Swing manipulator

Abstract

The utility model provides a swinging manipulator, and belongs to the technical field of manipulators. A triangular bracket is arranged on the base; a hinge rod set is arranged on the triangular support, a driving motor provides power for the hinge rod set to drive a mechanical arm installation base to swing back and forth at two positions, and a mechanical arm is arranged on the mechanical arm installation base. The driving motor drives the first shaft rod to rotate, the first shaft rod drives the other shaft rods to rotate, the mechanical arm installation base and the mechanical arm can move back and forth in two positions, automatic carrying is achieved, the structure is simple, installation is convenient, cost is low, and applicability is high.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, concretely relates to a swing manipulator. BACKGROUND

[0002] Manipulator is a kind of programmed automation mechanical device, and specific action such as taking, carrying and transferring of object can be completed by programmed action to achieve expected work task.Manipulator structure for reciprocating swing carrying is relatively complex, and production installation cost is high, not suitable for small production workshop.Therefore, the utility model provides a swing manipulator. UTILITY MODEL CONTENTS

[0003] The utility model aims at providing a swing manipulator.

[0004] To solve the above technical problem, the utility model aims at realizing as follows:

[0005] A swing manipulator, comprising: base;Triangular support is arranged on the base;Three apexes of the triangular support are located at different horizontal heights respectively, and rotating connecting seat is arranged at three apexes;

[0006] First shaft rod is rotatably arranged in the rotating connecting seat at the highest position;The first end of the first shaft rod is drivingly connected with driving motor, the second end is fixedly connected with the first end of first hinged lever, and the first hinged lever is perpendicular to the first shaft rod;The second end of the first hinged lever is hingedly connected with the first end of second hinged lever, and the two are arranged in staggered positions;The second end of the second hinged lever is hingedly connected with the first end of third hinged lever, and the two are arranged in staggered positions;The second end of the third hinged lever is rotatably connected with the end of second shaft rod rotatably arranged in the rotating connecting seat at the lowest position;

[0007] Third shaft rod is rotatably arranged in the rotating connecting seat at the middle position;Fourth hinged lever and fifth hinged lever are rotatably arranged at the end of the third shaft rod and staggered with each other;The other end of the fourth hinged lever is hingedly connected with the first end of sixth hinged lever, and the two are arranged in staggered positions;The second end of the sixth hinged lever is hingedly connected with manipulator mounting seat;The other end of the fifth hinged lever is hingedly connected with the first end of seventh hinged lever, and the two are arranged in staggered positions;The second end of the seventh hinged lever is slidingly hingedly connected with the manipulator mounting seat, and the middle part is hingedly connected with the middle part of the sixth hinged lever;

[0008] Eighth hinged lever and ninth hinged lever are hingedly connected at the hinged position of the second hinged lever and the third hinged lever and staggered with each other;The other end of the eighth hinged lever is hingedly connected with the middle part of the fourth hinged lever, and the two are arranged in staggered positions;The other end of the ninth hinged lever is hingedly connected with the middle part of the fifth hinged lever, and the two are arranged in staggered positions;

[0009] Manipulator is arranged on the manipulator mounting seat.

[0010] On the basis of the above scheme and as a preferred scheme of the above scheme, the fourth hinge rod and the fifth hinge rod are of the same length; the sixth hinge rod and the seventh hinge rod are of the same length; and the eighth hinge rod and the ninth hinge rod are of the same length.

[0011] On the basis of the above scheme and as a preferred scheme of the above scheme, the mechanical hand mounting seat is of a T-shaped structure, one end of the T-shaped horizontal side is hingedly connected with an end of the sixth hinge rod, and the other end of the T-shaped horizontal side is provided with a sliding groove; and the second end of the seventh hinge rod is slidingly arranged in the sliding groove.

[0012] On the basis of the above scheme and as a preferred scheme of the above scheme, the end of the T-shaped vertical side is provided with a connecting portion; and the connecting portion is detachably connected with the mechanical hand through bolts.

[0013] On the basis of the above scheme and as a preferred scheme of the above scheme, the mechanical hand comprises two mounting plates; a plurality of groups of screw holes and a long slot are arranged on the mounting plates; two negative pressure suction heads are arranged in the long slot; the negative pressure suction heads are slidingly arranged in the long slot and are fixed with the mounting plates through screws.

[0014] The utility model discloses the beneficial effect is: the utility model discloses through the drive motor drive first axle rod rotation, first axle rod drive another axle rod rotation, can realize mechanical hand mounting seat and mechanical hand in two place to and fro, realize automatic handling, simple structure, convenient installation, low in cost, strong applicability. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is the utility model structure schematic drawing.

[0016] Figure 2 It is the utility model first to third hinge rod position schematic drawing.

[0017] Figure 3 It is the utility model fourth to ninth hinge rod position schematic drawing.

[0018] Figure 4 It is the utility model mechanical hand mounting seat and mechanical hand structure schematic drawing.

[0019] In the drawing: 1, base; 2, triangular support; 3, rotary connecting seat; 4, first axle rod; 5, first hinge rod; 6, second hinge rod; 7, third hinge rod; 8, second axle rod; 9, third axle rod; 10, fourth hinge rod; 11, fifth hinge rod; 12, sixth hinge rod; 13, mechanical hand mounting seat; 14, seventh hinge rod; 15, eighth hinge rod; 16, ninth hinge rod; 17, sliding groove; 18, connecting portion; 19, mounting plate; 20, screw hole; 21, long slot; 22, negative pressure suction head. DETAILED DESCRIPTION

[0020] The utility model is further explained in connection with the drawings and specific embodiments.

[0021] As Figure 1 shown, a swing manipulator, comprising: base 1, base 1 is fixed on the production line, its top is provided with triangular support 2, three top corners of triangular support 2 are located at different horizontal heights, and rotating connecting seat 3 is arranged at three top corners.

[0022] As Figure 2 shown, first shaft 4 is rotatably arranged in the rotating connecting seat 3 at the highest position, the first end of first shaft 4 is drivingly connected with an external driving motor, the second end is fixedly connected with the first end of first hinged lever 5, and first hinged lever 5 is perpendicular to first shaft 4.

[0023] The second end of first hinged lever 5 is hingedly connected with the first end of second hinged lever 6, and the two are arranged in a staggered manner, the second end of second hinged lever 6 is hingedly connected with the first end of third hinged lever 7, and the two are arranged in a staggered manner, and the second end of third hinged lever 7 is rotatably connected with the end of second shaft 8 rotatably arranged in the rotating connecting seat 3 at the lowest position. When first shaft 4 drives first hinged lever 5 to rotate, first hinged lever 5 drives second hinged lever 6 and third hinged lever 7 to move.

[0024] As Figure 3 shown, third shaft 9 is rotatably arranged in the rotating connecting seat 3 at the middle position, and fourth hinged lever 10 and fifth hinged lever 11 are rotatably arranged at the end of third shaft 9 in a staggered manner.

[0025] The other end of fourth hinged lever 10 is hingedly connected with the first end of sixth hinged lever 12, and the two are arranged in a staggered manner, the second end of sixth hinged lever 12 is hingedly connected with manipulator mounting seat 13. The other end of fifth hinged lever 11 is hingedly connected with the first end of seventh hinged lever 14, and the two are arranged in a staggered manner, the second end of seventh hinged lever 14 is slidingly hingedly connected with manipulator mounting seat 13, and the middle part is hingedly connected with the middle part of sixth hinged lever 12. Among them, fourth hinged lever 10 and fifth hinged lever 11 are the same length, sixth hinged lever 12 and seventh hinged lever 14 are the same length, and the hinged part of sixth hinged lever 12 and seventh hinged lever 14 is closer to the second end of the two.

[0026] The second hinge 6 and the third hinge 7 are hinged together by an eighth hinge 15 and a ninth hinge 16, which are staggered. The other end of the eighth hinge 15 is hinged to the middle of the fourth hinge 10, and the two are staggered. The other end of the ninth hinge 16 is hinged to the middle of the fifth hinge 11, and the two are staggered. The eighth hinge 15 and the ninth hinge 16 are of the same length. Through the connection between the eighth hinge 15 and the ninth hinge 16, the second hinge 6 and the third hinge 7 can drive the fourth, fifth, sixth, and seventh hinges to move. The drive motor drives the first shaft 4 to rotate unidirectionally at a constant speed. Through the movement of each hinge, the robot arm mounting base 13 can move back and forth between the left side and the bottom.

[0027] The staggered arrangement of each hinge rod can avoid motion interference.

[0028] A robotic arm is mounted on the robotic arm mounting base 13.

[0029] Preferred, such as Figure 4 As shown, the robot arm mounting base 13 has a T-shaped structure. One end of the horizontal side of the T-shape is hinged to the end of the sixth hinge rod 12, and the other end of the horizontal side of the T-shape is provided with a sliding groove 17. The second end of the seventh hinge rod 14 is slidably disposed in the sliding groove 17. At the same time, the seventh hinge rod 14 is hinged to the robot arm mounting base 13.

[0030] A connecting part 18 is provided at the end of the T-shaped vertical side, and the connecting part 18 is detachably connected to the robot arm by bolts. The robot arm includes two mounting plates 19, each with several sets of screw holes 20 and an elongated opening 21. The sets of screw holes are evenly arranged along the length of the mounting plates 19 for bolting to the connecting part 18. By cooperating with different sets of screw holes and the connecting part 18, the relative position of the mounting plates 19 and the robot arm mounting base 13 can be adjusted, thereby changing the width of the robot arm.

[0031] Two negative pressure suction heads 22 are installed inside the elongated opening 21. The negative pressure suction heads 22 can slide inside the elongated opening 21 and are fixed to the mounting plate 19 by a screw assembly. Loosening the screws can move the negative pressure suction heads 22 along the elongated opening 21, thereby changing the length of the robot arm.

[0032] The above adjustments enable the robotic arm to perform adsorption and transportation of products of different sizes.

[0033] The preferred embodiments of this utility model have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of this utility model without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of this utility model through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A swinging robotic arm, characterized in that, The utility model provides a kind of robot arm, including: Base (1);The base (1) is provided with triangular support (2);The three top angles of the triangular support (2) are located at different levels respectively, and the three top angles are provided with rotating connecting seat (3); The rotating connecting seat (3) in the highest place is provided with first shaft rod (4) rotationally;The first shaft rod (4) first end is connected with driving motor transmission, second end is fixedly connected with first hinged lever (5) first end, and the first hinged lever (5) is perpendicular to the first shaft rod (4);The second end of the first hinged lever (5) is hinged with the first end of second hinged lever (6), and the two are mispositioned;The second end of the second hinged lever (6) is hinged with the first end of third hinged lever (7), and the two are mispositioned;The second end of the third hinged lever (7) is rotationally connected with the end of second shaft rod (8) rotationally arranged in the rotating connecting seat (3) in the lowest place; The rotating connecting seat (3) in the middle position is provided with third shaft rod (9) rotationally;The end of the third shaft rod (9) is rotationally provided with fourth hinged lever (10) and fifth hinged lever (11) mutually mispositioned;The other end of the fourth hinged lever (10) is hinged with the first end of sixth hinged lever (12), and the two are mispositioned;The second end of the sixth hinged lever (12) is hinged with mechanical hand mounting seat (13);The other end of the fifth hinged lever (11) is hinged with the first end of seventh hinged lever (14), and the two are mispositioned;The second end of the seventh hinged lever (14) is slidingly hinged with the mechanical hand mounting seat (13), and the middle part is hinged with the middle part of the sixth hinged lever (12); The hinged place of the second hinged lever (6) and the third hinged lever (7) is hinged with the eighth hinged lever (15) and ninth hinged lever (16) mutually mispositioned;The other end of the eighth hinged lever (15) is hinged with the middle part of the fourth hinged lever (10), and the two are mispositioned;The other end of the ninth hinged lever (16) is hinged with the middle part of the fifth hinged lever (11), and the two are mispositioned; The mechanical hand mounting seat (13) is provided with mechanical hand.

2. A pendulum robot according to claim 1, characterized in that The fourth hinged lever (10) and the fifth hinged lever (11) are same in length;The sixth hinged lever (12) and the seventh hinged lever (14) are same in length;The eighth hinged lever (15) and the ninth hinged lever (16) are same in length.

3. A pendulum robot according to claim 1, wherein The mechanical hand mounting seat (13) is T-shaped structure, and one end of T-shaped horizontal side is hinged with the end of the sixth hinged lever (12), and the other end of T-shaped horizontal side is provided with sliding groove (17);The second end of the seventh hinged lever (14) is slidingly arranged in the sliding groove (17).

4. A pendulum robot according to claim 3, wherein The end of T-shaped vertical side is provided with connecting part (18);The connecting part (18) is detachably connected with the mechanical hand through bolt.

5. A pendulum robot according to claim 4, wherein The mechanical hand includes two mounting plates (19);A plurality of groups of screw holes (20) and a long slot (21) are formed in the mounting plate (19);Two negative pressure suction heads (22) are arranged in the long slot (21);The negative pressure suction head (22) can slide in the long slot (21), and is fixed with the mounting plate (19) through screw group.

Images