Manipulator provided with moving assembly

Abstract

The utility model discloses a manipulator with a moving component, which relates to the field of manipulators, and comprises a first fixing plate, a second fixing plate and a driving component, a fixing frame is arranged on one side above the first fixing plate, a sliding piece is clamped and connected to the inner side of the fixing frame in a sliding manner, a first motor is arranged on one side above the sliding piece, and a second motor is arranged on one side above the first motor. An output shaft of the first motor is fixedly connected with a first right-angle planetary reducer through a coupler, and meanwhile an output shaft of the first right-angle planetary reducer is fixedly connected with a clamping piece through a coupler. According to the mechanical arm provided with the moving assembly, by arranging the clamping piece, the rotating assembly and the driving assembly, in the using process of the mechanical arm, the workpiece machining range is more comprehensive, the workpiece machining precision degree is improved, subsequent workpiece treatment is facilitated, meanwhile, structural connection is tight, and the situation of connection loosening is avoided; and smooth operation of a transmission structure is guaranteed, and workers can conveniently use the manipulator.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of manipulator, concretely is a manipulator with moving assembly. BACKGROUND

[0002] With the development of science and technology, the application field of manipulator is expanding, and the manipulator is widely used in industrial manufacturing, metallurgy, electronics, light industry and atomic energy, can replace the heavy labor of people, protect the personal safety, realize the mechanization and automation of production, its characteristics are that can complete various expected operations through programming, and has the respective advantages of people and mechanical hand machine in structure and performance.

[0003] However, the current manipulator still has some deficiencies, the existing manipulator has not comprehensively considered the moving adjustment structure, and if the manipulator is not comprehensively considered in the moving adjustment structure during use, the range of workpiece processing may be limited, so that the precision of the manipulator for workpiece processing may be affected, and even the subsequent processing of the workpiece may be affected, which is not convenient for the staff to use the manipulator.

[0004] Therefore, it is urgent to improve this defect, and the utility model provides a manipulator with moving assembly. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a manipulator with moving assembly to solve the problems in the background art.

[0006] In order to achieve the above object, the utility model provides the following technical scheme: a manipulator with moving assembly, including first fixed plate, second fixed plate and drive assembly, the top side of first fixed plate is provided with fixed frame, and the inner side of fixed frame is clamped and connected with sliding piece, and the top side of sliding piece is provided with first motor, and the output shaft of first motor is fixedly connected with first right angle planetary reducer through coupling, and the output shaft of first right angle planetary reducer is fixedly connected with clamping piece through coupling, the second fixed plate is arranged on one side of first fixed plate, and the top of second fixed plate is provided with support plate, and the top of support plate is provided with rotating assembly, the drive assembly is arranged on the top of first fixed plate and second fixed plate respectively, and the drive assembly includes drive motor, precision reverser, first connecting shaft, first planetary reducer, second connecting shaft, second planetary reducer, rotating piece and limiting screw rod.

[0007] Further, one side of the fixed frame is provided with a servo motor, and the output shaft of the servo motor is fixedly connected with a bidirectional screw through a shaft coupling, and both ends of the bidirectional screw are rotatably connected with sliding pieces, and the top of the sliding pieces is fixedly connected with the first straight planetary reducer through bolts.

[0008] Further, the lower part of the first fixed plate and the second fixed plate is fixedly connected with a workbench through bolts, and the front side of the workbench is provided with a cabinet door.

[0009] Further, the rotating assembly comprises a second motor, a second straight planetary reducer, a hollow rotating platform, a connecting piece, a third motor, a first rotating plate, a fourth motor, a second rotating plate and a clamping mechanism, and the second motor is arranged below the supporting plate, and the output shaft of the second motor is fixedly connected with the second straight planetary reducer through a shaft coupling.

[0010] Further, the upper part of the second straight planetary reducer is fixedly connected with the hollow rotating platform, and the hollow rotating platform is arranged above the supporting plate, and the upper part of the hollow rotating platform is fixedly connected with the connecting piece through bolts, and one side of the connecting piece is provided with the third motor.

[0011] Further, the output end of the third motor is fixedly connected with the first rotating plate, one side of the end of the first rotating plate is fixedly connected with the fourth motor, and the output end of the fourth motor is fixedly connected with the second rotating plate, and one side of the second rotating plate is fixedly connected with the clamping mechanism.

[0012] Further, the output shaft of the driving motor is fixedly connected with a precision commutator through a shaft coupling, and the output ends on both sides of the precision commutator are fixedly connected with first connecting shafts, and the ends of the first connecting shafts are fixedly connected with first planetary reducers, and the output ends on the other sides of the first planetary reducers are fixedly connected with second connecting shafts.

[0013] Further, the other end of the second connecting shaft is fixedly connected with a second planetary reducer, and the output shaft on the other side of the second planetary reducer is fixedly connected with a rotating piece, and the center of the rotating piece is rotatably connected with a limiting threaded rod, and the top ends of the limiting threaded rod are fixedly connected with the bottom of the fixed frame and the supporting plate.

[0014] The utility model provides a kind of mechanical hand with mobile assembly, with following beneficial effects:

[0015] 1. The utility model discloses a clamping piece and rotating assembly are provided, in the process of using mechanical hand, utilize clamping piece to work piece steady clamping, and the output of first right angle planetary reducer drives clamping piece to rotate to make the work piece of being clamped angle rotation, in addition, utilize the angle rotation of hollow rotating platform, first rotating plate and second rotating plate, make the position of processing tool change to make the processing tool to the work piece of being clamped process, make work piece processing range more comprehensive, improve the precision degree of work piece processing, be convenient for subsequent work piece processing, and the connection between structure is close, avoid the situation of loosening and falling, be convenient for staff to use mechanical hand.

[0016] 2. The utility model discloses drive assembly is provided, in the process of using mechanical hand, utilize precision reverser to drive both sides first connecting shaft synchronous rotation to under the action of first planetary reducer and second planetary reducer, make second connecting axle and rotating piece follow first connecting shaft synchronous rotation, along with the rotation of rotating piece, limit screw rod gradually from rotating piece outward, to drive fixed frame and support plate lifting movement, structure connection is close, avoid the situation of connection loosening, guarantee the smooth of transmission structure, and be convenient for work piece processing to carry out smoothly, make work piece processing more accurate, facilitate staff to use mechanical hand. ACCURACY

[0017] Figure 1 It is the appearance three-dimensional structure schematic diagram of the utility model of a kind of mechanical hand with moving assembly;

[0018] Figure 2 It is the fixed frame-drive assembly three-dimensional structure schematic diagram of the utility model of a kind of mechanical hand with moving assembly;

[0019] Figure 3 It is the support plate-drive assembly three-dimensional structure schematic diagram of the utility model of a kind of mechanical hand with moving assembly;

[0020] Figure 4 It is the first fixed plate-drive assembly three-dimensional structure schematic diagram of the utility model of a kind of mechanical hand with moving assembly.

[0021] In the figure: 1, the first fixed plate; 2, the fixed frame; 3, the sliding piece; 4, the servo motor; 5, the bidirectional screw rod; 6, the first motor; 7, the first right-angle planetary reducer; 8, the clamping piece; 9, the second fixed plate; 10, the workbench; 11, the cabinet door; 12, the support plate; 13, the rotating assembly; 1301, the second motor; 1302, the second right-angle planetary reducer; 1303, the hollow rotating platform; 1304, the connecting piece; 1305, the third motor; 1306, the first rotating plate; 1307, the fourth motor; 1308, the second rotating plate; 1309, the clamping mechanism; 14, the driving assembly; 1401, the driving motor; 1402, the precision reverser; 1403, the first connecting shaft; 1404, the first planetary reducer; 1405, the second connecting shaft; 1406, the second planetary reducer; 1407, the rotating piece; 1408, the limiting screw rod. DETAILED DESCRIPTION

[0022] The embodiments of the present application will be further described below in conjunction with the drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

[0023] As Figures 1-4As shown, a mechanical hand with a moving assembly, including a first fixed plate 1, a second fixed plate 9 and a driving assembly 14, the upper side of the first fixed plate 1 is provided with a fixed frame 2, and the inner side of the fixed frame 2 is clamped and slidably connected with a sliding piece 3, and the upper side of the sliding piece 3 is provided with a first motor 6, and the output shaft of the first motor 6 is fixedly connected with a first angular planetary reducer 7 through a shaft coupling, and the output shaft of the first angular planetary reducer 7 is fixedly connected with a clamping piece 8 through a shaft coupling, one side of the fixed frame 2 is provided with a servo motor 4, and the output shaft of the servo motor 4 is fixedly connected with a bidirectional screw 5 through a shaft coupling, and both ends of the bidirectional screw 5 are rotatably connected with the sliding piece 3, and the top of the sliding piece 3 is fixedly connected with the first angular planetary reducer 7 through bolts, the second fixed plate 9 is arranged on one side of the first fixed plate 1, and the lower sides of the first fixed plate 1 and the second fixed plate 9 are fixedly connected with a workbench 10 through bolts, and the front side of the workbench 10 is provided with a cabinet door 11, and the upper side of the second fixed plate 9 is provided with a supporting plate 12, and the upper side of the supporting plate 12 is provided with a rotating assembly 13, the rotating assembly 13 includes a second motor 1301, a second angular planetary reducer 1302, a hollow rotating platform 1303, a connecting piece 1304, a third motor 1305, a first rotating plate 1306, a fourth motor 1307, a second rotating plate 1308 and a clamping mechanism 1309, and the second motor 1301 is arranged below the supporting plate 12, and the output shaft of the second motor 1301 is fixedly connected with the second angular planetary reducer 1302 through a shaft coupling, the upper side of the second angular planetary reducer 1302 is fixedly connected with the hollow rotating platform 1303, and the hollow rotating platform 1303 is arranged above the supporting plate 12, and the upper side of the hollow rotating platform 1303 is fixedly connected with the connecting piece 1304 through bolts, and one side of the connecting piece 1304 is provided with the third motor 1305, the output end of the third motor 1305 is fixedly connected with the first rotating plate 1306, one side of the end of the first rotating plate 1306 is fixedly connected with the fourth motor 1307, and the output end of the fourth motor 1307 is fixedly connected with the second rotating plate 1308, and one side of the second rotating plate 1308 is fixedly connected with the clamping mechanism 1309;

[0024] The specific operation is as follows, the workers place the workpieces between the clamping pieces 8, and then use the servo motor 4 arranged on one side of the fixed frame 2 to drive the bidirectional screw rod 5 to rotate on the inside of the fixed frame 2. With the rotation of the bidirectional screw rod 5, the sliding pieces 3 rotatably connected to the outside of the bidirectional screw rod 5 gradually slide and are clamped on the inside of the fixed frame 2, so that the first angular planetary reducer 7 fixedly connected to the top of the sliding pieces 3 are close to each other, and then the clamping pieces 8 fixedly connected to the output shaft of the first angular planetary reducer 7 through the shaft coupling firmly clamp the workpieces. Then, the workers can drive the first angular planetary reducer 7 to rotate by the first motor 6, so that the output end of the first angular planetary reducer 7 drives the clamping pieces 8 to rotate, thereby making the clamped workpieces rotate. In addition, the workers can install and connect the machining tool with the clamping mechanism 1309, and then drive the second angular planetary reducer 1302 to rotate by the second motor 1301, and make the hollow rotating platform 1303 fixedly connected above the second angular planetary reducer 1302 move, so that the connecting piece 1304 fixedly connected above the hollow rotating platform 1303 rotates, and the workers can make the first rotating plate 1306 rotate by the third motor 1305, and make the second rotating plate 1308 rotate by the fourth motor 1307, so that the position of the machining tool is changed, and the machining tool can machine the clamped workpieces, so that the machining range is more comprehensive, and the workers can use the mechanical hand conveniently.

[0025] As shown in Figures 1-4 The driving assembly 14 is arranged above the first fixed plate 1 and the second fixed plate 9, and the driving assembly 14 comprises a driving motor 1401, a precision reverser 1402, a first connecting shaft 1403, a first planetary reducer 1404, a second connecting shaft 1405, a second planetary reducer 1406, a rotating piece 1407 and a limiting threaded rod 1408. The output shaft of the driving motor 1401 is fixedly connected with the precision reverser 1402 through the shaft coupling. The output ends on both sides of the precision reverser 1402 are fixedly connected with the first connecting shaft 1403. The end portion of the first connecting shaft 1403 is fixedly connected with the first planetary reducer 1404. The output end on the other side of the first planetary reducer 1404 is fixedly connected with the second connecting shaft 1405. The other end of the second connecting shaft 1405 is fixedly connected with the second planetary reducer 1406. The output shaft on the other side of the second planetary reducer 1406 is fixedly connected with the rotating piece 1407. The center of the rotating piece 1407 is rotatably connected with the limiting threaded rod 1408. The top end of the limiting threaded rod 1408 is fixedly connected with the fixed frame 2 and the bottom of the support plate 12 respectively.

[0026] The specific operation is as follows: the staff adjusts the machining position by using the driving assembly 14, drives the two side output ends of the precision commutator 1402 by using the driving motor 1401 to rotate, so that the first connecting shaft 1403 fixedly connected with the two side output ends of the precision commutator 1402 rotates synchronously, the second connecting shaft 1405 rotates synchronously with the first connecting shaft 1403 because the end portions of the first connecting shaft 1403 and the second connecting shaft 1405 are fixedly connected with the output end of the first planetary reducer 1404, the rotating piece 1407 fixedly connected with the other side output shaft of the second planetary reducer 1406 rotates under the transmission of the second planetary reducer 1406 as the second connecting shaft 1405 rotates, and the center of the limiting threaded rod 1408 connected with the rotating piece 1407 through threads gradually extends out of the rotating piece 1407 as the rotating piece 1407 rotates, the fixed frame 2 and the support plate 12 are driven to move up and down as the limiting threaded rod 1408 moves up and down because the top end of the limiting threaded rod 1408 is fixedly connected with the fixed frame 2 and the bottom of the support plate 12, the structure is simple, and it is convenient for the staff to use the mechanical hand.

[0027] In conclusion, the mechanical hand provided with the moving assembly is convenient to use and can be used in different positions. Figures 1-4In the structure shown in the middle, during the use of the manipulator, first, the worker places the workpiece between the clamping pieces 8, and then uses the servo motor 4 arranged on one side of the fixed frame 2 to drive the bidirectional screw rod 5 to rotate inside the fixed frame 2. With the rotation of the bidirectional screw rod 5, the sliding piece 3 rotatably connected to the outside of the bidirectional screw rod 5 gradually slides and engages inside the fixed frame 2, so that the first angular planetary reducer 7 fixedly connected to the top of the sliding piece 3 moves closer to each other, and then the output shaft of the first angular planetary reducer 7 fixedly connected to the clamping piece 8 firmly clamps the workpiece, then the worker can use the first motor 6 to drive the first angular planetary reducer 7 to operate, so that the output end of the first angular planetary reducer 7 drives the clamping piece 8 to rotate, thereby making the clamped workpiece rotate in angle. In addition, the worker can install and connect the machining tool with the clamping mechanism 1309, and then use the second motor 1301 to drive the second angular planetary reducer 1302 to operate, and make the hollow rotating platform 1303 fixedly connected above the second angular planetary reducer 1302 move, so that the connecting piece 1304 fixedly connected above the hollow rotating platform 1303 rotates, and the worker can use the third motor 1305 to rotate the first rotating plate 1306 in angle, and can use the fourth motor 1307 to rotate the second rotating plate 1308 in angle, so that the position of the machining tool is changed, and the machining tool can process the clamped workpiece. At the same time, the worker adjusts the machining position by using the driving assembly 14, drives the two output ends of the precision commutator 1402 to rotate by using the driving motor 1401, so that the first connecting shaft 1403 fixedly connected to the two output ends of the precision commutator 1402 rotates synchronously. Because the ends of the first connecting shaft 1403 and the second connecting shaft 1405 are fixedly connected to the output end of the first planetary reducer 1404, the second connecting shaft 1405 rotates synchronously with the first connecting shaft 1403. With the rotation of the second connecting shaft 1405, the rotating piece 1407 fixedly connected to the other output shaft of the second planetary reducer 1406 rotates under the transmission of the second planetary reducer 1406. With the rotation of the rotating piece 1407, the center of the limiting threaded rod 1408 connected to the rotating piece 1407 gradually extends outwards. Because the top ends of the limiting threaded rods 1408 are fixedly connected to the fixed frame 2 and the bottom of the support plate 12 respectively, the fixed frame 2 and the support plate 12 are driven to move up and down with the lifting of the limiting threaded rod 1408. The structure is simple and convenient for the worker to use the manipulator. The models of the first angular planetary reducer 7, the second angular planetary reducer 1302, the first planetary reducer 1404 and the second planetary reducer 1406 are AF straight tooth series right-angle precision planetary reducers. The model of the precision commutator 1402 is high-precision AT-FL hole-in shaft-out type. The model of the hollow rotating platform 1303 is LDK60.

[0028] Embodiments of the present application are presented by way of example and description only and are not intended to be limiting of the present application to the form disclosed. Many modifications and variations of the present application are possible in light of this disclosure. It is intended that the present application cover modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.

Claims

1. A robot provided with a mobile assembly, comprising a first fixed plate (1), a second fixed plate (9) and a drive assembly (14), characterized in that, The upper side of the first fixed plate (1) is provided with a fixed frame (2), the inner side of the fixed frame (2) is clamped and slidably connected with a sliding piece (3), the upper side of the sliding piece (3) is provided with a first motor (6), the output shaft of the first motor (6) is fixedly connected with a first angular planetary reducer (7) through a shaft coupling, the output shaft of the first angular planetary reducer (7) is fixedly connected with a clamping piece (8) through a shaft coupling, the second fixed plate (9) is arranged on one side of the first fixed plate (1), the upper side of the second fixed plate (9) is provided with a supporting plate (12), and the upper side of the supporting plate (12) is provided with a rotating assembly (13), the driving assembly (14) is arranged above the first fixed plate (1) and the second fixed plate (9) respectively, and the driving assembly (14) comprises a driving motor (1401), a precision reverser (1402), a first connecting shaft (1403), a first planetary reducer (1404), a second connecting shaft (1405), a second planetary reducer (1406), a rotating piece (1407) and a limiting threaded rod (1408).

2. The robot according to claim 1, wherein The side of the fixed frame (2) is provided with a servo motor (4), the output shaft of the servo motor (4) is fixedly connected with a bidirectional screw rod (5) through a shaft coupling, the outer sides of the two ends of the bidirectional screw rod (5) are rotatably connected with the sliding piece (3), and the top of the sliding piece (3) is fixedly connected with the first angular planetary reducer (7) through bolts.

3. The robot with a mobile assembly according to claim 1, characterized in that, The lower sides of the first fixed plate (1) and the second fixed plate (9) are fixedly connected with a workbench (10) through bolts, and the front side of the workbench (10) is provided with a cabinet door (11).

4. The robot with a mobile assembly according to claim 1, characterized in that, The rotating assembly (13) comprises a second motor (1301), a second angular planetary reducer (1302), a hollow rotating platform (1303), a connecting piece (1304), a third motor (1305), a first rotating plate (1306), a fourth motor (1307), a second rotating plate (1308) and a clamping mechanism (1309), the second motor (1301) is arranged below the supporting plate (12), and the output shaft of the second motor (1301) is fixedly connected with the second angular planetary reducer (1302) through a shaft coupling.

5. A robot according to claim 4, wherein the moving assembly comprises a plurality of rollers (5) arranged to rotate around a common axis (6) and to be driven by a motor (7). The upper side of the second angular planetary reducer (1302) is fixedly connected with the hollow rotating platform (1303), the hollow rotating platform (1303) is arranged above the supporting plate (12), and the upper side of the hollow rotating platform (1303) is fixedly connected with the connecting piece (1304) through bolts.

6. The robot according to claim 4, wherein The output end of the third motor (1305) is fixedly connected with the first rotating plate (1306), the end side of the first rotating plate (1306) is fixedly connected with the fourth motor (1307), the output end of the fourth motor (1307) is fixedly connected with the second rotating plate (1308), and the side of the second rotating plate (1308) is fixedly connected with the clamping mechanism (1309).

7. The robot according to claim 1, wherein The output shaft of the driving motor (1401) is fixedly connected with a precision reverser (1402) through a shaft coupling, the output ends on the two sides of the precision reverser (1402) are fixedly connected with a first connecting shaft (1403), the end of the first connecting shaft (1403) is fixedly connected with a first planetary reducer (1404), and the output end on the other side of the first planetary reducer (1404) is fixedly connected with a second connecting shaft (1405).

8. The robot according to claim 1, wherein The other end of the second connecting shaft (1405) is fixedly connected with a second planetary reducer (1406), the output shaft on the other side of the second planetary reducer (1406) is fixedly connected with a rotating piece (1407), the center of the rotating piece (1407) is rotationally connected with a limiting threaded rod (1408), and the top ends of the limiting threaded rod (1408) are fixedly connected with the bottom of the fixed frame (2) and the supporting plate (12) respectively.

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