle of first servo motor (6) all is provided with linkage gear (4) with the one end of linkage screw rod (3), be provided with chain (5) between adjacent linkage gear (4).
3. A one-axis traversing servo manipulator as claimed in claim 1, wherein: the bottom of base (7) is provided with spacing seat (8), and spacing seat (8) are equidistant to be provided with three and upper and lower one-to-one setting with guide way (2) to be the rotary type and be connected with the gyro wheel in spacing seat (8).
4. A smooth-running one-axis traversing servo manipulator as claimed in claim 1, wherein: the bottom of the connecting seat (13) is provided with a fourth servo motor (14), the top of a rotating shaft lever of the fourth servo motor (14) is horizontally fixed with a transmission rod (15), one end of the clamping jaw (17) is rotatably connected with a linkage driving lever (16), and the other end of the linkage driving lever (16) is rotatably connected with the transmission rod (15).
5. A smooth-running one-axis traversing servo manipulator as claimed in claim 1, wherein: the clamping jaw (17) is symmetrically provided with two triangular structures at the left and the right, and a layer of rubber pad is glued on the vertical surface of the clamping jaw.
6. A one-axis traversing servo manipulator as claimed in claim 1, wherein: the left end and the right end of the bottom of the guide seat (1) are symmetrically welded and fixed with transverse plates, through holes are arranged on the transverse plates in a penetrating mode, expansion screws are arranged in the through holes, and expansion sleeves are connected to the expansion screws in an embedded mode.
7. A one-axis traversing servo manipulator as claimed in claim 1, wherein: the first support frame (10) is rotatably connected with the base (7) in the horizontal direction through a second servo motor (9), a third servo motor (11) is fixed at the top end of the side wall of the first support frame (10), a rotating shaft rod of the third servo motor (11) is connected with a second support frame (12), and the second support frame (12) is rotatably connected with the first support frame (10) in the vertical direction through the third servo motor (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221816261.7U CN217572877U (en) | 2022-07-13 | 2022-07-13 | One-shaft transverse moving type servo manipulator stable in operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221816261.7U CN217572877U (en) | 2022-07-13 | 2022-07-13 | One-shaft transverse moving type servo manipulator stable in operation |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217572877U true CN217572877U (en) | 2022-10-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221816261.7U Active CN217572877U (en) | 2022-07-13 | 2022-07-13 | One-shaft transverse moving type servo manipulator stable in operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217572877U (en) |
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2022
- 2022-07-13 CN CN202221816261.7U patent/CN217572877U/en active Active
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 529738, No. 18 Sanlian Seventh Street, Gulao Town, Heshan City, Jiangmen City, Guangdong Province (multiple photos of one site) Patentee after: Guangdong Puhe Electronics Co.,Ltd. Address before: 523000 First floor, No. 52 Xingsi Road, Wusha Chenwu First Industrial Zone, Chang'an Town, Dongguan City, Guangdong Province Patentee before: Guangdong Puhe Electronics Co.,Ltd. |
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| CP02 | Change in the address of a patent holder |