CN215149079U

CN215149079U - Vertical lifting and horizontal rotation arc arm manipulator device

Info

Publication number: CN215149079U
Application number: CN202121396859.0U
Authority: CN
Inventors: 陶永进
Original assignee: Sichuan Mianyang 404 Hospital
Current assignee: Sichuan Mianyang 404 Hospital
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2021-12-14
Anticipated expiration: 2031-06-22

Abstract

The utility model discloses a vertical lifting and horizontal rotation arc arm manipulator device, which comprises a supporting seat, a vertical and horizontal lifting device and a manipulator; the supporting seat is movably connected with the vertical horizontal lifting device up and down; the manipulator is movably connected with the vertical horizontal lifting device; the supporting seat comprises a sliding supporting seat and a supporting seat base which are sequentially arranged from top to bottom, wherein the sliding supporting seat is used for supporting the vertical horizontal lifting device; the mechanical arm is movably connected with the vertical and horizontal lifting device through an inner arc mechanical arm and an outer arc mechanical arm. The utility model can realize the vertical lifting and horizontal rotation of the manipulator and the work of grabbing or releasing the target object; and the structure has stable and flexible operation, good intuition, low cost, easy manufacture and high working efficiency, and is particularly suitable for grabbing objects in the circular arc opening disc overlapping rotating device.

Description

Vertical lifting and horizontal rotation arc arm manipulator device

Technical Field

The utility model belongs to the technical field of robotic arm, concretely relates to vertical lift and horizontal rotation arc arm manipulator device.

Background

With the continuous progress of mechanized and automated production in China, the manipulator is widely applied to the automatic production line. Although the manipulator is not as flexible as a human hand, the manipulator has the characteristics of continuous and repeated work, no fatigue, no danger, large grabbing and lifting force and the like, so that the manipulator is paid more and more attention and is widely applied.

The existing mechanical arm is divided into a multi-joint mechanical arm, a rectangular coordinate mechanical arm, a spherical coordinate mechanical arm, a polar coordinate mechanical arm, a cylindrical coordinate mechanical arm and the like according to different structural forms. However, the applicability of the robot to access objects in a circular arc opening disk overlapping rotary type device is limited. The existing manipulator has the problems of inconvenient adjustment of the position for the manipulator to go in and out, weak operation flexibility, large occupied space and the like when in use.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to the above-mentioned among the prior art not enough, provide a vertical lift and horizontal rotation circular arc arm manipulator device to solve among the prior art manipulator inconvenience snatch among the circular arc type opening disc and overlap the weak scheduling problem of article and operational flexibility in the rotatory class device.

In order to achieve the purpose of the invention, the technical scheme adopted by the utility model is as follows:

the vertical lifting and horizontal rotation arc arm manipulator device comprises a supporting seat, a vertical and horizontal lifting device and a manipulator; the supporting seat is movably connected with the vertical horizontal lifting device up and down; the manipulator is movably connected with the vertical horizontal lifting device;

the supporting seat comprises a supporting seat top seat, a sliding supporting seat and a supporting seat base which are sequentially arranged from top to bottom, wherein the sliding supporting seat is used for supporting the vertical and horizontal lifting device;

the mechanical arm is movably connected with the vertical and horizontal lifting device through an inner arc mechanical arm and an outer arc mechanical arm.

According to the scheme, the rotary motion of the screw rod is converted into the linear motion of the manipulator in the vertical direction through the screw rod nut and the screw rod driven by the motor; meanwhile, the manipulator can be driven to rotate in the horizontal direction; and gripper driving motors arranged on the two grippers of the manipulator are used for controlling the two grippers to clamp the target object. Therefore, the clamping or releasing of the manipulator to the target object at different positions can be realized through the design, and the manipulator has the characteristics of strong operation flexibility, small occupied space and the like.

Furthermore, the supporting seat top seat is fixedly connected with the top of the first sliding rod and the top of the second sliding rod, and the supporting seat base is fixedly connected with the bottom of the first sliding rod and the bottom of the second sliding rod.

The two support seats are fixedly connected with the two sliding rods to increase the stability of the whole device.

Furthermore, the supporting seat top seat and the supporting seat base are respectively connected with the top of the screw rod and the bottom of the screw rod in a rotating mode, and the screw rod is arranged in parallel with the first sliding rod and the second sliding rod.

The two supporting seats are rotatably connected with the screw rod, so that the screw rod can rotate.

Furthermore, the sliding support seat is movably connected with the first sliding rod and the second sliding rod through a first linear bearing with a seat and a second linear bearing with a seat respectively.

The sliding support seat is movably connected with the two sliding rods, so that the sliding support seat can conveniently perform linear motion in the vertical direction.

Further, perpendicular horizontal lifting device includes the lead screw, and the lead screw from the bottom up passes supporting seat base, sliding support seat and supporting seat footstock in proper order, just supporting seat footstock upper end is equipped with the lead screw rotary driving motor that the rotary motion was done to the drive lead screw.

Furthermore, the vertical and horizontal lifting device also comprises a screw nut, and the upper end of the screw nut sequentially penetrates through the sliding support seat, the planar thrust needle roller, the bearing and the driven wheel.

The structural part is arranged on the screw rod nut, so that the whole vertical and horizontal lifting device is conveniently driven to move up and down.

Furthermore, vertical and horizontal lifting device still includes horizontal rotation motor, is equipped with the action wheel on the horizontal rotation motor, and the action wheel passes through driving belt and is connected with the transmission of following the driving wheel.

The driving wheel is driven by the horizontal rotating motor, and power is transmitted to the driven wheel through the transmission belt, so that the bearing is further driven to rotate.

Furthermore, the mechanical arm is fixedly connected with the bearing through an inner arc mechanical arm and an outer arc mechanical arm.

The manipulator is fixedly connected with the bearing, so that when the bearing is driven by the driven wheel to rotate, the manipulator rotates in the horizontal direction.

Further, the arc radius of the inner arm of the arc machine is the same as that of the outer arm of the arc machine.

The utility model has the advantages that: the movement of the manipulator in vertical and horizontal dimensions can be further controlled by controlling the positive and negative rotation of the screw rod rotation driving motor and the horizontal rotation motor; meanwhile, the two fingers are contracted or expanded by controlling the forward and reverse rotation of the finger driving motor, so that the manipulator can grab or release the target objects at different spatial positions. Simultaneously, the mechanical structure designed by the scheme is stable and simple, good in intuition, low in cost, easy to manufacture and high in working efficiency, and is particularly suitable for grabbing objects in the arc-shaped opening disc overlapping rotating device.

Description of the drawings:

fig. 1 is a schematic side view of the present invention.

Fig. 2 is a schematic front view of the structure of the present invention.

Fig. 3 is a schematic view of the structural member of the present invention.

Wherein, 1, a supporting seat; 2. a vertical horizontal lifting device; 3. a manipulator; 4. a first slide bar; 5. a second slide bar; 6. a first fixing nut; 7. a second fixing nut; 8. a first swivel nut; 9. a third fixing nut; 10. a fourth fixing nut; 11. a second swivel nut; 12. a first linear bearing; 13. a second linear bearing; 101. a supporting seat top seat; 102. sliding the supporting seat; 103. a support base; 201. a screw rod; 202. a feed screw nut; 203. the screw rod rotates the driving motor; 204. a horizontal rotation motor; 205. a driving wheel; 206. a driven wheel; 207. a bearing; 208. a plane thrust needle roller; 209. a drive belt; 301 arc inner mechanical arm; 302. an arc mechanical outer arm; 303. a two-finger grip; 304. the gripper drives the motor.

The specific implementation mode is as follows:

the following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and various changes will be apparent to those skilled in the art as long as they are within the spirit and scope of the present invention as defined and defined by the appended claims, and all inventions contemplated by the present invention are protected.

First embodiment, as shown in the first figure, the utility model provides a pair of vertical lift and horizontal rotation arc arm manipulator device, including supporting seat 1, vertical horizontal lifting device 2 and manipulator 3.

The supporting seat 1 is movably connected with the vertical horizontal lifting device 2; the manipulator 3 is movably connected with the vertical and horizontal lifting device 2.

The support seat 1 comprises a support seat top seat 101, a sliding support seat 102 and a support seat base seat 103 which are arranged from top to bottom in sequence.

The supporting seat top seat 101 is respectively and fixedly connected with the first sliding rod 4 and the second sliding rod 5 through a first fixing nut 6 and a second fixing nut 7, and the supporting seat top seat 101 is rotatably connected with the screw rod 201 through a first rotating nut 8. The supporting seat top seat 101 is fixedly connected with the first sliding rod 4 and the second sliding rod 5 and used for improving the stability of the whole device, and the supporting seat top seat 101 is rotatably connected with the screw rod 201 to facilitate the motor to drive the screw rod to make rotary motion.

The sliding support seat 102 is movably connected with the first slide bar 4 and the second slide bar 5 through a first linear bearing with a seat 12 and a second linear bearing with a seat 13 respectively, and the sliding support seat 102 is movably connected with the screw rod 201 through a screw nut 202. The sliding support 102 is movably connected with the first sliding rod 4 and the second sliding rod 5, so that the sliding support 102 can make a straight line motion in the vertical direction.

The supporting seat base 103 is respectively and fixedly connected with the first sliding rod 4 and the second sliding rod 5 through a third fixing nut 9 and a fourth fixing nut 10, and the supporting seat base 103 is rotatably connected with the screw rod 201 through a second rotating nut 11. The supporting seat base 103 is fixedly connected with the first sliding rod 4 and the second sliding rod 5 and used for improving the stability of the whole device, and the supporting seat base 103 is rotatably connected with the screw rod 201 to facilitate the screw rod to perform rotary motion.

The vertical and horizontal lifting device 2 comprises a screw rod 201 and a screw rod nut 202 which is movably connected with the screw rod 201 up and down.

The feed screw nut 202 sequentially penetrates through the sliding support base 102, the planar thrust roller pin 208, the bearing 207 and the driven wheel 206 from bottom to top, the driving wheel 205 is arranged on the horizontal rotating motor 205, and the driving wheel 205 is in transmission connection with the driven wheel 206 through a transmission belt 209.

The screw nut 202 is movably connected with the screw 201 to convert the rotary motion of the screw 201 into the linear motion of the manipulator 3 in the vertical direction. The driving wheel 205 drives the driven wheel 206 to rotate through the transmission belt 209, so as to further drive the manipulator to rotate in the horizontal direction.

The screw rod rotation driving motor 203 is used for driving the screw rod to make rotary motion, and the horizontal rotation motor 204 is used for providing power required by the manipulator to make rotary motion in the horizontal direction.

The manipulator 3 comprises an arc inner arm 301, an arc outer arm 302, two fingers 303 and a finger driving motor 304 for driving the two fingers 303.

The gripper driving motor 304 is used for controlling the gripping or releasing of the target object by driving the two fingers 303.

The utility model relates to a vertical lift and horizontal rotation arc arm manipulator device theory of operation as follows:

the supporting seat top seat 101 and the supporting seat base 103 are both fixedly connected with the first sliding rod 4 and the second sliding rod 5, and the supporting seat top seat 101 and the supporting seat base 103 are both rotatably connected with the screw rod 201, so that a stable mechanical structure is formed, and the manipulator 3 can grab or release a target object conveniently.

After the screw rod rotation driving motor 203 is started, the screw rod 201 is driven to do rotary motion. Meanwhile, the screw nut 202 is driven by the screw 201 to make a linear motion in the vertical direction on the screw 201. Further, the robot 3 is fixed to the bearing 207, so that the robot 3 moves up and down in the vertical direction after the lead screw rotation driving motor 203 is started.

After the horizontal rotation motor 204 is started, the driving wheel 205 is driven to rotate. The driving pulley transmits power to the driven pulley 206 through the transmission belt 209, thereby rotating the driven pulley 206. Further, the driven wheel 206 drives the robot 3 fixed to the bearing 207 to perform a rotation motion in the horizontal direction.

Under the driving of the screw rod rotation driving motor 203 and the horizontal rotation motor 204, the manipulator 3 can realize free movement in two dimensions, namely vertical and horizontal dimensions, so as to realize the grabbing or releasing of target objects located at different spatial positions. Further, the upper end of the two fingers 303 of the manipulator 3 is also provided with a finger driving motor 304 for controlling and driving the two fingers 303, and the target object can be grabbed or released by controlling the forward and reverse rotation of the finger driving motor 304.

The device can further control the movement of the manipulator in vertical and horizontal dimensions by controlling the positive and negative rotation of the screw rod rotation driving motor and the horizontal rotation motor; meanwhile, the two fingers are contracted or expanded by controlling the forward and reverse rotation of the finger driving motor, so that the manipulator can grab or release the target objects at different spatial positions. Simultaneously, the mechanical structure designed by the scheme is stable and simple, good in intuition, low in cost, easy to manufacture and high in working efficiency, and is particularly suitable for grabbing objects in the arc-shaped opening disc overlapping rotating device.

While the embodiments of the invention have been described in detail in connection with the accompanying drawings, it is not intended to limit the scope of the invention. Various modifications and changes may be made by those skilled in the art without inventive step within the scope of the appended claims.

Claims

1. The utility model provides a vertical lift and horizontal rotation arc arm manipulator device which characterized in that: comprises a supporting seat (1), a vertical and horizontal lifting device (2) and a manipulator (3); the supporting seat (1) is movably connected with the vertical horizontal lifting device (2) up and down; the manipulator (3) is movably connected with the vertical and horizontal lifting device (2);

the supporting seat (1) comprises a supporting seat top seat (101), a sliding supporting seat (102) and a supporting seat base (103), wherein the supporting seat top seat, the sliding supporting seat and the supporting seat base are sequentially arranged from top to bottom;

the manipulator (3) is movably connected with the vertical and horizontal lifting device (2) through an arc mechanical inner arm (301) and an arc mechanical outer arm (302).

2. The vertical lift and horizontal rotation arc arm manipulator device according to claim 1, characterized in that: the supporting seat top seat (101) is fixedly connected with the top of the first sliding rod (4) and the top of the second sliding rod (5), and the supporting seat base (103) is fixedly connected with the bottom of the first sliding rod (4) and the bottom of the second sliding rod (5).

3. The vertical lift and horizontal rotation arc arm manipulator device according to claim 1, characterized in that: the supporting seat top seat (101) and the supporting seat base (103) are respectively connected with the top of the screw rod (201) and the bottom of the screw rod (201) in a rotating mode, and the screw rod (201) is arranged in parallel with the first sliding rod (4) and the second sliding rod (5).

4. The vertical lift and horizontal rotation arc arm manipulator device according to claim 1, characterized in that: the sliding support seat (102) is movably fixed between the bottom and the top of the first sliding rod (4) through a first linear bearing with a seat (12), and the sliding support seat (102) is movably fixed between the bottom and the top of the second sliding rod (5) through a second linear bearing with a seat (13).

5. The vertical lift and horizontal rotation arc arm manipulator device according to claim 1, characterized in that: perpendicular horizontal lifting device (2) include lead screw (201), and lead screw (201) from the bottom up passes supporting seat base (103), sliding support seat (102) and supporting seat footstock (101) in proper order, just supporting seat footstock (101) upper end is equipped with lead screw rotation driving motor (203) that drive lead screw (201) were rotary motion.

6. The vertical lift and horizontal rotation arc arm manipulator device according to claim 5, wherein: the vertical and horizontal lifting device (2) further comprises a screw rod nut (202) movably connected with the screw rod (201) in a threaded mode, and the upper end of the screw rod nut (202) penetrates through the sliding support seat (102), the planar thrust roller pin (208), the bearing (207) and the driven wheel (206) in sequence.

7. The vertical lift and horizontal rotation arc arm manipulator device according to claim 6, wherein: the vertical and horizontal lifting device (2) further comprises a horizontal rotating motor (204), a driving wheel (205) is arranged on the horizontal rotating motor (204), and the driving wheel (205) is in transmission connection with a driven wheel (206) through a transmission belt (209).

8. The vertical lift and horizontal rotation arc arm manipulator device according to claim 7, wherein: the manipulator (3) is fixedly connected with the bearing (207) through an arc mechanical inner arm (301) and an arc mechanical outer arm (302).

9. The vertical lift and horizontal rotation arc arm manipulator device according to claim 1, characterized in that: the arc radius of the arc mechanical inner arm (301) is the same as that of the arc mechanical outer arm (302).