CN213731747U

CN213731747U - Swing mechanism for power-assisted manipulator

Info

Publication number: CN213731747U
Application number: CN202022428910.3U
Authority: CN
Inventors: 卜县城; 孙军辉; 胡少杰
Original assignee: Changzhou Chengyi Machinery Equipment Co ltd
Current assignee: Changzhou Chengyi Machinery Equipment Co ltd
Priority date: 2020-10-28
Filing date: 2020-10-28
Publication date: 2021-07-20
Anticipated expiration: 2030-10-28

Abstract

The utility model discloses a helping hand is rotation mechanism for manipulator, comprising a base plate, the last fixed surface of bottom plate is connected with spacing case, and the top of spacing case is rotated and is alternated and be connected with the main shaft, and the fixed cover in bottom of main shaft has connect first gear, and one side meshing of first gear is connected with the second gear, the top fixedly connected with carousel of round bar, and the fixed cover in middle part of carousel outer wall has connect solid fixed ring, and solid fixed ring's one side is provided with spacing seat, and the middle part screw thread interlude of spacing seat one side is connected with the shank of bolt, and the one end of shank of bolt is provided with the fixture block. The utility model discloses utilize carousel and shank of bolt matched with to set up the mode, through with the inner chamber of chuck block joint advance draw-in groove to be convenient for spacing fixed to spacing seat and solid fixed ring's position, then the rigidity of carousel this moment is convenient for carry out the rigidity to the main shaft after the angle modulation, just also be convenient for the rigidity to the manipulator main part, make the use of manipulator main part more nimble.

Description

Swing mechanism for power-assisted manipulator

Technical Field

The utility model relates to a rotation mechanism field, in particular to rotation mechanism for helping hand manipulator.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like.

At present, robotic arm uses widely, but the exposed core of arm all carries out the centre gripping to the work piece mostly, then with work piece propelling movement to suitable position again, but to the needs of different work condition, the pay-off of work piece is generally not only the pay-off of horizontal direction many times, in different position, sometimes need carry out the pay-off again after the rotatory angle of work piece, thereby realize the pay-off of multi-angle, in current device, generally carry out the angle modulation back to robotic arm, can not carry out the angle fixation with the robotic arm after adjusting, thereby make robotic arm's clamp to get the pay-off unstable inadequately.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a helping hand is rotation mechanism for manipulator to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a helping hand is rotation mechanism for manipulator, includes the bottom plate, the last fixed surface of bottom plate is connected with spacing case, the top of spacing case is rotated and alternates and is connected with the main shaft, the fixed cover in bottom of main shaft has connect first gear, one side meshing of first gear is connected with the second gear, the middle part fixed interlude of second gear is connected with the round bar, the top and the spacing case of round bar rotate to alternate and are connected, the top fixedly connected with carousel of round bar, the fixed solid ring that has cup jointed in the middle part of carousel outer wall, solid fixed ring's one side is provided with spacing seat, the middle part screw thread interlude of spacing seat one side is connected with the shank of bolt, the one end of shank of bolt is provided with the fixture block, the middle part of solid fixed ring outer wall is the circular array and has seted up a plurality of draw-in grooves.

Preferably, one end of the bolt rod is fixedly connected with a connecting piece, the connecting piece is fixedly connected with a clamping block, the clamping block is conical, and the clamping block is matched with the inner cavity of the clamping groove.

Preferably, the top and the equal fixedly connected with stopper in bottom of spacing seat inner wall, the spacing groove has all been seted up to solid fixed ring's top and bottom, the stopper is mutually supported with the inner chamber in spacing groove.

Preferably, the bottom of the main shaft is fixedly sleeved with a limiting ring, and the limiting ring is positioned at the top of the inner cavity of the limiting box.

Preferably, the top fixedly connected with sleeve of main shaft, the slip cover is equipped with the piston in telescopic inner chamber, one side fixedly connected with connecting rod of piston, the connecting rod is connected with telescopic one side slip interlude.

Preferably, a manipulator main body is fixedly mounted at one end of the connecting rod.

The utility model discloses a technological effect and advantage:

(1) the utility model utilizes the setting mode of matching the turntable and the bolt rod, and the clamping block is clamped into the inner cavity of the clamping groove, so that the position of the limiting seat and the fixing ring is limited and fixed, then the position of the turntable is fixed, the relative position between the main shaft and the bottom plate can be fixed, the main shaft after angle adjustment is fixed, and the position of the manipulator main body is fixed, so that the manipulator main body is more flexible to use;

(2) the utility model discloses utilize piston and sleeve matched with to set up the mode, through letting in gas to tracheal inner chamber, then during gaseous entering telescopic inner chamber to alright make the atmospheric pressure grow of piston one side, great atmospheric pressure can oppress the piston, thereby make the piston move in telescopic inner chamber, alright drive the connecting rod and move, realize the propelling movement to the manipulator main part.

Drawings

Fig. 1 is a schematic front structural view of the present invention.

Fig. 2 is the schematic diagram of the internal front structure of the limiting box.

Fig. 3 is a schematic view of the internal structure of the limiting seat of the present invention.

Fig. 4 is a schematic view of the structure of the turntable of the present invention.

In the figure: 1. a base plate; 2. a limiting box; 3. a main shaft; 4. a first gear; 5. a second gear; 6. a turntable; 7. a fixing ring; 8. a limiting seat; 9. a bolt shank; 10. a clamping block; 11. a card slot; 12. a limiting block; 13. a limiting ring; 14. a sleeve; 15. a piston; 16. a connecting rod; 17. a manipulator main body.

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.

The utility model provides a swing mechanism for power-assisted manipulator as shown in figures 1-4, which comprises a bottom plate 1, a limit box 2 is fixedly connected on the upper surface of the bottom plate 1, a main shaft 3 is rotatably and alternately connected on the top of the limit box 2, a limit ring 13 is fixedly sleeved on the bottom of the main shaft 3, the limit ring 13 is driven to rotate together by the rotation of the main shaft 3, then the position limit during the rotation of the main shaft 3 can be realized, the rotation of the main shaft 3 is more stable, the main shaft 3 is prevented from being separated from the inner cavity of the limit box 2 during the rotation, the limit ring 13 is positioned on the top of the inner cavity of the limit box 2, a first gear 4 is fixedly sleeved on the bottom of the main shaft 3, a second gear 5 is engaged and connected on one side of the first gear 4, a round rod is fixedly and alternately connected on the middle part of the second gear 5, the top of the round rod is rotatably and alternately connected with the limit box 2, a stand is fixedly connected on the bottom end of the main shaft 3, the stand rotates with the top of bottom plate 1 to alternate and is connected to alright make the rotation of main shaft 3 more stable, be convenient for make main shaft 3 only can carry out the rotation.

The top fixedly connected with carousel 6 of round bar, fixed solid fixed ring 7 has been cup jointed to the middle part of 6 outer walls of carousel, one side of solid fixed ring 7 is provided with spacing seat 8, the top and the equal fixedly connected with stopper 12 in bottom of the 8 inner walls of spacing seat, the spacing groove has all been seted up to the top and the bottom of solid fixed ring 7, stopper 12 is mutually supported with the inner chamber of spacing groove, the shape of spacing groove is the annular, through the relative motion between solid fixed ring 7 and the stopper 12, be convenient for carry on spacingly to stopper 12's slip, make solid fixed ring 7's rotation more stable, just also be convenient for make solid fixed ring 7 only can carry out the rotation, guarantee that fixture block 10 is corresponding with draw-in groove 11's high position.

The middle part screw thread interlude of spacing seat 8 one side is connected with shank of bolt 9, the one end of shank of bolt 9 is provided with fixture block 10, the middle part of solid fixed ring 7 outer wall is circular array and has seted up a plurality of draw-in grooves 11, the one end fixedly connected with connection piece of shank of bolt 9, connection piece and fixture block 10 fixed connection, fixture block 10 is conical, fixture block 10 mutually supports with the inner chamber of draw-in groove 11, through in the inner chamber with fixture block 10 joint income draw-in groove 11, thereby alright realize the spacing fixed to relative position between solid fixed ring 7 and the spacing seat 8, make solid fixed ring 7's position more stable.

Top fixedly connected with sleeve 14 of main shaft 3, the slip cover is equipped with piston 15 in sleeve 14's the inner chamber, the fixed cover of outer wall of piston 15 has connect the rubber sleeve, the outer wall of rubber sleeve laminates with sleeve 14's inner wall mutually, one side fixedly connected with trachea on sleeve 14 top, through letting in gas to tracheal inner chamber, then in gaseous entering sleeve 14's the inner chamber, thereby alright make the atmospheric pressure grow of piston 15 one side, great atmospheric pressure can oppress piston 15, thereby make piston 15 move in sleeve 14's inner chamber, alright drive connecting rod 16 and move, the realization is to the propelling movement of manipulator main part 17, just also be convenient for the propelling movement to the work piece, one side fixedly connected with connecting rod 16 of piston 15, connecting rod 16 and sleeve 14's one side slip interlude is connected, the one end fixed mounting of connecting rod 16 has manipulator main part.

The utility model discloses the theory of operation:

in use, a workpiece is clamped and fixed on the manipulator main body 17, then the handle is rotated according to the feeding angle of the workpiece, the round rod is driven to rotate through the turntable 6, so that the second gear 5 rotates, then the first gear 4 is driven to rotate synchronously through the rotation of the second gear 5, then the main shaft 3 rotates along with the rotation, so that the angle adjustment of the manipulator main body 17 can be realized, when the feeding angle of the manipulator main body 17 is adjusted properly, the bolt rod 9 can be screwed in a rotating manner, so that one end of the bolt rod 9 moves towards the direction of the fixing ring 7, the fixture block 10 moves towards the inner cavity of the clamping groove 11, the fixture block 10 can rotate to the inside of the clamping groove 11 in a threaded manner, and the position limiting and fixing of the limiting seat 8 and the fixing ring 7 are realized, the position of the turntable 6 is then fixed, so that the relative position between the spindle 3 and the base plate 1 is fixed.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The utility model discloses the standard parts that use all can purchase from the market, and dysmorphism piece all can be customized according to the record of the description with the drawing.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The swing mechanism for the power-assisted manipulator comprises a bottom plate (1) and is characterized in that a limiting box (2) is fixedly connected to the upper surface of the bottom plate (1), a main shaft (3) is connected to the top of the limiting box (2) in a rotating and alternating mode, a first gear (4) is fixedly sleeved at the bottom of the main shaft (3), a second gear (5) is connected to one side of the first gear (4) in a meshing mode, a round rod is fixedly connected to the middle of the second gear (5) in a rotating and alternating mode, the top of the round rod is connected to the limiting box (2) in a rotating and alternating mode, a turntable (6) is fixedly connected to the top end of the round rod, a fixing ring (7) is fixedly sleeved at the middle of the outer wall of the turntable (6), a limiting seat (8) is arranged on one side of the fixing ring (7), and a bolt rod (9) is, one end of the bolt rod (9) is provided with a clamping block (10), and the middle part of the outer wall of the fixing ring (7) is provided with a plurality of clamping grooves (11) in an annular array.

2. A swing mechanism for power-assisted robots as claimed in claim 1, wherein one end of the bolt rod (9) is fixedly connected with a connecting piece, the connecting piece is fixedly connected with a clamping block (10), the clamping block (10) is conical, and the clamping block (10) is matched with the inner cavity of the clamping groove (11).

3. A swing mechanism for power-assisted robots as claimed in claim 1, wherein the top and bottom ends of the inner wall of the limiting seat (8) are fixedly connected with limiting blocks (12), the top and bottom of the fixing ring (7) are provided with limiting grooves, and the limiting blocks (12) are matched with the inner cavities of the limiting grooves.

4. A swing mechanism for power-assisted robots as claimed in claim 1, wherein a limiting ring (13) is fixedly sleeved on the bottom of the spindle (3), and the limiting ring (13) is located on the top of the inner cavity of the limiting box (2).

5. A swing mechanism for power-assisted robots as claimed in claim 1, wherein a sleeve (14) is fixedly connected to the top of the main shaft (3), a piston (15) is slidably sleeved in the inner cavity of the sleeve (14), a connecting rod (16) is fixedly connected to one side of the piston (15), and the connecting rod (16) is slidably inserted into one side of the sleeve (14).

6. A swing mechanism for power-assisted robots as claimed in claim 5, wherein one end of the link (16) is fixedly mounted with a robot body (17).