Independent mechanical hand and mechanical arm capable of achieving multi-station machining

Abstract

The utility model relates to the technical field of manipulators, and discloses an independent manipulator and mechanical arm capable of multi-station processing, which comprises a first turntable and a workbench, the upper surface of the right side of the workbench is fixedly connected with a first motor, and the output end of the first motor is connected with a first rotating shaft; a first gear is fixedly connected to the outer wall of the middle of the first rotating shaft, the outer wall of the upper side of the first rotating shaft is rotationally connected to the inner wall of the right side of the workbench, a second rotating shaft is rotationally connected to the inner wall of the middle of the workbench, and a second gear is fixedly connected to the outer wall of the middle of the second rotating shaft; the inner wall of the second rotating shaft is fixedly connected with a rotating block, and the outer wall of the rotating block is rotationally connected with a transmission block. According to the mechanical arm, the first motor is started to drive the first rotating shaft to rotate, then the first gear rotates along with rotation of the first rotating shaft, the second gear rotates along with rotation of the first gear at the moment, and therefore the effect of improving the working efficiency of the mechanical arm can be achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field especially relates to a kind of independent manipulator and manipulator arm of multi-station processing. BACKGROUND

[0002] Manipulator is a kind of can imitate the action function of hand and arm, to grab, transport object or tool with fixed program, and it is usually composed of actuator, drive system, control system and perception system.

[0003] The existing manipulator reaches the processing of workpiece, clamping by implementing corresponding action in different environment by accepting corresponding instruction, but the existing manipulator is mostly single-station processing, to cause the problem of low processing efficiency. UTILITY MODEL CONTENT

[0004] In order to make up for the above shortcomings, the utility model provides an independent manipulator and manipulator arm of multi-station processing, to improve the problem of low processing efficiency caused by the existing manipulator being mostly single-station processing.

[0005] In order to achieve the above object, the utility model provides the following technical scheme:

[0006] An independent manipulator and manipulator arm of multi-station processing, including first turntable and workbench, the right side upper surface of workbench is fixedly connected with first motor, the output end of first motor is connected with first rotating shaft, the middle part outer wall of first rotating shaft is fixedly connected with first gear, the middle part inner wall of workbench is rotatably connected with second rotating shaft, the middle part outer wall of second rotating shaft is fixedly connected with second gear, the inner wall of second rotating shaft is fixedly connected with rotating block, the outer wall of rotating block is rotatably connected with transmission block, the upper surface of transmission block is fixedly connected with clamping jaw, the left side inner wall of workbench is rotatably connected with third rotating shaft, the inner wall of first turntable is rotatably connected on the lower side inner wall of third rotating shaft, the lower side inner wall of third rotating shaft is rotatably connected with third gear, the left side upper surface of workbench is provided with limiting assembly, and the limiting assembly is used to limit the movement track of clamping jaw.

[0007] Preferably, the limiting assembly includes support column, the lower surface of support column is fixedly connected on the left side upper surface of workbench, the upper surface of support column is fixedly connected with limiting block, and the outer wall of clamping jaw is slidably connected in the inner wall of limiting block.

[0008] Preferably, the upper outer wall of the first rotating shaft is rotationally connected to the right inner wall of the workbench, the lower outer wall of the first rotating shaft is rotationally connected to the inner wall of the first rotating disc, the tooth end of the second gear is meshingly connected to the tooth end of the first gear, the lower outer wall of the second rotating shaft is rotationally connected to the inner wall of the first rotating disc, and the tooth end of the third gear is meshingly connected to the tooth end of the second gear.

[0009] Preferably, the lower surface of the first rotating disc is fixedly connected with a second motor.

[0010] Preferably, the lower surface of the second motor is fixedly connected with a moving block, the lower surface of the moving block is fixedly connected with a base, the right upper surface of the base is fixedly connected with a supporting plate, the upper surface of the middle part of the base is fixedly connected with a limiting plate, the inner bottom wall of the supporting plate is fixedly connected with a third motor, the output end of the third motor is fixedly connected with a second rotating disc, the outer wall of the second rotating disc is rotationally connected with a transmission rod, and the outer wall of the transmission rod is rotationally connected with a push rod.

[0011] Preferably, the left outer wall of the push rod is fixedly connected to the inside of the moving block, the right outer wall of the push rod is slidingly connected to the inner wall of the limiting plate, and the lower surface of the moving block is slidingly connected to the left upper surface of the base.

[0012] Preferably, the lower surface of the moving block is fixedly connected with a sliding block, the inner part of the base is provided with a limiting groove, and the sliding block is slidingly connected to the inner part of the base through the limiting groove.

[0013] The utility model has the following beneficial effects:

[0014] 1、in the utility model, through drive first motor first rotating shaft rotation, and then first gear rotates with first rotating shaft rotation, second gear rotates with first gear rotation and autorotation at this moment, when second gear autorotation will drive second rotating shaft rotation, thereby can reach the effect that improves the working efficiency of manipulator.

[0015] 2、in the utility model, through the opening third motor drive second rotating disc rotation, when second rotating disc rotation will drive transmission rod rotation, finally realize the purpose of controlling moving block reciprocating motion, thereby can reach the effect of adjusting manipulator work station. ACCURACY OF DRAWINGS

[0016] Figure 1 A three-dimensional structure schematic view of the independent manipulator and the manipulator arm capable of multi-station machining is provided for the utility model;

[0017] Figure 2 A first gear partial structure schematic view of the independent manipulator and the manipulator arm capable of multi-station machining is provided for the utility model;

[0018] Figure 3 A rotating block partial structure schematic view of the independent mechanical hand and the mechanical arm capable of multi-station machining is provided in the utility model.

[0019] Figure 4 A transmission rod partial structure schematic view of the independent mechanical hand and the mechanical arm capable of multi-station machining is provided in the utility model.

[0020] Legend:

[0021] 1, first rotary disc; 2, workbench; 3, first motor; 4, first rotating shaft; 5, first gear; 6, second gear; 7, second rotating shaft; 8, rotating block; 9, support column; 10, transmission block; 11, clamping jaw; 12, limiting block; 13, sliding block; 14, third gear; 15, third rotating shaft; 16, second motor; 17, moving block; 18, base; 19, support plate; 20, limiting plate; 21, third motor; 22, second rotary disc; 23, transmission rod; 24, push rod; 25, limiting groove. Specific implementation

[0022] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the specification of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0023] With reference to Figures 1-3 The utility model provides an embodiment: a kind of independent mechanical hand and mechanical arm capable of multi-station machining, including first rotary disc 1 and workbench 2, the right side upper surface of workbench 2 is fixedly connected with first motor 3, the output end of first motor 3 is connected with first rotating shaft 4, the middle part outer wall of first rotating shaft 4 is fixedly connected with first gear 5, the middle part inner wall of workbench 2 is rotatably connected with second rotating shaft 7, the middle part outer wall of second rotating shaft 7 is fixedly connected with second gear 6, the inner wall of second rotating shaft 7 is fixedly connected with rotating block 8, the outer wall of rotating block 8 is rotatably connected with transmission block 10, the upper surface of transmission block 10 is fixedly connected with clamping jaw 11, the left side upper surface of workbench 2 is provided with limiting assembly, limiting assembly is used to limit the movement track of clamping jaw 11;

[0024] Specifically, the first motor 3 is started, the first motor 3 drives the first rotating shaft 4 to rotate through the fixing of the first rotating shaft 4, the first rotating shaft 4 drives the first gear 5 to rotate through the fixing of the first gear 5, the second gear 6 rotates with the first gear 5, the second rotating shaft 7 rotates through the fixing of the second gear 6, the rotating block 8 rotates through the fixing of the second rotating shaft 7, the transmission block 10 rotates when the rotating block 8 rotates, the clamping jaw 11 slides when the transmission block 10 rotates, thereby realizing the opening and closing of the clamping jaw 11, the third gear 14 rotates with the second gear 6, the third rotating shaft 15 rotates through the fixing of the third gear 14, and the third gear 14 drives the remaining second gear 6 to rotate, thereby realizing the synchronous opening and closing of multiple workstations.

[0025] With reference to Figure 3 , the limiting assembly comprises a support column 9, the lower surface of the support column 9 is fixedly connected to the left upper surface of the workbench 2, the upper surface of the support column 9 is fixedly connected to a limiting block 12, and the outer wall of the clamping jaw 11 is slidably connected to the inner wall of the limiting block 12.

[0026] Specifically, the workbench 2 fixes the support column 9 on the surface of the workbench 2 to play a supporting role, and the support column 9 fixes the limiting block 12 on the surface of the support column 9 to play a stabilizing role.

[0027] With reference to Figure 1 and Figure 2 , the upper outer wall of the first rotating shaft 4 is rotatably connected to the right inner wall of the workbench 2, the lower outer wall of the first rotating shaft 4 is rotatably connected to the inner wall of the first rotating disc 1, the tooth end of the second gear 6 is meshingly connected to the tooth end of the first gear 5, the lower outer wall of the second rotating shaft 7 is rotatably connected to the inner wall of the first rotating disc 1, and the tooth end of the third gear 14 is meshingly connected to the tooth end of the second gear 6; the lower surface of the first rotating disc 1 is fixedly connected with a second motor 16.

[0028] Specifically, the second motor 16 is started, and the first rotating disc 1 is rotated to adjust the clamping position of the clamping jaw 11 through the fixing of the second motor 16.

[0029] With reference to Figure 1 and Figure 4The lower surface of the second motor 16 is fixedly connected with a moving block 17, the lower surface of the moving block 17 is fixedly connected with a base 18, the right upper surface of the base 18 is fixedly connected with a supporting plate 19, the upper surface of the middle part of the base 18 is fixedly connected with a limiting plate 20, the inner bottom wall of the supporting plate 19 is fixedly connected with a third motor 21, the output end of the third motor 21 is fixedly connected with a second rotating disc 22, the outer wall of the second rotating disc 22 is rotatably connected with a transmission rod 23, the outer wall of the transmission rod 23 is rotatably connected with a push rod 24; the left side outer wall of the push rod 24 is fixedly connected in the inside of the moving block 17, the right side outer wall of the push rod 24 is slidably connected with the inner wall of the limiting plate 20, the lower surface of the moving block 17 is slidably connected with the left side upper surface of the base 18; the lower surface of the moving block 17 is fixedly connected with the sliding block 13, the inside of the base 18 is provided with a limiting groove 25, the sliding block 13 is slidably connected in the inside of the base 18 through the limiting groove 25;

[0030] Specifically, the third motor 21 is started to drive the second rotating disc 22 to rotate, when the second rotating disc 22 rotates, the transmission rod 23 is driven to rotate, when the transmission rod 23 rotates, the push rod 24 is driven to slide, through the fixed effect of the push rod 24 on the moving block 17, the moving block 17 slides along the surface of the base 18, through the fixed effect of the moving block 17 on the sliding block 13, the sliding block 13 is driven to slide along the limiting groove 25, finally the purpose of controlling the reciprocating motion of the moving block 17 is realized, so that the effect of adjusting the working station of the mechanical hand can be achieved.

[0031] Working principle: when the mechanical hand and the mechanical arm need to be used, firstly, the first motor 3 is started to drive the first rotating shaft 4 to rotate on the inner wall of the workbench 2, then the first gear 5 is driven by the first rotating shaft 4 to rotate, and then the second gear 6 is driven by the first gear 5 to rotate, when the second gear 6 is driven by the first gear 5 to rotate, the second gear 6 drives the second rotating shaft 7 to rotate, when the second rotating shaft 7 is driven by the second gear 6 to rotate, the second rotating shaft 7 drives the rotating block 8 to rotate, when the rotating block 8 is driven by the second rotating shaft 7 to rotate, the rotating block 8 drives the transmission block 10 to rotate, when the transmission block 10 is driven by the rotating block 8 to rotate, the transmission block 10 drives the clamping jaw 11 to slide along the inner wall of the limiting block 12, and then the third gear 14 is driven by the second gear 6 to rotate and drives the third rotating shaft 15 to rotate on the inner wall of the workbench 2, then the third gear 14 drives the remaining second gears 6 to rotate, at this time, the second motor 16 is started to drive the first rotating disc 1 to rotate to adjust the clamping position of the clamping jaw 11, and finally the purpose of synchronous opening and closing of the multiple work positions of the clamping jaw 11 is achieved, so that the working efficiency of the mechanical hand can be improved; the third motor 21 is started to drive the second rotating disc 22 to rotate, when the second rotating disc 22 is driven by the third motor 21 to rotate, the second rotating disc 22 drives the transmission rod 23 to rotate, when the transmission rod 23 is driven by the second rotating disc 22 to rotate, the transmission rod 23 drives the push rod 24 to slide along the inner wall of the limiting plate 20, and then the moving block 17 is driven by the push rod 24 to slide along the surface of the base 18, at this time, the sliding block 13 is driven by the moving block 17 to slide along the limiting groove 25, and finally the purpose of controlling the reciprocating motion of the moving block 17 is achieved, so that the working position of the mechanical hand can be adjusted; the independent mechanical hand and the mechanical arm with multiple work positions not only can improve the working efficiency of the mechanical hand, but also can adjust the working position of the mechanical hand.

[0032] Finally, it should be noted that: the above only describes the preferred embodiments of the present application, and is not intended to limit the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-station processable independent robot and robot arm, comprising a first rotary table (1) and a worktable (2), characterized in that: The right upper surface of the workbench (2) is fixedly connected with a first motor (3), the output end of the first motor (3) is connected with a first rotating shaft (4), the middle outer wall of the first rotating shaft (4) is fixedly connected with a first gear (5), the middle inner wall of the workbench (2) is rotatably connected with a second rotating shaft (7), the middle outer wall of the second rotating shaft (7) is fixedly connected with a second gear (6), the inner wall of the second rotating shaft (7) is fixedly connected with a rotating block (8), the outer wall of the rotating block (8) is rotatably connected with a transmission block (10), the upper surface of the transmission block (10) is fixedly connected with a clamping jaw (11), the left inner wall of the workbench (2) is rotatably connected with a third rotating shaft (15), the lower inner wall of the third rotating shaft (15) is rotatably connected with the inner wall of the first rotating disc (1), the lower inner wall of the third rotating shaft (15) is rotatably connected with a third gear (14), the left upper surface of the workbench (2) is provided with a limiting assembly, and the limiting assembly is used for limiting the movement track of the clamping jaw (11).

2. The multi-station capable independent robot and robot arm of claim 1, wherein: The limiting assembly comprises a supporting column (9), the lower surface of the supporting column (9) is fixedly connected with the left upper surface of the workbench (2), and the upper surface of the supporting column (9) is fixedly connected with a limiting block (12); the outer wall of the clamping jaw (11) is slidably connected with the inner wall of the limiting block (12).

3. The multi-station capable independent robot and robot arm of claim 1, wherein: The upper outer wall of the first rotating shaft (4) is rotatably connected with the right inner wall of the workbench (2), the lower outer wall of the first rotating shaft (4) is rotatably connected with the inner wall of the first rotating disc (1), the tooth end of the second gear (6) is meshingly connected with the tooth end of the first gear (5), the lower outer wall of the second rotating shaft (7) is rotatably connected with the inner wall of the first rotating disc (1), and the tooth end of the third gear (14) is meshingly connected with the tooth end of the second gear (6).

4. The multi-station capable independent robot and robot arm of claim 1, wherein: The lower surface of the first rotating disc (1) is fixedly connected with a second motor (16).

5. The multi-station capable independent robot and robot arm of claim 4, wherein: The lower surface of the second motor (16) is fixedly connected with a moving block (17), the lower surface of the moving block (17) is fixedly connected with a base (18), the right upper surface of the base (18) is fixedly connected with a supporting plate (19), the middle upper surface of the base (18) is fixedly connected with a limiting plate (20), the inner bottom wall of the supporting plate (19) is fixedly connected with a third motor (21), the output end of the third motor (21) is fixedly connected with a second rotating disc (22), the outer wall of the second rotating disc (22) is rotatably connected with a transmission rod (23), and the outer wall of the transmission rod (23) is rotatably connected with a push rod (24).

6. The multi-station capable independent robot and robot arm of claim 5, wherein: The left outer wall of the push rod (24) is fixedly connected in the interior of the moving block (17), the right outer wall of the push rod (24) is slidably connected with the inner wall of the limiting plate (20), and the lower surface of the moving block (17) is slidably connected with the left upper surface of the base (18).

7. The multi-station capable independent robot and robot arm of claim 5, wherein: The lower surface of the moving block (17) is fixedly connected with a sliding block (13), the interior of the base (18) is provided with a limiting groove (25), and the sliding block (13) is slidably connected in the interior of the base (18) through the limiting groove (25).

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