Displacement mechanism for manipulator

Abstract

The displacement mechanism for the mechanical arm is applied to the field of mechanical arm displacement and comprises a first mounting plate, a first support is arranged at the top of the first mounting plate, the inner side of the first support is rotationally connected with a first screw rod through a bearing, and the surface of the first screw rod is in threaded connection with a first threaded block. And a second support is fixedly installed at the top of the first threaded block, a second screw rod is rotationally connected to the inner side of the second support through a bearing, when the mechanical arm is displaced, the first mounting plate and the platform are fastened and installed preferentially, and then the external mechanical arm and the moving mechanism are fastened and installed through the second mounting plate. And then X-axis movement of the second mounting plate can be achieved through operation of the first rotating motor. And meanwhile, the Y-axis movement of the mounting plate II is realized through the operation of the rotating motor II. And through the arrangement, the use flexibility of the second mounting plate and an external manipulator is improved, and convenience in movement is realized within a limited range.

Description

Technical Field

[0001] The utility model belongs to the field of robot displacement, in particular to a robot displacement mechanism. Background Art

[0002] The robot finger can imitate certain movements and functions of human hands and arms, and is an automatic operating device used to grasp, carry objects or operate tools according to a fixed program. It is mainly composed of three parts: an actuator, a drive mechanism and a control system. It can replace people in heavy labor to achieve mechanization and automation of production, and is widely used in machinery manufacturing, light industry and atomic energy. At present, most manipulators are fixed on the platform through a base, and then use the folding of the arm to shrink and stretch. There are certain limitations in use, and the flexibility of use is not high. Utility Model Content

[0003] The utility model aims to provide a displacement mechanism for a manipulator, which has the advantages of increasing the convenience of use, achieving convenient movement within a limited range, and increasing the function of flexible adjustment.

[0004] The above-mentioned technical purpose of the utility model is achieved through the following technical solutions: a displacement mechanism for a manipulator, comprising a mounting plate 1, a bracket 1 is provided on the top of the mounting plate 1, a screw 1 is rotatably connected to the inner side of the bracket 1 through a bearing, a threaded block 1 is threadedly connected to the surface of the screw 1, a bracket 2 is fixedly installed on the top of the threaded block 1, a screw 2 is rotatably connected to the inner side of the bracket 2 through a bearing, a threaded block 2 is threadedly connected to the surface of the screw 2, a shell 1 is provided between the bracket 1 and the fixed plate 1, a rod body 1 is rotatably connected to the inside of the shell 1 through a bearing, a gear 1 is fixedly sleeved on the surface of the rod body 1, a gear 2 is meshed with the surface of the gear 1, a shell 2 is provided on the top of the bracket 2, a rod body 3 is rotatably connected to the inside of the shell 2 through a bearing, a gear 3 is fixedly sleeved on the surface of the rod body 1, a gear 4 is meshed with the surface of the gear 3.

[0005] The above technical solution is adopted: when the manipulator is displaced, the mounting plate 1 and the platform are first fastened and installed, and then the external manipulator and the moving mechanism are fastened and installed through the mounting plate 2. Subsequently, when the external manipulator grabs and moves the object, the screw 1 can be driven to rotate by the operation of the rotating motor 1, so that the screw 1 drives the threaded block 1 to move along the X axis, and the X axis movement of the mounting plate 2 is also realized. At the same time, the operation of the rotating motor 2 will drive the screw 2 to rotate, so that the screw 2 drives the threaded block 2 to move along the Y axis, and the Y axis movement of the mounting plate 2 is also realized. This setting is conducive to increasing the flexibility of the use of the mounting plate 2 and the external manipulator, and realizing convenient movement within a limited range. At the same time, the operation of the rotating motor 3 can drive the worm 1 to rotate, so that the worm 1 will drive the worm wheel 1 to rotate, the rod body 2 supports the worm wheel 1 and the gear 2, the rod body 2 drives the gear 2 to rotate, and the gear 2 will drive the gear 1, the rod body 1 and the bracket 1 to rotate, so as to realize the synchronous angle adjustment of the bracket 1 and the mounting plate 1. And the operation of the rotating motor 4 will drive the worm 2 to rotate, so that the worm 2 drives the worm wheel 2 to rotate, the rod body 4 supports the worm wheel 2 and the gear 4, the rod body 4 drives the gear 4 to rotate, and the gear 4 will drive the gear 3, the rod body 3 and the bracket 2 to rotate, so as to achieve the synchronous angle adjustment of the bracket 2 and the mounting plate 1. While further increasing the adjustment flexibility of the external manipulator, it is also conducive to reducing the mutual influence of the bracket 1 and the bracket 2 on the rotation of the manipulator, which will be solved by the above rotation adjustment.

[0006] The utility model is further configured that a rotary motor 1 is fixedly mounted on one side of the bracket 1, and an output end of the rotary motor 1 is fixedly sleeved with a screw rod 1 through a coupling.

[0007] By adopting the above technical solution, the operation of the rotating motor 1 will drive the screw 1 to rotate.

[0008] The utility model is further configured that a sliding block is fixedly installed on the inner side of the bracket, and a sliding groove is provided at the bottom of the threaded block for sliding with the sliding block.

[0009] The above technical solution is adopted: through the sliding connection between the slider 1 and the slide groove 1, the threaded block 1 is moved and guided on the inner side of the bracket 1.

[0010] The utility model is further configured that a second rotary motor is fixedly mounted on one side of the second bracket, and an output end of the second rotary motor is fixedly sleeved with the second screw rod via a coupling.

[0011] By adopting the above technical solution, the second screw rod will be driven to rotate by rotating the second motor.

[0012] The utility model is further configured that a sliding block 2 is fixedly installed on the inner side of the bracket 2, and a sliding groove 2 for cooperating with the sliding block 2 is provided at the bottom of the threaded block 2.

[0013] The above technical solution is adopted: through the sliding connection between the slider 2 and the slide groove 2, the threaded block 2 is moved and guided on the inner side of the bracket 2.

[0014] The utility model is further configured as follows: a rotating motor three is fixedly installed inside the shell one, the output end of the rotating motor three is fixedly sleeved with a worm one through a coupling, a worm wheel one is meshed with the surface of the worm one, and a rod body two that is rotatably connected to the inside of the shell one is fixedly sleeved between the worm wheel one and the gear two.

[0015] The above technical solution is adopted: the operation of the rotating motor three will drive the worm one to rotate, so that the worm one will drive the worm wheel one to rotate, and the rod body two supports the worm wheel one and the gear two.

[0016] The utility model is further configured such that a rotating motor four is fixedly installed inside the shell two, the output end of the rotating motor four is fixedly sleeved with a worm two via a coupling, the surface of the worm two is meshed with a worm wheel two, and the insides of the worm wheel two and the gear four are fixedly sleeved with a rod body four that is rotatably connected to the inside of the shell two.

[0017] The above technical solution is adopted: the operation of the rotating motor 4 will drive the worm 2 to rotate, so that the worm 2 drives the worm wheel 2 to rotate, and the rod body 4 supports the worm wheel 2 and the gear 4.

[0018] The utility model is further configured such that a fixing plate 1 fixedly connected to a bracket 1 is fixedly installed on the top of the rod body 1, a fixing plate 2 fixedly connected to a bracket 2 is fixedly installed on the bottom of the rod body 2, and a mounting plate 2 is fixedly installed on the top of the shell 2.

[0019] The above technical solution is adopted: the rotation of rod body 1 will drive the fixed plate 1 and the bracket 1 to rotate synchronously, the rotation of rod body 2 will drive the fixed plate 2 and the bracket 2 to rotate synchronously, and the two mounting plates are installed and tightened in conjunction with the external manipulator components.

[0020] In summary, the utility model has the following beneficial effects:

[0021] 1. When the manipulator is displaced, the utility model firstly fastens the mounting plate 1 to the platform, and then fastens the external manipulator to the moving mechanism through the mounting plate 2. Then, the X-axis movement of the mounting plate 2 can be realized by rotating the motor 1. At the same time, the Y-axis movement of the mounting plate 2 can be realized by rotating the motor 2. This setting is conducive to increasing the flexibility of the use of the mounting plate 2 and the external manipulator, and realizing convenient movement within a limited range;

[0022] 2. When the utility model displaces the manipulator, the synchronous angle adjustment of the bracket 1 and the mounting plate 1 can be realized by the operation of the rotating motor 3. And the synchronous angle adjustment of the bracket 2 and the mounting plate 1 can be realized by the operation of the rotating motor 4. While further increasing the flexibility of the adjustment of the external manipulator, it is also helpful to reduce the mutual influence of the bracket 1 and the bracket 2 on the rotation of the manipulator, which will be solved by the above-mentioned rotation adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0024] Figure 2 It is a schematic diagram of the structure decomposition of the utility model;

[0025] Figure 3 It is an enlarged schematic diagram of a front view and cross section of a housing of the utility model;

[0026] Figure 4 It is an enlarged top view of the worm wheel 1 and the worm 1 of the utility model;

[0027] Figure 5 It is an enlarged schematic diagram of the second front view of the housing of the utility model;

[0028] Figure 6 It is an enlarged top view schematic diagram of the worm wheel 2 and the worm 2 of the utility model.

[0029] 1. Mounting plate 1; 2. Bracket 1; 3. Rotating motor 1; 4. Screw 1; 5. Threaded block 1; 6. Bracket 2; 7. Rotating motor 2; 8. Screw 2; 9. Threaded block 2; 10. Slider 1; 11. Slide 1; 12. Slider 2; 13. Slide 2; 14. Housing 1; 15. Fixed plate 1; 16. Rod 1; 17. Gear 1; 18. Rod 2; 19. Gear 2; 20. Worm wheel 1; 21. Worm 1; 22. Rotating motor 3; 23. Fixed plate 2; 24. Housing 2; 25. Mounting plate 2; 26. Rod 3; 27. Rod 4; 28. Gear 3; 29. ​​Gear 4; 30. Worm wheel 2; 31. Worm 2; 32. Rotating motor 4. DETAILED DESCRIPTION

[0030] The utility model is further described in detail below in conjunction with the accompanying drawings.

[0031] Embodiment 1:

[0032] refer to Figure 1 and Figure 2 A displacement mechanism for a manipulator includes a mounting plate 1, a bracket 2 is provided on the top of the mounting plate 1, a screw 4 is rotatably connected to the inner side of the bracket 2 through a bearing, a threaded block 5 is threadedly connected to the surface of the screw 4, a bracket 6 is fixedly installed on the top of the threaded block 5, a screw 8 is rotatably connected to the inner side of the bracket 6 through a bearing, a threaded block 9 is threadedly connected to the surface of the screw 8, when the manipulator is displaced, the mounting plate 1 and the platform are first fastened and installed, and then the external manipulator and the moving mechanism are fastened and installed through the mounting plate 25. Then, the X-axis movement of the mounting plate 25 can be realized by the operation of the rotating motor 3. At the same time, the Y-axis movement of the mounting plate 25 can be realized by the operation of the rotating motor 27. This setting is conducive to increasing the flexibility of the use of the mounting plate 25 and the external manipulator, and realizing convenient movement within a limited range.

[0033] refer to Figure 1 A rotating motor 3 is fixedly installed on one side of the bracket 2, and the output end of the rotating motor 3 is fixedly sleeved with the screw 4 through a coupling. The operation of the rotating motor 3 will drive the screw 4 to rotate.

[0034] refer to Figure 2 A slider 10 is fixedly installed on the inner side of the bracket 2, and a slide groove 11 for cooperating with the slider 10 is provided at the bottom of the threaded block 5. Through the sliding connection between the slider 10 and the slide groove 11, the threaded block 5 is moved and guided on the inner side of the bracket 2.

[0035] refer to Figure 1 A rotating motor 27 is fixedly installed on one side of the bracket 26. The output end of the rotating motor 27 is fixedly sleeved with the screw 28 through a coupling. The operation of the rotating motor 27 drives the screw 28 to rotate.

[0036] refer to Figure 2 A slider 12 is fixedly installed on the inner side of the bracket 6, and a slide groove 13 is provided at the bottom of the threaded block 9 for cooperating with the slider 12 to slide. Through the sliding connection between the slider 12 and the slide groove 13, the threaded block 9 is moved and guided on the inner side of the bracket 6.

[0037] Brief description of the use process: When the manipulator is displaced, the mounting plate 1 and the platform are first fastened and installed, and then the external manipulator and the moving mechanism are fastened and installed through the mounting plate 25. Then, when the external manipulator grabs and moves the object, the screw rod 4 can be driven to rotate by the operation of the rotating motor 3, so that the screw rod 4 drives the threaded block 5 to move along the X axis, and also realizes the X axis movement of the mounting plate 25. Through the sliding connection between the slider 10 and the slide groove 11, the threaded block 5 is moved and guided on the inner side of the bracket 2. At the same time, the operation of the rotating motor 27 will drive the screw rod 28 to rotate, so that the screw rod 28 drives the threaded block 29 to move along the Y axis, and also realizes the Y axis movement of the mounting plate 25. Through the sliding connection between the slider 212 and the slide groove 213, the threaded block 29 is moved and guided on the inner side of the bracket 26. This setting is conducive to increasing the flexibility of the use of the mounting plate 25 and the external manipulator, and realizing convenient movement within a limited range.

[0038] Embodiment 2:

[0039] refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 A displacement mechanism for a manipulator includes a mounting plate 1, a housing 14 is provided between a bracket 2 and a fixed plate 15, a rod 16 is rotatably connected to the inside of the housing 14 through a bearing, a gear 17 is fixedly sleeved on the surface of the rod 16, and a gear 2 19 is meshed on the surface of the gear 17, a housing 24 is provided on the top of the bracket 26, a rod 3 26 is rotatably connected to the inside of the housing 24 through a bearing, a gear 3 28 is fixedly sleeved on the surface of the rod 3 26, and a gear 4 29 is meshed on the surface of the gear 3 28, when the manipulator is displaced, the synchronous angle adjustment of the bracket 2 and the mounting plate 1 can be achieved by the operation of the rotating motor 3 22. And the synchronous angle adjustment of the bracket 26 and the mounting plate 1 can be achieved by the operation of the rotating motor 4 32. While further increasing the flexibility of the adjustment of the external manipulator, it is also beneficial to reduce the mutual influence of the bracket 12 and the bracket 26 on the rotation of the manipulator, and this influence will be solved by the above-mentioned rotation adjustment.

[0040] refer to Figure 4 A rotating motor 3 22 is fixedly installed inside the shell 14, and a worm 21 is fixedly sleeved on the output end of the rotating motor 3 22 through a coupling. A worm wheel 20 is meshed on the surface of the worm 21. The insides of the worm wheel 20 and the gear 2 19 are fixedly sleeved with a rod body 2 18 that is rotatably connected to the inside of the shell 14. The operation of the rotating motor 3 22 will drive the worm 21 to rotate, so that the worm 21 will drive the worm wheel 20 to rotate, and the rod body 2 18 supports the worm wheel 20 and the gear 2 19.

[0041] refer to Figure 6 A rotating motor 4 32 is fixedly installed inside the shell 24, and a worm 2 31 is fixedly sleeved on the output end of the rotating motor 4 32 through a coupling. A worm wheel 2 30 is meshed on the surface of the worm 2 31. The insides of the worm wheel 2 30 and the gear 4 29 are fixedly sleeved with a rod body 4 27 that is rotatably connected to the inside of the shell 24. The operation of the rotating motor 4 32 will drive the worm 2 31 to rotate, so that the worm 2 31 drives the worm wheel 2 30 to rotate, and the rod body 4 27 supports the worm wheel 2 30 and the gear 4 29.

[0042] refer to Figure 3 and Figure 5 A fixing plate 15 fixedly connected to the bracket 2 is fixedly installed on the top of the rod body 16, a fixing plate 23 fixedly connected to the bracket 26 is fixedly installed on the bottom of the rod body 18, and a mounting plate 25 is fixedly installed on the top of the shell 24. The rotation of the rod body 16 will drive the fixing plate 15 and the bracket 2 to rotate synchronously, and the rotation of the rod body 18 will drive the fixing plate 23 and the bracket 26 to rotate synchronously. The mounting plate 25 is installed and tightened in cooperation with the external manipulator components.

[0043] Brief description of the use process: When the manipulator is displaced, the operation of the rotating motor 3 22 can drive the worm 1 21 to rotate, so that the worm 1 21 will drive the worm wheel 1 20 to rotate, the rod body 2 18 supports the worm wheel 1 20 and the gear 2 19, the rod body 2 18 drives the gear 2 19 to rotate, and the gear 2 19 will drive the gear 1 17, the rod body 1 16 and the bracket 1 2 to rotate, so as to achieve the synchronous angle adjustment of the bracket 1 2 and the mounting plate 1 1. And the operation of the rotating motor 4 32 can drive the worm 2 31 to rotate, so that the worm 2 31 drives the worm wheel 2 30 to rotate, the rod body 4 27 supports the worm wheel 2 30 and the gear 4 29, the rod body 4 27 drives the gear 4 29 to rotate, and the gear 4 29 will drive the gear 3 28, the rod body 3 26 and the bracket 2 6 to rotate, so as to achieve the synchronous angle adjustment of the bracket 2 6 and the mounting plate 1 1. While further increasing the adjustment flexibility of the external manipulator, it is also beneficial to reduce the mutual influence of bracket 1 2 and bracket 2 6 on the rotation of the manipulator, which will be resolved through the above-mentioned rotation adjustment.

[0044] This specific embodiment is merely an explanation of the present invention and is not a limitation of the present invention. After reading this specification, those skilled in the art may make non-creative modifications to the present embodiment as needed, but such modifications are protected by patent law as long as they are within the scope of the claims of the present invention.

Claims

1. A displacement mechanism for a robot, comprising a mounting plate (1), characterized in that: The top of the mounting plate 1 (1) is provided with a bracket 1 (2), the inner side of the bracket 1 (2) is rotatably connected to a screw rod 1 (4) via a bearing, the surface of the screw rod 1 (4) is threadedly connected to a thread block 1 (5), the top of the thread block 1 (5) is fixedly installed with a bracket 2 (6), the inner side of the bracket 2 (6) is rotatably connected to a screw rod 2 (8) via a bearing, the surface of the screw rod 2 (8) is threadedly connected to a thread block 2 (9), and a housing 1 (14) is provided between the bracket 1 (2) and the fixing plate 1 (15). The interior of the housing 1 (14) is rotatably connected to a rod 1 (16) via a bearing, the surface of the rod 1 (16) is fixedly sleeved with a gear 1 (17), and the surface of the gear 1 (17) is meshed with a gear 2 (19). The top of the bracket 2 (6) is provided with a housing 2 (24), the interior of the housing 2 (24) is rotatably connected to a rod 3 (26) via a bearing, the surface of the rod 3 (26) is fixedly sleeved with a gear 3 (28), and the surface of the gear 3 (28) is meshed with a gear 4 (29).

2. A displacement mechanism for a manipulator according to claim 1, characterized in that: A rotary motor (3) is fixedly mounted on one side of the bracket (2), and the output end of the rotary motor (3) is fixedly sleeved with a screw (4) via a coupling.

3. A displacement mechanism for a manipulator according to claim 1, characterized in that: A sliding block (10) is fixedly mounted on the inner side of the bracket (2), and a sliding groove (11) for cooperating with the sliding block (10) is provided at the bottom of the threaded block (5).

4. A displacement mechanism for a manipulator according to claim 1, characterized in that: A rotating motor 2 (7) is fixedly mounted on one side of the bracket 2 (6), and the output end of the rotating motor 2 (7) is fixedly sleeved with the screw 2 (8) via a coupling.

5. The displacement mechanism for a manipulator according to claim 1, characterized in that: A sliding block 2 (12) is fixedly mounted on the inner side of the bracket 2 (6), and a sliding groove 2 (13) for cooperating with the sliding block 2 (12) is provided at the bottom of the threaded block 2 (9).

6. The displacement mechanism for a manipulator according to claim 1, characterized in that: A rotating motor 3 (22) is fixedly installed inside the housing 1 (14), and a worm 1 (21) is fixedly sleeved on the output end of the rotating motor 3 (22) through a coupling, and a worm wheel 1 (20) is meshed on the surface of the worm wheel 1 (21), and the worm wheel 1 (20) and the gear 2 (19) are fixedly sleeved with a rod body 2 (18) that is rotatably connected to the inside of the housing 1 (14).

7. A displacement mechanism for a manipulator according to claim 1, characterized in that: A rotating motor 4 (32) is fixedly installed inside the housing 2 (24), and the output end of the rotating motor 4 (32) is fixedly sleeved with a worm 2 (31) through a coupling, and the surface of the worm 2 (31) is meshed with a worm wheel 2 (30), and the insides of the worm wheel 2 (30) and the gear 4 (29) are fixedly sleeved with a rod body 4 (27) that is rotatably connected to the inside of the housing 2 (24).

8. A displacement mechanism for a manipulator according to claim 6, characterized in that: The top of the rod body 1 (16) is fixedly mounted with a fixing plate 1 (15) fixedly connected to the bracket 1 (2), the bottom of the rod body 2 (18) is fixedly mounted with a fixing plate 2 (23) fixedly connected to the bracket 2 (6), and the top of the shell 2 (24) is fixedly mounted with a mounting plate 2 (25).

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