CN214686548U

CN214686548U - Multi freedom unloading manipulator

Info

Publication number: CN214686548U
Application number: CN202120336808.2U
Authority: CN
Inventors: 苏漫
Original assignee: Zhejiang Aegis Environmental Protection Technology Co ltd
Current assignee: Zhejiang Aegis Environmental Protection Technology Co ltd
Priority date: 2021-02-05
Filing date: 2021-02-05
Publication date: 2021-11-12
Anticipated expiration: 2031-02-05

Abstract

The utility model discloses a multi-degree-of-freedom discharging manipulator, which comprises a bottom plate, a lifting unit, a rotating unit, a clamping unit, a turntable and an arched bracket; a bottom plate: the upper surface of the base plate is provided with a rotating unit, and a lifting unit and a clamping unit are arranged above the base plate; a lifting unit: contain roof, spacing post, threaded shaft, worm wheel, straight support, worm, first motor and first motor support, the last surface mounting of carousel has straight support and first motor support, rotate on the straight support and install the worm, install first motor on the first motor support, the output shaft of first motor has the one end of worm through first coupling joint, the last surface rotation of carousel installs the threaded shaft. The multi-degree-of-freedom discharging manipulator is high in structure reliability, good in ascending effect, good in steering effect and good in clamping effect, so that the feeding effect is good, the efficiency is high, the requirements of people can be met, and the multi-degree-of-freedom discharging manipulator provides help for the work of people.

Description

Multi freedom unloading manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a multi freedom unloading manipulator.

Background

The multi-degree-of-freedom mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and can be seen in the fields of industrial manufacturing, medicine, consumption service, semiconductor manufacturing and the like. The manipulator receives an external command and accurately positions to a certain point on a three-dimensional (or two-dimensional) space to perform operation.

The multi-degree-of-freedom manipulator provided by application number 201920227313.9 in modern technology comprises a manipulator, wherein the manipulator comprises a plurality of manipulator units, every two adjacent manipulator units are connected through a rotary joint part, the rotary joint part is provided with a rotating shaft, the rotating shaft is connected with a motor shaft of a motor, and a coupler is further arranged between the motor shaft and the rotating shaft.

Its structural reliability is low, and the centre gripping effect is general, and turns to the effect general to the material loading effect is not good, and efficiency is not high, can't satisfy people's requirement, has produced the help to people's work.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to overcome current defect, provide a multi freedom unloading manipulator, the reliable degree of structure is high, rises effectually, turns to effectually, and the centre gripping is effectual to the material loading is effectual, and is efficient, can satisfy people's requirement, provides help to people's work, can effectively solve the problem in the background art.

In order to achieve the above object, the utility model provides a following technical scheme: a multi-degree-of-freedom blanking manipulator comprises a bottom plate, a lifting unit, a rotating unit, a clamping unit, a turntable and an arched bracket;

a bottom plate: the upper surface of the base plate is provided with a rotating unit, and a lifting unit and a clamping unit are arranged above the base plate;

a lifting unit: comprises a top plate, a limiting column, a threaded shaft, a worm wheel, a straight bracket, a worm, a first motor and a first motor bracket, a straight bracket and a first motor bracket are arranged on the upper surface of the turntable, a worm is rotatably arranged on the straight bracket, a first motor is arranged on the first motor bracket, an output shaft of the first motor is connected with one end of a worm through a first coupling, the upper surface of the turntable is rotatably provided with a threaded shaft, the threaded shaft is provided with an arched bracket in a threaded manner, a worm wheel is fixedly arranged at the lower part of the threaded shaft, the worm wheel is meshed with the worm, a limiting column is further arranged on the upper surface of the turntable, the roof is installed to the upper end of spacing post, the roof is connected with the upper end of screw shaft, the rear end and the spacing post sliding connection of bow-shaped support, the output of external control ware is connected to the input electricity of first motor.

Further, the rotating unit comprises a second motor, a second motor support, a fixed support, a moving block, a connecting rod, a bidirectional screw rod, a first connecting column and a second connecting column, the second motor support and the fixed support are mounted on the upper surface of the base plate, the bidirectional screw rod is rotatably mounted on the fixed support, the second motor is mounted on the second motor support, an output shaft of the second motor is connected with one end of the bidirectional screw rod through a second coupler, the moving block is mounted on two sides of the bidirectional screw rod respectively, the second connecting column is mounted at the upper end of the moving block, the connecting rod is rotatably connected on the second connecting column, the first connecting column is rotatably connected to the other end of the connecting rod, a turntable is mounted on the upper surface of the first connecting column, and the output end of the external controller is electrically connected to the input end of the second motor. In the feeding process, when the direction needs to be rotated, the second motor is controlled through the external controller, the second motor works to drive the bidirectional screw rod to rotate, the bidirectional screw rod rotates to drive the moving block to move, the moving block moves to drive the connecting rod to swing, and the connecting rod swings to drive the turntable to rotate, so that the feeding direction of the manipulator is changed.

Further, the centre gripping unit contains splint, clamping bar, special-shaped gear, straight-teeth gear, hinged-support, fluid cylinder support and pneumatic cylinder, the surface mounting of bow-shaped support has fluid cylinder support, install the pneumatic cylinder on the fluid cylinder support, the hinged-support is installed to the tip of special-shaped gear, the piston rod of pneumatic cylinder is installed on the hinged-support through the round pin axle, the upper surface of bow-shaped support rotates and installs the straight-teeth gear, the straight-teeth gear is connected with special-shaped gear engagement, install the clamping bar on the straight-teeth gear, splint are installed to the tip of clamping bar. The hydraulic cylinder is controlled to work through the external controller, the piston rod of the hydraulic cylinder moves in a telescopic mode to enable the special-shaped gear to move, the special-shaped gear moves to drive the straight gear to rotate, the straight gear rotates to drive the clamping rod to swing, when the piston rod extends out, the clamping rod swings outwards, the clamping rod loosens clamped objects, and when the piston rod retracts, the clamping rod swings inwards, and the clamping rod clamps the clamped objects.

Furthermore, the clamping plate also comprises a rubber pad, and the rubber pad is arranged on the inner surface of the clamping plate. The clamped articles can be protected by the rubber pad, so that the articles are prevented from being damaged and the attractiveness is reduced.

Further, still include the slider, the spout has been seted up to the upper surface of bow-shaped support, the slider is installed to the lower extreme of dysmorphism gear, slider and spout sliding connection. The slider can be used for clamping objects more conveniently, reducing friction and improving the thread slipping property.

Compared with the prior art, the beneficial effects of the utility model are that: this multi freedom unloading manipulator has following benefit:

1. the multi-degree-of-freedom blanking manipulator is provided with the lifting unit, and the arched support can ascend or descend through the rotation of the threaded shaft of the lifting unit, so that the loading can be conveniently carried out, and the working efficiency is improved.

2. The multi-degree-of-freedom discharging manipulator is provided with the rubber pad and the sliding block, clamped articles can be protected through the rubber pad, damage is prevented, attractiveness is reduced, friction can be reduced through the sliding block, and thread slipping performance is improved.

3. The multi-degree-of-freedom discharging manipulator is high in structure reliability, good in ascending effect, good in steering effect and good in clamping effect, so that the feeding effect is good, the efficiency is high, the requirements of people can be met, and the multi-degree-of-freedom discharging manipulator provides help for the work of people.

Drawings

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

fig. 2 is a schematic view of the structure of the clamping unit of the present invention.

In the figure: the device comprises a base plate 1, a lifting unit 2, a top plate 21, a limiting column 22, a threaded shaft 23, a worm wheel 24, a straight support 25, a worm 26, a first motor 27, a first motor support 28, a rotating unit 3, a second motor 31, a second motor support 32, a fixed support 33, a moving block 34, a connecting rod 35, a bidirectional screw rod 36, a first connecting column 37, a second connecting column 38, a clamping unit 4, a clamping plate 41, a clamping rod 42, a special-shaped gear 43, a straight gear 44, a hinged support 45, a hydraulic cylinder support 46, a hydraulic cylinder 47, a sliding block 5, a rubber pad 6, a rotary table 7 and an arched support 8.

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.

Referring to fig. 1-2, the present invention provides a technical solution: a multi-degree-of-freedom blanking manipulator comprises a bottom plate 1, a lifting unit 2, a rotating unit 3, a clamping unit 4, a turntable 7 and an arched bracket 8;

bottom plate 1: the upper surface of the base plate is provided with a rotating unit 3, and a lifting unit 2 and a clamping unit 4 are arranged above the base plate 1; the rotating unit 3 comprises a second motor 31, a second motor support 32, a fixed support 33, a moving block 34, a connecting rod 35, a bidirectional screw 36, a first connecting column 37 and a second connecting column 38, the upper surface of the bottom plate 1 is provided with the second motor support 32 and the fixed support 33, the bidirectional screw 36 is rotatably installed on the fixed support 33, the second motor 31 is installed on the second motor support 32, the output shaft of the second motor 31 is connected with one end of the bidirectional screw 36 through a second coupler, the moving blocks 34 are respectively installed on two sides of the bidirectional screw 36, the second connecting column 38 is installed on the upper end of the moving block 34, the connecting rod 35 is rotatably connected to the second connecting column 38, the other end of the connecting rod 35 is rotatably connected with the first connecting column 37, the upper surface of the first connecting column 37 is provided with a turntable 7, and the input end of the second motor 31 is electrically connected with the output end of an external controller. In the feeding process, when the rotation direction is needed, the second motor 31 is controlled through the external controller, the second motor 31 works to drive the bidirectional screw 36 to rotate, the bidirectional screw 36 rotates to drive the moving block 34 to move, the moving block 34 moves to drive the connecting rod 35 to swing, and the connecting rod 35 swings to drive the turntable 7 to rotate, so that the feeding direction of the manipulator is changed. The clamping unit 4 comprises a clamping plate 41, a clamping rod 42, a special-shaped gear 43, a straight gear 44, a hinged support 45, a hydraulic cylinder support 46 and a hydraulic cylinder 47, the hydraulic cylinder support 46 is installed on the outer surface of the arch-shaped support 8, the hydraulic cylinder 47 is installed on the hydraulic cylinder support 46, the hinged support 45 is installed at the end portion of the special-shaped gear 43, a piston rod of the hydraulic cylinder 47 is installed on the hinged support 45 through a pin shaft, the straight gear 44 is installed on the upper surface of the arch-shaped support 8 in a rotating mode, the straight gear 44 is connected with the special-shaped gear 43 in a meshed mode, the clamping rod 42 is installed on the straight gear 44, and the clamping plate 41 is installed at the end portion of the clamping rod 42. The hydraulic cylinder 47 is controlled to work through an external controller, the piston rod of the hydraulic cylinder 47 moves to enable the special-shaped gear 43 to move, the special-shaped gear 43 moves to drive the straight gear 44 to rotate, the straight gear 44 rotates to drive the clamping rod 42 to swing, when the piston rod extends out, the clamping rod 42 swings outwards, therefore the clamping rod 42 loosens clamped objects, and when the piston rod retracts, the clamping rod 42 swings inwards, so that the clamping rod 42 clamps the clamped objects. The clamping plate 41 is characterized by further comprising a rubber pad 6, and the rubber pad 6 is arranged on the inner surface of the clamping plate 41. The clamped articles can be protected by the rubber pad 6, so that the articles are prevented from being injured and the attractiveness is reduced. Still include slider 5, the spout has been seted up to the upper surface of bow-shaped support 8, and slider 5 is installed to the lower extreme of dysmorphism gear 43, slider 5 and spout sliding connection. Through the slider 5, the clamping of the object can be more convenient, the friction is reduced, and the thread slipping property is improved.

The lifting unit 2: comprises a top plate 21, a limit post 22, a threaded shaft 23 and a worm wheel 24, the upper surface of the rotary table 7 is provided with the straight support 25 and the first motor support 28, the straight support 25 is rotatably provided with the worm 26, the first motor support 28 is provided with the first motor 27, the output shaft of the first motor 27 is connected with one end of the worm 26 through the first coupler, the upper surface of the rotary table 7 is rotatably provided with the threaded shaft 23, the threaded shaft 23 is provided with the arched support 8, the lower part of the threaded shaft 23 is fixedly provided with the worm wheel 24, the worm wheel 24 is meshed with the worm 26, the upper surface of the rotary table 7 is further provided with the limiting column 22, the upper end of the limiting column 22 is provided with the top plate 21, the top plate 21 is connected with the upper end of the threaded shaft 23, the rear end of the arched support 8 is connected with the limiting column 22 in a sliding mode, and the input end of the first motor 27 is electrically connected with the output end of an external controller. When the feeding and the transportation to the upper part of the production line are needed, the first motor 27 is controlled to work through the external controller, the first motor 27 works to drive the worm 26 to rotate, the worm 26 rotates to drive the worm wheel 24 to rotate, the worm wheel 24 rotates to drive the threaded shaft 23 to rotate, and the threaded shaft 23 rotates to enable the arched support 8 to ascend or descend.

When in use:

when the feeding and the transportation to the upper part of the production line are needed, the first motor 27 is controlled to work through the external controller, the first motor 27 works to drive the worm 26 to rotate, the worm 26 rotates to drive the worm wheel 24 to rotate, the worm wheel 24 rotates to drive the threaded shaft 23 to rotate, and the threaded shaft 23 rotates to enable the arched support 8 to ascend or descend. In the feeding process, when the rotation direction is needed, the second motor 31 is controlled through the external controller, the second motor 31 works to drive the bidirectional screw 36 to rotate, the bidirectional screw 36 rotates to drive the moving block 34 to move, the moving block 34 moves to drive the connecting rod 35 to swing, and the connecting rod 35 swings to drive the turntable 7 to rotate, so that the feeding direction of the manipulator is changed. The hydraulic cylinder 47 is controlled to work through an external controller, the piston rod of the hydraulic cylinder 47 moves to enable the special-shaped gear 43 to move, the special-shaped gear 43 moves to drive the straight gear 44 to rotate, the straight gear 44 rotates to drive the clamping rod 42 to swing, when the piston rod extends out, the clamping rod 42 swings outwards, therefore the clamping rod 42 loosens clamped objects, and when the piston rod retracts, the clamping rod 42 swings inwards, so that the clamping rod 42 clamps the clamped objects. The clamping plate 41 is characterized by further comprising a rubber pad 6, and the rubber pad 6 is arranged on the inner surface of the clamping plate 41. The clamped articles can be protected by the rubber pad 6, so that the articles are prevented from being injured and the attractiveness is reduced. Through the slider 5, the clamping of the object can be more convenient, the friction is reduced, and the thread slipping property is improved.

It should be noted that in this embodiment, the core chip of the external controller is a PLC single chip, specifically, the model is siemens S7-200, the first motor 27 and the second motor 31 can be freely configured according to the actual application scenario, the first motor 27 can be a JE series single-phase servo motor manufactured by mitsubishi motors (china) ltd, beijing, and the second motor 31 can be a single-phase series motor manufactured by tench motors ltd, tokyo. The external controller controls the first motor 27 and the second motor 31 to work by the method commonly used in the prior art

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 utility model provides a multi freedom unloading manipulator which characterized in that: comprises a bottom plate (1), a lifting unit (2), a rotating unit (3), a clamping unit (4), a turntable (7) and an arched bracket (8);

base plate (1): the upper surface of the base plate is provided with a rotating unit (3), and a lifting unit (2) and a clamping unit (4) are arranged above the base plate (1);

lifting unit (2): contain roof (21), spacing post (22), threaded spindle (23), worm wheel (24), straight support (25), worm (26), first motor (27) and first motor support (28), the last surface mounting of carousel (7) has straight support (25) and first motor support (28), rotate on straight support (25) and install worm (26), install first motor (27) on first motor support (28), the output shaft of first motor (27) has the one end of worm (26) through first coupling joint, the last surface rotation of carousel (7) installs threaded spindle (23), bow-shaped support (8) are installed to the last screw thread of threaded spindle (23), the lower part fixed mounting of threaded spindle (23) has worm wheel (24), worm wheel (24) are connected with worm (26) meshing, spacing post (22) are still installed to the upper surface of carousel (7), roof (21) are installed to the upper end of spacing post (22), roof (21) are connected with the upper end of screw shaft (23), the rear end and spacing post (22) sliding connection of bow-shaped support (8), the output of external control ware is connected to the input electricity of first motor (27).

2. The multi-degree-of-freedom discharging mechanical arm as claimed in claim 1, wherein: the rotating unit (3) comprises a second motor (31), a second motor support (32), a fixed support (33), a moving block (34), a connecting rod (35), a bidirectional screw (36), a first connecting column (37) and a second connecting column (38), the second motor support (32) and the fixed support (33) are mounted on the upper surface of the base plate (1), the bidirectional screw (36) is rotatably mounted on the fixed support (33), the second motor (31) is mounted on the second motor support (32), an output shaft of the second motor (31) is connected with one end of the bidirectional screw (36) through a second coupler, the moving blocks (34) are respectively mounted on two sides of the bidirectional screw (36), the second connecting column (38) is mounted at the upper end of the moving block (34), and the connecting rod (35) is rotatably connected onto the second connecting column (38), the other end of connecting rod (35) rotates and is connected with first spliced pole (37), the last surface mounting of first spliced pole (37) has carousel (7), the output of external control ware is connected to the input electricity of second motor (31).

3. The multi-degree-of-freedom discharging mechanical arm as claimed in claim 1, wherein: centre gripping unit (4) contain splint (41), clamping bar (42), special-shaped gear (43), straight-teeth gear (44), hinged-support (45), fluid cylinder support (46) and pneumatic cylinder (47), the surface mounting of bow-shaped support (8) has fluid cylinder support (46), install pneumatic cylinder (47) on fluid cylinder support (46), hinged-support (45) are installed to the tip of special-shaped gear (43), the piston rod of pneumatic cylinder (47) passes through the round pin axle and installs on hinged-support (45), straight-teeth gear (44) are installed in the last surface rotation of bow-shaped support (8), straight-teeth gear (44) are connected with special-shaped gear (43) meshing, install clamping bar (42) on straight-teeth gear (44), splint (41) are installed to the tip of clamping bar (42).

4. The multi-degree-of-freedom discharging mechanical arm as claimed in claim 3, wherein: the clamping plate is characterized by further comprising a rubber pad (6), and the rubber pad (6) is mounted on the inner surface of the clamping plate (41).

5. The multi-degree-of-freedom discharging mechanical arm as claimed in claim 3, wherein: the special-shaped gear is characterized by further comprising a sliding block (5), a sliding groove is formed in the upper surface of the arched support (8), the sliding block (5) is installed at the lower end of the special-shaped gear (43), and the sliding block (5) is in sliding connection with the sliding groove.