CN212372176U

CN212372176U - Rotary lifting manipulator

Info

Publication number: CN212372176U
Application number: CN202020916502.XU
Authority: CN
Inventors: 龚勋; 阳香仁; 李亚坤
Original assignee: Shenzhen Shengshi Biomedical Technology Co ltd
Current assignee: Shenzhen Shengshi Biomedical Technology Co ltd
Priority date: 2020-05-26
Filing date: 2020-05-26
Publication date: 2021-01-19
Anticipated expiration: 2030-05-26

Abstract

The utility model discloses a rotatory lifting manipulator, include: the lifting mechanism and the rotating mechanism are arranged on the base and comprise a screw rod and a nut which are vertically arranged, the nut is sleeved on the outer side of the screw rod, a first bump extends outwards from the side surface of the nut, and the lower end of the screw rod is connected with a first power device; the rotating mechanism comprises a guide shaft sleeve, the guide shaft sleeve is sleeved on the outer side of the nut, the height of the guide shaft sleeve is matched with that of the screw rod, and the lower end of the guide shaft sleeve is connected with a second power device; the sliding shaft sleeve is sleeved outside the guide shaft sleeve; the lateral wall of guide shaft sleeve sets up the gap that supplies first lug to pass, and first lug passes guide shaft sleeve and sliding shaft sleeve fixed connection, the equal electric connection controller of first power device and second power device. This rotatory lifting mechanical hand possesses lift and rotation function simultaneously, simple structure, installs and removes the convenience, is favorable to reduce cost, improves work efficiency.

Description

Rotary lifting manipulator

Technical Field

The utility model relates to the technical field of robots, in particular to rotatory lifting manipulator.

Background

The manipulator is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the manipulator can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although they are different in shape, they all have a common feature of being able to receive commands to precisely pick up a workpiece for operation.

The existing manipulator has more parts and complex structure, so that the manufacturing cost is high, the difficulty of work and maintenance is increased to a certain extent, the working efficiency is low, the work task can not be effectively completed, the expected effect is achieved, a large amount of unnecessary energy is consumed, and the practicability is not strong.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a rotatory lifting manipulator, simple structure, install and remove the convenience, be favorable to reduce cost, improve work efficiency.

According to the utility model discloses rotatory lifting manipulator, include:

a base;

a controller;

the lifting mechanism is arranged on the base and comprises a screw rod and a nut which are vertically arranged, the nut is sleeved on the outer side of the screw rod, a first convex block extends outwards from the side surface of the nut, and the lower end of the screw rod is connected with a first power device;

the rotating mechanism is arranged on the base and comprises a guide shaft sleeve, the guide shaft sleeve is sleeved on the outer side of the nut, the height of the guide shaft sleeve is matched with that of the screw rod, and the lower end of the guide shaft sleeve is connected with a second power device;

the sliding shaft sleeve is sleeved on the outer side of the guide shaft sleeve;

the side wall of the guide shaft sleeve is provided with a gap for the first bump to pass through, the first bump passes through the guide shaft sleeve and is fixedly connected with the sliding shaft sleeve, and the first power device and the second power device are both electrically connected with the controller.

According to the utility model discloses rotatory lifting mechanical hand has following beneficial effect at least: the first bump penetrates through a gap formed in the side wall of the guide shaft sleeve and is fixedly connected with the sliding shaft sleeve, so that the nut is fixedly connected with the sliding shaft sleeve, the controller starts the first power device, the first power device drives the screw rod to rotate, and the nut is meshed with the screw rod for transmission, so that the sliding shaft sleeve is driven to move up and down along the guide shaft sleeve. The controller starts the second power device, the second power device drives the guide shaft sleeve to rotate, and the sliding shaft sleeve rotates along with the guide shaft sleeve. The rotary lifting manipulator in the technical scheme has lifting and rotating functions, is simple in structure and convenient to assemble and disassemble, and is beneficial to reducing cost and improving working efficiency.

According to some embodiments of the present invention, the first power device is a screw driving motor, a main shaft of the screw driving motor passes through a shaft coupling and is fixedly connected with a lower end of the screw.

According to some embodiments of the utility model, the second power device includes the action wheel, follows driving wheel and action wheel driving motor, action wheel driving motor with screw rod driving motor arranges side by side, the main shaft of action wheel driving motor passes pedestal connection the action wheel, from the driving wheel suit in the lower extreme outside of uide bushing, the action wheel with pass through the hold-in range from the driving wheel and connect.

According to some embodiments of the utility model, the both ends of screw rod pass through the bearing with the both ends of uide bushing are rotated and are connected.

According to some embodiments of the invention, the side of the nut is followed the radial outwards extension of nut has the second lug, the upper end of second lug outwards extends and forms first lug, the width of second lug with the width of first lug matches.

According to some embodiments of the utility model, the breach groove that matches with first lug is seted up to the upper end of the lateral wall of slip axle sleeve.

According to some embodiments of the utility model, the lower extreme of slip axle sleeve lateral wall has the disc along its radial outside extension, the disc is connected with the clamp that is used for pressing from both sides to get the work piece and gets the mechanism.

According to some embodiments of the utility model, press from both sides and get mechanism and include the support, it gets driving motor, first rack and second rack to be provided with the clamp on the support, it arranges to get driving motor to press from both sides the support is close to one side of slip axle sleeve, first rack with the vertical and parallel arrangement of second rack is in the opposite side of support, the upper end of first rack with the lower extreme of second rack all is provided with anchor clamps, press from both sides and get driving motor electric connection the controller, the main shaft that gets driving motor is pressed from both sides passes the support with first rack with the meshing of second rack is in order to drive two anchor clamps are close to each other or keep away from.

According to the utility model discloses a some embodiments, first rack with the second rack orientation one side of support all is connected with the slider, be provided with the guide rail on the support, seted up on the slider with guide rail sliding fit's spout.

According to some embodiments of the utility model, still include with the lower extreme fixed connection's of base, the lower extreme of base is connected with advancing mechanism.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic view of the overall structure of a rotary lifting manipulator according to an embodiment of the present invention;

fig. 2 is a sectional view of a rotary elevating manipulator according to an embodiment of the present invention;

fig. 3 is an exploded schematic view of a rotary lifting manipulator according to an embodiment of the present invention;

FIG. 4 is an enlarged view taken at A in FIG. 3;

fig. 5 is a cross-sectional view of a nut in accordance with an embodiment of the present invention;

fig. 6 is a schematic structural view of the gripping mechanism according to the embodiment of the present invention;

fig. 7 is an application scene diagram of the rotary lifting manipulator according to the embodiment of the present invention;

fig. 8 is another application view of the rotary lifting manipulator according to the embodiment of the present invention.

Reference numerals:

base 100

Lifting mechanism 200, screw driving motor 201, coupler 202, bearing 203, screw 204, nut 205, first bump 2051 and second bump 2052

Rotating mechanism 300, driving wheel driving motor 301, driving wheel 302, driven wheel 303, synchronous belt 304 and guide shaft sleeve 305

Sliding shaft sleeve 400, disc 401 and notch groove 402

The clamping mechanism 500, the outer cover 501, the clamping driving motor 502, the first rack 503, the second rack 504, the guide rail 505, the sliding block 506, the connecting plate 507, the bracket 508 and the clamp 509

Object stage 600, propulsion mechanism 700, base 800

Detailed Description

Reference will now be made in detail to embodiments of the invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.

Referring to fig. 1 to 3, in one embodiment of the present application, there is provided a rotary lifting robot, which has the following overall structure:

the clamping device comprises a base 100 and a controller, wherein a sliding shaft sleeve 400, a lifting mechanism 200 and a rotating mechanism 300 are arranged on the base 100, and the sliding shaft sleeve 400 is connected with a clamping mechanism 500 for clamping a workpiece. The sliding shaft sleeve 400 moves up or down relative to the base 100 under the action of the lifting mechanism 200, and then drives the clamping mechanism 500 to move up or down relative to the base 100; the sliding sleeve 400 rotates relative to the base 100 under the action of the rotating mechanism 300, so as to drive the clamping mechanism 500 to rotate relative to the base 100.

The lifting mechanism 200 includes a screw 204 and a nut 205 which are vertically arranged, the nut 205 is sleeved outside the screw 204 and is engaged with the screw 204 for transmission, a first protrusion 2051 extends outwards from a side wall of the nut 205, and a first power device is connected to a lower end of the screw 204 and is electrically connected to the controller. The rotating mechanism 300 comprises a guide shaft sleeve 305, the guide shaft sleeve 305 is sleeved on the outer side of the nut 205, the height of the guide shaft sleeve 305 is matched with that of the screw 204, and the upper end and the lower end of the screw 204 are respectively connected with the upper end and the lower end of the guide shaft sleeve 305 through bearings 203 in a rotating mode. The upper and lower ends of the screw 204 are provided with a bearing spacer ring and a locking member for positioning the bearing 203, so as to prevent the bearing 203 from being dislocated in the process of rotation of the guide shaft sleeve 305. The lateral wall of the guide shaft sleeve 305 is provided with a gap through which the first bump 2051 passes, and the lower end of the guide shaft sleeve 305 is connected with a second power device which is electrically connected with the controller. The sliding shaft sleeve 400 is sleeved outside the guide shaft sleeve 305, and the first protrusion 2051 penetrates through the guide shaft sleeve 305 to be fixedly connected with the sliding shaft sleeve 400, that is, the nut 205 is fixedly connected with the sliding shaft sleeve 400 through the first protrusion 2051. In this embodiment, the controller is not limited to be disposed on the base 100, and may be disposed independently of the base 100, and the controller is configured to start or stop the first power device and the second power device. The controller activates the first power device, the first power device drives the screw 204 to rotate, the nut 205 engages with the screw 204 to drive, and the sliding sleeve 400 moves up and down along the guiding sleeve 305. The controller starts the second power device, the second power device drives the guide shaft sleeve 305 to rotate, the sliding shaft sleeve 400 rotates along with the guide shaft sleeve 305, and at the moment, the first power device needs to keep synchronous with the rotation speed of the second power device so as to enable the rotation speed of the screw 204, the nut 205 and the guide shaft sleeve 305 to be consistent.

The concrete structure is as follows:

referring to fig. 1 to 3, in some embodiments of the present application, the first power device is a screw driving motor 201, a body of the screw driving motor 201 is fixed on the base 100 through a supporting seat, and a main shaft of the screw driving motor 201 is fixedly connected with a lower end of a screw 204 through a coupling 202. The second power device comprises a driving wheel 302, a driven wheel 303 and a driving wheel driving motor 301, the driving wheel driving motor 301 and the screw driving motor 201 are arranged in parallel, a main shaft of the driving wheel driving motor 301 penetrates through the base 100 to be connected with the driving wheel 302, the driven wheel 303 is sleeved on the outer side of the lower end of the guide shaft sleeve 305, and the driving wheel 302 and the driven wheel 303 are connected through a synchronous belt 304.

Referring to fig. 4 to 5, in some embodiments of the present application, the upper end of the side wall of the sliding sleeve 400 is formed with a notch 402 matching the first protrusion 2051. The first protrusion 2051 is inserted into the notch 402 and fixed in the notch 402 by a screw to ensure that the nut 205 and the sliding sleeve 400 are always fixedly connected.

Further, the side surface of the nut 205 extends outward in the radial direction of the nut 205 to form a second bump 2052, the upper end of the second bump 2052 extends outward in the radial direction of the nut 205 to form a first bump 2051, and the width of the second bump 2052 matches the width of the first bump 2051. That is, the second protrusion 2052 is clamped into a gap on the sidewall of the guide sleeve 305, the height of the second protrusion 2052 is matched with the height of the nut 205, and the second protrusion 2052 is configured to provide strength support for the nut 205 and the first protrusion 2051, so as to prevent the nut 205 and the first protrusion 2051 from being damaged during the rotation of the sliding sleeve 400 along with the guide sleeve 305.

Referring to fig. 4, in some embodiments of the present application, a disc 401 extends radially outward from a lower end of a side wall of the sliding sleeve 400, and the disc 401 is connected to a gripping mechanism 500 for gripping a workpiece through a connection plate 507. Referring to fig. 6, the gripping mechanism 500 includes a bracket 508, the bracket 508 is provided with a gripping driving motor 502, a first rack 503 and a second rack 504, the gripping driving motor 502 is electrically connected to the controller, a main shaft of the gripping driving motor 502 is perpendicular to the sliding sleeve 400, a body of the gripping driving motor 502 is disposed on one side of the bracket 508 close to the sliding sleeve 400 and fixedly connected to the connecting plate 507 through the bracket 508, the first rack 503 and the second rack 504 are disposed on the other side of the bracket 508, that is, on the side of the bracket 508 away from the sliding sleeve 400, and the main shaft of the gripping driving motor 502 passes through the bracket 508 and is in meshing transmission with the first rack 503 and the second rack 504. The first rack 503 and the second rack 504 are vertically and parallelly arranged on two sides of the main shaft of the clamping driving motor 502, clamps 509 are arranged at the upper end of the first rack 503 and the lower end of the second rack 504, and the first rack 503 and the second rack 504 are synchronously meshed with the main shaft of the clamping driving motor 502 for transmission so as to drive the two clamps 509 to approach or depart from each other. The two clamps 509 are brought closer to each other to clamp the workpiece and the two clamps 509 are moved away from each other to unclamp the workpiece. In other embodiments, the arrangement of the first rack 503 and the second rack 504 can be further adjusted according to the shape and the position of the workpiece to be gripped, and only by ensuring that the two clamps 509 can approach each other to grip the workpiece and move away from each other to release the workpiece under the action of the gripping driving motor 502, the first rack 503 and the second rack 504.

Further, a sliding block 506 is connected to each of the first rack 503 and the second rack 504 facing the bracket 508, a guide rail 505 is disposed at a corresponding position on the bracket 508, and a sliding groove in sliding fit with the guide rail 505 is disposed on the sliding block 506. The first rack 503 and the second rack 504 are moved along the guide rail 505 by the gripping drive motor 502.

Further, a housing 501 is provided on the support 508, the housing 501 encloses the spindle of the gripping drive motor 502, the first rack 503 and the second rack 504 to protect the spindle of the gripping drive motor 502, the first rack 503 and the second rack 504, and the gripper 509 passes through the housing 501 to grip the workpiece.

Referring to the application scenario of the manipulator shown in fig. 7 and 8, during the actual operation of the manipulator, a pushing mechanism 700 may be disposed at the lower end of the object stage 600 and/or the manipulator for shortening the distance between the manipulator and the object stage 600, so as to facilitate the manipulator to grip a workpiece. For example, as shown in fig. 7, a base 800 is provided at the capstan driving motor 301, the base 800 is fixedly connected to the lower end of the base 100, and the lower end of the base 800 is connected to the pushing mechanism 700. In the present embodiment, the advancing mechanism 700 is preferably a screw drive mechanism.

The rotary lifting manipulator in the technical scheme has lifting and rotating functions, is simple in structure and convenient to assemble and disassemble, and is beneficial to reducing cost and improving working efficiency.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims

1. A rotary lifting robot, comprising:

a base (100);

a controller;

the lifting mechanism (200) is arranged on the base (100), the lifting mechanism (200) comprises a screw rod (204) and a nut (205) which are vertically arranged, the nut (205) is sleeved on the outer side of the screw rod (204), a first bump (2051) extends outwards from the side surface of the nut (205), and the lower end of the screw rod (204) is connected with a first power device;

the rotating mechanism (300) is arranged on the base (100), the rotating mechanism (300) comprises a guide shaft sleeve (305), the guide shaft sleeve (305) is sleeved on the outer side of the nut (205), the height of the guide shaft sleeve (305) is matched with that of the screw rod (204), and the lower end of the guide shaft sleeve (305) is connected with a second power device;

the sliding shaft sleeve (400) is sleeved on the outer side of the guide shaft sleeve (305);

the side wall of the guide shaft sleeve (305) is provided with a gap for the first bump (2051) to pass through, the first bump (2051) passes through the guide shaft sleeve (305) and is fixedly connected with the sliding shaft sleeve (400), and the first power device and the second power device are both electrically connected with the controller.

2. The rotary lifting manipulator according to claim 1, characterized in that the first power device is a screw driving motor (201), and a main shaft of the screw driving motor (201) is fixedly connected with a lower end of the screw (204) through a coupling (202).

3. The rotary lifting manipulator according to claim 2, wherein the second power device comprises a driving wheel (302), a driven wheel (303) and a driving wheel driving motor (301), the driving wheel driving motor (301) and the screw driving motor (201) are arranged in parallel, a main shaft of the driving wheel driving motor (301) penetrates through the base (100) to be connected with the driving wheel (302), the driven wheel (303) is sleeved outside the lower end of the guide shaft sleeve (305), and the driving wheel (302) and the driven wheel (303) are connected through a synchronous belt (304).

4. The rotary lifting manipulator according to claim 1, characterized in that the two ends of the screw (204) are rotatably connected with the two ends of the guide shaft sleeve (305) through bearings (203).

5. The rotary lifting manipulator according to claim 1, characterized in that the side of the nut (205) is extended outward along the radial direction of the nut (205) by a second projection (2052), the upper end of the second projection (2052) is extended outward to form the first projection (2051), and the width of the second projection (2052) is matched with the width of the first projection (2051).

6. The rotary lifting manipulator according to claim 1, characterized in that the upper end of the side wall of the sliding bushing (400) is provided with a notched groove (402) matching the first protrusion (2051).

7. The rotary elevating robot as claimed in claim 1, wherein a disc (401) is extended radially outwardly from a lower end of the side wall of the sliding sleeve (400), and the disc (401) is connected with a gripping mechanism (500) for gripping the workpiece.

8. The rotary lifting manipulator according to claim 7, wherein the gripping mechanism (500) comprises a support (508), the support (508) is provided with a gripping driving motor (502), a first rack (503) and a second rack (504), the gripping driving motor (502) is arranged on one side of the support (508) close to the sliding shaft sleeve (400), the first rack (503) and the second rack (504) are vertically and parallelly arranged on the other side of the support (508), the upper end of the first rack (503) and the lower end of the second rack (504) are provided with a gripper (509), the gripping driving motor (502) is electrically connected with the controller, the main shaft of the gripping driving motor (502) penetrates through the support (508) to be meshed with the first rack (503) and the second rack (504), so as to bring the two clamps (509) close to or away from each other.

9. The rotary lifting manipulator according to claim 8, wherein a sliding block (506) is connected to each of the first rack (503) and the second rack (504) facing the support (508), a guide rail (505) is arranged on the support, and a sliding groove in sliding fit with the guide rail (505) is formed in the sliding block (506).

10. The rotary lifting robot according to claim 1, further comprising a base (800) fixedly connected to a lower end of the base (100), the lower end of the base being connected to a propulsion mechanism (700).