CN220593151U - Double-main-arm multi-shaft servo manipulator - Google Patents
Double-main-arm multi-shaft servo manipulator Download PDFInfo
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- CN220593151U CN220593151U CN202321881184.8U CN202321881184U CN220593151U CN 220593151 U CN220593151 U CN 220593151U CN 202321881184 U CN202321881184 U CN 202321881184U CN 220593151 U CN220593151 U CN 220593151U
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- 230000002093 peripheral effect Effects 0.000 claims abstract description 22
- 230000009977 dual effect Effects 0.000 claims description 6
- 230000000903 blocking effect Effects 0.000 claims description 4
- 238000009826 distribution Methods 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000010030 laminating Methods 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
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Abstract
The utility model discloses a double-main-arm multi-axis servo manipulator, which belongs to the technical field of multi-axis manipulators and aims at limiting the grabbing range and the applicable environment of the manipulator so as to solve the problem that the device is limited in use, and the double-main-arm multi-axis servo manipulator comprises a support frame, wherein a moving seat is arranged at the inner cavity position of two sides of the support frame, symmetrically distributed fixed blocks are fixed at two ends of the top surface of the moving seat, a threaded rod is rotationally connected at the middle position of two adjacent fixed blocks, a motor is fixed at one end of one fixed block, one end of one threaded rod penetrates through the adjacent fixed block and is fixed with the output end of the motor, the two ends of the outer peripheral surface of the threaded rod are connected with symmetrically distributed motors, and a clamping arm rod which is arranged in an L shape is fixed at one side of the motor; the utility model can improve the grabbing range, thereby improving the application range of the device and the use convenience of the device.
Description
Technical Field
The utility model belongs to the technical field of multi-axis manipulators, and particularly relates to a double-main-arm multi-axis servo manipulator.
Background
A manipulator is an automatic operating device that mimics certain motion functions of a human hand and arm for grasping, handling objects or operating tools in a fixed program. The method is characterized in that various expected operations can be completed through programming, the structure and the performance of the method have the advantages of both human and manipulator machines, and the method is widely applied to the departments of mechanical manufacture, metallurgy, electronics, light industry, atomic energy and the like.
The double-main-arm multi-axis servo manipulator in the prior art integrally connects the double mechanical arms through the connecting plate, so that the height uniformity of the control of the double main arms can be realized, but the grabbing range and the applicable environment of the manipulator are limited, so that the device has certain limitation in use and is not beneficial to use.
Therefore, a dual-main-arm multi-axis servo manipulator is needed, and the problems that the grabbing range and the application environment of the manipulator are limited in the prior art are solved, so that the device is limited in use.
Disclosure of Invention
The utility model aims to provide a double-main-arm multi-axis servo manipulator for solving the problems in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a two main arm multiaxis servo manipulator, includes the support frame, the inner chamber position department of support frame both sides is provided with the motion seat, the both ends of motion seat top surface are fixed with the fixed block that is symmetrical distribution, and the intermediate position department of two adjacent position fixed blocks rotates and is connected with the threaded rod, one of them the fixed surface of fixed block one end is fixed with the motor, one of them the one end of threaded rod passes adjacent position fixed block and is fixed mutually with the output of motor, the both ends threaded connection of threaded rod outer peripheral face has the motor that is symmetrical distribution, the surface fixation of motor one side has the arm clamping pole that is L shape setting, two of them the surface fixation of motion seat other end has the supporting seat, one of them the surface penetration rotation of supporting seat is connected with the loose axle, another the surface penetration rotation of supporting seat is connected with the axis of rotation, one side of loose axle is fixed with the spliced pole, one side of spliced pole extends to the inside of axis and laminating mutually with the inner wall of axis, the surface fixation of support frame both sides has the pneumatic cylinder, the one side that the pneumatic cylinder output is close to each other is passed the support frame and is fixed mutually with the surface of adjacent position motion seat.
In the scheme, the first conical gear is fixedly sleeved on the outer peripheral surface of the rotating shaft and the outer peripheral surface of the movable shaft, the second conical gear is fixedly sleeved on the outer peripheral surface of the threaded rod, which is close to the outer peripheral surface of the first conical gear at the adjacent position, and the first conical gear is in meshed connection with the second conical gear at the adjacent position.
It is further worth to say that the conflict groove that is T shape setting is seted up on the surface of support frame one end, the one end of supporting seat bottom surface extends to the inside in conflict groove, the supporting seat extends to the inside in conflict groove and is T shape setting and laminating mutually with the inner chamber face in conflict groove.
It should be further noted that the top surface of the moving seat is provided with a limit groove at the bottom of the threaded rod, a limit block is inserted in the limit groove in a sliding manner, and the top of the limit block passes through the limit groove at the adjacent position and is fixed with the surface of the bottom of the threaded sleeve.
As a preferred implementation mode, an opening is formed in the side face of the motion seat, an abutting strip is inserted into the opening in a penetrating mode, and one end, close to the inner surface of the support frame, of the abutting strip is fixed with the inner cavity face of the support frame.
As a preferable implementation mode, a blocking ring is fixedly sleeved at the middle position of the outer peripheral surface of the threaded rod, and the two moving seats are arranged at the two sides of the inner cavity of the moving seat by taking the central line of the front vertical direction of the supporting frame as a symmetrical axis.
Compared with the prior art, the double-main-arm multi-axis servo manipulator provided by the utility model at least comprises the following beneficial effects:
(1) Through threaded rod, motor and pneumatic cylinder to can convenient to use person to the length and the interval between the width dimension adjustment four arm-clamping poles of the device according to required snatch, thereby can improve and snatch the scope, thereby can improve the application scope of the device, thereby improved the use convenience of the device.
(2) Through pressing from both sides arm-lock, conflict strip and conflict groove to when adjusting the interval between two motion seats, can be through the conflict effect of conflict strip surface with opening internal surface and the supporting seat embedding conflict groove inside part surface with conflict effect of conflict groove internal surface under can playing the defining action to the motion orbit of motion seat, thereby can improve the stability of motion seat.
Drawings
FIG. 1 is a schematic perspective view of the present utility model in front view;
FIG. 2 is an enlarged schematic view of the structure shown at A in FIG. 1 in accordance with the present utility model;
FIG. 3 is a schematic view of a rear view of the present utility model;
FIG. 4 is an enlarged schematic view of the structure at B in FIG. 3 according to the present utility model;
fig. 5 is an enlarged schematic view of the structure at C in fig. 3 according to the present utility model.
In the figure: 1. a support frame; 2. a motion seat; 3. a fixed block; 4. a threaded rod; 5. a motor; 6. a thread sleeve; 7. a limit groove; 8. a limiting block; 9. a clip arm lever; 10. an opening; 11. a collision strip; 12. a hydraulic cylinder; 13. a rotating shaft; 14. a movable shaft; 15. a first bevel gear; 16. a second bevel gear; 17. a support base; 18. a collision groove; 19. inserting a column; 20. and a resistance ring.
Detailed Description
Referring to fig. 1-5, the utility model provides a dual main arm multi-axis servo manipulator, which comprises a support frame 1, wherein inner cavity positions on two sides of the support frame 1 are provided with a motion seat 2, two ends of the top surface of the motion seat 2 are fixedly provided with symmetrically distributed fixed blocks 3, a threaded rod 4 is rotationally connected at the middle position of two adjacent fixed blocks 3, one end of one fixed block 3 is fixedly provided with a motor 5, one end of one threaded rod 4 penetrates through the adjacent fixed block 3 and is fixedly connected with the output end of the motor 5, two ends of the outer peripheral surface of the threaded rod 4 are in threaded connection with symmetrically distributed motors 5, one side surface of the motor 5 is fixedly provided with an L-shaped clamping arm rod 9, the other end surface of the two motion seats 2 is fixedly provided with a support seat 17, the surface of one of them supporting seat 17 runs through and rotates and be connected with loose axle 14, the surface of the other supporting seat 17 runs through and rotates and be connected with axis of rotation 13, one side of loose axle 14 is fixed with inserted column 19, one side of inserted column 19 extends to the inside of axis of rotation 13 and laminates with the inner wall of axis of rotation 13 mutually, the fixed surface in support frame 1 both sides has pneumatic cylinder 12, the one side that the pneumatic cylinder 12 output is close to each other passes support frame 1 and is fixed with the surface of adjacent position kinematic seat 2 mutually, through threaded rod 4, motor 5 and pneumatic cylinder 12, thereby can be convenient for the user to the interval between four arm-clamping bars 9 of length and width dimension adjustment according to the device that needs snatchs, thereby can improve the range of snatching, thereby can improve the application scope of the device.
Further, as shown in fig. 4, it is worth specifically explaining that the outer peripheral surface of the rotating shaft 13 and the outer peripheral surface of the movable shaft 14 are fixedly sleeved with a first conical gear 15, the outer peripheral surface of the threaded rod 4 is close to the outer peripheral surface of the first conical gear 15 at the adjacent position, and is fixedly sleeved with a second conical gear 16, the first conical gear 15 is in meshed connection with the second conical gear 16 at the adjacent position, when one of the threaded rods 4 rotates, the movable shaft 14 rotates under the meshing effect between the second conical gear 16 and the first conical gear 15 at the adjacent position, and therefore under the connecting effect of the inserted post 19 and the rotating shaft 13, the other first conical gear 15 can drive the other threaded rod 4 to rotate.
Further, as shown in fig. 2 and fig. 4, it is worth specifically explaining that the surface of one end of the support frame 1 is provided with the conflict groove 18 that is T-shaped, one end of the bottom surface of the support seat 17 extends to the inside of the conflict groove 18, the support seat 17 extends to the inside of the conflict groove 18 and is T-shaped and is attached to the inner cavity surface of the conflict groove 18, the opening 10 is provided at the position of the side surface of the movement seat 2, the conflict strip 11 is inserted through the inside of the opening 10, one end of the conflict strip 11 close to the inner surface of the support frame 1 is fixed to the inner cavity surface of the support frame 1, and as the movement seat 2 moves towards the direction close to or away from each other under the driving action of the output end of the hydraulic cylinder 12, the movement track of the movement seat 2 can be limited under the conflict action of the surface of the conflict strip 11 and the inner surface of the opening 10 at the adjacent position, and the movement seat 17 is driven to move when the movement seat 2, so that the movement track of the movement seat 2 can be further limited under the conflict action of the surface of the inner part of the support seat 17 embedded into the conflict groove 18 and the inner cavity surface of the conflict groove 18.
Further, as shown in fig. 2, it is worth specifically explaining that the top surface of the moving seat 2 is provided with a limit groove 7 at the position of the bottom of the threaded rod 4, a limit block 8 is inserted in the limit groove 7 in a sliding manner, the top of the limit block 8 passes through the limit groove 7 at the adjacent position and is fixed with the surface of the bottom of the threaded sleeve 6, and the limit block 8 can only move along the horizontal direction in the inner cavity of the limit groove 7 at the adjacent position, so that the movement track of the threaded sleeve 6 can be limited, and the threaded sleeve 6 can only move along the horizontal direction. The book is provided with
The scheme comprises the following working processes: in the process of actual use, when the user needs to adjust the grabbing range, first the interval between two motion seats 2 is adjusted according to the device length that needs to grab, make motion seat 2 motion through the output of control pneumatic cylinder 12 make the interval between two motion seats 2 can adjust to the position department that adapts to the centre gripping device, later when carrying out the clamp and get, through starter motor 5, thereby make one of them threaded rod 4 in the rotation state, thereby make loose axle 14 rotate under the meshing effect between adjacent position second conical gear 16 and first conical gear 15, thereby under the connected action of inserted post 19 and axis of rotation 13, make another first conical gear 15 can drive another threaded rod 4 and be in the rotation state, because the external thread structure at threaded rod 4 outer peripheral face both ends is mutual reverse setting and stopper 8 can be to the effect that the thread bush 6 is contradicted spacing, thereby make two adjacent position thread bush 6 can press from each other under the cooperation effect between the external thread structure of its inner wall and 4 outer peripheral face corresponding position, thereby make two adjacent position clamp 9 can be close to each other under the external thread structure of threaded rod, thereby realize the synchronous arm 9 and grasp the mutual direction of two adjacent position and make two arm 9 to the device and realize the synchronous work and grasp the face. Root of Chinese character
The working process can be known as follows: through threaded rod 4, motor 5 and pneumatic cylinder 12, thereby can be convenient for the user to the length of the device that snatchs according to needs and the interval between four arm-clamping bars 9 of width dimension adjustment, thereby can improve snatchs the scope, thereby can improve the application scope of the device, thereby improved the use convenience of the device, through arm-clamping bars 9, conflict strip 11 and conflict groove 18, thereby when adjusting the interval between two motion seats 2, can play the defining action to the motion orbit of motion seat 2 under the interference effect of conflict strip 11 surface and opening 10 internal surface and supporting seat 17 embedding conflict groove 18 inside part surface and conflict groove 18 internal surface, thereby can improve the stability of motion seat 2.
Further, as shown in fig. 1, it is worth specifically explaining that the middle position of the outer peripheral surface of the threaded rod 4 is fixedly sleeved with a blocking ring 20, the two moving seats 2 are arranged at two side positions of the inner cavity of the moving seat 2 by taking the central line of the front vertical direction of the supporting frame 1 as a symmetrical axis, the threaded sleeves 6 can be prevented from moving to the mutually contradicting positions by the blocking ring 20, and the moving seats 2 are symmetrically distributed so as to facilitate the synchronous movement of the arm clamping rods 9 to the corresponding positions.
To sum up: through threaded rod 4, motor 5 and pneumatic cylinder 12, thereby can be convenient for the user to the length of the device that snatchs according to needs and the interval between four arm-clamping bars 9 of width dimension adjustment, thereby can improve snatchs the scope, thereby can improve the application scope of the device, thereby improved the use convenience of the device, through arm-clamping bars 9, conflict strip 11 and conflict groove 18, thereby when adjusting the interval between two motion seats 2, can play the defining action to the motion orbit of motion seat 2 under the interference effect of conflict strip 11 surface and opening 10 internal surface and supporting seat 17 embedding conflict groove 18 inside part surface and conflict groove 18 internal surface, thereby can improve the stability of motion seat 2.
The motor 5 and the hydraulic cylinder 12 can be purchased in the market, and the motor 5 and the hydraulic cylinder 12 are provided with a power supply, which belongs to the mature technology in the field and is fully disclosed, so that the description is not repeated.
Claims (6)
1. The utility model provides a two main arm multiaxis servo manipulator, includes support frame (1), its characterized in that, the inner chamber position department of support frame (1) both sides is provided with motion seat (2), the both ends of motion seat (2) top surface are fixed with and are symmetric distribution's fixed block (3), and the intermediate position department rotation of two adjacent position fixed blocks (3) is connected with threaded rod (4), one of them fixed block (3) one end's fixed surface is connected with motor (5), one of them threaded rod (4) one end pass adjacent position fixed block (3) and with the output of motor (5) mutually fixed, threaded rod (4) outer peripheral's both ends threaded connection has motor (5) that are symmetric distribution, the surface fixation of motor (5) one side is fixed with arm clamping lever (9) that are L shape setting, wherein two the surface fixation of motion seat (2) other end has supporting seat (17), one of which supporting seat (17) surface run through the rotation and are connected with loose axle (14), and another supporting seat (17) surface run through the rotation and are connected with axis (13), loose axle (14) one side is fixed with the axis of rotation (19) and is fixed with the inner wall (13) of cylinder (13) and the inner cylinder (13) of extension, one side (19), one side of the output end of the hydraulic cylinder (12) which is close to each other penetrates through the supporting frame (1) and is fixed with the surface of the adjacent position moving seat (2).
2. The dual master arm multi-axis servo manipulator of claim 1, wherein: the outer peripheral surface of the rotating shaft (13) and the outer peripheral surface of the movable shaft (14) are fixedly sleeved with a first conical gear (15), the outer peripheral surface of the threaded rod (4) is close to the outer peripheral surface of the first conical gear (15) at the adjacent position, the outer peripheral surface of the threaded rod is fixedly sleeved with a second conical gear (16), and the first conical gear (15) is in meshed connection with the second conical gear (16) at the adjacent position.
3. The dual master arm multi-axis servo manipulator of claim 2, wherein: the supporting frame is characterized in that a T-shaped collision groove (18) is formed in the surface of one end of the supporting frame (1), one end of the bottom surface of the supporting seat (17) extends to the inside of the collision groove (18), and the supporting seat (17) extends to the inside of the collision groove (18) to be in T-shaped arrangement and is attached to the inner cavity surface of the collision groove (18).
4. The dual master arm multi-axis servo manipulator of claim 1, wherein: limiting grooves (7) are formed in the positions, located at the bottoms of the threaded rods (4), of the top surfaces of the moving seats (2), limiting blocks (8) are inserted into the limiting grooves (7) in a sliding mode, and the tops of the limiting blocks (8) penetrate through the limiting grooves (7) at the adjacent positions and are fixed to the surfaces of the bottoms of the threaded sleeves (6).
5. The dual master arm multi-axis servo manipulator of claim 1, wherein: an opening (10) is formed in the side face of the moving seat (2), an abutting strip (11) is inserted into the opening (10) in a penetrating mode, and one end, close to the inner surface of the supporting frame (1), of the abutting strip (11) is fixed to the inner cavity face of the supporting frame (1).
6. The dual master arm multi-axis servo manipulator of claim 5, wherein: the middle position of the outer peripheral surface of the threaded rod (4) is fixedly sleeved with a blocking ring (20), and the two moving seats (2) are arranged at the two sides of the inner cavity of the moving seat (2) by taking the central line of the front vertical direction of the supporting frame (1) as a symmetrical axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321881184.8U CN220593151U (en) | 2023-07-18 | 2023-07-18 | Double-main-arm multi-shaft servo manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321881184.8U CN220593151U (en) | 2023-07-18 | 2023-07-18 | Double-main-arm multi-shaft servo manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220593151U true CN220593151U (en) | 2024-03-15 |
Family
ID=90167695
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321881184.8U Active CN220593151U (en) | 2023-07-18 | 2023-07-18 | Double-main-arm multi-shaft servo manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220593151U (en) |
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2023
- 2023-07-18 CN CN202321881184.8U patent/CN220593151U/en active Active
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