CN208773575U - A kind of be lifted automatically picks up displacement structure - Google Patents
A kind of be lifted automatically picks up displacement structure Download PDFInfo
- Publication number
- CN208773575U CN208773575U CN201821558922.4U CN201821558922U CN208773575U CN 208773575 U CN208773575 U CN 208773575U CN 201821558922 U CN201821558922 U CN 201821558922U CN 208773575 U CN208773575 U CN 208773575U
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- Prior art keywords
- bracket
- picked
- displacement structure
- manipulator
- screw rod
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Abstract
The utility model discloses a kind of automatic liftings to pick up displacement structure, belong to robot lifting apparatus technical field, it is designed to provide a kind of be lifted automatically and picks up displacement structure, solve the problems, such as that existing robot lifting mechanism rising height control is inaccurate, rising height is not flexible, lifting is unstable.It includes pedestal, stepper motor is provided on the pedestal, the stepper motor is connected with screw rod, it is additionally provided with bracket, threaded hole is offered on bracket, the other end of screw rod is threadedly coupled with bracket, and one end of bracket is connected with the guiding mechanism for limit bracket rotation, the other end on bracket is connected with manipulator, and the driving mechanism that control manipulator is picked up and placed is additionally provided on bracket.The utility model is suitable for robot lifting mechanism.
Description
Technical field
The utility model belongs to robot lifting apparatus technical field, and in particular to a kind of be lifted automatically picks up placement knot
Structure.
Background technique
Lifting structure is a kind of foundation structure extremely important in robot crawl step, and lifting structure is artificial in machine
Make to play vital effect with when realizing function, no matter the crawl of robot, the placement of object, taxonomy of goods etc.
All it be unable to do without it.The quality of its quality and quality directly affects machine task efficiency, multi-functional in production machine people
Robot is nearly all furnished with the structure.Lifting structure is more universal, and nowadays Underground-Ditch-Pattern lifting machine on the market mostly uses greatly intersection
The form of bar, hydraulic-driven, this lifting structure the disadvantage is that: fault point is more, and hydraulic stem is easy oil leak, and driving force is unstable, chain
Contact abrasion is big, and needs to be replaced frequently accessory, and maintenance rate is high, and maintenance cost is big, causes oil circuit to pollute working environment.
The utility model patent of application number CN201520591760.4 discloses a small in size, lighter, easy to remove
And it is suitble to the rotary pressing lifting apparatus of small articles lifting.The working principle of the mechanism is: rotating handle, casing decline, together
When push the right end of Z-shaped lever to move down, Z-shaped lever left end moves up, drive carrier be lifted article.The program by lever principle come
Realize the lifting to small article, but there are still many problems for the stabilization being lifted and control.Such as the lifting mechanism is predominantly artificial
Lifting, controllability is poor, and the degree of automation is lower；The limited height that the lifting mechanism can be lifted, is lifted speed and efficiency is slower；
The lifting mechanism is only applicable to relatively gently, and compared with the lifting of wisp, utility value is little, and the practicability is poor, lacks the value of popularization；It should
The stability of lifting mechanism haves the defects that certain.
The utility model patent of application number CN201520680138.0 discloses a kind of vertical lifting mechanism.Its power device
One end is connect with pedestal, and the other end is connect with lower pole, and lower pole is rotated centered on shaft, and lower pole support frame is welded on bottom
On seat, chain rod is that cradle head connect with chain rod support frame, and chain rod support frame is welded on pedestal, and chain is drawn
Bar is equipped with middle part chain, and cam is equipped with first side chain and second side chain, and upper armed lever is fixedly connected with cam；On
Armed lever is connected with lower pole by axis.After ventilating to cylinder, cylinder is shunk, and lower pole is pulled to rotate, in lower pole drive
Armed lever movement, the tensioning function that upper armed lever relies on chain rod to carry out it, upper armed lever tip can rise vertically.This scheme is
Cylinder drives upper lower beam to be interlocked, and realizes the vertical rising of object.But the stabilization of mechanism and control have some defects such as the machine
The position of structure lifting is fixed, and cannot be accurately controlled, flexibility is poor；Smaller scope of application, the practicability is poor；The object being lifted does not have
There is rest area.Therefore, it is seen that the robot lifting mechanism of the prior art there are rising height controls inaccurate, rising height
Problem not flexible, lifting is unstable.
Utility model content
The purpose of this utility model is that: a kind of be lifted automatically is provided and picks up displacement structure, solves existing robot lifting
The problem that the control of mechanism rising height is inaccurate, rising height is not flexible, lifting is unstable.
The technical solution adopted in the utility model is as follows:
A kind of be lifted automatically picks up displacement structure, including pedestal, and stepper motor, the stepping electricity are provided on the pedestal
Machine is connected with screw rod, is additionally provided with bracket, and threaded hole is offered on bracket, and the other end of screw rod is threadedly coupled with bracket, bracket
One end be connected with the guiding mechanism for limit bracket rotation, the other end on bracket is connected with manipulator, also sets on bracket
It is equipped with the driving mechanism that control manipulator is picked up and placed.
Further, the guiding mechanism includes the prismatic pair connecting with bracket, be provided with along the vertical direction on pedestal with
The compatible rack of prismatic pair, prismatic pair are sheathed in rack and can move along the short transverse of rack.
Further, the bracket is T-type bracket, and the perpendicular section both ends of the T-type bracket are respectively connected with prismatic pair.
Further, the end of the crosspiece of the T-type bracket is connected with manipulator, and the manipulator includes symmetrically arranged
Two clamping jaws, the driving mechanism include connecting rod hinged on two clamping jaws, and the other end of connecting rod is hinged with link block, link block
The other end and T-type bracket crosspiece on the output axis connection of cylinder installed.
Further, the screw rod is connect with stepper motor by shaft coupling.
Further, the pedestal lower end is connected with flange, and flange is connect with wire rod thread.
Further, the stepper motor is electrically connected with controller.
In conclusion by adopting the above-described technical solution, the beneficial effects of the utility model are:
1, in the utility model, including pedestal, it is provided with stepper motor on the pedestal, the stepper motor is connected with silk
Bar is additionally provided with bracket, and threaded hole is offered on bracket, and the other end of screw rod is threadedly coupled with bracket, one end connection of bracket
There is the guiding mechanism for limit bracket rotation, the other end on bracket is connected with manipulator, control machine is additionally provided on bracket
The driving mechanism that tool hand is picked up and placed.By the setting, stepper motor drives screw rod rotation, screw rod and bracket screw-driven,
It is rotated again by guiding mechanism limit bracket, realizes being freely lifted for bracket, so that the manipulator connected on bracket be made freely to rise
Drop, is picked up and is placed object by driving mechanisms control manipulator, and the final lifting and decline realized to object has operation steady
Qualitative good, applied widely, rising height accurately controls, is cheap, feature easy to maintain, solves existing robot lift
Rise the problem that the control of mechanism rising height is inaccurate, rising height is not flexible, lifting is unstable.
2, in the utility model, the guiding mechanism includes the prismatic pair connecting with bracket, is set along the vertical direction on pedestal
It is equipped with rack compatible with prismatic pair, prismatic pair is sheathed in rack and can move along the short transverse of rack.It is set by this
It sets, when bracket is gone up and down, drives prismatic pair to scroll up and down along rack, make bracket during lifting, keep horizontal, operation is steady
It is fixed.
3, in the utility model, the bracket is T-type bracket, and the perpendicular section both ends of the T-type bracket are respectively connected with prismatic pair.
By the setting, when bracket is gone up and down, drives two groups of prismatic pairs to scroll up and down simultaneously along rack, make T-type bracket in the process of lifting
In, it runs more stable.
4, in the utility model, the end of the crosspiece of the T-type bracket is connected with manipulator, and the manipulator includes symmetrical
Two clamping jaws being arranged, the driving mechanism include connecting rod hinged on two clamping jaws, and the other end of connecting rod is hinged with link block,
The output axis connection for the cylinder installed on the other end of link block and the crosspiece of T-type bracket.Pass through the setting, the output shaft of cylinder
Flexible to drive link block mobile, hinged connecting rod drives clamping jaw rotation on link block, so that the crawl and opening of manipulator are completed,
Convenient for grabbing object, it is lifted.
5, in the utility model, the screw rod is connect with stepper motor by shaft coupling.By the setting, make screw rod and step
Operation into motor is more stable.
6, in the utility model, the pedestal lower end is connected with flange, and flange is connect with wire rod thread.By the setting,
Keep the lifting of bracket more stable.
7, in the utility model, the stepper motor is electrically connected with controller.By the setting, convenient for control stepper motor
Freely controlling to rising height is realized in rotation direction and start and stop.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the main view of the utility model；
Fig. 3 is the bottom view of the utility model；
Fig. 4 is the side view of the utility model；
Fig. 5 is the structural schematic diagram of the first lifting mechanism in background technique；
Fig. 6 is the structural schematic diagram of second of lifting mechanism in background technique；
Marked in the figure: 1- pedestal, 2- stepper motor, 3- screw rod, 4- manipulator, 41- clamping jaw, 42- connecting rod, 43- link block,
5- prismatic pair, 6- rack, 7-T type bracket, 71- erect section, 72- crosspiece, 8- cylinder, 9- flange.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this
Utility model is not used to limit the utility model.
A kind of be lifted automatically picks up displacement structure, including pedestal, and stepper motor, the stepping electricity are provided on the pedestal
Machine is connected with screw rod, is additionally provided with bracket, and threaded hole is offered on bracket, and the other end of screw rod is threadedly coupled with bracket, bracket
One end be connected with the guiding mechanism for limit bracket rotation, the other end on bracket is connected with manipulator, also sets on bracket
It is equipped with the driving mechanism that control manipulator is picked up and placed.
Further, the guiding mechanism includes the prismatic pair connecting with bracket, be provided with along the vertical direction on pedestal with
The compatible rack of prismatic pair, prismatic pair are sheathed in rack and can move along the short transverse of rack.
Further, the bracket is T-type bracket, and the perpendicular section both ends of the T-type bracket are respectively connected with prismatic pair.
Further, the end of the crosspiece of the T-type bracket is connected with manipulator, and the manipulator includes symmetrically arranged
Two clamping jaws, the driving mechanism include connecting rod hinged on two clamping jaws, and the other end of connecting rod is hinged with link block, link block
The other end and T-type bracket crosspiece on the output axis connection of cylinder installed.
Further, the screw rod is connect with stepper motor by shaft coupling.
Further, the pedestal lower end is connected with flange, and flange is connect with wire rod thread.
Further, the stepper motor is electrically connected with controller.
For the utility model in implementation process, stepper motor drives screw rod rotation, screw rod and bracket screw-driven, then passes through
The rotation of guiding mechanism limit bracket, realizes being freely lifted for bracket, so that the manipulator connected on bracket be made to be freely lifted, passes through
Object is picked up and placed to driving mechanisms control manipulator, the final lifting and decline realized to object, have good operation stability,
Applied widely, rising height accurately controls, is cheap, feature easy to maintain, solves existing robot lifting mechanism
The problem that rising height control is inaccurate, rising height is not flexible, lifting is unstable.The guiding mechanism includes connecting with bracket
Prismatic pair, be provided with rack compatible with prismatic pair along the vertical direction on pedestal, prismatic pair is sheathed in rack and can edge
The short transverse of rack is mobile.By the setting, when bracket is gone up and down, drives prismatic pair to scroll up and down along rack, rising bracket
During drop, keep horizontal, it is stable.The bracket is T-type bracket, and the perpendicular section both ends of the T-type bracket are respectively connected with
Prismatic pair.By the setting, when bracket is gone up and down, drives two groups of prismatic pairs to scroll up and down simultaneously along rack, going up and down T-type bracket
During, it runs more stable.The end of the crosspiece of the T-type bracket is connected with manipulator, and the manipulator includes symmetrical
Two clamping jaws being arranged, the driving mechanism include connecting rod hinged on two clamping jaws, and the other end of connecting rod is hinged with link block,
The output axis connection for the cylinder installed on the other end of link block and the crosspiece of T-type bracket.Pass through the setting, the output shaft of cylinder
Flexible to drive link block mobile, hinged connecting rod drives clamping jaw rotation on link block, so that the crawl and opening of manipulator are completed,
Convenient for grabbing object, it is lifted.The screw rod is connect with stepper motor by shaft coupling.By the setting, make screw rod and step
Operation into motor is more stable.The pedestal lower end is connected with flange, and flange is connect with wire rod thread.By the setting, make
The lifting of bracket is more stable.The stepper motor is electrically connected with controller.By the setting, convenient for control stepper motor rotation
Freely controlling to rising height is realized in direction and start and stop.
Embodiment 1
A kind of be lifted automatically picks up displacement structure, including pedestal, and stepper motor, the stepping electricity are provided on the pedestal
Machine is connected with screw rod, is additionally provided with bracket, and threaded hole is offered on bracket, and the other end of screw rod is threadedly coupled with bracket, bracket
One end be connected with the guiding mechanism for limit bracket rotation, the other end on bracket is connected with manipulator, also sets on bracket
It is equipped with the driving mechanism that control manipulator is picked up and placed.By the setting, stepper motor drives screw rod rotation, screw rod and bracket
Screw-driven, then rotated by guiding mechanism limit bracket, being freely lifted for bracket is realized, to make the machinery connected on bracket
Hand is freely lifted, and picks up and place object by driving mechanisms control manipulator, the final lifting and decline realized to object, tool
Have the characteristics that good operation stability, applied widely, rising height accurately control, are cheap, is easy to maintain, solves existing
The problem that the control of robot lifting mechanism rising height is inaccurate, rising height is not flexible, lifting is unstable.
Embodiment 2
On the basis of embodiment 1, the guiding mechanism includes the prismatic pair connecting with bracket, on pedestal along the vertical direction
It is provided with rack compatible with prismatic pair, prismatic pair is sheathed in rack and can move along the short transverse of rack.By this
Setting when bracket is gone up and down, drives prismatic pair to scroll up and down along rack, makes bracket during lifting, keeps horizontal, operation is steady
It is fixed.
Embodiment 3
On the basis of the above embodiments, the bracket is T-type bracket, and the perpendicular section both ends of the T-type bracket are respectively connected with
Prismatic pair.By the setting, when bracket is gone up and down, drives two groups of prismatic pairs to scroll up and down simultaneously along rack, going up and down T-type bracket
During, it runs more stable.
Embodiment 4
On the basis of the above embodiments, the end of the crosspiece of the T-type bracket is connected with manipulator, the machinery handbag
Symmetrically arranged two clamping jaws are included, the driving mechanism includes connecting rod hinged on two clamping jaws, and the other end of connecting rod is hinged with
The output axis connection for the cylinder installed on link block, the other end of link block and the crosspiece of T-type bracket.Pass through the setting, cylinder
Output shaft it is flexible drive link block mobile, hinged connecting rod drives clamping jaw rotation on link block, to complete grabbing for manipulator
It takes and opens, convenient for crawl object, be lifted.
Embodiment 5
On the basis of the above embodiments, the screw rod is connect with stepper motor by shaft coupling.By the setting, make silk
The operation of bar and stepper motor is more stable.
Embodiment 6
On the basis of the above embodiments, the pedestal lower end is connected with flange, and flange is connect with wire rod thread.By this
Setting, keeps the lifting of bracket more stable.
Embodiment 7
On the basis of the above embodiments, the stepper motor is electrically connected with controller.By the setting, convenient for control step
Into direction of motor rotation and start and stop, freely controlling to rising height is realized.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (7)
1. displacement structure, including pedestal (1) are picked up in a kind of automatic lifting, which is characterized in that be provided with stepping on the pedestal (1)
Motor (2), the stepper motor (2) are connected with screw rod (3), are additionally provided with bracket, and threaded hole, screw rod (3) are offered on bracket
The other end be threadedly coupled with bracket, one end of bracket is connected with the guiding mechanism for limit bracket rotation, another on bracket
One end is connected with manipulator (4), and the driving mechanism that control manipulator (4) is picked up and placed is additionally provided on bracket.
2. displacement structure is picked up in a kind of automatic lifting described in accordance with the claim 1, which is characterized in that the guiding mechanism includes
The prismatic pair (5) being connect with bracket, be provided on pedestal (1) along the vertical direction with prismatic pair (5) compatible rack (6), move
Dynamic pair (5) is sheathed on rack (6) and can be mobile along the short transverse of rack (6).
3. displacement structure is picked up in a kind of automatic lifting according to claim 2, which is characterized in that the bracket is T-type branch
Perpendicular section (71) both ends of frame (7), the T-type bracket (7) are respectively connected with prismatic pair (5).
4. displacement structure is picked up in a kind of automatic lifting described in accordance with the claim 3, which is characterized in that the T-type bracket (7)
The end of crosspiece (72) is connected with manipulator (4), and the manipulator (4) includes symmetrically arranged two clamping jaws (41), the drive
Motivation structure includes connecting rod (42) hinged on two clamping jaws (41), and the other end of connecting rod (42) is hinged with link block (43), is connected
The output axis connection for the cylinder (8) installed on the other end of block (43) and the crosspiece (72) of T-type bracket (7).
5. displacement structure is picked up in a kind of automatic lifting described in accordance with the claim 1, which is characterized in that the screw rod (3) and step
It is connected into motor (2) by shaft coupling.
6. displacement structure is picked up in a kind of automatic lifting described in accordance with the claim 1, which is characterized in that the pedestal lower end connection
Have flange (9), flange (9) is threadedly coupled with screw rod (3).
7. picking up displacement structure according to a kind of be lifted automatically of any of claims 1-6, which is characterized in that the step
Controller is electrically connected with into motor (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821558922.4U CN208773575U (en) | 2018-09-25 | 2018-09-25 | A kind of be lifted automatically picks up displacement structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821558922.4U CN208773575U (en) | 2018-09-25 | 2018-09-25 | A kind of be lifted automatically picks up displacement structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208773575U true CN208773575U (en) | 2019-04-23 |
Family
ID=66162438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821558922.4U Expired - Fee Related CN208773575U (en) | 2018-09-25 | 2018-09-25 | A kind of be lifted automatically picks up displacement structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208773575U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182519A (en) * | 2019-05-17 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of discharging device and accurate calculation load method of intelligent repository |
| CN112518787A (en) * | 2020-11-26 | 2021-03-19 | 东台市海邦电气有限公司 | Supporting anchor clamps of robot |
| CN113146170A (en) * | 2021-02-05 | 2021-07-23 | 成都铭毅智能科技有限公司 | Clamping and feeding mechanism |
-
2018
- 2018-09-25 CN CN201821558922.4U patent/CN208773575U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110182519A (en) * | 2019-05-17 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of discharging device and accurate calculation load method of intelligent repository |
| CN112518787A (en) * | 2020-11-26 | 2021-03-19 | 东台市海邦电气有限公司 | Supporting anchor clamps of robot |
| CN113146170A (en) * | 2021-02-05 | 2021-07-23 | 成都铭毅智能科技有限公司 | Clamping and feeding mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190423 Termination date: 20190925 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |