CN218255205U

CN218255205U - Manipulator device

Info

Publication number: CN218255205U
Application number: CN202222171483.4U
Authority: CN
Inventors: 欧阳路长; 付超
Original assignee: Ningbo Ke Well Robots Technology Co ltd
Current assignee: Ningbo Ke Well Robots Technology Co ltd
Priority date: 2022-08-17
Filing date: 2022-08-17
Publication date: 2023-01-10
Anticipated expiration: 2032-08-17

Abstract

The utility model discloses a manipulator device, including frame, shift unit, swing arm device, set up shift unit in the frame, set up swing arm device on shift unit's the removal end, swing arm device includes driving motor one, pedestal one, driving motor two, pedestal two, driving motor three, armed lever, driving motor one longitudinal fixation sets up pedestal one on shift unit's the removal end and the output department of driving motor one, the output department that transversely sets up driving motor two and driving motor two on the pedestal sets up the armed lever, transversely set up driving motor three and the output department of driving motor three on the armed lever and set up pedestal two, improve swing arm device in this scheme to driving motor one orders about armed lever, driving motor two rotates, orders about pedestal two with two swings, and driving motor three on the armed lever orders about pedestal two to rotate, if during the use install fixture etc. on pedestal two, the position action is more nimble, and adaptability is stronger, and is with low costs.

Description

Manipulator device

Technical Field

The utility model relates to the field of processing technology, concretely relates to manipulator device.

Background

In the forming process of modern products or parts, the manipulator occupies an important position, a workpiece is required to be clamped or various tools are required to be clamped through the manipulator, for example, a common industrial robot moves the industrial robot with a shifting mechanism in the using process to shift the workpiece after clamping and grabbing, and the like. The manipulator with a simplified structure also appears on the market, the shifting mechanism is matched with the swing arm assembly to form a manipulator device, the device mostly moves the swing arm through the shifting mechanism, the arm lever swings to adjust the positions of the clamping mechanism and the like, and the defects that the arm lever is not flexible enough in movement, the applicable type is poor and the like exist, and improvement is needed.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one technical defect, the utility model provides a following technical scheme:

the utility model discloses a manipulator device, including frame, shifting unit, swing arm device, set up shifting unit in the frame, set up swing arm device on shifting unit's the removal end, swing arm device includes driving motor one, pedestal one, driving motor two, pedestal two, driving motor three, armed lever, driving motor longitudinal fixation sets up pedestal one at shifting unit's removal end and the output department of driving motor one, the output department that transversely sets up driving motor two and driving motor two on the pedestal sets up the armed lever, the output department that transversely sets up driving motor three and driving motor three on the armed lever sets up pedestal two.

Improve the swing arm device in this scheme to driving motor one orders about armed lever, two rotations of driving motor, orders about the armed lever swing with driving motor two, and driving motor three on the armed lever orders about pedestal two and rotates, during the use, installs fixture on pedestal two, like cylinder clamping jaw etc. under this structure armed lever, pedestal two and with the action of pedestal two function mechanism that bears etc. more nimble, adaptability is stronger.

Further, the first base body on the first output end of the driving motor rotates in a transverse plane, the arm rod on the second output end of the driving motor rotates in a longitudinal plane, and the second base body on the third output end of the driving motor rotates in the longitudinal plane. The first driving motor rotates the arm rod in the horizontal plane, and the position of the first driving motor changes slightly to better move towards the device.

Furthermore, the head end of the arm rod is fixed with the output end of the driving motor II, and the tail end of the arm rod is provided with the driving motor III.

Further, the shifting device comprises a first shifting mechanism, a second shifting mechanism and a third shifting mechanism, wherein the first shifting mechanism moves the second shifting mechanism along the first preset direction in the transverse plane, the second shifting mechanism moves the third shifting mechanism along the second preset direction, and the third shifting mechanism moves the swing arm device in the longitudinal plane. The displacement device is composed of at least three groups of displacement mechanisms so as to conveniently change the position of the swing arm device, and the swing arm device is used for a preset direction, such as an X direction, a Y direction and the like, or a direction required in practical use.

Further, the removal end department of aversion mechanism two sets up the mount pad, set up aversion mechanism three on the mount pad, aversion mechanism three includes driving motor four, driving motor five, synchronous belt drive mechanism, slide one, slide two, gear one, rack one, set up driving motor four on the mount pad and set up gear one on the output of driving motor four and driving motor four, sliding connection slide one on the mount pad, slide one along vertically set up rack one and mesh with gear one, sliding connection slide two and slide two are along longitudinal movement on slide one, slide one is gone up and is set up synchronous belt and slide two and be connected among driving motor five, synchronous belt drive mechanism and the synchronous belt drive mechanism, and driving motor five drives the transmission of synchronous belt drive mechanism and drives slide two and remove, slide two is connected with driving motor one.

In the scheme, the third shifting mechanism is matched with the synchronous belt for transmission through a gear rack, so that a larger stroke is given to the second sliding seat, the running stability is good, and the adaptability is strong.

Further, slide one, slide two are the L type, slide one in vertical end, horizontal end with slide rail, slider formation sliding connection and slide one horizontal end set up rack one towards the face of mount pad on the face that the mount pad is relative, slide one horizontal end, with slide two vertical end relative face on and slide one vertical end and slide two horizontal end opposite faces on all form sliding connection with slide rail, slider. And the reasonable layout is realized, the volume of the third displacement mechanism is increased in a limited way, and meanwhile, a larger stroke is given to the second sliding seat.

Furthermore, the first shifting mechanism and the second shifting mechanism are both in a gear and rack transmission type, and are large in stroke, high in load, good in stability and low in cost.

Furthermore, the frame is of a frame type, the third shifting mechanism longitudinally moves the swing arm device from the frame opening in the top of the frame, the stability is good, and the cost is reduced.

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

1. the utility model discloses improve manipulator device's structure, make swing arm device's action more nimble changeable, adaptability promotes.

2. The utility model discloses rational design aversion mechanism three, rack and pinion cooperation synchronous belt drive gives the stroke that the slide is two bigger.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic configuration diagram of a robot apparatus according to embodiment 1;

FIG. 2 is a schematic structural view of a swing arm device on a frame;

FIG. 3 is a schematic view of a first and a second slide seat;

FIG. 4 is a schematic view of a connection structure of a driving motor IV and a mounting seat;

wherein the reference numerals are:

1. a frame; 2. a first shifting mechanism; 3. a second shifting mechanism; 4. a third shifting mechanism; 5. a swing arm device; 6. a slider; 7. a slide rail; 8. a mounting seat; 20. a second rack; 21. a second gear; 22. a third sliding seat; 23. driving a motor six; 30. a fourth sliding seat; 31. a driving motor seven; 32. a third gear; 33. a third rack; 41. a first sliding seat; 42. a second sliding seat; 43. driving a motor V; 44. a synchronous belt transmission mechanism; 45. connecting blocks; 46. a bobbin; 47. driving a motor IV; 48. a first gear; 49. a first rack; 51. driving a motor I; 52. a first seat body; 53. a second driving motor; 54. an arm lever; 55. driving a motor III; 56. and a second seat body.

Detailed Description

The invention will be further explained with reference to the drawings and the specific embodiments.

Example 1

As shown in fig. 1-4, the robot device in this example mounts a displacement device on top of the rectangular frame 1, wherein a swing arm device 5 is mounted on the mobile end of the displacement device. The swing arm device 5 includes a first driving motor 51, a first base 52, a second driving motor 53, a third driving motor 55, an arm 54, and a second base 56, where the first driving motor 51 is fixed longitudinally (in this example, in the Z direction) and the first base 52 is fixed at an output end, the first driving motor 51 drives the first base to rotate in a transverse plane, the second driving motor 53 is fixed on the first base 52 in the transverse direction (in this example, in the Y direction) and the arm 54 is fixed radially at an output end of the second driving motor, so that the second driving motor drives the arm to swing on the longitudinal plane, the third driving motor 55 is fixed at a tail end of the arm 54 in the transverse direction (in this example, in the Y direction), the second base 56 is fixed at the output end of the third driving motor, when in use, a functional mechanism or the like is fixed on the second base 56, the third driving motor synchronously drives a functional mechanism or the like installed on the second base to rotate on the longitudinal plane to perform a corresponding action, and for the functional mechanism, a clamping mechanism, such as a cylinder clamping mechanism. The structure of the motor driving arm rod or the base body is applied more generally in the industry, so that the connection of each base body or the connection of the base body and the driving motor is not limited, and the disclosed technology or the free design can be freely selected.

The shifting device can move in one direction or multiple directions, and the shifting device can be a telescopic type, a lead screw type and the like, and can be selected according to needs.

The example is shown with multi-directional movement: as shown in fig. 1-4, the shifting apparatus includes a first shifting mechanism 2, a second shifting mechanism 3, and a third shifting mechanism 4, wherein the first shifting mechanism 2 moves the second shifting mechanism 3 along the rack bar extending along the X direction in the transverse plane of the top frame opening of the rack 1, and the second shifting mechanism 3 moves the third shifting mechanism 4 along the Y direction in the transverse plane. And a moving end of the second shifting mechanism 3 is fixedly provided with an installation seat 8 along the Z direction, and the third shifting mechanism 4 is arranged on the installation seat 8. The third shifting mechanism 4 comprises a fourth driving motor 47, a fifth driving motor 43, a synchronous belt transmission mechanism 44, a first sliding seat 41, a second sliding seat 42, a first gear 48 and a first rack 49, wherein the fourth driving motor 47 is fixed on the mounting seat 8 along the X direction, the first gear 48 is fixed at the output end of the fourth driving motor 47, the first sliding seat 41 is mounted on the mounting seat 8 in a sliding fit manner, the first rack 49 is fixed on the surface, facing the mounting seat, of the first sliding seat 41 along the longitudinal direction (namely the Z direction), the first rack is meshed with the first gear, and the first rack is moved and the first sliding seat is moved synchronously by driving the first driving gear to rotate by the fourth driving motor.

The first sliding seat 41 is further provided with a synchronous belt transmission mechanism 44 and a driving motor five 43, the sliding connection is provided with a second sliding seat 42, the synchronous belt transmission mechanism 40 is arranged on the side position of the first sliding seat 41 along the longitudinal direction (Z direction), the synchronous belt transmission mechanism is a common synchronous wheel and a common synchronous belt type, one synchronous wheel is connected with the output end of the driving motor five 43 fixed on the first sliding seat 41, the synchronous belt is fixed with the second sliding seat on one side through a connecting block 45, the synchronous belt is driven to move through the driving motor five, the synchronous belt drives the second sliding seat to move, the driving motor one 51 is fixed at the tail end position of the second sliding seat 42, and the longitudinal double-stroke displacement mechanism enables the longitudinal movement range of the swing arm device to be expanded.

In this example, each sliding fit adopts a common sliding rail and sliding block fit structure, as shown in fig. 1, 3 and 4, the first sliding seat and the second sliding seat both adopt an L-shaped configuration, the transverse ends and the longitudinal ends of the first sliding seat 41 and the second sliding seat 42 correspond to form a similar rectangular configuration, the surfaces of the transverse end of the first sliding seat 41 opposite to the longitudinal end of the second sliding seat 42 are respectively provided with a sliding block 6 and a sliding rail 7 which are matched, the surfaces of the longitudinal end of the first sliding seat 41 opposite to the transverse end of the second sliding seat 42 are respectively provided with a sliding rail 7 and a sliding block 6 which are matched, the surfaces of the transverse end and the longitudinal end of the first sliding seat 41 opposite to the mounting seat 8 are respectively provided with a sliding rail 7 and a sliding block 6, a first rack 49 is fixed on the surface of one side of the sliding rail 7 at the transverse end of the first sliding seat 41, and the first rack 49 is meshed with a first gear 48 at the output end of a driving motor four 47 on the mounting seat 8. One side of the longitudinal end of the sliding seat is fixed with the synchronous belt through an L-shaped connecting block. And a wire barrel can be arranged on the second sliding seat to facilitate the installation of the wiring drag chain.

In this example, the first and second shifting mechanisms are also of a rack and pinion type, wherein the first shifting mechanism 2 includes a third sliding seat 22, a sixth driving motor 23, a second rack 20, and a second gear 21, as shown in fig. 1 and 2, the third sliding seat 22 crosses over the top frame opening of the frame 1 and is in sliding fit with the frame rods on both sides of the frame opening through a sliding rail and a sliding block, the sixth driving motor 23 is longitudinally fixed at one end of the third sliding seat 22, the second gear 21 is mounted at the output end of the sixth driving motor 23, and the second gear 21 is engaged with the second rack 20 extending in the X direction on the lower frame rod. The second shifting mechanism 3 is mounted on the third sliding seat 22, the second shifting mechanism 3 comprises a fourth sliding seat 30, a seventh driving motor 31, a third gear 32 and a third rack 33, the third rack 33 is fixed along the extending direction (namely Y direction) of the third sliding seat 22, the fourth sliding seat and the third sliding seat pass through the sliding block and the sliding rail to be in sliding fit in the Y direction, the seventh driving motor 31 is fixed on the fourth sliding seat 30, the third gear 32 is fixed at the output end of the seventh driving motor 31, and the third gear 32 is meshed with the third rack 33.

When the swing arm device is used, the first shifting mechanism moves the second shifting mechanism along the X direction, the second shifting mechanism moves the third shifting mechanism along the Y direction, the third shifting mechanism moves the swing arm device along the Z direction at the frame opening at the top of the rack, and the swing arm device is more flexible in action due to the displacement change in the three directions and better adapts to a use scene.

Above only the utility model discloses a preferred embodiment, the utility model discloses a scope not only limits in above-mentioned embodiment, and the fan belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope. It should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.

Claims

1. The manipulator device comprises a rack, a shifting device and a swing arm device, wherein the shifting device is arranged on the rack, and the swing arm device is arranged at the moving end of the shifting device.

2. The robot apparatus of claim 1, wherein: the first base body on the output end of the driving motor rotates in the transverse plane, the arm rod on the output end of the second driving motor rotates in the longitudinal plane, and the second base body on the output end of the third driving motor rotates in the longitudinal plane.

3. The robot apparatus of claim 1, wherein: the head end of the arm rod is fixed with the output end of the driving motor II, and the tail end of the arm rod is provided with the driving motor III.

4. The robot apparatus of claim 1, wherein: the shifting device comprises a shifting mechanism I, a shifting mechanism II and a shifting mechanism III, wherein the shifting mechanism I moves the shifting mechanism II along the preset direction I in the transverse plane and moves the shifting mechanism III along the preset direction II, and the shifting mechanism III moves the swing arm device in the longitudinal plane.

5. The robot apparatus of claim 4, wherein: the utility model discloses a shift mechanism, including the mount pad, shift mechanism two sets up shift mechanism three on the mount pad, shift mechanism three includes driving motor four, driving motor five, synchronous belt drive mechanism, slide one, slide two, gear one, rack one, set up driving motor four on the mount pad and set up gear one on the output of driving motor four and driving motor four, sliding connection slide one on the mount pad, slide one along vertically set up rack one and mesh with gear one, sliding connection slide two and slide two are along longitudinal movement on slide one, the slide sets up in driving motor five, synchronous belt drive mechanism and synchronous belt drive mechanism hold-in range and is connected with slide two, driving motor five drive synchronous belt drive mechanism transmission and synchronous drive slide two remove, slide two is connected with driving motor one.

6. The robot apparatus of claim 5, wherein: the first sliding seat and the second sliding seat are L-shaped, the first sliding seat is arranged on the surface opposite to the mounting seat in a sliding mode through a sliding rail and a sliding block, the first sliding seat is arranged on the surface opposite to the mounting seat in a sliding mode through the sliding rail and the sliding block, the first sliding seat is arranged on the surface opposite to the first sliding seat and the second sliding seat, and the first sliding seat and the second sliding seat are arranged on the opposite surface opposite to the first sliding seat and the second sliding seat.

7. The robot apparatus of claim 4, wherein: the first shifting mechanism and the second shifting mechanism are both in a gear and rack transmission type.

8. The robot apparatus of claim 4, wherein: the frame is of a frame type, and the third shifting mechanism longitudinally moves the swing arm device from the frame opening at the top of the frame.