CN220548287U - Two-axis heavy-load manipulator - Google Patents
Two-axis heavy-load manipulator Download PDFInfo
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- CN220548287U CN220548287U CN202321984733.4U CN202321984733U CN220548287U CN 220548287 U CN220548287 U CN 220548287U CN 202321984733 U CN202321984733 U CN 202321984733U CN 220548287 U CN220548287 U CN 220548287U
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- 230000007704 transition Effects 0.000 claims abstract description 31
- 230000005540 biological transmission Effects 0.000 claims abstract description 15
- 210000000245 forearm Anatomy 0.000 claims description 31
- 238000009434 installation Methods 0.000 claims description 8
- 230000003014 reinforcing effect Effects 0.000 claims description 8
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000005452 bending Methods 0.000 claims description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009957 hemming Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model belongs to the technical field of manipulators, and in particular relates to a two-axis heavy-duty manipulator which comprises a large two large arms which are arranged in parallel, two small arms which are arranged in parallel, a large arm driving assembly and a small arm driving assembly, wherein the small arm driving assembly comprises a small arm driving motor and a driving plate which is connected with the output end of the small arm driving motor, the driving plate is in transmission connection with a transition shaft, the transition shaft is in transmission connection with a driven plate, the driving plate and the driven plate are arranged in parallel and are sleeved on a driving shaft and are in rotational connection with the driving shaft, and the driving plate and the driven plate are respectively used for driving the two small arms to rotate; according to the utility model, the two large arms and the two small arms hinged with the large arms are used for carrying the articles, so that the loading capacity of the manipulator is improved, and the driving plate and the driven plate realize transmission by utilizing the transition shaft and are coaxially arranged with the driving shaft, so that the stability of the whole structure of the manipulator is improved.
Description
Technical Field
The utility model belongs to the technical field of manipulators, and particularly relates to a two-axis heavy-load manipulator.
Background
At present, when carrying articles, manual carrying or mechanical arm carrying is generally adopted, but the manual carrying efficiency is low and heavy objects cannot be carried, so that the mechanical arm carrying is more and more common, and the two-axis mechanical arm is one of widely used mechanical arms.
The chinese patent with application number CN202121441562.1 discloses a two-axis mechanical arm device, which comprises a big arm and a small arm, and a lifting main beam and a lifting auxiliary beam which are correspondingly arranged, under the action of a link mechanism formed by the big arm, the small arm, the main lifting beam and the auxiliary lifting beam, a clamp mounting seat mounted at the end part of the small arm is enabled to realize up-down and horizontal movement, so that a clamp mounted on the clamp mounting seat is enabled to realize position movement, but in the application, the big arm and the small arm are only one, so that the load capacity is insufficient.
Disclosure of Invention
The utility model aims to solve the technical problems that: in order to solve the problem that the load capacity is insufficient due to the fact that only one large arm and only one small arm of the manipulator in the prior art are arranged, the two-axis heavy-load manipulator is provided.
In order to solve the technical problems, the utility model adopts the following technical scheme: a two-axis heavy duty manipulator comprising:
the large arm assembly comprises two large arms which are arranged in parallel;
the small arm assembly comprises two small arms which are arranged in parallel and are respectively hinged with the two large arms;
the large arm driving assembly comprises a large arm driving motor and a driving shaft connected with the output end of the large arm driving motor, and the driving shaft is connected with the large arm assembly and drives the large arm assembly to rotate;
the small arm driving assembly comprises a small arm driving motor and a driving plate connected with the output end of the small arm driving motor, wherein the driving plate is in transmission connection with a transition shaft, the transition shaft is arranged in parallel with the driving shaft, the transition shaft is in transmission connection with a driven plate, and the driving plate and the driven plate are arranged in parallel and are sleeved on the driving shaft and are in rotary connection with the driving shaft, and the driving plate and the driven plate are respectively used for driving the two small arms to rotate; the driving plate, the driven plate and the driving shaft are coaxially arranged to enable the large arm driving motor and the small arm driving motor to be basically symmetrical, so that the symmetry of the whole structure of the manipulator is realized, and the stability and the load capacity of the manipulator are improved. The forearm driving motor drives the driving plate to rotate, the driving plate drives the transition shaft to rotate, and the transition shaft drives the driven plate to synchronously rotate, so that the two booms are driven to synchronously rotate.
According to the technical scheme, the two large arms and the two small arms hinged with the large arms are used for carrying objects, so that the loading capacity of the manipulator is improved, and the driving plate and the driven plate realize transmission by utilizing the transition shaft and are coaxially arranged with the driving shaft, so that the stability of the whole structure of the manipulator is improved.
Furthermore, the driving plate and the driven plate are provided with gear rings, the two ends of the transition shaft are provided with gears matched with the gear rings, and the gear rings are meshed with the gears to realize the transmission connection of the transition shaft with the driving plate and the driven plate.
Further, big arm driving motor and forearm driving motor install respectively on two wallboards that symmetry set up, and transition axle and drive shaft are installed between two wallboards and are connected with two wallboards rotation, and all install the hold mechanism that is used for making gear and ring gear remain the meshing all the time on every wallboard.
Further, the retaining mechanism comprises a pressing block fixed on the wallboard and a screw rod in threaded connection with the pressing block, a pressing groove for installing the pressing block is formed in the inner side of the wallboard, a central shaft is inserted into the transition shaft, the bottom of the pressing groove downwards extends to be communicated with an installation groove for installing the central shaft, the screw rod stretches into the installation groove and the end of the screw rod is propped against the peripheral wall of the central shaft, so that the central shaft is fixed at the bottom of the installation groove, a gear on the transition shaft is meshed with a driving plate and a gear ring on a driven plate, a good transmission relation is formed, and the structure is convenient to detach.
Further, each big arm is provided with a flanging to form a box-shaped structure, a plurality of reinforcing ribs are arranged in the box-shaped structure, and a plurality of reinforcing plates are connected between the two big arms, so that a big arm assembly of a frame structure is formed, and the structural strength of the big arm assembly is improved.
Further, each small arm is provided with a curled edge to form a box-shaped structure, and a plurality of connecting rods are arranged between the two small arms, so that a small arm assembly of a frame structure is formed, and the structural strength of the small arm assembly is improved.
Further, a limiting rod used for limiting the driving plate is fixed on the wallboard on the installation side of the small arm driving motor, and the limiting rod is a limiting position when the driving plate abuts against the limiting rod.
Further, the manipulator still includes link assembly, link assembly includes big arm connecting rod, forearm connection upper boom, forearm connection lower boom, with forearm both ends articulated tongs connecting block and set-square, the pin joint of set-square and forearm and the pin joint of big arm are on a straight line, big arm connecting rod is used for connecting the one end of wallboard and set-square, the forearm connection upper boom is used for connecting drive plate and/or driven plate and forearm, the lower boom is used for connecting the other end of tongs connecting block one end and set-square.
Furthermore, the whole big arm connecting rod is in a bending shape.
The utility model has the beneficial effects that: according to the utility model, the two large arms and the two small arms hinged with the large arms are used for carrying the articles, so that the loading capacity of the manipulator is improved, and the driving plate and the driven plate realize transmission by utilizing the transition shaft and are coaxially arranged with the driving shaft, so that the stability of the whole structure of the manipulator is improved.
Drawings
The utility model will be further described with reference to the drawings and examples.
FIG. 1 is a three-dimensional schematic view of a first view angle of the present utility model;
FIG. 2 is a three-dimensional schematic view of a second view angle of the present utility model;
FIG. 3 is a schematic structural view of a large arm assembly;
FIG. 4 is a schematic structural view of the forearm assembly;
FIG. 5 is a schematic structural view of a holding mechanism;
in the figure:
1. a large arm assembly; 101. a large arm; 1011. flanging; 1012. reinforcing ribs; 102. a reinforcing plate;
2. a forearm assembly; 201. a forearm; 2011. hemming; 202. a connecting rod;
3. a large arm drive assembly; 301. a large arm driving motor; 302. a drive shaft;
4. a forearm drive assembly; 401. a forearm driving motor; 402. a driving plate; 403. a transition shaft; 404. a driven plate; 405. a central shaft; 406. a gear ring; 407. a gear; 408. a limit rod;
5. a connecting rod assembly; 501. a large arm connecting rod; 502. the forearm is connected with the upper rod; 503. the forearm is connected with the lower rod; 504. a gripper connecting block; 505. a triangle;
6. a wallboard; 601. pressing a groove; 602. a mounting groove;
7. a holding mechanism; 701. briquetting; 702. and (3) a screw.
Detailed Description
The utility model will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the utility model and therefore show only the structures which are relevant to the utility model.
Embodiment one:
as shown in fig. 1 to 5, the present utility model is a two-axis heavy load manipulator, comprising:
the large arm assembly 1 comprises two large arms 101 which are arranged in parallel, each large arm 101 is provided with a flanging 1011 to form a box-shaped structure, a plurality of reinforcing ribs 1012 are arranged in the large arms, and a plurality of reinforcing plates 102 are connected between the two large arms 101, so that the large arm assembly 1 with a frame structure is formed, and the structural strength of the large arm assembly 1 is improved;
the small arm assembly 2 comprises two small arms 201 which are arranged in parallel and are respectively hinged with the two large arms 101, each small arm 201 is provided with a curled edge 2011 to form a box-shaped structure, and a plurality of connecting rods 202 are arranged between the two small arms 201, so that the small arm assembly 2 with a frame structure is formed, and the structural strength of the small arm assembly 2 is improved;
the large arm driving assembly 3 comprises a large arm driving motor 301 and a driving shaft 302 connected with the output end of the large arm driving motor 301, wherein the driving shaft 302 is connected with the large arm assembly 1 and drives the large arm assembly 1 to rotate; the large arm driving motor 301 drives the driving shaft 302 to rotate, so that the two large arms 101 are driven to synchronously rotate;
the forearm drive assembly 4 comprises a forearm drive motor 401 and a drive plate 402 connected with the output end of the forearm drive motor 401, wherein the drive plate 402 is in transmission connection with a transition shaft 403, the transition shaft 403 is arranged in parallel with a drive shaft 302, the transition shaft 403 is in transmission connection with a driven plate 404, gear rings 406 are respectively arranged on the drive plate 402 and the driven plate 404, gears 407 matched with the gear rings 406 are respectively arranged at two ends of the transition shaft 403, and the gear rings 406 are meshed with the gears 407 to realize transmission connection of the transition shaft 403 with the drive plate 402 and the driven plate 404. The driving plate 402 and the driven plate 404 are arranged in parallel and are sleeved on the driving shaft 302 and are rotationally connected with the driving shaft 302, and the driving plate 402 and the driven plate 404 are respectively used for driving the two small arms 201 to rotate; the driving plate 402 and the driven plate 404 are coaxially arranged with the driving shaft 302, so that the large arm driving motor 301 and the small arm driving motor 401 are basically symmetrical, the symmetry of the whole structure of the manipulator is realized, and the stability and the load capacity of the manipulator are improved. The forearm driving motor 401 drives the driving plate 402 to rotate, the driving plate 402 drives the transition shaft 403 to rotate, and the transition shaft 403 drives the driven plate 404 to synchronously rotate, so that the two booms 201 are driven to synchronously rotate.
The two wallboards 6 are symmetrically arranged, the large arm driving motor 301 and the small arm driving motor 401 are respectively arranged on the two wallboards 6, the transition shaft 403 and the driving shaft 302 are arranged between the two wallboards 6 and are rotationally connected with the two wallboards 6, and each wallboard 6 is provided with a retaining mechanism 7 for enabling the gear 407 to be always meshed with the gear ring 406; the retaining mechanism 7 comprises a pressing block 701 fixed on the wallboard 6 and a screw 702 in threaded connection with the pressing block 701, a pressing groove 601 for installing the pressing block 701 is formed in the inner side of the wallboard 6, a central shaft 405 is inserted into the transition shaft 403, the bottom of the pressing groove 601 is downwards extended to be communicated with an installation groove 602 for installing the central shaft 405, the screw 702 extends into the installation groove 602 and the end of the screw 702 is abutted against the peripheral wall of the central shaft 405, so that the central shaft 405 is fixed at the bottom of the installation groove 602, a gear 407 on the transition shaft 403 is meshed with a gear ring 406 on the driving plate 402 and the driven plate 404, a good transmission relation is formed, and the structure is convenient to detach. A limiting rod 408 for limiting the driving plate 402 is fixed on the wallboard 6 on the mounting side of the forearm driving motor 401, and the limiting rod 408 is a limiting position when the driving plate 402 abuts against the limiting rod 408.
The connecting rod assembly 5, the connecting rod assembly 5 includes big arm connecting rod 501, forearm connection upper boom 502, forearm connection lower boom 503, with forearm 201 both ends articulated tongs connecting block 504 and set square 505, the pin joint of set square 505 and forearm 201 and the pin joint of big arm 101 are on a straight line, big arm connecting rod 501 is used for connecting wallboard 6 and the one end of set square 505, and its whole is the form of buckling, forearm connection upper boom 502 is used for connecting drive plate 402 and/or driven plate 404 and forearm 201, forearm connection lower boom 503 is used for connecting tongs connecting block 504 one end and the other end of set square 505.
With the above-described preferred embodiments according to the present utility model as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present utility model. The technical scope of the present utility model is not limited to the description, but must be determined according to the scope of claims.
Claims (9)
1. The utility model provides a diaxon heavy load manipulator which characterized in that: comprising the following steps:
the large arm assembly (1) comprises two large arms (101) which are arranged in parallel;
the small arm assembly (2) comprises two small arms (201) which are arranged in parallel and are respectively hinged with the two large arms (101);
the large arm driving assembly (3) comprises a large arm driving motor (301) and a driving shaft (302) connected with the output end of the large arm driving motor (301), wherein the driving shaft (302) is connected with the large arm assembly (1) and drives the large arm assembly (1) to rotate;
the forearm drive assembly (4) comprises a forearm drive motor (401) and a drive plate (402) connected with the output end of the forearm drive motor (401), wherein a transition shaft (403) is connected to the drive plate (402) in a transmission mode, a driven plate (404) is connected to the transition shaft (403) in a transmission mode, and the drive plate (402) and the driven plate (404) are arranged in parallel and are sleeved on a driving shaft (302) and are connected with the driving shaft (302) in a rotating mode, and the drive plate (402) and the driven plate (404) are respectively used for driving two booms (201) to rotate.
2. The two-axis load robot of claim 1, wherein: gear rings (406) are arranged on the driving plate (402) and the driven plate (404), and gears (407) matched with the gear rings (406) are arranged at two ends of the transition shaft (403).
3. The two-axis load robot of claim 2, wherein: the large arm driving motor (301) and the small arm driving motor (401) are respectively arranged on two symmetrically arranged wallboards (6), the transition shaft (403) is rotationally connected with the wallboards (6), and each wallboard (6) is provided with a retaining mechanism (7) for enabling the gear (407) to be always meshed with the gear ring (406).
4. A two-axis load robot as claimed in claim 3, wherein: the retaining mechanism (7) comprises a pressing block (701) fixed on the wallboard (6) and a screw (702) in threaded connection with the pressing block (701), a pressing groove (601) for installing the pressing block (701) is formed in the inner side of the wallboard (6), a central shaft (405) is inserted into the transition shaft (403), the bottom of the pressing groove (601) extends downwards to be communicated with an installing groove (602) for installing the central shaft (405), and the screw (702) extends into the installing groove (602) and the end part of the screw abuts against the peripheral wall of the central shaft (405).
5. The two-axis load robot of claim 1, wherein: each big arm (101) is provided with a flanging (1011) to form a box-shaped structure, a plurality of reinforcing ribs (1012) are arranged in the box-shaped structure, and a plurality of reinforcing plates (102) are connected between the two big arms (101).
6. The two-axis load robot of claim 1, wherein: each small arm (201) is provided with a curled edge (2011) to form a box-shaped structure, and a plurality of connecting rods (202) are arranged between the two small arms (201).
7. A two-axis load robot as claimed in claim 3, wherein: and a limiting rod (408) used for limiting the driving plate (402) is fixed on the wallboard (6) at the installation side of the forearm driving motor (401).
8. A two-axis load robot as claimed in claim 3, wherein: the manipulator further comprises a connecting rod assembly (5), the connecting rod assembly (5) comprises a large arm connecting rod (501), a small arm connecting upper rod (502), a small arm connecting lower rod (503), a gripper connecting block (504) hinged to two ends of the small arm (201) and a triangular plate (505), the hinge point of the triangular plate (505) and the small arm (201) is on the same straight line with the hinge point of the large arm (101), the large arm connecting rod (501) is used for connecting one end of a wallboard (6) and the triangular plate (505), the small arm connecting upper rod (502) is used for connecting a driving plate (402) and/or a driven plate (404) and the small arm (201), and the small arm connecting lower rod (503) is used for connecting one end of the gripper connecting block (504) and the other end of the triangular plate (505).
9. The two-axis load robot of claim 8, wherein: the whole big arm connecting rod (501) is in a bending shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321984733.4U CN220548287U (en) | 2023-07-26 | 2023-07-26 | Two-axis heavy-load manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321984733.4U CN220548287U (en) | 2023-07-26 | 2023-07-26 | Two-axis heavy-load manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220548287U true CN220548287U (en) | 2024-03-01 |
Family
ID=90006517
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321984733.4U Active CN220548287U (en) | 2023-07-26 | 2023-07-26 | Two-axis heavy-load manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220548287U (en) |
-
2023
- 2023-07-26 CN CN202321984733.4U patent/CN220548287U/en active Active
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| GR01 | Patent grant |