CN109176482A - A kind of manipulator - Google Patents

Abstract

It include the manipulator being made of steering unit, lifting unit, translation unit, control unit and clamping unit the invention discloses a kind of manipulator, wherein, clamping unit is made of mounting rack structure and clamp structure, is mainly used for controlling the clamping crawl of material；Wherein, described control unit is made of upper rotational structure, lower rotational structure, turn left dynamic knot, right rotational structure and control structure；In summary, apparatus of the present invention high degree of automation, collaborative work ability is strong, pass through the switching control of the same power source, it is able to achieve clamping, lifting, translation and the turning function of box for material circulation, labor intensity can be greatly reduced, improves working efficiency, apparatus of the present invention use cost is lower simultaneously, value for applications with higher.

Description

A kind of manipulator

Technical field

The present invention relates to manipulator technical field, specifically a kind of manipulator.

Background technique

It is often required to carry box for material circulation in logistics transportation field, is typically all to be removed using manpower manual in tradition Fortune, large labor intensity, and inefficiency；

There are also carrying out clamping carrying to box for material circulation using manipulator in existing, but it is existing in manipulator Setting pattern Single, it is poor that there are stability in clamping process, and duration will cause box for material circulation and fall off, and there are biggish security risks；

In addition, having multiple power sources in robot device in existing, equipment use cost is considerably increased, while also dropping Low cooperation ability, cooperative ability is poor, there are larger drawback, needs to improve.

Summary of the invention

Deficiency in view of the above technology, the invention proposes a kind of manipulators.

A kind of manipulator of the present invention, including it is single by steering unit, lifting unit, translation unit, control unit and clamping The manipulator of member composition, wherein clamping unit is made of mounting rack structure and clamp structure, is mainly used for controlling material Clamping crawl；Wherein, described control unit is by upper rotational structure, lower rotational structure, turn left dynamic knot, right rotational structure and control Structure processed is constituted, and the upper rotational structure mainly controls the translation gliding of the clamping unit, and the lower rotational structure is main The clipping operation of the clamping unit is controlled, the left rotational structure is used to control the descending operation of the lifting unit, described Right rotational structure is used to control the course changing control of steering unit, the control structure for upper rotational structure described in switching control, The rotation operation of lower rotational structure, turn left dynamic knot and the right rotational structure；Wherein, the steering unit is by rotation dish structure And winding-structure is constituted, and is mainly used for controlling the course changing control after material crawl.

Preferably, the steering unit includes vehicle frame, and the first mounting groove, the rotation are equipped in the vehicle frame top end surface Dish structure includes the rotating disc being installed in first mounting groove rotated by rolling bearing shell, in first mounting groove Annular groove is equipped in wall, the rotating disc, which is equipped with, protrudes into outer gear ring in the annular groove, in the vehicle frame on the right side of the annular groove Equipped with the first sliding groove being connected with the annular groove, locking teeth, the locking teeth are slidably fitted in first sliding groove It is equipped with the first permanent magnet in right end face, is equipped with and the first permanent magnetism mates in inner wall on the right side of first sliding groove First electromagnetic actuator device is equipped with the first press bullet being fixedly connected with the locking teeth in inner wall on the right side of first sliding groove Spring；

Wherein, in the vehicle frame on the left of the annular groove be equipped be connected with the annular groove first rotation chamber, described first turn Intracavitary roof is moved equipped with the second rotation chamber, is rotatably assorted between the first rotation chamber and the second rotation chamber and is equipped with first Rotation axis, it is described first rotation chamber in first rotation axis on be fixed be meshed with the outer gear ring first rotation Gear, it is described second rotation chamber in first rotation axis on be fixed with first bevel gear；

Wherein, the winding-structure includes being set in the vehicle frame top end surface and the third of opening upwards rotation chamber, described Third rotates and is equipped with torsion chamber in chamber inner left wall, is rotatably assorted to be equipped between the torsion chamber and the second rotation chamber and pass through Wear the second rotation axis of third rotation chamber, be fixed in second rotation axis in the second rotation chamber with it is described The second bevel gear that first bevel gear is meshed, the third rotate and are fixed with the first volume in second rotation axis in chamber Line wheel, it is described torsion chamber in second rotation axis on be arranged with torsional spring, the torsional spring both ends are respectively and on the torsion chamber Lower inner wall is fixedly connected.

Preferably, the lifting unit includes the support frame for being fixedly installed on the rotating disc top end surface and upwardly extending And it is set to support frame as described above left end face and opening is towards left lifting groove, it is slidably fitted in the lifting groove and extends to the left Crane, be equipped with the second mounting groove in the crane in the lifting groove, pass through rotation axis in second mounting groove First turning set that is equipped with of shell rotation is held, is equipped with the first threaded hole, spiral shell in first threaded hole in first turning set Line is fitted with the first threaded rod that upper and lower ends are fixedly connected with the lifting groove upper and lower ends wall respectively；

Wherein, the drive cavity being provided with through second mounting groove, first turning set are laterally extended in the crane On be fixed with the first driving wheel in the drive cavity, in the crane bottom left be equipped with third rotate chamber, institute It states to be rotatably assorted between third rotation chamber and the drive cavity and third rotation axis is installed, the third in the drive cavity turns It is fixed with the second driving wheel on moving axis, passes through transmission V belt translation cooperation between first driving wheel and second driving wheel Connection, the third rotate and are fixed with third hand tap gear in the third rotation axis in chamber, on the right side of the third rotation chamber Rotation is fitted with the first splined shaft, the first splined shaft right-hand end inner wall on the right side of third rotation chamber in inner wall And outside is extended to, the first splined shaft left-hand end is fixedly installed with the 4th cone tooth being meshed with the third hand tap gear Wheel.

Preferably, the translation unit includes being set to the second sliding that in the crane bottom end face and Open Side Down It slot and is slidably installed and the sliding seat in second sliding groove, third mounting groove, the third is equipped in the sliding seat The second turning set is installed by what rolling bearing shell rotated in mounting groove, is equipped with the second threaded hole in second turning set, It is threadedly engaged that left and right ends are installed and are fixed with inner wall at left and right sides of second sliding groove respectively in second threaded hole and connects The second threaded rod connect, the third mounting groove are equipped with the 4th rotation chamber in end wall up and down, and fixation is set on second turning set There is the 5th bevel gear being located in the 4th rotation chamber.

Preferably, the control structure includes the 6th rotation chamber being set in the sliding seat, the 6th rotation chamber Be rotatably assorted the 4th rotation axis for being equipped with and extending back in the end wall of front side, and elongated end is set with fixation on rear side of the 4th rotation axis It is placed in the first motor on rear side of the 6th rotation chamber in inner wall to be connected by power, is fixed with driving in the 4th rotation axis Disk is equipped with the third sliding groove of opening outwardly in the drive disk, is slidably fitted with sliding shoe in the third sliding groove, described The second motor is fixed in sliding shoe, the second motor top end surface has been connected by power the second splined shaft；

Wherein, be symmetrically arranged with limiting slot in inner wall at left and right sides of the third sliding groove, be slidably fitted in the limiting slot with The limited block that the sliding shoe is fixedly connected, the limited block top end surface is interior to be equipped with the second permanent magnet, top in the limiting slot Wall is equipped with the second electromagnetic actuator device with the second permanent magnetism mates, is equipped with and the limit in the limiting slot inner roof wall The second top pressure spring that position block is fixedly connected, to realize the scaling operation for automatically controlling the sliding shoe；

Preferably, the upper rotational structure includes the upper spline set being installed in the intracavitary roof of the 6th rotation that is rotatably assorted, Upper spline set top end surface is fixed with for protruding into and being meshed in the 4th rotation chamber and with the 5th bevel gear Six bevel gears, the upper spline set bottom end face is interior to be equipped with the upper spline slot that Open Side Down；The lower rotational structure includes turning to match The lower spline housing being installed in the intracavitary bottom wall of the 6th rotation, the lower spline housing top end surface are interior upper equipped with opening upwards Spline；

Preferably, the left rotational structure includes the left spline being installed in the 6th rotation chamber inner left wall that is rotatably assorted Set, the left spline housing right end face is interior to be equipped with the left spline of opening to the right, is equipped with and opens in the left spline housing left end face The first spline that mouth matches to the left and with first splined shaft；The right rotational structure includes being set to the sliding seat 7th rotation chamber of right end face, is rotatably assorted between the 7th rotation chamber and the 6th rotation chamber and is equipped with right spline Set, towards left right spline, the right spline housing right end face is fixed with the interior opening that is equipped with of the right spline housing left end face Protrude into the 7th bevel gear in the 7th rotation chamber；

Wherein, it is equipped with eight revolution in the intracavitary roof of the 7th rotation and moves chamber, the eight revolution moves chamber and the 7th rotation chamber Between be rotatably assorted the 5th rotation axis be installed, be fixed in the 5th rotation axis in the 7th rotation chamber with it is described The 8th bevel gear that 7th bevel gear is meshed, the eight revolution are moved and are fixed with volume Two in the 5th rotation axis in chamber Line wheel, the eight revolution move the through slot being equipped in inner wall outside connection on the right side of chamber.

Preferably, the mounting rack structure includes the mounting rack for being fixedly installed on the sliding seat bottom end face, the peace The 9th rotation chamber in shelving equipped with opening upwards, the lower spline housing bottom end face, which is fixed with, protrudes into the 9th rotation chamber In the 9th bevel gear；

Wherein, the clamp structure includes being symmetrical set in the mounting rack bottom end face and Open Side Down the 4th sliding Slot is slidably fitted with clamping limb in the 4th sliding groove, is equipped with third threaded hole, the third threaded hole in the clamping limb In be threadedly engaged third threaded rod be installed, the two third threaded rod outboard ends in left and right respectively with left and right two the described 4th Inner wall is rotatably assorted connection on the outside of sliding groove, and the two third threaded rod inner ends in left and right are protruded into the 9th rotation chamber, And inside end is fixed with the tenth bevel gear being meshed with the 9th bevel gear.

Preferably, it is fixed with strut on the right side of the mounting rack top end surface, being rotatably assorted on the strut, it is fixed to be equipped with Pulley, is arranged with bracing wire on the fixed pulley, described bracing wire one end with first reel is rich sets, and the other end is through described Through slot is simultaneously set around on second reel.

Apparatus of the present invention can by first turning set rotation after can be and the cooperation with first threaded rod Drive the crane slide downward；To realize that fast lifting operates, lifting simplicity is improved；

Also, apparatus of the present invention after controlling the third threaded rod rotation by that can drive two clamping limbs in left and right relatively sliding It is dynamic, and box for material circulation is clamped；To be greatly improved clamping stability and safety；

Meanwhile apparatus of the present invention by control can drive after the support column rotation crane, sliding rack, mounting rack and Box for material circulation rotation after clamping, to can realize that the discharging orientation to box for material circulation carries out rotation adjusting；

In addition, the first electromagnetic actuator device power-off is controlled after apparatus of the present invention determine in the discharging orientation of the box for material circulation, The locking teeth is connect with the outer gear ring lock fit, and the rotating disc is rotated by limitation, then passes through upper rotational structure control Make the translation unit to the discharge position of box for material circulation carry out left and right or front-rear direction on accurate adjusting, can mention significantly as a result, High discharging accuracy；

In conclusion apparatus of the present invention high degree of automation, collaborative work ability is strong, by the switching control of the same power source, It is able to achieve clamping, lifting, translation and the turning function of box for material circulation, labor intensity can be greatly reduced, improves working efficiency, simultaneously Apparatus of the present invention use cost is lower, value for applications with higher.

Detailed description of the invention

It, below will be to embodiment or existing in order to illustrate more clearly of inventive embodiments or technical solution in the prior art Attached drawing needed in technical description is briefly described, it should be apparent that, the accompanying drawings in the following description is only to invent Some embodiments for those of ordinary skill in the art without creative efforts, can also basis These attached drawings obtain other attached drawings.

Fig. 1 is a kind of overall structure diagram of manipulator of the invention.

Fig. 2 is the schematic diagram of internal structure of sliding rack in Fig. 1.

Fig. 3 is the schematic diagram of internal structure of Fig. 1 vehicle frame.

Specific embodiment

All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive Feature and/or step other than, can combine in any way.

Any feature disclosed in this specification (including any accessory claim, abstract and attached drawing), except non-specifically chatting It states, can be replaced by other alternative features that are equivalent or have similar purpose.That is, unless specifically stated, each feature is only It is an example in a series of equivalent or similar characteristics.

As shown in Figure 1-3, a kind of manipulator of the invention, including by steering unit, lifting unit, translation unit, control The manipulator of unit and clamping unit composition, wherein clamping unit is made of mounting rack structure and clamp structure, master It is used to control the clamping crawl of material；Wherein, described control unit is by upper rotational structure, lower rotational structure, the dynamic knot of left-hand rotation, the right side Rotational structure and control structure are constituted, and the upper rotational structure mainly controls the translation gliding of the clamping unit, described Lower rotational structure mainly controls the clipping operation of the clamping unit, and the left rotational structure is for controlling the lifting unit Descending operation, the right rotational structure are used to control the course changing control of steering unit, and the control structure is used for switching control institute State the rotation operation of rotational structure, lower rotational structure, turn left dynamic knot and the right rotational structure；Wherein, the steering is single Member is made of rotation dish structure and winding-structure, is mainly used for controlling the course changing control after material crawl.

Valuably, the steering unit includes vehicle frame 10, and the first mounting groove is equipped in 10 top end surface of vehicle frame, described Rotating dish structure includes the rotating disc 66 being installed in first mounting groove rotated by rolling bearing shell, first peace Annular groove 67 is equipped in tankage inner wall, the rotating disc 66 is equipped with the outer gear ring 68 protruded into the annular groove 67, the annular groove 67 It is equipped with the first sliding groove 79 being connected with the annular groove 67 in the vehicle frame 10 on right side, is slided in first sliding groove 79 Locking teeth 80 is installed, is equipped with the first permanent magnet 81 in 80 right end face of locking teeth, in 79 right side of the first sliding groove The first electromagnetic actuator device 83 matched with first permanent magnet 81, the 79 right side inner wall of the first sliding groove are equipped in wall In be equipped with the first top pressure spring 82 for being fixedly connected with the locking teeth 80；

Wherein, the first rotation chamber 70 being connected with the annular groove 67, institute are equipped in the vehicle frame 10 in 67 left side of annular groove 70 inner roof wall of the first rotation chamber is stated equipped with the second rotation chamber 78, is turned between the first rotation chamber 70 and the second rotation chamber 78 It is dynamic to be fitted with the first rotation axis 90, be fixed in first rotation axis 90 in the first rotation chamber 70 with it is described The first rotate gear 69 that outer gear ring 68 is meshed, it is described second rotation chamber 78 in first rotation axis 90 on be fixed with First bevel gear 77；

Wherein, the winding-structure includes being set in 10 top end surface of vehicle frame and the third of opening upwards rotation chamber 75, It is equipped with torsion chamber 73 in third rotation 75 inner left wall of chamber, is rotated between the torsion chamber 73 and the second rotation chamber 78 It is fitted with the second rotation axis 71 through third rotation chamber 75, second rotation in the second rotation chamber 78 The second bevel gear 76 being meshed with the first bevel gear 77 is fixed on axis 71, it is described in the third rotation chamber 75 It is fixed with the first reel 74 in second rotation axis 71, is arranged with torsion in second rotation axis 71 in the torsion chamber 73 Spring 72,72 both ends of torsional spring are fixedly connected with about 73 inner wall of torsion chamber respectively.

Valuably, the lifting unit includes being fixedly installed on support rotating disc 66 top end surface and upwardly extended It frame 11 and is set to 11 left end face of support frame as described above and opening is towards left lifting groove 12, is slidably installed in the lifting groove 12 There is the crane 18 extended to the left, the second mounting groove, second peace are equipped in the crane 18 in the lifting groove 12 The first turning set 14 is installed by what rolling bearing shell rotated in tankage, is equipped with the first screw thread in first turning set 14 Hole is threadedly engaged in first threaded hole and is equipped with upper and lower ends and is fixedly connected respectively with the 12 upper and lower ends wall of lifting groove The first threaded rod 13；

Wherein, it is laterally extended the drive cavity 16 being provided with through second mounting groove in the crane 18, described first turn It is fixed with the first driving wheel 15 in the drive cavity 16 on dynamic set 14, bottom left is equipped with the in the crane 18 Three rotation chambers 22 are rotatably assorted between the third rotation chamber 22 and the drive cavity 16 and are equipped with third rotation axis 20, described The second driving wheel 19, first driving wheel 15 and described second are fixed in the third rotation axis 20 in drive cavity 16 It is cooperatively connected between driving wheel 19 by transmission V belt translation, it is fixed in the third rotation axis 20 in the third rotation chamber 22 Equipped with third hand tap gear 21, rotation is fitted with the first splined shaft 24 in third rotation 22 right side inner wall of chamber, and described the One splined shaft, 24 right-hand end is through third rotation 22 right side inner wall of chamber and extends to outside, 24 left side of the first splined shaft End is fixedly installed with the 4th bevel gear 23 being meshed with the third hand tap gear 21.

Valuably, the translation unit includes being set to the second cunning that in 18 bottom end face of crane and Open Side Down It moves slot 26 and is slidably installed and the sliding seat 27 in second sliding groove 26, third is equipped in the sliding seat 27 and is installed Slot is equipped with the second turning set 38 by what rolling bearing shell rotated in the third mounting groove, in second turning set 38 Equipped with the second threaded hole, it is threadedly engaged that be equipped with left and right ends left with second sliding groove 26 respectively in second threaded hole The second threaded rod 25 that right two sides inner wall is fixedly connected, the third mounting groove are equipped with the 4th rotation chamber 40, institute in end wall up and down State the 5th bevel gear 39 being fixed in the 4th rotation chamber 40 on the second turning set 38.

Valuably, the control structure include be set in the sliding seat 27 the 6th rotation chamber 56, described 6th turn Be rotatably assorted the 4th rotation axis 53 for being equipped with and extending back in dynamic 56 front side end wall of chamber, extends on rear side of the 4th rotation axis 53 It holds and is fixedly installed on the first motor in the 6th rotation 56 rear side inner wall of chamber to be connected by power, in the 4th rotation axis 53 It is fixed with drive disk 57, is equipped with the third sliding groove 64 of opening outwardly in the drive disk 57, in the third sliding groove 64 It is slidably fitted with sliding shoe 50, the second motor 49 is fixed in the sliding shoe 50,49 top end surface of the second motor is dynamic Power is connected with the second splined shaft 88；

Wherein, it is symmetrically arranged with limiting slot 62 in 64 left and right sides inner wall of third sliding groove, slides peace in the limiting slot 62 Equipped with the limited block 54 being fixedly connected with the sliding shoe 50, the second permanent magnet 55 is equipped in 54 top end surface of limited block, 62 inner roof wall of limiting slot is equipped with the second electromagnetic actuator device 63 matched with second permanent magnet 55, the limiting slot It is equipped with the second top pressure spring 61 being fixedly connected with the limited block 54 in 62 inner roof walls, automatically controls the sliding to realize The scaling operation of block 50；

Valuably, the upper rotational structure includes the upper spline set being installed in the 6th rotation 56 inner roof wall of chamber that is rotatably assorted 42, the upper spline cover 42 top end surfaces be fixed with protrude into the 4th rotation chamber 40 and with 39 phase of the 5th bevel gear 6th bevel gear 41 of engagement, the upper spline, which covers, is equipped with the upper spline slot 65 that Open Side Down in 42 bottom end faces；Described lower turn Dynamic structure includes turning the lower spline housing 51 with being installed in the 6th rotation 56 inner bottom wall of chamber, lower 51 top end of spline housing The upper spline slot 52 of opening upwards is equipped in face；

Valuably, the left rotational structure includes the left spline being installed in the 6th rotation 56 inner left wall of chamber that is rotatably assorted Set 59, left 59 right end face of spline housing is interior to be equipped with the left spline 58 of opening to the right, left 59 left end face of spline housing Interior the first spline 60 for being equipped with opening and matching to the left and with first splined shaft 24；The right rotational structure includes setting Chamber 46 is rotated in the 7th of 27 right end face of sliding seat, is turned between the 7th rotation chamber 46 and the 6th rotation chamber 56 It is dynamic to be fitted with right spline housing 92, it is equipped with and is open towards left right spline 91 in right 92 left end face of spline housing, it is described Right 92 right end face of spline housing is fixed with the 7th bevel gear 48 protruded into the 7th rotation chamber 46；

Wherein, eight revolution being equipped in the 7th rotation 46 inner roof wall of chamber and moving chamber 43, the eight revolution moves chamber 43 and the described 7th It is rotatably assorted between rotation chamber 46 and the 5th rotation axis 93 is installed, in the 5th rotation axis 93 in the 7th rotation chamber 46 It is fixed with the 8th bevel gear 47 being meshed with the 7th bevel gear 48, the eight revolution moves described 5th turn in chamber 43 The second reel 44 is fixed on moving axis 93, the eight revolution moves the through slot 45 being equipped with outside connection in 43 right side inner wall of chamber.

Valuably, the mounting rack structure includes the mounting rack 30 for being fixedly installed on 27 bottom end face of sliding seat, institute State the 9th rotation chamber 36 in mounting rack 30 equipped with opening upwards, lower 51 bottom end face of spline housing be fixed with protrude into it is described The 9th bevel gear 35 in 9th rotation chamber 36；

Wherein, the clamp structure includes being symmetrical set in 30 bottom end face of mounting rack and that Open Side Down is the 4th sliding Slot 32 is moved, clamping limb 33 is slidably fitted in the 4th sliding groove 32, third threaded hole is equipped in the clamping limb 33, it is described Be threadedly engaged in third threaded hole and third threaded rod 31 be installed, left and right two 31 outboard ends of third threaded rod respectively with a left side Right two 32 outside inner walls of the 4th sliding groove are rotatably assorted connection, control two 31 inner ends of third threaded rod and protrude into In the 9th rotation chamber 36, and inside end is fixed with the tenth bevel gear 34 being meshed with the 9th bevel gear 35.

Valuably, it is fixed with strut 28 on the right side of 30 top end surface of mounting rack, be rotatably assorted peace on the strut 28 Equipped with fixed pulley 29, bracing wire 37 is arranged on the fixed pulley 29, described 37 one end of bracing wire is had mercy on first reel 74 to be set, And the other end through the through slot 45 and is set around on second reel 44.

In the following, applicant with reference to attached drawing 1-3 and will be described above specifically to introduce a kind of manipulator of the application:

Firstly, apparatus of the present invention are in the initial state, first electromagnetic actuator device 83 and second electromagnetic drive dress It sets 55 and is in off-position, under the press of first top pressure spring 82, the locking teeth 80 is locked with the outer gear ring 68 Fixed to be cooperatively connected, the rotating disc 66 is rotated by limitation, 18 top end surface of crane and the 12 inner roof wall phase of lifting groove It supports, under the press of second top pressure spring 61,50 bottom end face of sliding shoe and 64 inner bottom wall of third sliding groove It offsets, and second motor 49 and second splined shaft 88 are fully located in the third sliding groove 64.

It is powered in use, controlling second electromagnetic actuator device 55 first, second electromagnetic actuator device 55 powers on Afterwards adsorbable second permanent magnet 63 and drive the sliding shoe 50 and second splined shaft 88 to slide in and out and be inserted into In the upper spline behaviour 65, second motor 49 is controlled at this time and is rotated forward, second motor 49 can lead to after rotating forward Crossing second splined shaft 88 drives the upper spline to cover the 42, the 6th bevel gear 41, the 5th bevel gear 39 and second turn described Dynamic set 38 rotates forward, and second turning set 38, which rotates forward, to drive institute by the cooperation with second threaded rod 25 It states sliding rack 27 and mounting rack 30 slides to the left, at this point, due to the bracing wire 37 and first reel 74 and described Second reel 44 is winding, and the first reel 74 can not rotate at this time, after the sliding rack 27 slides to the left as a result, this When, it is idling conditions that second reel 44, which drives the 8th bevel gear 47, the 7th bevel gear 48 and the right spline housing 92, After 27 left end face of sliding rack and 26 inner left wall of the second sliding groove offset, first splined shaft 24 is inserted completely Enter in first spline 60, at this point, making the clamping limb 33 be located at box for material circulation just by the collaborative work of the vehicle frame 10 Top；

Then it controls second electromagnetic actuator device 63 to power off, after the sliding shoe 50 resets, controls the first motor band It moves the drive disk 57 and rotates counterclockwise 90 degree, at this point, second splined shaft 88 is aligned with the left spline 58, at this point, It controls second electromagnetic actuator device 63 to power on, second splined shaft 88 is inserted into the left spline 58, at this time It controls second motor 49 to rotate forward, second motor 49, which rotates forward, to drive the left side by the second splined shaft 88 Spline housing 59, the first splined shaft 24, the 4th bevel gear 23, third hand tap gear 21, third rotation axis 20, the second driving wheel 19, One driving wheel 15 and first turning set 14 rotation, first turning set 14 rotate after can by with first screw thread The cooperation of bar 13 and drive 18 slide downward of crane；To realize that fast lifting operates, lifting simplicity is improved；

When the crane 18 drops to proper height, controls second electromagnetic actuator device 63 and power off, the sliding shoe 50 reset, and continue to control the first motor and the drive disk 57 is driven to rotate counterclockwise 90 degree, at this time second splined shaft 88 are aligned with the lower spline 52, at this point, control second electromagnetic actuator device 63 powers on, second splined shaft In the 88 insertion lower splines 52, at this point, second motor 49 can drive institute by the second splined shaft 88 after rotating forward It states lower spline housing 51 and drives the 9th bevel gear 35, the tenth bevel gear 34 and the third threaded rod 31 rotation, described the The opposite sliding of the clamping limb 33 of left and right two can be driven after the rotation of three threaded rods 31, and box for material circulation is clamped；So as to Greatly improve clamping stability and safety；

After the completion of clamping, after driving box for material circulation to rise to certain altitude using the lifting unit described in dynamic structure control that turns left, then The drive disk 57 is driven to rotate 180 degree by the first motor, at this point, second splined shaft 88 and the right spline 91 alignments, then control second electromagnetic actuator device 63 and power on, second splined shaft 88 is inserted into the right spline It in slot 91, at the same time, controls the first driving device 83 and powers on, the first driving device 83 powers on rear adsorbable described First permanent magnet 81 drives the locking teeth 80 to slide to the right and be detached from and cooperate with the outer gear ring 69, when 66 quilt of rotating disc It after allowing rotation, controls second motor 50 and rotates, at this point, second spline can be passed through after second motor 50 rotation Axis 88 drives the right spline housing 92 to drive the 7th bevel gear 48, the 8th bevel gear 47 and second reel 44 rotation, Second reel 44 can pull first reel 74 to rotate by the bracing wire 37 after rotating, the first 74 turns of reel The second bevel gear 76, first bevel gear 77, outer gear ring 69, rotating disc 66 and 11 turns of the support column can be driven after dynamic Dynamic, the support column 11 can drive the box for material circulation after the crane 18, sliding rack 27, mounting rack 30 and clamping to turn after rotating It is dynamic, to can realize that the discharging orientation to box for material circulation carries out rotation adjusting；

After the discharging orientation of the box for material circulation determines, control first electromagnetic actuator device power-off, the locking teeth 80 with 68 lock fit of the outer gear ring connection, the rotating disc 66 are rotated by limitation, are then controlled by upper rotational structure described flat Shifting unit carries out the accurate adjusting on left and right or front-rear direction to the discharge position of box for material circulation, is greatly improved discharging essence as a result, True property；After the completion of adjusting, is declined one by one by the lifting unit described in dynamic structure control that turns left and controlled by lower rotational structure The catching unit controls discharging operations；

It after the completion of operation, controls the first driving device 83 and powers on, turned under the action of torsional spring 72, in the present invention single Member is restored to original state.

In conclusion apparatus of the present invention high degree of automation, collaborative work ability is strong, passes through the switching control of the same power source System, is able to achieve clamping, lifting, translation and the turning function of box for material circulation, can greatly reduce labor intensity, improves working efficiency, Apparatus of the present invention use cost is lower simultaneously, value for applications with higher.

The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any The change or replacement expected without creative work, should be covered by the protection scope of the present invention.Therefore, of the invention Protection scope should be determined by the scope of protection defined in the claims.

Claims (9)

1. a kind of manipulator, including what is be made of steering unit, lifting unit, translation unit, control unit and clamping unit Manipulator, it is characterised in that: wherein, the clamping unit is made of mounting rack structure and clamp structure, is mainly used for Control the clamping crawl of material；Wherein, described control unit is by upper rotational structure, lower rotational structure, the dynamic knot that turns left, dynamic knot of turning right Structure and control structure are constituted, and the upper rotational structure mainly controls the translation gliding of the clamping unit, the lower rotation Structure mainly controls the clipping operation of the clamping unit, and the left rotational structure is used to control the lifting behaviour of the lifting unit Make, the right rotational structure is used to control the course changing control of steering unit, and the control structure turns for upper described in switching control The rotation operation of dynamic structure, lower rotational structure, turn left dynamic knot and the right rotational structure；Wherein, the steering unit is by turning Moving plate structure and winding-structure are constituted, and are mainly used for controlling the course changing control after material crawl.

2. a kind of manipulator according to claim 1, it is characterised in that: the steering unit includes vehicle frame, the vehicle frame Be equipped with the first mounting groove in top end surface, the rotation dish structure include rotated by rolling bearing shell be installed on described first Rotating disc in mounting groove, annular groove is equipped in the first mounting groove inner wall, and the rotating disc is equipped with and protrudes into the annular groove Outer gear ring, be equipped with the first sliding groove being connected with the annular groove in the vehicle frame on the right side of the annular groove, described first is sliding It is slidably fitted with locking teeth in dynamic slot, the first permanent magnet, the first sliding groove right side are equipped in the locking teeth right end face It is equipped with the first electromagnetic actuator device with the first permanent magnetism mates in inner wall, is set in inner wall on the right side of first sliding groove There is the first top pressure spring being fixedly connected with the locking teeth；Wherein, in the vehicle frame on the left of the annular groove be equipped with it is described The first rotation chamber that annular groove is connected, the intracavitary roof of first rotation are equipped with the second rotation chamber, the first rotation chamber and institute It states to be rotatably assorted between the second rotation chamber and the first rotation axis is installed, it is solid in first rotation axis in the first rotation chamber It is fixed to be equipped with the first rotate gear being meshed with the outer gear ring, it is fixed in first rotation axis in the second rotation chamber Equipped with first bevel gear；Wherein, the winding-structure includes being set in the vehicle frame top end surface and the third of opening upwards Chamber is rotated, torsion chamber is equipped in the third rotation chamber inner left wall, is rotated between the torsion chamber and the second rotation chamber It is fitted with and runs through the second rotation axis that the third rotates chamber, it is solid in second rotation axis in the second rotation chamber Fixed to be equipped with the second bevel gear being meshed with the first bevel gear, the third rotates solid in second rotation axis in chamber Surely be equipped with the first reel, be arranged with torsional spring in second rotation axis in the torsion chamber, the torsional spring both ends respectively with Inner wall is fixedly connected the torsion chamber up and down.

3. a kind of manipulator according to claim 1, it is characterised in that: the lifting unit is described including being fixedly installed on Rotating disc top end surface and the support frame upwardly extended and it is set to support frame as described above left end face and opening is towards left lifting Slot is slidably fitted with the crane extended to the left in the lifting groove, and second is equipped in the crane in the lifting groove Mounting groove is equipped with the first turning set by what rolling bearing shell rotated in second mounting groove, in first turning set Equipped with the first threaded hole, be threadedly engaged in first threaded hole be equipped with upper and lower ends respectively with the lifting groove upper and lower ends The first threaded rod that wall is fixedly connected；Wherein, the biography being provided with through second mounting groove is laterally extended in the crane Chamber is moved, is fixed with the first driving wheel in the drive cavity on first turning set, bottom is left in the crane Side is equipped with third and rotates chamber, is rotatably assorted between the third rotation chamber and the drive cavity and is equipped with third rotation axis, described Be fixed with the second driving wheel in the third rotation axis in drive cavity, first driving wheel and second driving wheel it Between be cooperatively connected by transmission V belt translation, be fixed with triconodont in the third rotation axis in third rotation chamber Wheel, the third, which rotates to rotate in inner wall on the right side of chamber, is fitted with the first splined shaft, and the first splined shaft right-hand end runs through The third rotates inner wall on the right side of chamber and extends to outside, and the first splined shaft left-hand end is fixedly installed with and the third is bored The 4th bevel gear that gear is meshed.

4. a kind of manipulator according to claim 1, it is characterised in that: the translation unit includes being set to the lifting The second sliding groove and be slidably installed and the sliding seat in second sliding groove that frame bottom end face is interior and Open Side Down, it is described It is equipped with third mounting groove in sliding seat, the second turning set is installed by what rolling bearing shell rotated in the third mounting groove, The second threaded hole is equipped in second turning set, be threadedly engaged in second threaded hole be equipped with left and right ends respectively with institute The second threaded rod that inner wall is fixedly connected at left and right sides of the second sliding groove is stated, is equipped with the 4th above and below the third mounting groove in end wall Chamber is rotated, the 5th bevel gear being fixed in the 4th rotation chamber on second turning set.

5. a kind of manipulator according to claim 1, it is characterised in that: the control structure includes being set to the sliding The 6th rotation chamber in seat, the described 6th rotates the 4th rotation axis for being equipped with and extending back that is rotatably assorted in end wall on front side of chamber, Elongated end and the first motor power company being fixedly installed on rear side of the 6th rotation chamber in inner wall on rear side of 4th rotation axis It connects, is fixed with drive disk in the 4th rotation axis, be equipped with the third sliding groove of opening outwardly in the drive disk, described the It is slidably fitted with sliding shoe in three sliding grooves, the second motor, the second motor top end surface are fixed in the sliding shoe It has been connected by power the second splined shaft；Wherein, limiting slot, the limit are symmetrically arranged in inner wall at left and right sides of the third sliding groove It is slidably fitted with the limited block being fixedly connected with the sliding shoe in slot, is equipped with the second permanent magnetism in the limited block top end surface Body, the limiting slot inner roof wall are equipped with the second electromagnetic actuator device with the second permanent magnetism mates, in the limiting slot It is equipped with the second top pressure spring being fixedly connected with the limited block in roof, automatically controls the flexible of the sliding shoe to realize Operation.

6. a kind of manipulator according to claim 1, it is characterised in that: the upper rotational structure includes the installation that is rotatably assorted Upper spline set in the intracavitary roof of the 6th rotation, the upper spline set top end surface, which is fixed with, protrudes into described 4th turn The 6th bevel gear being meshed in dynamic chamber and with the 5th bevel gear, the upper spline set bottom end face are interior equipped with Open Side Down Upper spline slot；The lower rotational structure includes turning the lower spline housing with being installed in the intracavitary bottom wall of the 6th rotation, described The upper spline slot of opening upwards is equipped in lower spline housing top end surface.

7. a kind of manipulator according to claim 1, it is characterised in that: the left rotational structure includes the installation that is rotatably assorted Left spline housing in the 6th rotation chamber inner left wall, the left spline housing right end face is interior to be equipped with the left flower of opening to the right Keyway, interior the first spline for being equipped with opening and matching to the left and with first splined shaft of the left spline housing left end face； The right rotational structure includes the 7th rotation chamber for being set to the sliding seat right end face, the 7th rotation chamber and described the It is rotatably assorted between six rotation chambers and right spline housing is installed, opening is equipped in the right spline housing left end face towards left right spline Slot, the right spline housing right end face are fixed with the 7th bevel gear protruded into the 7th rotation chamber；

Wherein, it is equipped with eight revolution in the intracavitary roof of the 7th rotation and moves chamber, the eight revolution moves chamber and the 7th rotation chamber Between be rotatably assorted the 5th rotation axis be installed, be fixed in the 5th rotation axis in the 7th rotation chamber with it is described The 8th bevel gear that 7th bevel gear is meshed, the eight revolution are moved and are fixed with volume Two in the 5th rotation axis in chamber Line wheel, the eight revolution move the through slot being equipped in inner wall outside connection on the right side of chamber.

8. a kind of manipulator according to claim 1, it is characterised in that: the mounting rack structure includes being fixedly installed on institute The mounting rack of sliding seat bottom end face is stated, the 9th rotation chamber of opening upwards, the lower spline housing bottom are equipped in the mounting rack End surface is fixed with the 9th bevel gear protruded into the 9th rotation chamber；Wherein, the clamp structure includes bilateral symmetry It is set to the mounting rack bottom end face and the 4th sliding groove that Open Side Down, is slidably fitted with clamping in the 4th sliding groove Arm is equipped with third threaded hole in the clamping limb, is threadedly engaged in the third threaded hole and is equipped with third threaded rod, left and right two A third threaded rod outboard end is rotatably assorted with inner wall on the outside of two the 4th sliding grooves in left and right connect respectively, left and right two A third threaded rod inner end is protruded into the 9th rotation chamber, and inside end is fixed with and the 9th bevel gear The tenth bevel gear being meshed.

9. a kind of manipulator according to claim 1, it is characterised in that: be fixed on the right side of the mounting rack top end surface Strut is rotatably assorted on the strut and is equipped with fixed pulley, is arranged with bracing wire on the fixed pulley, described bracing wire one end with it is described First reel is rich to be set, and the other end through the through slot and is set around on second reel.