CN218698837U

CN218698837U - Novel swing arm manipulator mechanism

Info

Publication number: CN218698837U
Application number: CN202223020242.6U
Authority: CN
Inventors: 吴少华; 欧阳泉
Original assignee: Shenzhen Mingxin Testing Equipment Co ltd
Current assignee: Shenzhen Mingxin Testing Equipment Co ltd
Priority date: 2022-11-11
Filing date: 2022-11-11
Publication date: 2023-03-24
Anticipated expiration: 2032-11-11

Abstract

The utility model discloses a novel swing arm manipulator mechanism relates to mechanical equipment technical field. Including the Z axle subassembly, the Z axle subassembly includes first bottom plate, Z axle straight line module, rotating electrical machines, harmonic speed reducer ware and first mounting panel, the lower fixed surface of first mounting panel installs the X axle subassembly, the X axle subassembly includes second bottom plate, X axle straight line module and second mounting panel, the lower fixed surface of second mounting panel installs the Y axle subassembly, the Y axle subassembly includes mounting bracket, Y axle straight line module, revolving cylinder, third mounting panel, actuating cylinder and clamping jaw body. The utility model discloses a Z axle subassembly, X axle subassembly and Y axle subassembly make this swing arm manipulator possess multiple direction of motion, have realized mechanical action, the various change demands of adaptation design, low in production cost that require under special scene and the space condition, and simple structure.

Description

Novel swing arm manipulator mechanism

Technical Field

The utility model relates to a mechanical equipment technical field specifically is a novel swing arm manipulator mechanism.

Background

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

Among the prior art, a large amount of swing arm manipulator or automatic machine have been adopted in the transportation of some materials and have been replaced artifical installation, consequently, swing arm manipulator need cooperate other machines and the mechanism of automatic industry line to use, traditional swing arm manipulator size is big, and the action is mostly linear motion, lead to swing arm manipulator and other machines to have the interference problem of final mounted position, be difficult to satisfy the mechanical action that requires under special scene and the spatial situation, the various change demands of unable adaptation design, the problem of high in production cost and structure complicacy.

SUMMERY OF THE UTILITY MODEL

The utility model provides a novel swing arm manipulator mechanism to solve the problem in the background art.

In order to achieve the above object, the utility model provides a following technical scheme: a novel swing arm manipulator mechanism comprises a Z shaft assembly, wherein the Z shaft assembly comprises a first bottom plate, a Z shaft linear module, a rotating motor, a harmonic speed reducer and a first mounting plate, the Z shaft linear module is fixedly mounted on the left side surface of the first bottom plate, the rotating motor is mounted on the left side surface of a sliding table of the Z shaft linear module, the harmonic speed reducer is fixedly mounted on the lower surface of the rotating motor, an input shaft of the harmonic speed reducer is connected with an output shaft of the rotating motor, the first mounting plate is fixedly mounted on the lower surface of an output shaft of the harmonic speed reducer, the sliding table of the Z shaft linear module is movably connected with the left side surface of the first bottom plate through a first guide mechanism, an X shaft assembly is fixedly mounted on the lower surface of the first mounting plate, and the X shaft assembly comprises a second bottom plate, an X shaft linear module and a second mounting plate, the edge of the right side of the upper surface of the second bottom plate is connected with the lower surface of the first mounting plate, the lower surface of the second bottom plate is fixedly provided with an X-axis linear module, the lower surface of the sliding table of the X-axis linear module is fixedly provided with a second mounting plate, the sliding table of the X-axis linear module is movably connected with the lower surface of the second bottom plate through a second guide mechanism, the lower surface of the second mounting plate is fixedly provided with a Y-axis assembly, the Y-axis assembly comprises a mounting frame, a Y-axis linear module, a rotary cylinder, a third mounting plate, a driving cylinder and a clamping jaw body, the mounting frame is fixedly arranged on the lower surface of the second bottom plate, the Y-axis linear module is fixedly arranged in the mounting frame, the lower surface of the sliding table of the Y-axis linear module is fixedly provided with a rotary cylinder, the lower surface of a piston of the rotary cylinder is provided with a third mounting plate, and the lower surface of the third mounting plate is provided with a driving cylinder, install the clamping jaw body on the piston of cylinder, lateral wall passes through inner wall swing joint about the slip table of Y axle sharp module and mounting bracket through third guiding mechanism.

Furthermore, the sliding table of the Z-axis linear module and the corresponding positions of the left side surface of the first bottom plate and the sliding table of the X-axis linear module and the lower surface of the second bottom plate are provided with drag chains.

Further, first guiding mechanism includes guide rail and slider, guide rail fixed mounting is in the left surface of first bottom plate, the slider is installed to movable buckle on the guide rail, slider and Z axle straight line module's slip table fixed connection.

Furthermore, the second guide mechanism and the third guide mechanism are the same as the first guide mechanism in structure.

Furthermore, an electromagnetic valve is fixedly installed in the middle of the upper surface of the second bottom plate, and a speed regulating valve is installed on the upper surface of the electromagnetic valve.

Furthermore, the left inner wall and the right inner wall of the clamping jaw body are fixedly provided with V-shaped blocks close to the lower side.

Compared with the prior art, the utility model provides a novel swing arm manipulator mechanism possesses following beneficial effect:

this novel swing arm manipulator mechanism drives the X axle subassembly through setting up the Z axle subassembly and reciprocates and the horizontal rotation, and rethread X axle subassembly drives the Y axle subassembly and removes, and cooperation Y axle subassembly self drives the clamping jaw body rotatory or removes about, makes this swing arm manipulator possess multiple direction of motion, has realized mechanical action, the various change demands of adaptation design, low in production cost that require under special scene and the spatial conditions, and simple structure.

Drawings

Fig. 1 is a schematic structural view of the present invention;

fig. 2 is a rear view of the Z-axis assembly of the present invention;

fig. 3 is a schematic view of the X-axis assembly of the present invention;

fig. 4 is a right side view of the Y-axis assembly of the present invention.

In the figure: 1. a Z-axis assembly; 101. a first base plate; 102. a Z-axis linear module; 103. a rotating electric machine; 104. a harmonic speed reducer; 105. a first mounting plate; 2. a first guide mechanism; 201. a guide rail; 202. a slider; 3. an X-axis assembly; 301. a second base plate; 302. an X-axis linear module; 303. a second mounting plate; 4. a second guide mechanism; 5. a Y-axis assembly; 501. a mounting frame; 502. a Y-axis linear module; 503. a rotating cylinder; 504. a third mounting plate; 505. a driving cylinder; 506. a jaw body; 6. a third guide mechanism; 7. a drag chain; 8. an electromagnetic valve; 9. a speed regulating valve; 10. and (5) a V-shaped block.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the 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 discloses a novel swing arm manipulator mechanism, which comprises a Z-axis assembly 1, wherein the Z-axis assembly 1 comprises a first base plate 101, a Z-axis linear module 102, a rotating electrical machine 103, a harmonic speed reducer 104 and a first mounting plate 105, the Z-axis linear module 102 is fixedly mounted on the left side surface of the first base plate 101, the rotating electrical machine 103 is mounted on the left side surface of the sliding table of the Z-axis linear module 102, the harmonic speed reducer 104 is fixedly mounted on the lower surface of the rotating electrical machine 103, the input shaft of the harmonic speed reducer 104 is connected with the output shaft of the rotating electrical machine 103, the first mounting plate 105 is fixedly mounted on the lower surface of the output shaft of the harmonic speed reducer 104, the sliding table of the Z-axis linear module 102 is movably connected with the left side surface of the first base plate 101 through a first guiding mechanism 2, the X-axis assembly 3 is fixedly mounted on the lower surface of the first mounting plate 105, the X-axis assembly 3 comprises a second base plate 301, an X-axis linear module 302 and a second mounting plate 303, the lower surface of the second mounting plate 301, the X-axis linear module 302 and a second mounting plate 303, the cylinder 501 is fixedly mounted on the lower surface of the sliding table 502, the mounting plate 501 and the cylinder 501, the cylinder 501 and the cylinder 501 are fixedly mounted on the lower surface of the mounting plate 501, the fixed surface mounting has revolving cylinder 503 under the slip table of Y axle sharp module 502, revolving cylinder 503's piston lower surface mounting has third mounting panel 504, the lower surface mounting of third mounting panel 504 drives actuating cylinder 505, install clamping jaw body 506 on the piston of cylinder, inner wall swing joint about lateral wall passes through third guiding mechanism 6 and mounting bracket 501 about the slip table of Y axle sharp module 502.

Specifically, the sliding table of the Z-axis linear module 102 and the sliding table of the left side surface of the first bottom plate 101 and the sliding table of the X-axis linear module 302 are provided with drag chains 7 at corresponding positions on the lower surface of the second bottom plate 301.

In this embodiment, the tow chain 7 satisfies the demand of electric wire installation, leads the electric wire, makes the electrical property installation stable.

Specifically, first guiding mechanism 2 includes guide rail 201 and slider 202, guide rail 201 fixed mounting is in the left surface of first bottom plate 101, slider 202 is installed to the last movable buckle of guide rail 201, slider 202 and Z axle straight line module 102's slip table fixed connection.

In this embodiment, the slider 202 moves up and down on the guide rail 201 along with the sliding table of the Z-axis linear module 102, and guides the up-and-down moving process of the sliding table of the Z-axis linear module 102, so that the moving process of the sliding table of the Z-axis linear module 102 is stable.

Specifically, the second guide mechanism 4 and the third guide mechanism 6 are both the same as the first guide mechanism 2 in structure.

In this embodiment, the second guide mechanism 4 can guide the sliding table of the X-axis linear module 302, and the third guide mechanism 6 can guide the sliding table moving direction of the Y-axis linear module 502, so that the movement is stable.

Specifically, an electromagnetic valve 8 is fixedly mounted in the middle of the upper surface of the second bottom plate 301, and a speed regulating valve 9 is mounted on the upper surface of the electromagnetic valve 8.

In this embodiment, the electromagnetic valve 8 and the speed regulating valve 9 adjust the speed of the rotating cylinder 503 and the driving cylinder 505, so that the clamping force and the speed of the clamping jaw body 506 meet the use requirements.

Specifically, the V-shaped blocks 10 are fixedly mounted on the left inner wall and the right inner wall of the clamping jaw body 506 close to the lower side.

In this embodiment, the V-block 10 provides a more stable clamping process for the jaw body 506.

When the clamping jaw device is used, in the Z-axis assembly 1, the sliding table of the Z-axis linear module 102 drives the rotating motor 103 to move up and down, the output shaft of the rotating motor 103 drives the input shaft of the harmonic speed reducer 104 to rotate, the output shaft of the harmonic speed reducer 104 drives the first mounting plate 105 to rotate horizontally, the first mounting plate 105 drives the second bottom plate 301 in the X-axis assembly 3 to rotate horizontally, the sliding table of the X-axis linear module 302 drives the second mounting plate 303 to move left and right, the second mounting plate 303 drives the mounting frame 501 in the Y-axis assembly 5 to move left and right, the sliding table of the Y-axis linear module 502 in the mounting frame 501 drives the rotating cylinder 503 to move left and right, the rotating cylinder 503 drives the third mounting plate 504 to rotate, the third mounting plate 504 drives the driving cylinder 505 and the clamping jaw body 506 to rotate, meanwhile, the driving cylinder 505 drives the clamping jaw body 506 to clamp materials, so that the clamping jaw body 506 has multiple movement directions, so that the movement directions are wider, mechanical actions required under special scenes and space conditions are realized, various change requirements of adaptive design are met, the production cost is low, and the structure is simple.

To sum up, this novel swing arm manipulator mechanism through Z axle subassembly 1, X axle subassembly 3 and Y axle subassembly 5, makes this swing arm manipulator possess multiple direction of motion, has realized mechanical action, the various change demands of adaptation design, low in production cost, and simple structure that require under special scene and spatial condition.

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

Claims

1. The utility model provides a novel swing arm manipulator mechanism, includes Z axle subassembly (1), its characterized in that: the Z axle subassembly (1) includes first bottom plate (101), Z axle straight line module (102), rotating electrical machines (103), harmonic speed reducer (104) and first mounting panel (105), the left surface fixed mounting of first bottom plate (101) has Z axle straight line module (102), the slip table left surface of Z axle straight line module (102) installs rotating electrical machines (103), the lower fixed surface of rotating electrical machines (103) installs harmonic speed reducer (104), and the input shaft of harmonic speed reducer (104) is connected with rotating electrical machines (103) output shaft, the output shaft lower fixed surface of harmonic speed reducer (104) installs first mounting panel (105), the slip table of Z axle straight line module (102) is through first guiding mechanism (2) and first bottom plate (101) left surface swing joint, the lower fixed mounting of first mounting panel (105) has X axle subassembly (3), X axle subassembly (3) includes second bottom plate (301), X axle straight line module (302) and second mounting panel (303), the upper surface edge of second bottom plate (301) and first mounting panel (105) lower fixed mounting panel (105) install the straight line module (302), the second lower surface of second mounting panel (302) is connected, the lower fixed mounting panel (301) is installed, the lower surface of second straight line module (302) is installed, the second mounting panel (303), the slip table of X axle straight line module (302) passes through second guiding mechanism (4) and second bottom plate (301) lower surface swing joint, the lower fixed surface of second mounting panel (303) installs Y axle subassembly (5), Y axle subassembly (5) include mounting bracket (501), Y axle straight line module (502), revolving cylinder (503), third mounting panel (504), actuating cylinder (505) and clamping jaw body (506), mounting bracket (501) fixed mounting is in second bottom plate (301) lower surface, fixed mounting has Y axle straight line module (502) in mounting bracket (501), the slip table lower fixed surface of Y axle straight line module (502) is installed revolving cylinder (503), the piston lower surface mounting of revolving cylinder (503) has third mounting panel (504), the lower surface mounting of third mounting panel (504) has actuating cylinder (505), install clamping jaw body (506) on the piston of cylinder, inner wall swing joint about the slip table (6) and second bottom plate (501) is passed through to the slip table lateral wall about of mounting bracket Y axle straight line module (502).

2. The novel swing arm manipulator mechanism of claim 1, characterized in that: the corresponding positions of the sliding table of the Z-axis linear module (102), the left side surface of the first bottom plate (101), the sliding table of the X-axis linear module (302) and the lower surface of the second bottom plate (301) are provided with drag chains (7).

3. The novel swing arm manipulator mechanism of claim 1, characterized in that: first guiding mechanism (2) include guide rail (201) and slider (202), guide rail (201) fixed mounting is in the left surface of first bottom plate (101), movable buckle installs slider (202) on guide rail (201), slider (202) and the slip table fixed connection of Z axle straight line module (102).

4. The novel swing arm manipulator mechanism of claim 1, characterized in that: the second guide mechanism (4) and the third guide mechanism (6) are the same as the first guide mechanism (2) in structure.

5. The novel swing arm manipulator mechanism of claim 1, characterized in that: the middle position of the upper surface of the second bottom plate (301) is fixedly provided with an electromagnetic valve (8), and the upper surface of the electromagnetic valve (8) is provided with a speed regulating valve (9).

6. The novel swing arm manipulator mechanism of claim 1, characterized in that: the left inner wall and the right inner wall of the clamping jaw body (506) are fixedly provided with V-shaped blocks (10) close to the lower side.