CN214686553U - Side-taking vertical manipulator - Google Patents
Side-taking vertical manipulator Download PDFInfo
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- CN214686553U CN214686553U CN202121007565.4U CN202121007565U CN214686553U CN 214686553 U CN214686553 U CN 214686553U CN 202121007565 U CN202121007565 U CN 202121007565U CN 214686553 U CN214686553 U CN 214686553U
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Abstract
The utility model discloses a side-fetching vertical manipulator, including revolving stage mechanism, elevating system, steering mechanism and clamp get the mechanism, revolving stage mechanism rotates and is connected with the rocking arm, rocking arm other end fixedly connected with elevating system, fixedly connected with steering mechanism on elevating system's the Z axle motion piece, steering mechanism's power platform fixed connection is on the Z axle motion piece, one side fixedly connected with headstock of power platform, the last rotation of power platform is connected with the accent to the revolving stage, the first motor of fixedly connected with in the headstock, first motor is connected with the accent to revolving stage power, the accent is got the mechanism to fixedly connected with clamp on the revolving stage. The utility model discloses it is high to have the flexibility ratio, can place the demand according to the object and rotate the object, guarantees user demand's beneficial effect.
Description
Technical Field
The utility model relates to a manipulator technical field, specific side-draw vertical manipulator that says so.
Background
A robot is an automatic manipulator that simulates some of the motion functions of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance. With the development of society, manipulators have been widely used in various fields of mass production to improve production efficiency.
Present side is got manipulator flexibility ratio and is low, getting the back to the object, can't place the demand according to the object mostly, rotates the object, and the result of use is relatively poor.
SUMMERY OF THE UTILITY MODEL
To the above-mentioned weak point that exists among the prior art, the utility model aims at providing a flexibility ratio is high, can place the demand according to the object and rotate the object, guarantees user demand's side and gets vertical manipulator.
The utility model discloses a realize that the technical scheme that above-mentioned purpose adopted is: the utility model provides a vertical manipulator is got to side which characterized in that: the clamping device comprises a rotary table mechanism, a lifting mechanism, a steering mechanism and a clamping mechanism, wherein the rotary table mechanism is rotatably connected with a rotating arm, the other end of the rotating arm is fixedly connected with the lifting mechanism, a Z-axis movement block is arranged on the lifting mechanism, and the steering mechanism is fixedly connected on the Z-axis movement block;
steering mechanism includes headstock, headstock and accent to the revolving stage, headstock fixed connection be in on the Z axle motion piece, one side fixedly connected with of power cover the headstock, the last rotation of headstock is connected with transfer to the revolving stage, the first motor of fixedly connected with in the headstock, first motor with transfer to revolving stage power connection, transfer to fixedly connected with on the revolving stage press from both sides and get the mechanism.
In the above technical scheme, the other side of the power station corresponding to the power box is fixedly connected with a balance station.
In the technical scheme, a rotating shaft of the first motor penetrates into the power table and is fixedly connected with a first bevel gear, a power shaft is fixedly connected onto the direction-adjusting rotary table, the power shaft penetrates into the power table and is fixedly connected with a second bevel gear, and the first bevel gear is in meshed connection with the second bevel gear.
In the above technical solution, the turntable mechanism includes a base, a second motor, and a rotating table, the top of the base is rotatably connected with the rotating table, the second motor is fixedly connected inside the base, the second motor is connected with the rotating table by power, and the rotating table is fixedly connected with the rotating arm.
In the technical scheme, elevating system is still including elevating platform, lift lead screw, third motor, the equal fixedly connected with in top and the bottom of elevating platform is a set of stage body, two sets of lift slide rails of fixedly connected with on the elevating platform, Z axle motion piece sliding connection is two sets of between the lift slide rail, the passing of lift lead screw threaded connection the Z axle motion piece, just the lift lead screw bottom is rotated and is connected and is being located the bottom on the stage body, the lift lead screw top penetrates and is located the top in the stage body, be located the top the inside fixedly connected with of stage body the third motor, the third motor with lift lead screw top power is connected.
In the above technical solution, the clamping mechanism includes a clamping moving table, an X-axis moving block, a fourth motor and a clamping screw rod, the clamping moving table is fixedly connected to the direction-adjusting turntable, the middle of the clamping moving table is fixedly connected to a set of mounting turntable, both ends of the clamping moving table are fixedly connected to a set of motor box, both sides of the clamping moving table on the mounting turntable are fixedly connected to two sets of clamping slide rails, the X-axis moving block is slidably connected between the two sets of clamping slide rails on the same side, each set of X-axis moving block is provided with a set of clamping screw rod in a matching manner, the clamping screw rod is in threaded connection with the matching X-axis moving block, one end of the clamping screw rod is rotatably connected to the mounting turntable, the other end of the clamping screw rod penetrates into the corresponding motor box, and the fourth motor is fixedly connected in the motor box, the fourth motor is in power connection with the clamping screw rod, and each group of X-axis motion blocks is fixedly connected with a group of clamping arms.
In the above technical scheme, fixedly connected with electric box on the rocking arm, fixedly connected with uses the singlechip as the controller of core in the electric box, still fixedly connected with wireless signal transmission module in the electric box, the controller with equal signal connection of first motor, second motor, third motor, fourth motor and wireless signal transmission module, wireless signal transmission module wireless signal is connected with the remote controller.
The utility model has the advantages that: the utility model provides a set of vertical manipulator is got to side can press from both sides the regulation of getting the position through revolving stage mechanism, can press from both sides the regulation of getting the height through elevating system, and then can rotate the object body of getting through steering mechanism, gets the mechanism through pressing from both sides and then can press from both sides the object and get, and such manipulator flexibility ratio is high, can place the demand according to the object and rotate the object, guarantees the user demand.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic perspective view of the present invention;
FIG. 3 is a schematic view of the mounting structure of the steering mechanism of the present invention;
fig. 4 is a schematic view of a connection structure between the middle direction-adjusting rotary table and the first motor;
fig. 5 is a schematic view of the structure of the middle clamping mechanism of the present invention.
In the figure: 1, 101, 102, a second motor, 103, 2, 201, Z-axis motion block, 202, 203, lifting screw rod, 204, 205, lifting slide rail, 3, steering mechanism, 301, 302, 303, direction-adjusting rotary table, 304, 305, a first motor, 306, a first bevel gear, 307, 308, a second bevel gear, 4, 401, 402, X-axis motion block, 403, 404, 405, 406, gripping slide rail, 407, mounting rotary table, gripping arm, 408, 5 rotating arm, 6 electrical box.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-5, a side-fetching vertical robot is characterized in that: comprises a turntable mechanism 1, a lifting mechanism 2, a steering mechanism 3 and a clamping mechanism 4;
the turntable mechanism 1 comprises a base platform 101, a second motor 102 and a rotating platform 103, wherein the top of the base platform 101 is rotatably connected with the rotating platform 103, the second motor 102 is fixedly connected inside the base platform 101, the second motor 102 is in power connection with the rotating platform 103, so that the second motor 102 can drive the rotating platform 103 to rotate, and the rotating platform 103 is fixedly connected with a rotating arm 5, so that the turntable mechanism 1 is rotatably connected with the rotating arm 5, and the second motor 102 can drive the rotating arm 5 to rotate by 360 degrees;
the other end of the rotating arm 5 is fixedly connected with a lifting mechanism 2, the lifting mechanism 2 comprises a Z-axis motion block 201, a lifting platform 202, a lifting screw rod 203 and a third motor 204, the top end and the bottom end of the lifting platform 202 are fixedly connected with a set of platform body 205, two sets of lifting slide rails 205 are fixedly connected on the lifting platform 202, the Z-axis motion block 201 is slidably connected between the two sets of lifting slide rails 205, the lifting screw rod 203 is in threaded connection with the Z-axis motion block 201, the bottom end of the lifting screw rod 203 is rotatably connected on the platform body 205 at the bottom end, the top end of the lifting screw rod 203 penetrates into the platform body 205 at the top end, the third motor 204 is fixedly connected inside the platform body 205 at the top end, the third motor 204 is in power connection with the top end of the lifting screw rod 203, so that the lifting screw rod 203 can be driven to rotate by the third motor 204, and the Z-axis motion block 201 can perform up-and-down linear motion along the Z axis between the two sets of lifting slide rails 205, a steering mechanism 3 is also fixedly connected to the Z-axis motion block 201;
the steering mechanism 3 comprises a power box 301, a power platform 302 and a direction-adjusting rotary table 303, the power platform 302 is fixedly connected to the Z-axis moving block 201, one side of the power platform 302 is fixedly connected with the power box 301, meanwhile, in order to ensure lifting balance, the other side of the power platform 302 corresponding to the power box 301 is also fixedly connected with a balance platform 304, the power platform 302 is rotatably connected with the direction-adjusting rotary table 303, a first motor 305 is fixedly connected in the power box 301, the first motor 305 is in power connection with the direction-adjusting rotary table 303, specifically, a rotating shaft of the first motor 305 penetrates into the power platform 302 and is fixedly connected with a first bevel gear 306, the direction-adjusting rotary table 303 is fixedly connected with a power shaft 307, the power shaft 307 penetrates into the power platform 302 and is fixedly connected with a second bevel gear 308, the first bevel gear 306 is in meshing connection with the second bevel gear 308, thus reversing is completed through the first bevel gear 306 and the second bevel gear 308, the first motor 305 can drive the direction-adjusting rotary table 303 to rotate, and the clamping mechanism 4 is fixedly connected to the direction-adjusting rotary table 303;
the clamping mechanism 4 comprises a clamping moving table 401, an X-axis moving block 402, a fourth motor 403 and a clamping screw rod 404, the clamping moving table 401 is fixedly connected to the direction-adjusting rotary table 303, the middle part of the clamping moving table 401 is fixedly connected with a group of installation rotary table 407, both ends of the clamping moving table 401 are fixedly connected with a group of motor boxes 405, both sides of the installation rotary table 407 on the clamping moving table 401 are fixedly connected with two groups of clamping slide rails 406, the X-axis moving block 402 is slidably connected between the two groups of clamping slide rails 406 on the same side, each group of X-axis moving blocks 402 is provided with a group of clamping screw rods 404 in a matching way, the clamping screw rods 404 are in threaded connection with the X-axis moving blocks 402 passing through matching way, one end of the clamping screw rods 404 is rotatably connected to the installation rotary table 407, the other end of the clamping screw rods 404 penetrates into the corresponding motor boxes 405, the fourth motor 403 is fixedly connected in the clamping motor boxes 405, and the fourth clamping motor 403 is in power connection with the clamping screw rods 404, a set of clamping arms 408 are fixedly connected to each set of X-axis motion blocks 402, and the fourth motor 403 can drive the clamping screw rod 404 to rotate, so that each set of X-axis motion blocks 402 can move linearly along the X-axis on the two sets of clamping slide rails 406, and thus can drive the two sets of clamping arms 408 to close up, thereby clamping the object.
In the above technical solution, the electrical box 6 is further fixedly connected to the rotating arm 5, a controller using a single chip microcomputer as a core is fixedly connected to the interior of the electrical box 6, a wireless signal transmission module is further fixedly connected to the interior of the electrical box 6, the controller is in signal connection with the first motor 305, the second motor 102, the third motor 204, the fourth motor 403 and the wireless signal transmission module, and the wireless signal transmission module is in wireless signal connection with a remote controller, so that the control of the manipulator can be realized through the remote controller.
The utility model discloses a theory of operation is: during the use, can drive rocking arm 5 through second motor 102 and rotate, thereby look for the object position, can drive Z axle motion piece 201 through third motor 204 and carry out the up-and-down motion, thereby it looks for to the height that the object was got to required clamp, later can drive X axle motion piece 402 through fourth motor 403 and move along the X axle, and make both X axle motion pieces 402 draw close together each other, thereby make both arm locks 408 press from both sides the object and get, later drive rocking arm 5 through second motor 102 and rotate, rotate the object to suitable position, can drive through first motor 305 and transfer to revolving stage 303 and rotate, thereby get the object to the clamp and overturn.
It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (7)
1. The utility model provides a vertical manipulator is got to side which characterized in that: the device comprises a turntable mechanism (1), a lifting mechanism (2), a steering mechanism (3) and a clamping mechanism (4), wherein the turntable mechanism (1) is rotatably connected with a rotating arm (5), the other end of the rotating arm (5) is fixedly connected with the lifting mechanism (2), a Z-axis motion block (201) is arranged on the lifting mechanism (2), and the steering mechanism (3) is fixedly connected on the Z-axis motion block (201);
steering mechanism (3) include headstock (301), power platform (302) and transfer to revolving stage (303), power platform (302) fixed connection be in on Z axle motion piece (201), one side fixedly connected with of power platform (302) headstock (301), it is connected with to rotate on power platform (302) transfer to revolving stage (303), first motor (305) of fixedly connected with in headstock (301), first motor (305) with transfer to revolving stage (303) power connection, transfer to fixedly connected with on revolving stage (303) press from both sides and get mechanism (4).
2. The side-pick vertical robot of claim 1, wherein: the other side of the power station (302) corresponding to the power box (301) is fixedly connected with a balance station (304).
3. The side-pick vertical robot of claim 1, wherein: the rotating shaft of the first motor (305) penetrates into the power table (302) and is fixedly connected with a first bevel gear (306), the direction-adjusting rotary table (303) is fixedly connected with a power shaft (307), the power shaft (307) penetrates into the power table (302) and is fixedly connected with a second bevel gear (308), and the first bevel gear (306) is meshed with the second bevel gear (308).
4. The side-pick vertical robot of claim 1, wherein: revolving stage mechanism (1) includes base frame (101), second motor (102), rotates platform (103), base frame (101) top is rotated and is connected with rotate platform (103), second motor (102) fixed connection is in base frame (101) is inside, second motor (102) with rotate platform (103) power connection, rotate platform (103) with rocking arm (5) fixed connection.
5. The side-pick vertical robot of claim 1, wherein: elevating system (2) are still including elevating platform (202), lift lead screw (203), third motor (204), the equal fixedly connected with a set of stage body in top and the bottom of elevating platform (202), two sets of lift slide rail (205) of fixedly connected with on elevating platform (202), Z axle motion piece (201) sliding connection is two sets of between lift slide rail (205), the passing of lift lead screw (203) threaded connection Z axle motion piece (201), just lift lead screw (203) bottom rotates to be connected and is located the bottom on the stage body, lift lead screw (203) top penetrates to be located the top the stage body is internal, is located the top the inside fixedly connected with of stage body third motor (204), third motor (204) with lift lead screw (203) top power is connected.
6. The side-pick vertical robot of claim 1, wherein: the clamping mechanism (4) comprises a clamping moving table (401), an X-axis moving block (402), a fourth motor (403) and a clamping screw rod (404), the clamping moving table (401) is fixedly connected to the direction-adjusting rotary table (303), the middle of the clamping moving table (401) is fixedly connected with a group of mounting rotary table (407), two ends of the clamping moving table (401) are fixedly connected with a group of motor boxes (405), two sides of the mounting rotary table (407) on the clamping moving table (401) are fixedly connected with two groups of clamping slide rails (406), the X-axis moving block (402) is slidably connected between the two groups of clamping slide rails (406) on the same side, a group of clamping screw rods (404) are arranged in a matched manner on each group of the X-axis moving blocks (402), and the clamping screw rods (404) are in threaded connection and penetrate through the matched X-axis moving blocks (402), the clamping mechanism is characterized in that one end of the clamping screw rod (404) is rotatably connected to the mounting rotary table (407), the other end of the clamping screw rod (404) penetrates into the corresponding motor box (405), the fourth motor (403) is fixedly connected to the interior of the motor box (405), the fourth motor (403) is in power connection with the clamping screw rod (404), and each group of clamping arms (408) is fixedly connected to the X-axis motion block (402).
7. A side-pick vertical robot as claimed in any one of claims 1 to 6, wherein: fixedly connected with electric box (6) on rocking arm (5), fixedly connected with uses the singlechip as the controller of core in electric box (6), still fixedly connected with wireless signal transmission module in electric box (6), the controller with equal signal connection of first motor (305), second motor (102), third motor (204), fourth motor (403) and wireless signal transmission module, wireless signal transmission module wireless signal is connected with the remote controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121007565.4U CN214686553U (en) | 2021-05-12 | 2021-05-12 | Side-taking vertical manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121007565.4U CN214686553U (en) | 2021-05-12 | 2021-05-12 | Side-taking vertical manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214686553U true CN214686553U (en) | 2021-11-12 |
Family
ID=78551995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121007565.4U Active CN214686553U (en) | 2021-05-12 | 2021-05-12 | Side-taking vertical manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214686553U (en) |
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2021
- 2021-05-12 CN CN202121007565.4U patent/CN214686553U/en active Active
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