CN211220786U

CN211220786U - Sorting manipulator

Info

Publication number: CN211220786U
Application number: CN201922438902.4U
Authority: CN
Inventors: 吴锦鸿; 刘煜俊; 姚仟峻; 吴利灿
Original assignee: South China Normal University
Current assignee: South China Normal University
Priority date: 2019-12-30
Filing date: 2019-12-30
Publication date: 2020-08-11
Anticipated expiration: 2029-12-30

Abstract

The utility model belongs to the technical field of mechanical equipment, in particular to a sorting manipulator, which comprises a manipulator, wherein the bottom end of the manipulator is connected with a third bearing, the bottom end of the third bearing is connected with a base, two second connecting rods are symmetrically arranged in the base, two third gears are respectively sleeved at two ends of the second connecting rods, a fourth gear is sleeved on the second connecting rods, two rotary discs are arranged at two sides of the base, the bottom ends of the two rotary discs are respectively connected with a first connecting rod, the bottom end of the first connecting rod is connected with a first gear, the first gear is meshed with the fourth gear, a damping wheel is added on the base, the product can be moved, a rotary disc and a threaded shaft are rotated on the base, the threaded shaft is driven to move up and down through the rotation of the rotary discs, the product is fixed, a cylinder is added on the base, and the height of the product can be adjusted, a damping plate is additionally arranged on a base of the mechanical arm, so that vibration caused by moving is reduced.

Description

Sorting manipulator

Technical Field

The utility model belongs to the technical field of mechanical equipment, concretely relates to sorting manipulator.

Background

In the modern life, the most advanced technology is in the form of a new moon, and the most important difference between the mechanical arm and the human arm is in flexibility and endurance. That is, the maximum advantage of the manipulator can do the same action repeatedly, and the manipulator never feels tired in the normal condition of the machine! The application of mechanical arms is more and more extensive, and the mechanical arms are high-tech automatic production equipment developed in recent decades, and have the operation accuracy and the ability of completing the operation in the environment. An important branch of industrial robot manipulators. Original manipulator is mostly fixed type when using, makes the working range of manipulator when using receive the restriction, and the manipulator is mostly large-scale machinery, and it is very inconvenient to carry, but a small number of mobile manipulator produce easily when removing and rock, shake article when centre gripping article remove very easily, cause the unnecessary loss.

SUMMERY OF THE UTILITY MODEL

To solve the problems set forth in the background art described above. The utility model provides a sorting manipulator, it is convenient to have remove and fixed, reduces vibrations characteristics.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a sorting manipulator, includes the manipulator, the manipulator bottom is connected with the third bearing, the third bearing bottom is connected with the base, the symmetry is provided with two second connecting rods in the base, two third gears have all been cup jointed at second connecting rod both ends, the fourth gear has been cup jointed on the second connecting rod, the base both sides are provided with two rotary disks, two the bottom of rotary disk all is connected with the head rod, the bottom of head rod is connected with first gear, first gear and fourth gear engagement, the inside bottom symmetric connection of base has four second fixed blocks, two the second connecting rod runs through two second fixed blocks respectively.

As the utility model discloses a preferred technical scheme of sorting manipulator, be provided with first fixed block in the base, four inside right angle department swing joint of base have four screw shafts, the top of screw shaft is connected with the barrier block, the bottom of screw shaft is connected with the supporting shoe, four the epaxial second gear that has all cup jointed of screw shaft, four the screw shaft all with first fixed block through connection, and the junction is provided with the second bearing, the top of second gear links to each other with the second bearing.

As the utility model discloses a preferred technical scheme of sorting manipulator, the bottom of base is connected with the truckle through first bearing, the bilateral symmetry of truckle is connected with damping spring.

As the utility model discloses a preferred technical scheme of sorting manipulator, the top symmetric connection of base has two third connecting rod shells, third bearing bottom symmetric connection has two third connecting rod main parts, third connecting rod main part and third connecting rod shell swing joint, the base is provided with the cylinder with the junction of third bearing.

As the utility model discloses a preferred technical scheme of letter sorting manipulator, the manipulator is provided with the shock attenuation board with the junction of third bearing.

As the utility model discloses a preferred technical scheme of sorting manipulator, inside being hickey of second bearing and second gear.

Compared with the prior art, the beneficial effects of the utility model are that: increase the shock attenuation wheel at the base, realize the portable of this product, what add rotary table and screw shaft on the base, rotate through the rotary disk and drive reciprocating of screw shaft, realize the fixed of this product, increase the cylinder on the base, realize the height-adjustable of this product, increase the shock attenuation board at the arm base, reduce the vibrations that the portable brought.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

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

FIG. 2 is a schematic view of the base structure of the present invention;

FIG. 3 is an enlarged view taken at A in FIG. 1;

in the figure: 1. a first fixed block; 2. a first bearing; 3. a damping spring; 4. a small roller; 5. a support block; 6. a threaded shaft; 7. a second fixed block; 8. a first connecting rod; 9. rotating the disc; 10. a second bearing; 11. a barrier block; 12. a first gear; 13. a second gear; 14. a third gear; 15. a second connecting rod; 16. a fourth gear; 17. a third bearing; 18. a third connecting rod body; 19. a third connecting rod housing; 20. a cylinder; 21. a base; 22. a manipulator; 23. a shock absorbing plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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.

Examples

Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a sorting manipulator, including manipulator 22, manipulator 22 bottom is connected with third bearing 17, third bearing 17 bottom is connected with base 21, the symmetry is provided with two second connecting rods 15 in the base 21, two second connecting rods 15 both ends have all been cup jointed two third gears 14, fourth gear 16 has been cup jointed on the second connecting rod 15, base 21 both sides are provided with two rotary disks 9, the bottom of two rotary disks 9 all is connected with head rod 8, head rod 8's bottom is connected with first gear 12, first gear 12 and fourth gear 16 mesh, the inside bottom symmetric connection of base 21 has four second fixed blocks 7, two second connecting rods 15 run through two second fixed blocks 7 respectively.

In this embodiment, the rotating disc 9 rotates the first gear 12 to rotate and the fourth gear 16 to rotate, and when the fourth gear 16 rotates, the second connecting rod 15 rotates therewith to rotate the third gears 14 at the two ends of the second connecting rod 15.

Specifically, be provided with first fixed block 1 in the base 21, four inside right angle departments swing joint of base 21 have four screw shafts 6, and the top of screw shaft 6 is connected with spacing block 11, and the bottom of screw shaft 6 is connected with supporting shoe 5, has all cup jointed second gear 13 on four screw shafts 6, and four screw shafts 6 all run through connection with first fixed block 1, and the junction is provided with second bearing 10, and the top of second gear 13 links to each other with second bearing 10.

In this embodiment, the second gear 13 is engaged with the third gear 14, and the third gear 14 rotates to drive the second gear 13 to rotate, so that the threaded shaft 6 can move up and down.

Specifically, the bottom end of the base 21 is connected with a small roller 4 through a first bearing 2, and two sides of the small roller 4 are symmetrically connected with damping springs 3.

In the present embodiment, the movement of the robot 22 is realized, and the damping spring 3 absorbs the shock caused by the movement during the movement.

Specifically, the top end of the base 21 is symmetrically connected with two third connecting rod shells 19, the bottom end of the third bearing 17 is symmetrically connected with two third connecting rod main bodies 18, the third connecting rod main bodies 18 are movably connected with the third connecting rod shells 19, and a cylinder 20 is arranged at the joint of the base 21 and the third bearing 17.

In the present embodiment, the air cylinder 20 is an SC type air cylinder for alder, and the height adjustment of the robot 22 is realized by adjusting the air cylinder 20.

Specifically, a damping plate 23 is provided at a connection point of the robot 22 and the third bearing 17.

In this embodiment, the vibration generated by the base 21 when the robot 22 moves is reduced, so that the robot 22 is more stable during operation.

Specifically, the second bearing 10 and the second gear 13 are both internally threaded.

In this embodiment, the threaded shaft 6 can be moved up and down without changing the position of the second gear 13.

The utility model discloses a theory of operation and use flow: after the utility model is installed, the manipulator 22 is moved to a proper position through the small roller 4, the rotary discs 9 on two sides of the base 21 are clockwise rotated, the first gear 12 connected with the bottom end of the rotary disc 9 is driven to rotate through the rotation of the rotary disc 9, the fourth gear 16 meshed with the first gear 12 is driven to rotate, the second connecting rod 15 rotates along with the rotation, the third gear 14 at two ends of the second connecting rod 15 rotates along with the rotation of the second connecting rod 15, the third gear 14 drives the second gear 13 meshed with the third gear to rotate, the second gear 13 rotates, after the second gear 13 rotates, the threaded shaft 6 moves downwards, the small roller 4 is separated from the bottom surface, the manipulator 22 is supported, after the support is finished, the cylinder 20 is adjusted to a proper height, the manipulator 22 starts to work, after the use is finished, the rotary disc 9 is anticlockwise rotated, the threaded shaft 6 moves upwards, and the small roller 4 is contacted with the ground again, the robot 22 can be moved.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A sorting robot comprising a robot (22), characterized in that: the bottom end of the manipulator (22) is connected with a third bearing (17), the bottom end of the third bearing (17) is connected with a base (21), two second connecting rods (15) are symmetrically arranged in the base (21), two third gears (14) are sleeved at two ends of the two second connecting rods (15), a fourth gear (16) is sleeved on the second connecting rod (15), two rotating disks (9) are arranged on two sides of the base (21), the bottom ends of the two rotating disks (9) are connected with first connecting rods (8), the bottom end of the first connecting rod (8) is connected with a first gear (12), the first gear (12) is meshed with a fourth gear (16), the bottom end in the base (21) is symmetrically connected with four second fixed blocks (7), and the two second connecting rods (15) penetrate through the two second fixed blocks (7) respectively.

2. A sorting robot as claimed in claim 1, wherein: be provided with first fixed block (1) in base (21), four inside right angle departments swing joint of base (21) have four screw shaft (6), the top of screw shaft (6) is connected with separation block (11), the bottom of screw shaft (6) is connected with supporting shoe (5), four second gear (13), four all have cup jointed on screw shaft (6) all with first fixed block (1) through connection, and the junction is provided with second bearing (10), the top of second gear (13) links to each other with second bearing (10).

3. A sorting robot as claimed in claim 1, wherein: the bottom of base (21) is connected with small idler wheel (4) through first bearing (2), the bilateral symmetry of small idler wheel (4) is connected with damping spring (3).

4. A sorting robot as claimed in claim 1, wherein: the top symmetrical connection of base (21) has two third connecting rod shells (19), third bearing (17) bottom symmetrical connection has two third connecting rod main parts (18), third connecting rod main part (18) and third connecting rod shell (19) swing joint, the junction of base (21) and third bearing (17) is provided with cylinder (20).

5. A sorting robot as claimed in claim 1, wherein: and a damping plate (23) is arranged at the joint of the manipulator (22) and the third bearing (17).

6. A sorting robot as claimed in claim 2, wherein: the inner parts of the second bearing (10) and the second gear (13) are threaded interfaces.