CN219445134U - Multi-joint translation robot manipulator - Google Patents
Multi-joint translation robot manipulator Download PDFInfo
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- CN219445134U CN219445134U CN202320914604.1U CN202320914604U CN219445134U CN 219445134 U CN219445134 U CN 219445134U CN 202320914604 U CN202320914604 U CN 202320914604U CN 219445134 U CN219445134 U CN 219445134U
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- movable
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Abstract
The utility model discloses a multi-joint translation robot manipulator which comprises a machine base and a manipulator, wherein the machine base is provided with a plurality of support arms; the manipulator comprises a fixed frame, a first movable frame, a second movable frame, a gripper joint and a gripper mechanism; a first rotating mechanism is arranged between the joints of the fixed frame and the first movable frame, a second rotating mechanism is arranged between the first movable frame and the second movable frame, the end part of the second movable frame is connected with a gripper joint, and the gripper joint is connected with the gripper mechanism. The manipulator comprises the fixed frame and the two movable frames, the two movable frames can rotate at a large angle under the action of the rotating mechanism, the folding effect can be achieved, the work piece can be grasped in a small-size space, the rotating angle can be adjusted, the actual use length of the manipulator is increased, the change can be carried out according to the requirement, and the use range of the manipulator is greatly increased.
Description
Technical Field
The utility model relates to the technical field of grabbing mobile equipment, in particular to a multi-joint translation robot manipulator.
Background
A robot is a common type of machining aid that is often used to move a workpiece from one station to another. In the prior art, the arm length of the manipulator is long, the manipulator cannot be folded, the grabbing range of the manipulator is generally within 180 degrees, and grabbing within 360 degrees cannot be realized. In addition, because the support of manipulator can't fold for the snatch scope after the manipulator is expanded is limited, when the distance between manipulator and the work piece changes, then need change other sizes of manipulators to make the manipulator have suitable length to reach the work piece position, for example, when changing processing product or process, when the distance between manipulator and the work piece increases, can only change longer manipulator or mobile robot and make its length suitable this moment, and likewise, when letting the distance between manipulator and the work piece reduce, prior art also can only change shorter manipulator, and this kind of mode certainly has reduced the application scope of manipulator.
Therefore, it is necessary to develop a robot that can automatically adjust the actual use length of the robot arm as needed.
Disclosure of Invention
The utility model aims to provide a multi-joint translation robot manipulator.
To achieve the above object, in one embodiment of the present utility model, there is provided a multi-joint translation robot manipulator including a base and a manipulator mounted on the base; the manipulator comprises a fixed frame, a first movable frame, a second movable frame, a gripper joint and a gripper mechanism;
the fixing frame is connected with the Y-axis direct drive mechanism and then arranged on the machine base to move up and down along the machine base; a first rotating mechanism is arranged between the joints of the fixed frame and the first movable frame and drives the first movable frame to rotate at the end part of the fixed frame; the first rotating mechanism comprises a first rotating motor, the first rotating motor is arranged on the fixed frame, and a rotating shaft of the first rotating motor drives the first movable frame to rotate;
a second rotating mechanism is arranged between the first movable frame and the second movable frame, and the second rotating mechanism drives the second movable frame to rotate at the end part of the first movable frame; the second rotating mechanism comprises a second rotating motor, a second driving wheel and a second driven wheel, and the second driving wheel drives the second driven wheel to rotate; the second rotating motor is arranged on one side close to the fixed frame, the second driving wheel is arranged on a motor shaft of the second rotating motor, the second driven wheel is arranged on one side close to the second movable frame, and a movable shaft configured by the second driven wheel extends downwards to be connected with the second movable frame; the end part of the second movable frame is connected with a gripper joint, and the gripper joint is connected with a gripper mechanism.
The utility model preferably comprises a base and a supporting seat, wherein the supporting seat is arranged on the base, the base and the supporting seat are internally provided with accommodating spaces, a cabinet door is arranged on the base, and an organ folding plate is arranged between the supporting seat and the manipulator.
In the utility model, preferably, the side wall of the machine base is provided with the wire passing hole, the protection pipe and the heat dissipation hole, and the cable in the machine base is connected with the manipulator along the protection pipe after passing through the wire passing hole, and comprises an electric wire, a signal wire and a control wire.
Preferably, the Y-axis direct drive mechanism is one of a ball screw mechanism, an electric push rod mechanism, a linear motor structure or a cylinder drive mechanism; the Y-axis direct drive mechanism is arranged in a supporting seat of the machine seat.
In the utility model, preferably, an external gear is arranged on the rotating shaft of the first rotating motor, an internal gear is arranged at the corresponding position of the first movable frame, and the external gear is embedded into the internal gear to drive the first movable frame to rotate.
In the utility model, the second driving wheel and the second driven wheel are driven by the transmission chain, the movable shaft arranged on the second driven wheel is arranged in the bearing, the centers of the second driven wheel and the movable shaft are provided with through holes, and the cable and the air pipe matched with the gripper mechanism enter the wire slot formed by the cavity in the second movable frame through the through holes.
In the utility model, preferably, the cavity in the first movable frame forms a wire slot, the cable and the air pipe in the first movable frame are stored through the first corrugated pipe, the other end of the first corrugated pipe is connected into the wire slot of the fixed frame, and the cable enters the protective pipe through the wire slot of the fixed frame and enters the machine base from the protective pipe.
The utility model preferably adopts a sucker gripper mechanism, wherein the sucker gripper comprises a sucker frame and a sucker arranged on the sucker frame, and the sucker is provided with an air pipe; the sucking disc frame comprises a disc fixed on the tongs joint, a plurality of circumferential grooves are formed in the circumferential direction of the disc, two supports are installed on the circumferential grooves, strip-shaped grooves are formed in the supports, limiting plates are installed on the strip-shaped grooves on the two supports, the limiting plates are limited and fixed through configured bolts, sucking discs are installed on the supports, and air pipes matched with the sucking discs are bound on the supports.
In the present utility model, the first movable frame is preferably provided with a protective cover.
In summary, the utility model has the following advantages:
1. the manipulator comprises the fixed frame and the two movable frames, the two movable frames can rotate at a large angle under the action of the rotating mechanism, the folding effect can be achieved, the work piece can be grasped in a small-size space, the rotating angle can be adjusted, the actual use length of the manipulator is increased, the change can be carried out according to the requirement, and the use range of the manipulator is greatly increased.
2. The second rotating mechanism does not adopt the structure of the first rotating mechanism, and a through hole is needed to be designed between the second movable frame and the first movable frame, so that a cable and an air pipe matched with the gripper mechanism can be conveniently threaded, the line can be arranged in a wire slot of the movable frame, and the cable and the air pipe can be protected. Since the first rotating electric machine cannot open holes, a second rotating mechanism is employed between the first movable frame and the second movable frame.
Drawings
FIG. 1 is a schematic illustration of a multi-joint translation robot in accordance with one embodiment of the present utility model;
FIG. 2 is a schematic diagram of a multi-joint translation robot according to one embodiment of the present utility model
FIG. 3 is a side view of a multi-joint translation robot in accordance with one embodiment of the present utility model;
FIG. 4 is a side view of an articulated translation robot in another orientation in accordance with one embodiment of the present utility model;
FIG. 5 is a top view of a multi-joint translation robot in accordance with one embodiment of the present utility model;
FIG. 6 is a schematic diagram of a second rotation mechanism according to an embodiment of the present utility model;
FIG. 7 is a diagram illustrating the mating of an outer gear and an inner gear in an embodiment of the present utility model;
figure 8 is a schematic view of a suction cup holder in accordance with one embodiment of the present utility model.
1, a base; 2. a support base; 3. a fixing frame; 4. a first movable frame; 5. a second movable frame; 6. a gripper joint; 7. a gripper mechanism; 8. a first rotation mechanism; 9. a second rotation mechanism; 91. a second rotating electric machine; 92. a second driving wheel; 93. a second driven wheel; 94. a movable shaft; 10. an organ folding plate; 11. a protective tube; 12. a heat radiation hole; 13. an external gear; 14. an internal gear; 15. a through hole; 16. a first bellows; 17. a suction cup holder; 171. a disc; 172. a circumferential groove; 173. a bracket; 174. a limiting plate; 18. a suction cup; 19. and a protective cover.
Detailed Description
The utility model provides a multi-joint translation robot manipulator which comprises a machine base and a manipulator arranged on the machine base, wherein the machine base is provided with a plurality of support arms; the manipulator comprises a fixed frame 3, a first movable frame 4, a second movable frame 5, a gripper joint 6 and a gripper mechanism 7. The machine base can be a hollow structure which is formed by assembling a plurality of plates, and the manipulator is a structure which can be used for grabbing. The fixing frame 3 is fixed on the machine base, the first movable frame 4 and the second movable frame 5 are all parts capable of realizing rotation, the gripper joint 6 can adopt any joint capable of being connected with the gripper mechanism 7 in the prior art, generally can adopt a quick-dismantling buckle type structure, can also adopt a bolt type fixed connection structure, and the gripper mechanism 7 is a structure capable of grabbing workpieces and can be any gripper capable of grabbing objects in the prior art; such as a suction cup grip is common.
The fixing frame 3 is connected with a Y-axis direct drive mechanism and then arranged on the machine base to move up and down along the machine base, and the Y-axis direct drive mechanism is one of a ball screw mechanism, an electric push rod mechanism, a linear motor structure or a cylinder drive mechanism; the Y-axis direct drive mechanism is arranged inside the supporting seat 2 of the machine seat. The Y-axis direct drive mechanism and other rotating mechanisms can be independently controlled so as not to generate stroke, and the sliding rail and other modes can be arranged on the machine base, so that the fixing frame 3 is more stable in the sliding process.
A first rotating mechanism 8 is arranged between the joints of the fixed frame 3 and the first movable frame 4, and the first rotating mechanism 8 drives the first movable frame 4 to rotate at the end part of the fixed frame 3; the first rotating mechanism 8 includes a first rotating motor, which is mounted on the fixed frame 3, and the rotating shaft of which drives the first movable frame 4 to rotate. The length of the fixed frame 3 may be greater than the length of the first movable frame 4, so that the first movable frame 4 may be rotated at a large angle at the lower side of the fixed frame 3 without being restricted. Specifically, an external gear 13 may be mounted on the rotating shaft of the first rotating motor, an internal gear 14 is mounted at a position corresponding to the first movable frame 4, and the external gear is embedded into the internal gear to drive the first movable frame 4 to rotate; because the rotating shaft of the motor is generally thinner, an external gear needs to be added to improve the installation size, and after the internal gear is meshed with the external gear, the rotating shaft of the first rotating motor can directly drive the first movable frame 4 to rotate when rotating.
A second rotating mechanism 9 is arranged between the first movable frame 4 and the second movable frame 5, and the second rotating mechanism 9 drives the second movable frame 5 to rotate at the end part of the first movable frame 4. The second rotating mechanism 9 includes a second rotating motor 91, a second driving wheel 92, and a second driven wheel 93, and the second driving wheel drives the second driven wheel to rotate. The second rotating motor is arranged on the side close to the fixed frame 3, the second driving wheel is arranged on the motor shaft of the second rotating motor, the second driven wheel is arranged on the side close to the second movable frame 5, and a movable shaft 94 configured by the second driven wheel extends downwards to be connected with the second movable frame 5. Therefore, when the second rotating motor rotates, the second driving wheel rotates simultaneously, the second driving wheel can drive the second driven wheel through a belt or other transmission chains, and the second driven wheel rotates simultaneously with the movable shaft, and the movable shaft is connected with the second movable frame 5, so that the second movable frame 5 can finally rotate. The end of the second movable frame 5 is connected with a gripper joint 6, and the gripper joint 6 is connected with a gripper mechanism 7.
The first rotating mechanism 8 and the second rotating mechanism 9 can respectively drive the two movable frames, the rotation ranges of the two movable frames are very wide, the rotation of 360 degrees can be achieved at most, and the mounting position of the fixed frame 3 is higher than that of the first movable frame 4, and the mounting position of the first movable frame 4 is higher than that of the second movable frame 5, so that the three frames can be folded through adjusting the mounting angle, and the manipulator can rotate by a proper adjusting angle when needed, and different practical use lengths are realized.
In the optimized embodiment of the utility model, the stand comprises the base 1 and the supporting seat 2, the supporting seat 2 is arranged on the base 1, the base 1 and the supporting seat 2 are internally provided with accommodating spaces, the base 1 is provided with the cabinet door, the organ folding plate 10 is arranged between the supporting seat 2 and the manipulator, and the organ folding plate 10 can seal the supporting seat 2 without influencing the up-and-down movement of the fixing frame 3.
In the optimized embodiment of the utility model, the side wall of the machine base is provided with the wire passing hole, the protection pipe 11 and the heat dissipation hole 12, and the cable in the machine base is connected with the manipulator along the protection pipe after passing through the wire passing hole, and comprises an electric wire, a signal wire and a control wire. The protection pipe can protect pipelines such as cable trachea that draws forth in the frame, and the protection pipe has the effect that can buckle deformation, can adopt the bellows, also can adopt the pipeline that a plurality of activity platelets are constituteed.
In the optimized embodiment of the utility model, the second driving wheel and the second driven wheel are driven by a transmission chain, a movable shaft arranged on the second driven wheel is arranged in a bearing, the centers of the second driven wheel and the movable shaft are provided with a through hole 15, and a cable and an air pipe matched with the gripper mechanism 7 enter a wire slot formed by a cavity in the second movable frame 5 through the through hole. According to the utility model, through the design of the through hole and the principle that the through hole can be designed by matching with the second driven wheel of the second rotating mechanism 9, the cables, the air pipes and other pipelines of the gripper mechanism 7 can be wrapped in the wire groove, so that the wire routing is facilitated.
In the optimized embodiment of the utility model, the inner cavity of the first movable frame 4 forms a wire slot, the cable and the air pipe in the first movable frame 4 are stored through the first corrugated pipe 16, the other end of the first corrugated pipe is connected into the wire slot of the fixed frame 3, and the cable enters the protective pipe through the wire slot of the fixed frame 3 and enters the machine base from the protective pipe.
In the optimized embodiment of the utility model, the gripper mechanism 7 is a sucker gripper, and the sucker gripper comprises a sucker frame 17 and a sucker 18 arranged on the sucker frame, and the sucker is provided with an air pipe; the sucking disc frame is including fixing the disc 171 on the tongs connects 6, has offered a plurality of circumference groove 172 on the circumferencial direction of disc, installs two brackets 173 on the circumference groove, is provided with the bar groove on the bracket, installs limiting plate 174 on the bar groove on two brackets, and limiting plate carries out spacing fixedly through the bolt of configuration, and after the limiting plate location for the angle of opening of two brackets is fixed, installs the sucking disc on the bracket, and the supporting trachea of sucking disc is bound on the bracket.
In the preferred embodiment of the utility model, the first mobile frame 4 is provided with a protective cover 19.
Although specific embodiments of the utility model have been described in detail with reference to the accompanying drawings, it should not be construed as limiting the scope of protection of the present patent. Various modifications and variations which may be made by those skilled in the art without the creative effort are within the scope of the patent described in the claims.
Claims (9)
1. The utility model provides a many joints translation robot manipulator which characterized in that: comprises a machine seat and a manipulator arranged on the machine seat; the manipulator comprises a fixed frame, a first movable frame, a second movable frame, a gripper joint and a gripper mechanism;
the fixing frame is connected with the Y-axis direct drive mechanism and then arranged on the machine base to move up and down along the machine base; a first rotating mechanism is arranged between the joints of the fixed frame and the first movable frame and drives the first movable frame to rotate at the end part of the fixed frame; the first rotating mechanism comprises a first rotating motor, the first rotating motor is arranged on the fixed frame, and a rotating shaft of the first rotating motor drives the first movable frame to rotate;
a second rotating mechanism is arranged between the first movable frame and the second movable frame, and the second rotating mechanism drives the second movable frame to rotate at the end part of the first movable frame; the second rotating mechanism comprises a second rotating motor, a second driving wheel and a second driven wheel, and the second driving wheel drives the second driven wheel to rotate; the second rotating motor is arranged on one side close to the fixed frame, the second driving wheel is arranged on a motor shaft of the second rotating motor, the second driven wheel is arranged on one side close to the second movable frame, and a movable shaft configured by the second driven wheel extends downwards to be connected with the second movable frame;
the end part of the second movable frame is connected with a gripper joint, and the gripper joint is connected with a gripper mechanism.
2. The multi-joint translating robot manipulator according to claim 1, wherein: the machine base comprises a base and a supporting seat, wherein the supporting seat is arranged on the base, accommodating spaces are formed in the base and the supporting seat, a cabinet door is arranged on the base, and an organ folding plate is arranged between the supporting seat and the manipulator.
3. The multi-joint translating robot manipulator according to claim 1, wherein: the side wall of the machine base is provided with a wire passing hole, a protection pipe and a heat dissipation hole, a cable in the machine base passes through the wire passing hole and then is connected with the manipulator along the protection pipe, and the cable comprises an electric wire, a signal wire and a control wire.
4. The multi-joint translating robot manipulator according to claim 1, wherein: the Y-axis direct drive mechanism is one of a ball screw mechanism, an electric push rod mechanism, a linear motor structure or a cylinder drive mechanism; the Y-axis direct drive mechanism is arranged in a supporting seat of the machine seat.
5. The multi-joint translating robot manipulator according to claim 1, wherein: an external gear is arranged on a rotating shaft of the first rotating motor, an internal gear is arranged at a corresponding position of the first movable frame, and the external gear is embedded into the internal gear to drive the first movable frame to rotate.
6. The multi-joint translating robot manipulator according to claim 1, wherein: the second driving wheel and the second driven wheel are driven by a driving chain, a movable shaft arranged on the second driven wheel is arranged in the bearing, through holes are formed in the centers of the second driven wheel and the movable shaft, and a cable and an air pipe matched with the gripper mechanism enter a wire slot formed by a cavity in the second movable frame through the through holes.
7. The multi-joint translating robot manipulator according to claim 1, wherein: the cable and the air pipe in the first movable frame are stored through the first corrugated pipe, the other end of the first corrugated pipe is connected into the wire groove of the fixing frame, the wire groove through the fixing frame is connected into the protection pipe, and the wire groove enters into the machine base from the protection pipe.
8. The multi-joint translating robot manipulator according to claim 1, wherein: the gripper mechanism is a sucker gripper, and the sucker gripper comprises a sucker frame and a sucker arranged on the sucker frame, wherein the sucker is provided with an air pipe; the sucker frame comprises a disc fixed on the gripper joint, a plurality of circumferential grooves are formed in the circumferential direction of the disc, two supports are mounted on the circumferential grooves, strip-shaped grooves are formed in the supports, limiting plates are mounted on the strip-shaped grooves on the two supports, the limiting plates are limited and fixed through configured bolts, suckers are mounted on the supports, and air pipes matched with the suckers are bound on the supports.
9. The multi-joint translating robot manipulator according to claim 1, wherein: the first movable frame is provided with a protective cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320914604.1U CN219445134U (en) | 2023-04-21 | 2023-04-21 | Multi-joint translation robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320914604.1U CN219445134U (en) | 2023-04-21 | 2023-04-21 | Multi-joint translation robot manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219445134U true CN219445134U (en) | 2023-08-01 |
Family
ID=87380738
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320914604.1U Active CN219445134U (en) | 2023-04-21 | 2023-04-21 | Multi-joint translation robot manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219445134U (en) |
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2023
- 2023-04-21 CN CN202320914604.1U patent/CN219445134U/en active Active
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