CN216266034U

CN216266034U - Manipulator that all-round multi-angle was used

Info

Publication number: CN216266034U
Application number: CN202122807215.2U
Authority: CN
Inventors: 施新泳
Original assignee: Anhui University of Science and Technology
Current assignee: Anhui University of Science and Technology
Priority date: 2021-11-16
Filing date: 2021-11-16
Publication date: 2022-04-12
Anticipated expiration: 2031-11-16

Abstract

The utility model relates to the technical field of mechanical arms, and discloses an omnibearing and multi-angle-use mechanical arm which comprises a base, wherein a sliding block is arranged in the middle of a cross beam, a gear is arranged on the front surface of a first motor, a lifting column is arranged in a lifting cavity, a first rotating block is arranged at the bottom of a second motor, a second rotating block is arranged on the left side of a third motor, a rotating ball is arranged at the bottom of the first rotating block, a mechanical arm body is arranged at the bottom of the second rotating block, a first magnet is arranged on the left side of a connecting block, a second magnet is arranged on the right side of an air bin, a pressing plate is arranged on the left side of the second magnet, an air bag is arranged in the air bin, the sliding block slides in a cross beam through groove, the gear drives the lifting column to enable the mechanical arm body to move in the horizontal direction and the vertical direction, and the first rotating block and the second rotating block enable the mechanical arm body to rotate in the horizontal direction and the vertical direction, so that the effect of flexible angle adjustment is achieved; first magnet drives second magnet, and the cooperation clamp plate extrudees the gasbag, extrudees near the rolling ball with the air, removes dust to near subassembly to reach the effect of being convenient for clear up the deposition.

Description

Manipulator that all-round multi-angle was used

Technical Field

The utility model relates to the technical field of manipulators, in particular to a manipulator used in an all-dimensional and multi-angle manner.

Background

A robot is an automatic manipulator which imitates some motion functions of a human hand and arm for grasping, carrying objects or operating tools according to a fixed program, and is characterized in that various expected operations can be performed by programming, and the advantages of both human and robot machines are combined in structure and performance, and the robot is the earliest occurring industrial robot and the earliest occurring modern robot.

At present, the manipulator angle is not well adjusted when using, is difficult to realize the work of some angle of drilling, needs artifical auxiliary operation, extravagant workman's time, reduces work efficiency, consequently, I provide a manipulator that all-round multi-angle was used.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Aiming at the defects of the prior art, the utility model provides the manipulator used in all-dimensional and multi-angle modes, which has the advantages that the angle of the manipulator can be flexibly adjusted when the manipulator is used, the working of some drilling angles can be realized, the manual auxiliary operation is not needed, the time of workers is saved, and the working efficiency is improved, and the problems that the angle of the manipulator is not easily adjusted when the manipulator is used, the working of some drilling angles is difficult to realize, the manual auxiliary operation is needed, the time of the workers is wasted, and the working efficiency is reduced in the current stage are solved.

(II) technical scheme

In order to realize the purposes that the angle of the manipulator can be flexibly adjusted when in use, some drilling angle can be realized, manual auxiliary operation is not needed, the time of workers is saved, and the working efficiency is improved, the utility model provides the following technical scheme: a manipulator used in all-dimensional and multi-angle mode comprises a base, a control machine is fixedly connected inside the base, a support column is fixedly connected to the top of the left side of the base, a cross beam is fixedly connected to the top and the right side of the support column, a sliding block is slidably connected to the middle of the cross beam, a limiting block is fixedly connected to the bottom of the cross beam, a lifting cavity is fixedly connected to the bottom of the sliding block, a fixing bin is fixedly connected to the inner wall of the top of the lifting cavity, a first motor is fixedly connected to the inner wall of the right side of the lifting cavity, a gear is movably connected to the front side of the first motor, a lifting column is movably connected to the inner portion of the lifting cavity, a second motor is fixedly connected to the left side of the bottom of the lifting column, a third motor is arranged at the bottom of the lifting column, a first rotating block is movably connected to the left side of the second motor, a second rotating block is movably connected to the left side of the third motor, a rotating block is arranged at the bottom of the first rotating block and is movably connected to a manipulator body, the connecting block left side fixedly connected with first magnet, support column right side fixedly connected with gas storehouse, gas storehouse right side swing joint has second magnet, second magnet left side fixedly connected with clamp plate, the inside gasbag that is provided with of gas storehouse, gas storehouse bottom fixedly connected with air cock.

Preferably, the cross beam is internally provided with a through groove, the through groove comprises a transverse groove and a vertical groove, the sliding block slides on the through groove, the transverse groove and the vertical groove provide multiple choices for the movement of the sliding block, and the sliding block can move back and forth and can also move left and right.

Preferably, the left side and the right side of the fixed bin are both provided with sliding grooves, the middle of the lifting column is provided with threads, the threads are meshed with the gears, the lifting column slides up and down in the fixed bin, the fixed bin can limit the lifting column to prevent the lifting column from moving left and right, and the gears rotate to drive the lifting column to ascend or descend.

Preferably, the controller and first motor, the second motor, the equal electric connection of third motor, the little joint block of first commentaries on classics piece right side bottom fixedly connected with, the little joint block of second commentaries on classics piece left side top swing joint, little joint block and rolling ball swing joint, the little joint block of second commentaries on classics piece and manipulator body fixed connection, the first motor can be controlled to the controller, the function of second motor and third motor, first commentaries on classics piece drives the rolling ball horizontal direction and rotates, the second commentaries on classics piece drives the vertical direction rotation of rolling ball, the rolling ball rotates and drives the manipulator body and rotate.

Preferably, fixed storehouse left side spout is the cavity groove, and first magnet and second magnet polarity are opposite, and the cavity groove has been seted up on the gas storehouse right side, can rise or descend jointly through fixed storehouse cavity groove during connecting block upward movement, first magnet and second magnet inter attraction, can pass through the cavity groove in the gas storehouse when the clamp plate removes.

Preferably, the bottom of the air bag is provided with an opening, the opening is fixedly connected with an air faucet, the air faucet inclines towards the rotating ball, air in the air bag enters the air faucet through the opening, and the air faucet inclines towards the rotating ball to remove dust of the components near the rotating ball.

(III) advantageous effects

Compared with the prior art, the utility model provides the manipulator used in all directions and at multiple angles, and the manipulator has the following beneficial effects:

1. this manipulator that all-round multi-angle was used, it slides to run through the groove at the crossbeam through the slider, make the manipulator body carry out the horizontal direction and remove, it makes the manipulator body carry out vertical orientation through the gear drive lift post and removes, it rotates with vertical orientation to make the manipulator body carry out the horizontal direction through first commentaries on classics piece and second commentaries on classics piece, thereby it can adjust in a flexible way to reach the manipulator angle when using, can realize the work of some cunning angles, do not need artifical auxiliary operation, practice thrift workman's time, the effect that improves work efficiency.

2. This manipulator that all-round multi-angle was used, through first magnet and second magnet inter attraction, rise jointly and descend, the cooperation clamp plate extrudees the gasbag, extrudees near the rolling ball through the air cock with the air, removes dust to near subassembly to reach and be convenient for clear up the deposition, reduce workman's work load, improve the effect of machine safety work reliability.

Drawings

FIG. 1 is a front cross-sectional view of the present invention;

FIG. 2 is a top view of the present invention;

fig. 3 is a front view of the rotating ball of the present invention.

In the figure: 1. a base; 2. a control machine; 3. a support pillar; 4. a cross beam; 5. a slider; 6. a limiting block; 7. a lifting cavity; 8. fixing the bin; 9. a first motor; 10. a gear; 11. a lifting column; 12. a second motor; 13. a third motor; 14. a first rotating block; 15. a second rotating block; 16. rotating the ball; 17. a manipulator body; 18. connecting blocks; 19. a first magnet; 20. a gas bin; 21. a second magnet; 22. pressing a plate; 23. an air bag; 24. an air tap.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, an all-directional multi-angle manipulator comprises a base 1, a controller 2 is fixedly connected inside the base 1, a support pillar 3 is fixedly connected to the top of the left side of the base 1, a cross beam 4 is fixedly connected to the top of the support pillar 3, a slide block 5 is slidably connected to the middle of the cross beam 4, a through groove is formed inside the cross beam 4, the through groove comprises a transverse groove and a vertical groove, the slide block 5 slides on the through groove, the transverse groove and the vertical groove provide multiple choices for the movement of the slide block 5, the slide block 5 can move back and forth and can also move left and right, a limit block 6 is fixedly connected to the bottom of the cross beam 4, a lifting cavity 7 is fixedly connected to the bottom of the slide block 5, a fixed bin 8 is fixedly connected to the inner wall of the top of the lifting cavity 7, a first motor 9 is fixedly connected to the inner wall of the right side of the lifting cavity 7, a gear 10 is movably connected to the front of the first motor 9, a lifting pillar 11 is movably connected inside the lifting cavity 7, the left side and the right side of the fixed bin 8 are both provided with sliding grooves, the middle of the lifting column 11 is provided with threads, the threads are meshed with the gear 10, the lifting column 11 slides up and down in the fixed bin 8, the fixed bin 8 can limit the lifting column 11 so that the lifting column can not move left and right, the gear 10 rotates to drive the lifting column 11 to ascend or descend, the left side of the bottom of the lifting column 11 is fixedly connected with the second motor 12, the bottom of the lifting column 11 is provided with the third motor 13, the bottom of the second motor 12 is movably connected with the first rotating block 14, the left side of the third motor 13 is movably connected with the second rotating block 15, the bottom of the first rotating block 14 is provided with the rotating ball 16, the bottom of the second rotating block 15 is movably connected with the manipulator body 17, the control machine 2 and the first motor 9, the second motor 12 and the third motor 13 are both electrically connected, the bottom of the right side of the first rotating block 14 is fixedly connected with the small connecting block, the top of the left side of the second rotating block 15 is movably connected with the small connecting block, the small connecting block is movably connected with a rotating ball 16, a second rotating block 15 is fixedly connected with a manipulator body 17, a controller 2 can control the operation of a first motor 9, a second motor 12 and a third motor 13, the first rotating block 14 drives the rotating ball 16 to rotate in the horizontal direction, the second rotating block 15 drives the rotating ball 16 to rotate in the vertical direction, the rotating ball 16 rotates to drive the manipulator body 17 to rotate, the sliding block 5 slides in a through groove of the cross beam 4, so that the manipulator body 17 moves in the horizontal direction, the gear 10 drives the lifting column 11 to drive the manipulator body 17 to move in the vertical direction, and the first rotating block 14 and the second rotating block 15 enable the manipulator body 17 to rotate in the horizontal direction and the vertical direction, so that the effect that the angle of the manipulator can be flexibly adjusted when in use is achieved;

the left side of the lifting column 11 is fixedly connected with a connecting block 18, the left side of the connecting block 18 is fixedly connected with a first magnet 19, the right side of the supporting column 3 is fixedly connected with an air bin 20, the right side of the air bin 20 is movably connected with a second magnet 21, the left side of the second magnet 21 is fixedly connected with a pressing plate 22, a left sliding groove of the fixed bin 8 is a hollow groove, the polarities of the first magnet 19 and the second magnet 21 are opposite, the right side of the air bin 20 is provided with the hollow groove, the connecting block 18 can pass through the hollow groove of the fixed bin 8 when moving upwards, the first magnet 19 and the second magnet 21 are mutually attracted and ascend or descend together, the pressing plate 22 can pass through the hollow groove of the air bin 20 when moving, an air bag 23 is arranged inside the air bin 20, the bottom of the air bin 20 is fixedly connected with an air nozzle 24, the bottom of the air bag 23 is provided with an opening, the opening is fixedly connected with the air nozzle 24, the air nozzle 24 inclines towards the rotating ball 16, the air in the air bag 23 enters the air nozzle 24 through the opening, the air nozzle 24 inclines towards the rotating ball 16 to remove dust on components near the rotating ball 16, through first magnet 19 and second magnet 21 inter attraction, rise and descend jointly, cooperation clamp plate 22 extrudees gasbag 23, extrudees near the ball 16 that rotates through air cock 24 with the air, removes dust to near subassembly to reach the effect of being convenient for clear up the deposition.

The working principle is as follows: when the manipulator is used, the controller 2 controls the sliding block 5 to slide in the through groove of the cross beam 4, the cross groove and the vertical groove provide multiple choices for the movement of the sliding block 5, the sliding block 5 can move back and forth and can also move left and right to drive the manipulator body 17 to move in the horizontal direction, the controller 2 can control the operation of the first motor 9, the second motor 12 and the third motor 13, the first motor 9 drives the gear 10 to rotate, the gear 10 rotates to drive the lifting column 11 to rise or fall, the lifting column 11 slides up and down in the fixed bin 8, the fixed bin 8 can limit the lifting column 11 to prevent the lifting column 11 from moving left and right to drive the manipulator body 17 to move in the vertical direction, the second motor 12 drives the first rotating block 14 to rotate, the third motor 13 drives the second rotating block 15 to rotate, the first rotating block 14 drives the rotating ball 16 to rotate in the horizontal direction, the second rotating block 15 drives the rotating ball 16 to rotate in the vertical direction, the rotating ball 16 rotates to drive the mechanical hand body 17 to rotate, so that the mechanical hand body 17 can rotate in the horizontal direction and the vertical direction, the angle of the mechanical hand can be flexibly adjusted when the mechanical hand is used, the operation of some drilling angles can be realized, manual auxiliary operation is not needed, the time of workers is saved, and the working efficiency is improved; the lift post 11 rises or reduces, can drive connecting block 18 and first magnet 19 common motion, first magnet 19 and second magnet 21 inter attraction, rise jointly and descend, second magnet 21 drives clamp plate 22 and rises or descends, collect gasbag 23 with the air when ascending, extrude gasbag 23 during the decline, extrude near rolling ball 16 through air cock 24 with the air, remove dust to near subassembly, thereby reach and be convenient for clear up the deposition, reduce workman's work load, improve the effect of machine safety work reliability.

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 utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a manipulator that all-round multi-angle was used, includes base (1), its characterized in that: the lifting mechanism is characterized in that a control machine (2) is fixedly connected to the inside of a base (1), a supporting column (3) is fixedly connected to the top of the left side of the base (1), a cross beam (4) is fixedly connected to the right side of the top of the supporting column (3), a sliding block (5) is slidably connected to the middle of the cross beam (4), a limiting block (6) is fixedly connected to the bottom of the cross beam (4), a lifting cavity (7) is fixedly connected to the bottom of the sliding block (5), a fixed bin (8) is fixedly connected to the inner wall of the top of the lifting cavity (7), a first motor (9) is fixedly connected to the inner wall of the right side of the lifting cavity (7), a gear (10) is movably connected to the front side of the first motor (9), a lifting column (11) is movably connected to the inside of the lifting cavity (7), a second motor (12) is fixedly connected to the left side of the bottom of the lifting column (11), a third motor (13) is arranged at the bottom of the lifting column (11), second motor (12) bottom swing joint has first commentaries on classics piece (14), third motor (13) left side swing joint has the second to change piece (15), first commentaries on classics piece (14) bottom is provided with rolling ball (16), second commentaries on classics piece (15) bottom swing joint has manipulator body (17), lift post (11) left side fixedly connected with connecting block (18), the first magnet (19) of connecting block (18) left side fixedly connected with, support column (3) right side fixedly connected with gas storehouse (20), gas storehouse (20) right side swing joint has second magnet (21), second magnet (21) left side fixedly connected with clamp plate (22), inside gasbag (23) that is provided with of gas storehouse (20), gas storehouse (20) bottom fixedly connected with air cock (24).

2. The manipulator of claim 1, which is used in all directions and angles, and comprises: the beam (4) is internally provided with a through groove, and the through groove comprises a transverse groove and a vertical groove.

3. The manipulator of claim 1, which is used in all directions and angles, and comprises: the left side and the right side of the fixed bin (8) are both provided with sliding grooves, the middle of the lifting column (11) is provided with threads, and the threads are meshed with the gear (10).

4. The manipulator of claim 1, which is used in all directions and angles, and comprises: control machine (2) and first motor (9), second motor (12), the equal electric connection of third motor (13), first change piece (14) right side bottom fixedly connected with and connect the piece for a short time, piece (15) left side top swing joint is changeed to the second has and connects the piece for a short time, connect piece for a short time and rolling ball (16) swing joint, piece (15) connect piece and manipulator body (17) fixed connection for a short time is changeed to the second.

5. The manipulator of claim 1, which is used in all directions and angles, and comprises: fixed storehouse (8) left side spout is the hollow groove, first magnet (19) and second magnet (21) polarity are opposite, the hollow groove has been seted up on gas storehouse (20) right side.

6. The manipulator of claim 1, which is used in all directions and angles, and comprises: an opening is formed in the bottom of the air bag (23), the opening is fixedly connected with an air nozzle (24), and the air nozzle (24) inclines towards the rotating ball (16).