CN210061132U

CN210061132U - Movement mechanism of mechanical arm platform

Info

Publication number: CN210061132U
Application number: CN201920765209.5U
Authority: CN
Inventors: 王培松
Original assignee: Quanzhou Dajiangfeng Cultural Creativity Co Ltd
Current assignee: Quanzhou Dajiangfeng Cultural Creativity Co Ltd
Priority date: 2019-05-24
Filing date: 2019-05-24
Publication date: 2020-02-14
Anticipated expiration: 2029-05-24

Abstract

The utility model discloses a motion of manipulator platform, its structure includes the drive wheel, a pedestal, first motor, the drive wheel, the second motor, the diaphragm, steering gear, the elevating platform, spacing post, the switch board, the worm, the rotary drum, the manipulator, spacing nose bar, the spacing groove, a sensor, the chain, the transmission wheel axle center is installed on the diaphragm surface, the base end welds with the chain, first motor is installed in the drive wheel rear side, the second motor meshes with steering gear mutually, the second motor meshes with the worm end mutually, second motor bottom fixed mounting has the rotary drum, and the rotary drum embedding is installed on the base, this motion adopts the rotational motion of gear, gear motion precision is high, still can keep better precision under long-time use, and rise simultaneously when turning to, and work efficiency is improved.

Description

Movement mechanism of mechanical arm platform

Technical Field

The utility model relates to a motion of manipulator platform belongs to the mechanical structure field.

Background

The manipulator mainly comprises an execution mechanism, a driving mechanism and a control system, the hand part is a part used for holding workpieces, the manipulator has various structural forms such as a clamping type, a holding type, an adsorption type and the like according to the shape, the size, the weight, the material and the operation requirements of the held objects, the motion mechanism enables the hand part to complete various rotating, moving or compound motions to realize the specified actions, the position and the posture of the held objects are changed, the independent motion modes such as lifting, stretching, rotating and the like of the motion mechanism are called the freedom degree of the manipulator, in order to hold the objects at any position and any direction in the space, the control system completes the specific actions by controlling a motor with each freedom degree of the manipulator, simultaneously receives the information fed back by a sensor to form stable closed-loop control, the core of the control system is usually composed of a micro-control chip such as a single chip microcomputer or a DSP, by programming it to achieve the desired functionality.

The prior art discloses the application numbers as follows: 201721879147.8, the structure of which includes a manipulator mounting block mounted at one end of a manipulator arm, a manipulator support rod mounted on the manipulator mounting block, a manipulator mounting plate fixedly mounted on the manipulator support rod, a cylinder mounted on a cylinder fixing plate, a cylinder shaft mounted in the cylinder, a gripper drive rod mounted on the cylinder shaft, a manipulator drive connecting rod mounted on the manipulator mounting plate, and a gripper mounted on the manipulator drive connecting rod.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a motion of manipulator platform to solve current problem not enough to prior art exists.

In order to achieve the above purpose, the present invention is realized by the following technical solution: a motion mechanism of a mechanical hand platform structurally comprises a transmission wheel, a base, a first motor, a driving wheel, a second motor, a transverse plate, a steering gear, a lifting platform, a limiting column, a control cabinet, a worm, a rotary drum, a mechanical hand, a limiting convex rod, a limiting groove, a sensor and a chain, wherein the axle center of the transmission wheel is installed on the surface of the transverse plate, the tail end of the base is welded with the chain, the first motor is installed on the rear side of the driving wheel, the second motor is meshed with the steering gear, the second motor is meshed with the tail end of the worm, the bottom of the second motor is fixedly provided with the rotary drum, the rotary drum is embedded and installed on the base, the two limiting columns are arranged and inserted into the lifting platform, the control cabinet is installed at the top end of the lifting platform, the mechanical hand is arranged on one side of the lifting platform, the limiting convex rod is embedded and installed in, the left side of the limiting groove is arranged on the sensor, and the sensor is electrically connected with the control cabinet through a lead

Furthermore, the rotating shaft of the first motor penetrates through the transverse plate and is connected with the driving wheel, the second motor is meshed with the steering gear through the bevel gear, and the second motor is meshed with the tail end of the worm through the bevel gear.

Furthermore, the tail end of the rotary drum is spherical, a spherical groove is formed in the top of the base, and the limiting columns are located on two sides of the worm.

Further, the base is cylindric and the top surface is equipped with the sawtooth line, spacing nose bar is L form and the end is the cake form.

Furthermore, the worm is in threaded connection with the lifting table, and the transmission wheel and the driving wheel are on the same plane.

Furthermore, the transverse plate is made of iron, so that the transverse plate is firm and is not easy to deform.

Further, the sensor adopts an infrared switch sensor.

The utility model has the advantages that: the first motor is started through the control cabinet, so that the driving wheel rotates, the chain drives the transmission wheel to rotate, the driving wheel and the transmission wheel enable the chain to move and simultaneously drive a base welded with the chain, a limiting convex rod inserted into a limiting groove plays a stabilizing role when the base moves, the parameter of the sensor can be adjusted according to the use requirement to realize the displacement distance of the base, when the base moves to a rated position, the sensor sends a signal to the control cabinet, the control cabinet stops the rotation of the first motor, the travel switch starts the mechanical arm to grab an object, after the grabbing, a signal device on the mechanical arm informs the control cabinet to start the second motor, the conical gear rotates to drive the steering gear and the worm to rotate, the rotation of the steering gear is utilized to roll and steer on the base, the rotary drum is embedded into the base to enable the steering gear not to deviate from the axis of the base when the steering gear steers, and the lifting platform drives the manipulator to ascend under the meshing action of the worm and the lifting platform when the steering mechanism turns, the moving mechanism adopts the rotating motion of the gear, the gear has high motion precision, can still keep better precision under long-time use, and ascends simultaneously when the steering mechanism turns, and the working efficiency is improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural diagram of a motion mechanism of a robot table according to the present invention;

fig. 2 is a schematic view of a motion mechanism base of a robot table looking down.

In the figure: the device comprises a transmission wheel-1, a base-2, a first motor-3, a driving wheel-4, a second motor-5, a transverse plate-6, a steering gear-7, a lifting platform-8, a limiting column-9, a control cabinet-10, a worm-11, a rotary drum-12, a manipulator-13, a limiting convex rod-14, a limiting groove-15, a sensor-16 and a chain-17.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Referring to fig. 1 and 2, the present invention provides a technical solution of a moving mechanism of a manipulator: the structure of the device comprises a transmission wheel 1, a base 2, a first motor 3, a driving wheel 4, a second motor 5, a transverse plate 6, a steering gear 7, a lifting platform 8, a limiting column 9, a control cabinet 10, a worm 11, a rotary drum 12, a manipulator 13, a limiting convex rod 14, a limiting groove 15, a sensor 16 and a chain 17, wherein the axis of the transmission wheel 1 is arranged on the surface of the transverse plate 6, the tail end of the base 2 is welded with the chain 17, the first motor 3 is arranged at the rear side of the driving wheel 4, the second motor 5 is meshed with the steering gear 7, the second motor 5 is meshed with the tail end of the worm 11, the bottom of the second motor 5 is fixedly provided with the rotary drum 12, the rotary drum 12 is embedded and arranged on the base 2, the limiting columns 9 are arranged in two parts and inserted into the lifting platform 8, the control cabinet 10 is arranged at the top end of the lifting platform 8, the limiting convex rod 14 is embedded in the limiting groove 15, the limiting groove 15 and the transverse plate 6 are of an integrated structure, the left side of the limiting groove 15 is installed on the sensor 16, the sensor 16 is electrically connected with the control cabinet 10 through a lead, a rotating shaft of the first motor 3 penetrates through the transverse plate 6 and is connected with the driving wheel 4, the second motor 5 is meshed with the steering gear 7 through a bevel gear, the second motor 5 is meshed with the tail end of the worm 11 through the bevel gear, the tail end of the rotary drum 12 is spherical, a spherical groove is arranged at the top of the base 2, the limiting columns 9 are positioned at two sides of the worm 11, the base 2 is cylindrical, the top surface of the base is provided with sawtooth grains, the limiting convex rod 14 is L-shaped, the tail end of the limiting convex rod is round cake-shaped, the worm 11 is in threaded connection with the lifting platform 8, the driving wheel 1 and the driving wheel 4 are positioned on the, the sensor 16 is an infrared switch sensor and is firm and not easy to deform.

The manipulator 13 that this patent was said is a certain action function that can imitate people' S hand and arm for snatch according to fixed procedure, carry the automatic operation device of article or operation instrument, for example the manipulator centre gripping equipment that has disclosed patent number 201720369721.9, first motor 3 adopts the model to be YASKAWA interference killing feature reinforce, and the radiating effect is good, the model that sensor 16 adopted is an infrared switch sensor of E3Z-R61, and this sensor sensitivity is high, long service life, the model that second motor 5 adopted is a motor of DFGB08R, this motor compact structure, the low noise, the model that the controller adopted in the switch board 10 is an intelligent digital steady voltage regulator treater of SDVC20-S, this treater processing speed is fast, and the radiating effect is better.

For example, the first motor 3 is started through the control cabinet 10, so that the driving wheel 4 rotates, the chain 17 is used for driving the transmission wheel 1 to rotate, the driving wheel 4 and the transmission wheel are used for driving the chain 17 to move and simultaneously driving the base 2 welded with the chain, the limiting convex rod 14 inserted into the limiting groove 15 plays a stabilizing role when the base 2 moves, the parameter of the sensor 16 can be adjusted according to the use requirement to realize the displacement distance of the base 2, when the base 2 moves to the rated position, the sensor 16 sends a signal to the control cabinet 10, the control cabinet 10 is used for stopping the rotation of the first motor 3, meanwhile, the travel switch is used for starting the manipulator 13 for grabbing an object, after grabbing, the signal device on the manipulator 13 informs the control cabinet 10 to start the second motor 5, the conical gear rotates to drive the steering gear 7 and the worm 11 to rotate, the rotation of the steering gear 7 rolls on the base 2 for steering, the drum 12 is embedded in the base 2 so that the steering gear 7 does not deviate from the axis of the base 2 when steering, and the lifting platform 8 drives the manipulator 13 to ascend through the meshing action of the worm 11 and the lifting platform 8 when steering.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above, it will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, but that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a motion of manipulator platform which characterized in that: the structure of the automatic transmission device comprises a transmission wheel (1), a base (2), a first motor (3), a driving wheel (4), a second motor (5), a transverse plate (6), a steering gear (7), a lifting platform (8), a limiting column (9), a control cabinet (10), a worm (11), a rotary drum (12), a mechanical arm (13), a limiting convex rod (14), a limiting groove (15), a sensor (16) and a chain (17), wherein the axis of the transmission wheel (1) is installed on the surface of the transverse plate (6), the tail end of the base (2) is welded with the chain (17), the first motor (3) is installed on the rear side of the driving wheel (4), the second motor (5) is meshed with the steering gear (7), the second motor (5) is meshed with the tail end of the worm (11), the bottom of the second motor (5) is fixedly provided with the rotary drum (12), and the rotary drum (12) is embedded and installed on the base (2), spacing post (9) are equipped with two and insert in elevating platform (8), install on elevating platform (8) top in switch board (10), elevating platform (8) one side is equipped with manipulator (13), spacing nose bar (14) embedding is installed in spacing groove (15), spacing groove (15) and diaphragm (6) structure as an organic whole, install in sensor (16) on the left of spacing groove (15), sensor (16) pass through wire electric connection with switch board (10).

2. The movement mechanism of a robot hand according to claim 1, characterized in that: the rotating shaft of the first motor (3) penetrates through the transverse plate (6) and is connected with the driving wheel (4), the second motor (5) is meshed with the steering gear (7) through a bevel gear, and the second motor (5) is meshed with the tail end of the worm (11) through the bevel gear.

3. The movement mechanism of a robot hand according to claim 1, characterized in that: the tail end of the rotary drum (12) is spherical, a spherical groove is formed in the top of the base (2), and the limiting columns (9) are located on two sides of the worm (11).

4. The movement mechanism of a robot hand according to claim 1, characterized in that: the base (2) is cylindrical, sawtooth grains are arranged on the top surface of the base, and the limiting convex rod (14) is L-shaped and is in a round cake shape at the tail end.

5. The movement mechanism of a robot hand according to claim 1, characterized in that: the worm (11) is in threaded connection with the lifting table (8), and the transmission wheel (1) and the driving wheel (4) are on the same plane.