CN210476948U - Multi-arm manipulator - Google Patents
Multi-arm manipulator Download PDFInfo
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- CN210476948U CN210476948U CN201921388889.XU CN201921388889U CN210476948U CN 210476948 U CN210476948 U CN 210476948U CN 201921388889 U CN201921388889 U CN 201921388889U CN 210476948 U CN210476948 U CN 210476948U
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- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 230000005540 biological transmission Effects 0.000 claims abstract description 40
- 238000013519 translation Methods 0.000 claims abstract description 6
- 230000009467 reduction Effects 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
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- 239000000725 suspension Substances 0.000 description 2
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Abstract
The utility model discloses a multi-arm manipulator, which comprises a base, be equipped with first actuating mechanism and second actuating mechanism on the base, be equipped with the drive shaft on the base, the cover is equipped with first drive wheel in the drive shaft, be fixed with first cantilever on the first drive wheel, the cover is equipped with first drive wheel and the two fixed connection in the drive shaft, be equipped with fixed axle and the two fixed connection on the first cantilever, the cover is equipped with second drive wheel and the two fixed connection on the fixed axle, first drive wheel is connected with the second drive wheel transmission, be fixed with the second cantilever on the second drive wheel, be fixed with third drive wheel and the two fixed connection on the fixed axle, be equipped with fourth drive wheel and the two rotation on the second cantilever and connect, the third drive wheel is connected with the fourth drive wheel transmission, be equipped with execution arm and the two fixed connection on the fourth drive wheel, borrow and order about execution arm at the within range translation of predetermineeing with second actuating. The utility model discloses simple structure, easily realization, save space.
Description
Technical Field
The utility model relates to a manipulator especially relates to a multi-arm manipulator.
Background
The manipulator is generally applied to automation equipment, is used for the mechanism facility of concrete execution corresponding action, and it generally includes actuating mechanism and follower, through corresponding signal control, orders about it and carries out the removal between a plurality of positions such as translation, lift, the translation manipulator among the prior art, utilize sharp module or lead screw actuating mechanism to make up usually, although this kind of manipulator can realize the translation function, its structure is mostly more complicated, and need occupy certain horizontal, vertical space moreover, be unfavorable for popularizing and applying in automation equipment.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model lies in, to prior art's not enough, provide a simple structure, easily realize, save space's multi-arm manipulator.
In order to solve the technical problem, the utility model adopts the following technical scheme.
A multi-arm manipulator comprises a base, wherein a first driving mechanism and a second driving mechanism are arranged on the base, a driving shaft is arranged on the base and is rotationally connected with the base, the driving shaft is driven to rotate by the first driving mechanism, a first driving wheel is sleeved on the driving shaft and is rotationally connected with the driving shaft, the first driving wheel is driven to rotate by the second driving mechanism, a first cantilever is fixed on the first driving wheel, a first driving wheel is sleeved on the driving shaft and is fixedly connected with the driving shaft, a fixed shaft is arranged on the first cantilever and is fixedly connected with the first driving wheel, a second driving wheel is sleeved on the fixed shaft and is fixedly connected with the second driving wheel, the first driving wheel is in transmission connection with the second driving wheel, a second cantilever is fixed on the second driving wheel, a third driving wheel is fixed on the fixed shaft and is fixedly connected with the second driving wheel, a fourth driving wheel is arranged on the second cantilever and is rotationally connected, the third driving wheel is in transmission connection with the fourth driving wheel, the fourth driving wheel is provided with an executing arm, the executing arm and the fourth driving wheel are fixedly connected, and the executing arm is driven to translate within a preset range by means of the cooperation of the first driving mechanism and the second driving mechanism.
Preferably, first actuating mechanism is including first driving motor and first reduction gears, the cover is equipped with the second drive wheel and the two fixed connection in the drive shaft, first driving motor, first reduction gears and second drive wheel transmission connection in proper order.
Preferably, the second driving mechanism comprises a second driving motor and a second speed reducing mechanism, a third driving wheel is sleeved on the driving shaft, the third driving wheel and the second driving wheel are connected in a rotating mode, the third driving wheel is fixedly connected with the first driving wheel, and the second driving motor, the second speed reducing mechanism and the third driving wheel are connected in a transmission mode in sequence.
Preferably, the first reduction mechanism and the second reduction mechanism are both belt reduction mechanisms.
Preferably, the first driving wheel and the second driving wheel are both located in the first cantilever, and the first driving wheel and the second driving wheel are respectively arranged at two ends of the first cantilever.
Preferably, the first transmission wheel is connected with the second transmission wheel through a first transmission belt.
Preferably, the third driving wheel and the fourth driving wheel are both located in the second cantilever, and the third driving wheel and the fourth driving wheel are respectively arranged at two ends of the second cantilever.
Preferably, the third driving wheel is connected with the fourth driving wheel through a second driving belt.
Preferably, the first cantilever is located at the top end of the base, the second cantilever is located at the top end of the first cantilever, and the execution arm is located at the top end of the second cantilever.
An execution method of a multi-arm manipulator comprises a base, wherein a first driving mechanism and a second driving mechanism are arranged on the base, a driving shaft is arranged on the base and is rotationally connected with the base, the driving shaft is driven to rotate by the first driving mechanism, a first driving wheel is sleeved on the driving shaft and is rotationally connected with the driving shaft, the first driving wheel is driven to rotate by the second driving mechanism, a first cantilever is fixed on the first driving wheel, a first driving wheel is sleeved on the driving shaft and is fixedly connected with the driving shaft, a fixed shaft is arranged on the first cantilever and is fixedly connected with the first driving wheel, a second driving wheel is sleeved on the fixed shaft and is fixedly connected with the second driving wheel, the first driving wheel is in transmission connection with the second driving wheel, a second cantilever is fixed on the second driving wheel, a third driving wheel is fixed on the fixed shaft and is fixedly connected with the second driving wheel, the second cantilever is provided with a fourth driving wheel which is connected with the second cantilever in a rotating way, the third driving wheel is connected with the fourth driving wheel in a driving way, the fourth driving wheel is provided with an executing arm which is fixedly connected with the fourth driving wheel, and the executing method comprises the following steps: when the second driving mechanism drives the first driving wheel to operate, the first driving wheel drives the first cantilever to swing; when the first driving mechanism drives the driving shaft to operate, the driving shaft drives the second cantilever to swing through the first driving wheel and the second driving wheel in sequence, meanwhile, the second cantilever generates angular displacement relative to the fixed shaft, and the third driving wheel drives the execution arm to swing through the fourth driving wheel; the first driving mechanism and the second driving mechanism are matched to drive the execution arm to translate within a preset range.
In the multi-arm manipulator disclosed by the utility model, when the first driving mechanism and the second driving mechanism are operated in a matching way, the second driving mechanism drives the first cantilever to swing through the first driving wheel, on the basis, the first driving mechanism drives the second cantilever to swing through the driving shaft, the first driving wheel and the second driving wheel in sequence, in the swinging process of the second cantilever, the fixed shaft is fixedly connected with the first cantilever, so that the second cantilever generates angular displacement relative to the fixed shaft, namely, the third driving wheel rotates relative to the second cantilever and drives the executing arm to swing through the fourth driving wheel, when the first driving mechanism and the second driving mechanism operate simultaneously, the first cantilever, the second cantilever and the execution arm are driven to swing to a specified position by controlling the operating direction and the stroke of the first driving mechanism and the second driving mechanism. Compared with the prior art, the utility model discloses need not to occupy great space, moreover the utility model discloses a structure is simpler, easily realize, consequently is fit for popularizing and applying in automation equipment to better application prospect has.
Drawings
Fig. 1 is a first perspective view of a multi-arm manipulator;
FIG. 2 is a second perspective view of a multi-arm manipulator;
FIG. 3 is a top view of a multi-arm robot;
FIG. 4 is a cross-sectional view taken along line B-B of FIG. 3;
fig. 5 is an exploded view of a multi-arm robot.
Detailed Description
The present invention will be described in more detail with reference to the accompanying drawings and examples.
The utility model discloses a multi-arm manipulator, which is shown by combining figures 1 to 5 and comprises a base 1, wherein a first driving mechanism 2 and a second driving mechanism 3 are arranged on the base 1, a driving shaft 4 is arranged on the base 1 and is rotationally connected with the driving shaft 4, the driving shaft 4 is driven to rotate by the first driving mechanism 2, a first driving wheel 5 is sleeved on the driving shaft 4 and is rotationally connected with the driving shaft 4, the first driving wheel 5 is driven to rotate by the second driving mechanism 3, a first cantilever 6 is fixed on the first driving wheel 5, a first driving wheel 7 is sleeved on the driving shaft 4 and is fixedly connected with the first driving wheel and the second driving wheel, a fixed shaft 8 is arranged on the first cantilever 6 and is fixedly connected with the first cantilever and the second cantilever, a second driving wheel 9 is sleeved on the fixed shaft 8 and is fixedly connected with the second driving wheel, the first driving wheel 7 is in transmission connection with, a second cantilever 10 is fixed on the second driving wheel 9, a third driving wheel 11 is fixed on the fixed shaft 8 and fixedly connected with the second driving wheel and the fixed shaft, a fourth driving wheel 12 is arranged on the second cantilever 10 and rotatably connected with the second driving wheel, the third driving wheel 11 is in transmission connection with the fourth driving wheel 12, an actuating arm 13 is arranged on the fourth driving wheel 12 and fixedly connected with the fourth driving wheel and the actuating arm 13, and the actuating arm 13 is driven to move horizontally within a preset range by means of the cooperation of the first driving mechanism 2 and the second driving mechanism 3.
In the above manipulator, when the first driving mechanism 2 and the second driving mechanism 3 operate cooperatively, the second driving mechanism 3 drives the first cantilever 6 to swing through the first driving wheel 5, on this basis, the first driving mechanism 2 drives the second cantilever 10 to swing sequentially through the driving shaft 4, the first driving wheel 7 and the second driving wheel 9, in the swinging process of the second cantilever 10, because the fixed shaft 8 is fixedly connected with the first cantilever 6, the second cantilever 10 is angularly displaced relative to the fixed shaft 8, that is, the third driving wheel 11 rotates relative to the second cantilever 10, and then the fourth driving wheel 12 drives the actuating arm 13 to swing, when the first driving mechanism 2 and the second driving mechanism 3 operate simultaneously, by controlling the operating directions and strokes of the two mechanisms, the first suspension arm 6, the second suspension arm 10 and the actuator arm 13 are driven to swing to a specified position. Compared with the prior art, the utility model discloses need not to occupy great space, moreover the utility model discloses a structure is simpler, easily realize, consequently is fit for popularizing and applying in automation equipment to better application prospect has.
Regarding the specific composition of the first driving mechanism 2, in this embodiment, the first driving mechanism 2 includes a first driving motor 20 and a first speed reducing mechanism 21, a second driving wheel 22 is sleeved on the driving shaft 4 and is fixedly connected with the second driving wheel 22, and the first driving motor 20, the first speed reducing mechanism 21 and the second driving wheel 22 are sequentially connected in a transmission manner.
Regarding the specific composition of the second driving mechanism 3, in this embodiment, the second driving mechanism 3 includes a second driving motor 30 and a second speed reducing mechanism 31, a third driving wheel 32 is sleeved on the driving shaft 4 and rotatably connected with the driving shaft, the third driving wheel 32 is fixedly connected with the first driving wheel 5, and the second driving motor 30, the second speed reducing mechanism 31 and the third driving wheel 32 are sequentially in transmission connection.
Preferably, the first speed reduction mechanism 21 and the second speed reduction mechanism 31 are both belt speed reduction mechanisms. However, this is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and in other embodiments of the present invention, the first speed reduction mechanism 21 and the second speed reduction mechanism 31 may be replaced by a gear mechanism, and these alternatives are all included in the protection scope of the present invention.
In order to make the structure of the manipulator more compact, in this embodiment, the first driving wheel 7 and the second driving wheel 9 are both located in the first cantilever 6, and the first driving wheel 7 and the second driving wheel 9 are respectively disposed at two ends of the first cantilever 6. Further, the first transmission wheel 7 is connected with the second transmission wheel 9 through a first transmission belt 14.
Similarly, the third driving wheel 11 and the fourth driving wheel 12 are both located in the second cantilever 10, and the third driving wheel 11 and the fourth driving wheel 12 are respectively disposed at two ends of the second cantilever 10. Further, the third transmission wheel 11 is connected with the fourth transmission wheel 12 through a second transmission belt 15.
Regarding the positional relationship between the cantilevers, in the present embodiment, the first cantilever 6 is located at the top end of the base 1, the second cantilever 10 is located at the top end of the first cantilever 6, and the actuator arm 13 is located at the top end of the second cantilever 10.
In order to better describe the technical solution of the present invention, the present invention further discloses an executing method of a multi-arm manipulator, as shown in fig. 1 to 5, the multi-arm manipulator comprises a base 1, a first driving mechanism 2 and a second driving mechanism 3 are arranged on the base 1, a driving shaft 4 is arranged on the base 1 and rotatably connected with the driving shaft 4, the driving shaft 4 is driven to rotate by the first driving mechanism 2, a first driving wheel 5 is sleeved on the driving shaft 4 and rotatably connected with the driving shaft 4, the first driving wheel 5 is driven to rotate by the second driving mechanism 3, a first cantilever 6 is fixed on the first driving wheel 5, a first driving wheel 7 is sleeved on the driving shaft 4 and fixedly connected with the driving wheel 7, a fixed shaft 8 is arranged on the first cantilever 6 and fixedly connected with the driving wheel, a second driving wheel 9 is sleeved on the fixed shaft 8 and fixedly connected with the driving wheel, the first driving wheel 7 is in transmission connection with the second driving wheel 9, a second cantilever 10 is fixed on the second driving wheel 9, a third driving wheel 11 is fixed on the fixing shaft 8 and fixedly connected with the second driving wheel 9, a fourth driving wheel 12 is arranged on the second cantilever 10 and rotatably connected with the second driving wheel, the third driving wheel 11 is in transmission connection with the fourth driving wheel 12, an executing arm 13 is arranged on the fourth driving wheel 12 and fixedly connected with the fourth driving wheel, and the executing method comprises the following steps:
when the second driving mechanism 3 drives the first driving wheel 5 to operate, the first driving wheel 5 drives the first cantilever 6 to swing;
when the first driving mechanism 2 drives the driving shaft 4 to operate, the driving shaft 4 drives the second cantilever 10 to swing through the first driving wheel 7 and the second driving wheel 9 in sequence, meanwhile, the second cantilever 10 generates angular displacement relative to the fixed shaft 8, and the third driving wheel 11 drives the execution arm 13 to swing through the fourth driving wheel 12;
the first driving mechanism 2 and the second driving mechanism 3 cooperate to drive the actuating arm 13 to translate within a preset range.
The utility model discloses a multi-arm manipulator, it is through control first actuating mechanism 2 with second actuating mechanism 3 operates simultaneously, can order about execute 13 translations of arm to the optional position in the horizontal space, only rely on the base to play the supporting role moreover, saved the shared space of manipulator greatly, in addition, the utility model discloses a composition structure is fairly simple, easily implements, uses in automation equipment.
The above is only the embodiment of the present invention, and is not intended to limit the present invention, and all modifications, equivalent replacements or improvements made within the technical scope of the present invention should be included within the protection scope of the present invention.
Claims (9)
1. A multi-arm manipulator is characterized by comprising a base (1), wherein a first driving mechanism (2) and a second driving mechanism (3) are arranged on the base (1), a driving shaft (4) is arranged on the base (1) and is rotationally connected with the base, the driving shaft (4) is driven to rotate by the first driving mechanism (2), a first driving wheel (5) is sleeved on the driving shaft (4) and is rotationally connected with the driving shaft, the first driving wheel (5) is driven to rotate by the second driving mechanism (3), a first cantilever (6) is fixed on the first driving wheel (5), a first driving wheel (7) is sleeved on the driving shaft (4) and is fixedly connected with the driving wheel, a fixed shaft (8) is arranged on the first cantilever (6) and is fixedly connected with the first driving wheel, a second driving wheel (9) is sleeved on the fixed shaft (8) and is fixedly connected with the second driving wheel, first drive wheel (7) with second drive wheel (9) transmission is connected, be fixed with second cantilever (10) on second drive wheel (9), be fixed with third drive wheel (11) and the two fixed connection on fixed axle (8), be equipped with fourth drive wheel (12) and the two rotation on second cantilever (10) and connect, third drive wheel (11) with fourth drive wheel (12) transmission is connected, be equipped with actuating arm (13) and the two fixed connection on fourth drive wheel (12), borrow by first actuating mechanism (2) with the cooperation of second actuating mechanism (3) is ordered about actuating arm (13) is at predetermineeing the within range translation.
2. The multi-arm manipulator of claim 1, wherein the first driving mechanism (2) comprises a first driving motor (20) and a first speed reducing mechanism (21), a second driving wheel (22) is sleeved on the driving shaft (4) and fixedly connected with the driving shaft, and the first driving motor (20), the first speed reducing mechanism (21) and the second driving wheel (22) are sequentially connected in a transmission manner.
3. The multi-arm manipulator of claim 2, wherein the second driving mechanism (3) comprises a second driving motor (30) and a second speed reducing mechanism (31), a third driving wheel (32) is sleeved on the driving shaft (4) and is rotatably connected with the driving shaft, the third driving wheel (32) is fixedly connected with the first driving wheel (5), and the second driving motor (30), the second speed reducing mechanism (31) and the third driving wheel (32) are sequentially connected in a transmission manner.
4. A multi-arm manipulator according to claim 3, wherein said first deceleration mechanism (21) and second deceleration mechanism (31) are each belt deceleration mechanisms.
5. The multi-arm manipulator according to claim 1, wherein the first transmission wheel (7) and the second transmission wheel (9) are both located in the first cantilever (6), and the first transmission wheel (7) and the second transmission wheel (9) are respectively provided at both ends of the first cantilever (6).
6. Multi-arm manipulator according to claim 5, wherein the first transmission wheel (7) is connected to the second transmission wheel (9) by means of a first transmission belt (14).
7. The multi-arm manipulator of claim 1, wherein the third transmission wheel (11) and the fourth transmission wheel (12) are both located in the second cantilever (10), and the third transmission wheel (11) and the fourth transmission wheel (12) are respectively disposed at two ends of the second cantilever (10).
8. Multi-arm manipulator according to claim 7, wherein the third transmission wheel (11) is connected to the fourth transmission wheel (12) by means of a second transmission belt (15).
9. A multi-arm robot according to claim 1, characterized in that said first cantilever (6) is located at the top end of said base (1), said second cantilever (10) is located at the top end of said first cantilever (6), and said actuator arm (13) is located at the top end of said second cantilever (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921388889.XU CN210476948U (en) | 2019-08-23 | 2019-08-23 | Multi-arm manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921388889.XU CN210476948U (en) | 2019-08-23 | 2019-08-23 | Multi-arm manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN210476948U true CN210476948U (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921388889.XU Expired - Fee Related CN210476948U (en) | 2019-08-23 | 2019-08-23 | Multi-arm manipulator |
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| CN (1) | CN210476948U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434842A (en) * | 2019-08-23 | 2019-11-12 | 东莞市万威自动化设备有限公司 | A kind of multi-arm manipulator and execute method |
-
2019
- 2019-08-23 CN CN201921388889.XU patent/CN210476948U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434842A (en) * | 2019-08-23 | 2019-11-12 | 东莞市万威自动化设备有限公司 | A kind of multi-arm manipulator and execute method |
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Granted publication date: 20200508 |