CN209849797U

CN209849797U - Lifting device for manipulator mechanical arm

Info

Publication number: CN209849797U
Application number: CN201920097043.4U
Authority: CN
Inventors: 李冬
Original assignee: Nanjing Yijiu Forging Co Ltd
Current assignee: Nanjing Yijiu Forging Co Ltd
Priority date: 2019-01-21
Filing date: 2019-01-21
Publication date: 2019-12-27
Anticipated expiration: 2029-01-21

Abstract

The utility model discloses a carry and draw device for manipulator robotic arm uses in the manipulator field, and its technical scheme main points are: the lifting mechanism comprises an operating machine frame, wherein a mechanical arm for clamping a workpiece is arranged on the operating machine frame, a group of lifting components are arranged on two sides of one end, away from a clamping part, of the mechanical arm, each lifting component comprises a winch, a movable pulley, a fixed pulley and a lifting rope wound on the winch, the fixed pulleys and the movable pulleys, the winch and the fixed pulleys are both arranged at the top of the operating machine frame, two sides of one end, away from the clamping part, of the mechanical arm are detachably connected with fixed blocks, and the movable pulleys are fixedly connected to the fixed blocks; has the technical effects that: the mechanical arm is always kept balanced in the lifting process, and the stability of the mechanical arm in the lifting process is ensured.

Description

Lifting device for manipulator mechanical arm

Technical Field

The utility model relates to an operation machine field, in particular to a carry and draw device for operation machine robotic arm.

Background

Chinese patent with publication number CN208288912U discloses a small-sized high-efficiency forging manipulator, which comprises a frame and a hull arranged in the middle of the frame, wherein the top of the frame is fixed with a front lifting motor and a rear lifting motor, the output shafts of the front lifting motor and the rear lifting motor are respectively connected with a roller, the rollers are fixed with lifting ropes for limiting the hull, the front side of the hull is provided with a clamp, the upper part of the hull is provided with a rotating mechanism for driving the clamp to rotate and an opening and closing mechanism for driving the clamp to open and close, the clamp comprises a clamp shell and a pair of clamp arms symmetrically arranged in the shell, the middle of the clamp arms is hinged with the shell, the rear side ends of the pair of clamp arms are sleeved on a same fixed shaft, the rear side of the clamp shell is fixedly connected with a connecting sleeve, the outside of the connecting sleeve is fixedly connected with a, the driving gear and the clamp gear are sleeved with a transmission chain, and the rotating motor drives the shaft to rotate so as to drive the clamp to rotate. However, the small efficient forging manipulator is only provided with one group of transmission chains for hoisting the clamp, and the stability is poor during hoisting.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a carry and draw device for manipulator robotic arm, its advantage is: the two groups of lifting ropes lift the mechanical arms simultaneously, so that the stability of the mechanical arms in the lifting process is improved.

The above technical purpose of the present invention can be achieved by the following technical solutions: the utility model provides a carry and draw device for manipulator robotic arm, includes the manipulator frame, be equipped with the robotic arm that is used for the centre gripping work piece in the manipulator frame, robotic arm keeps away from the both sides of clamping part one end and all is equipped with a set of subassembly of carrying, carry and draw the subassembly to include hoist engine, movable pulley, fixed pulley and around establishing the lifting rope on hoist engine, fixed pulley and movable pulley, the top at the manipulator frame is all installed to hoist engine and fixed pulley, robotic arm keeps away from both sides of clamping part one end and all can dismantle and be connected with the fixed block, movable pulley fixed connection is on the fixed block.

Through the technical scheme, when the mechanical arm needs to be lifted, an operator starts the winch, and the lifting rope moves around the fixed pulley and the movable pulley until the lifting rope lifts the mechanical arm to a required position. The lifting components are respectively arranged on two sides of the mechanical arm in a group, and when the mechanical arm is lifted, the mechanical arm is lifted by the two groups of lifting ropes, so that the stress on two sides of the mechanical arm is balanced, and the stability of the mechanical arm is ensured. Meanwhile, due to the arrangement of the two groups of lifting ropes, when the mechanical arm needs to be shifted, an operator starts the two winches in sequence, the size of the offset angle of the mechanical arm is controlled by the length of the lifting rope, and the operation is simple and convenient.

The utility model discloses further set up to: and a plurality of strands of lifting ropes are simultaneously wound on the movable pulley, the fixed pulley and the winch in a surrounding manner.

Through above-mentioned technical scheme, according to the conservation principle of power, the setting of stranded lifting rope to make this lifting unit can be used to promote the work piece of bigger weight, make the power of bearing on the every lifting rope reduce, reduced because of the power overweight that bears on the strand lifting rope leads to the easy possibility of damaging of lifting rope, prolonged the life of lifting rope.

The utility model discloses further set up to: the manipulator is characterized in that a bearing is arranged at one end, away from the clamping part, of the manipulator, one end, away from the clamping part, of the manipulator is coaxially connected with an inner shaft of the bearing, a rotating motor used for driving the manipulator to rotate is placed on the manipulator frame, the rotating motor and one end, away from the clamping part, of the manipulator are fixedly connected, and the fixing block is detachably connected with the outer wall of the bearing.

Through the technical scheme, when the mechanical arm needs to be further deflected, an operator starts the rotating motor, and the rotating shaft of the rotating motor rotates to drive the inner shaft of the bearing and the mechanical arm connected with the inner shaft of the bearing to rotate. Set up like this, the operator of being convenient for drives robotic arm as required and rotates, and easy operation is convenient.

The utility model discloses further set up to: the outer peripheral edges fixedly connected with of bearing two curved ring pieces, the one end fixedly connected with that the bearing was kept away from to the ring piece extends the piece, two extend on the ring piece respectively with the fixed block along the tip at axial both ends laminate mutually, two extend on the ring piece and wear to be equipped with the screw rod on the fixed block jointly, the equal threaded connection in both ends of screw rod has the nut.

Through above-mentioned technical scheme, adopt the mode of dismantling the connection between fixed block and the bearing to be convenient for the operator with the fixed block from the bearing installation together, when certain part on the manipulator breaks down, be convenient for the operator with fixed block and bearing dismantlement so that overhaul other parts.

The utility model discloses further set up to: the manipulator frame is characterized in that two sides of the fixed block, which are far away from the mechanical arm, are respectively and fixedly provided with a baffle plate, and one side of the fixed block, which faces the baffle plate, is in contact with the baffle plate.

Through the technical scheme, the baffle is arranged. The fixing blocks and the mechanical arm positioned between the two fixing blocks are limited, and the possibility that the overall structure of the mechanical arm is out of balance due to overlarge offset angle in the lifting process of the mechanical arm is reduced.

The utility model discloses further set up to: the fixed block is connected with a plurality of balls towards one side of the baffle in a rolling manner, and the balls are in contact with one side of the baffle towards the fixed block.

Through above-mentioned technical scheme, the setting of ball for sliding friction between ball and the baffle is transformed into rolling friction, has reduced the frictional force between fixed block and the baffle.

The utility model discloses further set up to: the manipulator is characterized in that a pressure sensor is installed on one side, facing to the mechanical arm, of the manipulator frame, a transverse plate is fixedly connected to the sensing end of the pressure sensor, an alarm is installed on the manipulator frame, and the alarm is in communication connection with the pressure sensor.

Through above-mentioned technical scheme, when the manipulator was mentioned certain height and makes manipulator and diaphragm inconsistent, pressure sensor received the extrusion and gives the alarm with signal transmission, thereby the alarm reports to the police and reminds the operator to close the hoist engine, stops to manipulator's continuation promotion. Due to the arrangement, the possibility that the lifting rope is easily broken due to the fact that the mechanical arm is still continuously lifted upwards when the mechanical arm is lifted to a certain height due to negligence in the process that the mechanical arm is lifted by an operator is reduced, and therefore the operator is reminded to timely close the winch and stop continuously lifting the mechanical arm.

The utility model discloses further set up to: the fixed block is made of steel and is arranged at the center of the mechanical arm and far away from the clamping part.

Through the technical scheme, when the mechanical arm clamps the workpiece, the gravity of the part, close to the clamping part, of the mechanical arm is large, the two ends of the mechanical arm are easy to be in a gravity unbalance state in the lifting process, the fixing block is fixedly connected to the center of the mechanical arm and far away from the clamping part, the two ends of the mechanical arm are favorable to being in a balance state, and therefore the balance of the mechanical arm in the lifting process is guaranteed.

To sum up, the utility model discloses following beneficial effect has:

1. two groups of lifting devices are arranged, so that the two sides of the mechanical arm are stressed in a balanced manner in the lifting process, and the stability of the mechanical arm in the lifting process is ensured;

2. the multiple strands of lifting ropes are arranged, so that the force borne by each strand of lifting rope is reduced, and the possibility that one strand of lifting rope is easily broken due to overlarge stress is reduced.

Drawings

Fig. 1 is a schematic view of the overall structure of the present embodiment.

Fig. 2 is a schematic view of the entire structure for embodying the rotating electric machine in the present embodiment.

Fig. 3 is a schematic structural diagram for showing a connection manner between the bearing and the fixing block in this embodiment.

Fig. 4 is an enlarged view of a portion a in fig. 3.

Reference numerals: 1. an operator frame; 2. a robot arm; 3. a clamping portion; 4. a pull-up assembly; 5. a winch; 6. a movable pulley; 7. a fixed pulley; 8. a lifting rope; 9. a fixed block; 10. a bearing; 11. rotating the motor; 12. a ring block; 13. an extension block; 14. a screw; 15. a nut; 16. a baffle plate; 17. a ball bearing; 18. a pressure sensor; 19. a transverse plate; 20. an alarm.

Detailed Description

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

Example (b): a lifting device for a manipulator mechanical arm refers to fig. 1 and comprises a manipulator frame 1, wherein a manipulator 2 used for clamping a workpiece is mounted on the manipulator frame 1, two sides of one end, far away from a clamping part 3, of the manipulator 2 are respectively provided with a group of lifting assemblies 4, and the two groups of lifting assemblies 4 are symmetrical relative to the manipulator 2. A set of subassembly 4 of pulling up includes a hoist engine 5, a movable pulley 6, a fixed pulley 7 and lifting rope 8, and in this embodiment, lifting rope 8 is three strands of windings and establishes on movable pulley 6, fixed pulley 7 and hoist engine 5, and hoist engine 5 and fixed pulley 7 are all installed at the top of operation machine frame 1, and movable pulley 6 welds on fixed block 9.

Referring to fig. 3, two sides of one end of the robot arm 2 away from the clamping portion 3 are respectively provided with a fixing block 9, the fixing blocks 9 are made of steel, and the fixing blocks 9 are disposed at the center of the robot arm 2 (fig. 1) and away from the clamping portion 3. The two groups of lifting assemblies 4 are arranged, so that on one hand, the overall stability of the mechanical arm 2 when the mechanical arm is lifted up from two sides by the two groups of lifting ropes 8 is enhanced, and on the other hand, an operator can start one of the windlasses 5 according to needs, so that one side of the mechanical arm 2 is lifted up, and the offset angle of the mechanical arm 2 is controlled. A pressure sensor 18 is installed on one side of the manipulator frame 1 facing the mechanical arm 2, a transverse plate 19 is adhered to the sensing end of the pressure sensor 18, and the position of the transverse plate 19 corresponds to the position of the mechanical arm 2. An alarm 20 is mounted on the operator frame 1, and the alarm 20 is in communication with the pressure sensor 18. When the lifting device works, an operator starts the winch 5 (shown in figure 1) to enable the lifting rope 8 to lift the mechanical arm 2 clamped with a workpiece upwards, when the mechanical arm 2 is lifted to a certain height to enable the mechanical arm 2 to be abutted to the transverse plate 19, the pressure sensor 18 is squeezed and transmits a signal to the alarm 20, and the alarm 20 gives an alarm to remind the operator to close the winch 5, so that the mechanical arm 2 stops being lifted continuously.

Referring to fig. 3, a bearing 10 is disposed at an end of the mechanical arm 2 away from the clamping portion 3, an end of the mechanical arm 2 away from the clamping portion 3 is coaxially welded to an inner shaft of the bearing 10, a rotating motor 11 (fig. 2) for driving the mechanical arm 2 to rotate is disposed on the operating machine frame 1, the rotating motor 11 is welded to an end of the mechanical arm 2 away from the clamping portion 3 (fig. 1), and when the mechanical arm 2 is lifted by two sets of lifting ropes 8, the rotating motor 11 is lifted together with the mechanical arm 2. During work, the clamping part 3 of the mechanical arm 2 clamps a workpiece, then the rotating motor 11 is started, and the rotating motor 11 drives the mechanical arm 2 to rotate to a required offset angle. Two arc-shaped ring blocks 12 are welded on the outer periphery of the bearing 10, an extension block 13 is welded on one end, far away from the bearing 10, of each ring block 12, and the distance between the extension blocks 13 on the two ring blocks 12 is the same as the height of the fixed block 9.

Referring to fig. 3, during installation, an operator places the ends of the two ends of the fixing block 9 in the axial direction between the extending blocks 13 on the two ring blocks 12, then simultaneously inserts the screw 14 through the two extending blocks 13 and the fixing block 9, respectively threadedly attaches two nuts 15 to the two ends of the screw 14, and tightens the nuts 15 until the nuts 15 abut against the side of the extending block 13 away from the fixing block 9. The fixed block 9 and the bearing 10 are detachably connected, so that an operator can conveniently install and detach the fixed block 9 and the bearing 10 which are installed together with the lifting assembly 4.

Referring to fig. 3 and 4, the manipulator frame 1 is welded with a baffle 16 on each of two sides of the fixed block 9 away from the robot arm 2, and the fixed block 9 is in contact with one side of the two baffles 16 opposite to each other. The two baffle plates 16 are arranged to limit the mechanical arm 2, so that the possibility of deviation of the mechanical arm 2 during lifting is reduced. Since the fixed block 9 is connected with the balls 17 in a rolling manner on the side facing the baffle 16, when the mechanical arm 2 deflects, the balls 17 contact the side of the baffle 16 facing the fixed block 9 and roll on the baffle 16. The arrangement of the balls 17 reduces the friction between the fixed block 9 and the baffle 16.

The action process is as follows: during working, an operator starts the rotating motor 11 according to needs, the rotating motor 11 rotates to enable the mechanical arm 2 to clamp a workpiece, and then the rotating motor 11 continues to drive the mechanical arm 2 to rotate to a corresponding angle. Then the operator starts the two winches 5, the lifting ropes 8 are transmitted on the winches 5, the fixed pulleys 7 and the movable pulleys 6, and the two groups of lifting ropes 8 stably lift the mechanical arm 2 on two sides of the mechanical arm 2.

The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.

Claims

1. A lifting device for a manipulator arm, comprising: including operation machine frame (1), be equipped with robotic arm (2) that are used for the centre gripping work piece on operation machine frame (1), robotic arm (2) keep away from the both sides of clamping part (3) one end all are equipped with a set of and carry subassembly (4), carry and draw subassembly (4) including hoist engine (5), movable pulley (6), fixed pulley (7) and around lifting rope (8) of establishing on hoist engine (5), fixed pulley (7) and movable pulley (6), the top at operation machine frame (1) is all installed in hoist engine (5) and fixed pulley (7), the both sides that clamping part (3) one end was kept away from in robotic arm (2) all can be dismantled and be connected with fixed block (9), movable pulley (6) fixed connection is on fixed block (9).

2. The lift apparatus for a manipulator robot as claimed in claim 1, wherein: and a plurality of strands of lifting ropes (8) are simultaneously wound on the movable pulley (6), the fixed pulley (7) and the winch (5).

3. The lift apparatus for a manipulator robot as claimed in claim 1, wherein: one end of the mechanical arm (2) far away from the clamping part (3) is provided with a bearing (10), the mechanical arm (2) is far away from the inner shaft coaxial connection of one end of the clamping part (3) and the bearing (10), the operation machine frame (1) is provided with a rotating motor (11) used for driving the mechanical arm (2) to rotate, the rotating motor (11) is fixedly connected with one end of the mechanical arm (2) far away from the clamping part (3), and the fixed block (9) is detachably connected with the outer wall of the bearing (10).

4. The lift apparatus for a manipulator robot as claimed in claim 3, wherein: outer peripheral edges fixedly connected with of bearing (10) two curved ring piece (12), the one end fixedly connected with that bearing (10) was kept away from in ring piece (12) extends piece (13), two extend piece (13) on ring piece (12) laminate mutually with fixed block (9) along the tip at axial both ends respectively, two extend piece (13) on ring piece (12) and fixed block (9) go up to wear to be equipped with screw rod (14) jointly, the equal threaded connection in both ends of screw rod (14) has nut (15).

5. The lift apparatus for a manipulator robot as claimed in claim 1, wherein: the manipulator frame (1) is fixedly provided with a baffle (16) on two sides of a fixed block (9) far away from the mechanical arm (2), and one side of the fixed block (9) facing the baffle (16) is in contact with the baffle (16).

6. The lift apparatus for a manipulator robot as claimed in claim 5, wherein: the fixed block (9) is connected with a plurality of balls (17) towards one side of the baffle (16) in a rolling manner, and the balls (17) are in contact with one side of the baffle (16) towards the fixed block (9).

7. The lift apparatus for a manipulator robot as claimed in claim 1, wherein: pressure sensor (18) are installed towards one side of robotic arm (2) in operation machine frame (1), the response end rigid coupling of pressure sensor (18) has diaphragm (19), install alarm (20) on operation machine frame (1), alarm (20) link to each other with pressure sensor (18) communication.

8. The lift apparatus for a manipulator robot as claimed in claim 1, wherein: the fixing block (9) is made of steel, and the fixing block (9) is arranged at the center of the mechanical arm (2) and far away from the clamping part (3).