Multi-joint high-speed manipulator

Abstract

The utility model discloses a multi-joint high-speed manipulator, and relates to the technical field of manipulators. The mechanical arm comprises a mechanical arm mounting plate, wherein a motor mounting plate is fixedly matched with one side of the mechanical arm mounting plate; the bottom of the mechanical arm mounting plate and the bottom of the motor mounting plate are each rotationally matched with a second-stage swing arm. And the third-stage swing arm is positioned on one side of the mechanical arm mounting plate and one side of the motor mounting plate. According to the mechanical arm, the two motors are used for driving the second-stage swing arm to rotate, then the joint motor is used for driving the third-stage swing arm to rotate and the tail end rotating shaft to rotate, and the advantages of being high in beat, high in load, stable in operation and easy to maintain are achieved; two sets of joint motors are installed on the second-stage swing arm to conduct swing rotation of the third-stage swing arm and the tail end pneumatic claw respectively, the joint motors and the pneumatic claw are driven by a synchronous belt to rotate, and the tail end grabs needed materials through a single-double pneumatic claw or a single-double electric claw.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arms, specifically, it relates to a multi-joint high-speed robotic arm. Background Technology

[0002] The robotic arm or gripping component of a robot is one of the most important devices required for a robot to completely grasp a target or grasp an object.

[0003] However, in practical applications, the fingers of a robot's manipulator are generally composed of multiple movable joints, and the structure of the manipulator's fingers is relatively complex. When operating the manipulator to grasp objects, it is necessary to operate the movement of each joint separately, which is extremely inconvenient.

[0004] To address these shortcomings, a multi-joint high-speed robotic arm is proposed. Utility Model Content

[0005] The technical problem to be solved by this utility model is to overcome the shortcomings of the existing technology and provide a multi-joint high-speed manipulator.

[0006] To solve the above-mentioned technical problems, the basic concept of the technical solution adopted by this utility model is as follows:

[0007] A multi-joint high-speed manipulator includes a manipulator mounting plate, on one side of which a motor mounting plate is fixedly fitted; both the manipulator mounting plate and the motor mounting plate are rotatably fitted with a two-stage swing arm at their bottoms.

[0008] A three-stage swing arm is located on one side of the robotic arm mounting plate and the motor mounting plate. One end of the three-stage swing arm is rotatably engaged between one end of the two two-stage swing arms. The other end of the three-stage swing arm is fixedly engaged with two tension seats. A pneumatic gripper mounting seat is fixedly engaged on one side of the tension seats. Two grippers are provided on one side of the pneumatic gripper mounting seat.

[0009] Optionally, a support plate is fixedly fitted to the bottom of both the robotic arm mounting plate and the motor mounting plate, and a first servo motor is fixedly fitted to one side of the support plate.

[0010] Optionally, a speed reducer is fixedly fitted to the output end of the first servo motor, and the first end of the second-stage swing arm is fixedly fitted to the output end of the speed reducer.

[0011] Optionally, the second end of the secondary swing arm is fixedly fitted with a second servo motor, and the first end of the tertiary swing arm is fixedly fitted with the output end of the second servo motor.

[0012] Optionally, the second end of the three-stage swing arm is fixedly fitted with a bearing cap, and a rotating shaft is fixedly fitted to one side of the bearing cap.

[0013] Optionally, one end of the tensioning seat is fixedly fitted onto one end of the rotating shaft, and multiple pressure blocks are fixedly fitted between one end of the tensioning seat and one end of the pneumatic gripper mounting seat.

[0014] Optionally, a first housing is fixedly fitted around the periphery of the secondary swing arm, and a second housing is fixedly fitted around the periphery of the tertiary swing arm.

[0015] Optionally, multiple rubber protrusions are evenly distributed and fixedly fitted on one side of the gripper.

[0016] By adopting the above technical solution, the present invention has the following beneficial effects compared with the prior art. Of course, any product implementing the present invention does not necessarily need to achieve all of the following advantages at the same time:

[0017] The robotic arm uses dual motors to drive the rotation of the secondary swing arm, and then uses articulated motors to drive the rotation of the tertiary swing arm and the end effector shaft. This achieves the advantages of high cycle time, high load, stable operation, and simple maintenance. Two sets of primary fixed arms are equipped with dual motors and reducers to power the rotation of the secondary swing arm. Two sets of articulated motors are installed on the secondary swing arm to drive the rotation of the tertiary swing arm and the end effector gripper. The rotation of the articulated motors and the gripper is driven by a synchronous belt. The end effector uses single or double pneumatic grippers or single or double electric grippers to grasp the required materials.

[0018] The secondary swing arm is designed to rotate on one side of the support plate under the action of the reducer output. The support plate guides the rotation direction of the secondary swing arm, reducing the tilting problem during rotation and improving the stability of the secondary swing arm during rotation.

[0019] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings. Attached Figure Description

[0020] The accompanying drawings described below are merely some embodiments. Those skilled in the art can obtain other drawings based on these drawings without any creative effort. In the drawings:

[0021] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model.

[0022] The attached diagram lists the components represented by each number as follows:

[0023] 1. Robotic arm mounting plate; 2. Motor mounting plate; 3. Secondary swing arm; 4. First housing; 5. Pneumatic gripper mounting base; 6. Tensioner seat; 7. Pressure block; 8. Bearing end cover; 9. Gripper; 10. Tertiary swing arm; 11. Second servo motor; 12. First servo motor; 13. Reducer; 14. Second housing; 15. Rotary shaft; 16. Support plate; 17. Rubber protrusion.

[0024] It should be noted that these accompanying drawings and textual descriptions are not intended to limit the scope of the present invention in any way, but rather to illustrate the concept of the present invention to those skilled in the art by referring to specific embodiments. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings.

[0026] Please see Figure 1 As shown, this embodiment provides a multi-joint high-speed manipulator, including a manipulator mounting plate 1, a motor mounting plate 2 fixedly fitted on one side of the manipulator mounting plate 1; and a two-stage swing arm 3 rotatably fitted at the bottom of both the manipulator mounting plate 1 and the motor mounting plate 2.

[0027] A three-stage swing arm 10 is located on one side of the robotic arm mounting plate 1 and the motor mounting plate 2. One end of the three-stage swing arm 10 is rotatably engaged between one end of two two-stage swing arms 3. The other end of the three-stage swing arm 10 is fixedly engaged with two tension seats 6. A pneumatic gripper mounting seat 5 is fixedly engaged on one side of the tension seat 6. Two grippers 9 are provided on one side of the pneumatic gripper mounting seat 5.

[0028] Working principle:

[0029] First, rotate the secondary swing arm 3. One end of the secondary swing arm 3 drives the tertiary swing arm 10 to rotate. One end of the tertiary swing arm 10 drives the claw mounting seat 5 to move through the tensioning seat 6. The claw mounting seat 5 drives the two grippers 9 to move, and the object can be grasped through one side of the grippers 9, thus completing the grasping of the object.

[0030] The robotic arm utilizes dual motors to drive the secondary swing arm 3 to rotate, and then uses articulated motors to drive the tertiary swing arm 10 to rotate and the end-effector 15 to rotate, achieving the advantages of high cycle time, high load, stable operation, and simple maintenance. Two sets of primary fixed arms are equipped with dual motors and reducers to power the secondary arm swing rotation. Two sets of articulated motors are installed on the secondary swing arm to drive the tertiary swing arm and end-effector pneumatic gripper to rotate. The rotation of the articulated motors and pneumatic grippers is driven by synchronous belts. The end-effector uses single or double pneumatic grippers or single or double electric grippers to grasp the required materials.

[0031] To make the rotation of the secondary swing arm on one side of the support plate 16 in this embodiment more stable, the following structural improvements are made, such as... Figure 1As shown, in this embodiment, the bottom of the robotic arm mounting plate 1 and the motor mounting plate 2 are both fixedly fitted with support plates 16. A first servo motor 12 is fixedly fitted to one side of the support plate 16. A reducer 13 is fixedly fitted to the output end of the first servo motor 12. The first end of the secondary swing arm 3 is fixedly fitted to the output end of the reducer 13. The second end of the secondary swing arm 3 is fixedly fitted with a second servo motor 11. The first end of the tertiary swing arm 10 is fixedly fitted to the output end of the second servo motor 11. The second end of the tertiary swing arm 10 is fixedly fitted with a bearing end cover 8. A rotating shaft 15 is fixedly fitted to one side of the bearing end cover 8. One end of the tensioning seat 6 is fixedly fitted to one end of the rotating shaft 15. Multiple pressure blocks 7 are fixedly fitted between one end of the tensioning seat 6 and one end of the pneumatic gripper mounting base 5. A first outer shell 4 is fixedly fitted to the periphery of the secondary swing arm 3. A second outer shell 14 is fixedly fitted to the periphery of the tertiary swing arm 10. Multiple rubber protrusions 17 are evenly distributed and fixedly fitted to one side of the gripper 9.

[0032] In this embodiment, the first servo motor 12 is started first. The output of the first servo motor 12 drives the secondary swing arm 3 to rotate on one side of the support plate 16 through the reducer 13. The secondary swing arm 3 drives the first outer shell 4 to rotate. Then the second servo motor 11 is started. The output of the second servo motor 11 drives the tertiary swing arm 10 to rotate. The tertiary swing arm 10 drives the second outer shell 14 to rotate. One end of the tertiary swing arm 10 drives the rotating shaft 15 to move through the bearing end cover 8. The rotating shaft 15 drives the tensioning seat 6 to move. The pneumatic gripper mounting seat 5 drives the pneumatic gripper mounting seat 5 to move through the pressure block 7. The pneumatic gripper mounting seat 5 drives the gripper 9 to move. The gripper 9 drives the rubber protrusion 17 to grasp the object, thereby completing the object grasping.

[0033] The secondary swing arm 3 is configured to rotate on one side of the support plate 16 under the action of the output end of the reducer 13, and the rotation direction of the secondary swing arm 3 is guided by the support plate 16, which reduces the problem of tilting of the secondary swing arm 3 during rotation and improves the stability of the secondary swing arm 3 during rotation.

[0034] In order to adapt the gripper 9 to different working environments of the robot body, the gripper 9 in the device can be a pneumatic gripper or an electric gripper.

[0035] This utility model is not limited to the above-described embodiments. Anyone should know that structural changes made under the guidance of this utility model, and any technical solutions that are the same as or similar to this utility model, fall within the protection scope of this utility model. Technical aspects, shapes, and structures not described in detail in this utility model are all publicly known technologies.

Claims

1. A multi-joint high-speed robot characterized by comprising: include: A robotic arm mounting plate (1) is provided, and a motor mounting plate (2) is fixedly fitted on one side of the robotic arm mounting plate (1); a two-stage swing arm (3) is rotatably fitted at the bottom of both the robotic arm mounting plate (1) and the motor mounting plate (2). A three-stage swing arm (10) is located on one side of the robotic arm mounting plate (1) and the motor mounting plate (2). One end of the three-stage swing arm (10) is rotatably fitted between one end of the two two-stage swing arms (3). The other end of the three-stage swing arm (10) is fixedly fitted with two tension seats (6). A pneumatic gripper mounting seat (5) is fixedly fitted on one side of the tension seat (6). Two grippers (9) are provided on one side of the pneumatic gripper mounting seat (5).

2. The multi-joint high-speed robot according to claim 1, wherein The bottom of the robotic arm mounting plate (1) and the motor mounting plate (2) are both fixedly fitted with a support plate (16), and a first servo motor (12) is fixedly fitted on one side of the support plate (16).

3. The multi-joint high-speed robot according to claim 2, wherein The output end of the first servo motor (12) is fixedly fitted with a reducer (13), and the first end of the second-stage swing arm (3) is fixedly fitted on the output end of the reducer (13).

4. The multi-joint high-speed robot according to claim 1, wherein The second end of the secondary swing arm (3) is fixedly fitted with a second servo motor (11), and the first end of the tertiary swing arm (10) is fixedly fitted with the output end of the second servo motor (11).

5. The multi-joint high-speed robot according to claim 1, wherein The second end of the three-stage swing arm (10) is fixedly fitted with a bearing cap (8), and a rotating shaft (15) is fixedly fitted on one side of the bearing cap (8).

6. A multi-joint high-speed robot according to claim 5, wherein One end of the tensioning seat (6) is fixedly fitted on one end of the rotating shaft (15), and a plurality of pressure blocks (7) are fixedly fitted between one end of the tensioning seat (6) and one end of the pneumatic gripper mounting seat (5).

7. The multi-joint high-speed robot according to claim 1, wherein The second-stage swing arm (3) is fixedly fitted with a first outer shell (4) on its periphery, and the third-stage swing arm (10) is fixedly fitted with a second outer shell (14) on its periphery.

8. The multi-joint high-speed robot according to claim 1, wherein The gripper (9) has multiple rubber protrusions (17) evenly distributed and fixed on one side.

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