CN216030792U

CN216030792U - Movable manipulator for sky rail

Info

Publication number: CN216030792U
Application number: CN202122649461.XU
Authority: CN
Inventors: 李凯祈
Original assignee: Beijing Ruilin Wulian Technology Co ltd
Current assignee: Beijing Ruilin Wulian Technology Co ltd
Priority date: 2021-11-01
Filing date: 2021-11-01
Publication date: 2022-03-15
Anticipated expiration: 2031-11-01

Abstract

The utility model relates to the technical field of manipulators, in particular to a movable top rail manipulator which comprises a slide rail and a crane arranged on the lower side of the slide rail, wherein a motor and rollers are arranged in the crane, the slide rail is I-shaped, the axes of the rollers are vertically arranged, the rollers are respectively arranged on two sides of the middle part of the slide rail, a connecting arm is arranged on the lower side of the crane, a rotary joint is arranged on the lower side of the connecting arm, a torsion arm is arranged on the lower side of the rotary joint, an adjusting short arm is arranged on the lower side of the torsion arm, an operating arm is arranged on the lower side of the adjusting short arm, and a mounting seat is arranged on the lower side of the operating arm. According to the utility model, the axes of the rollers are vertically arranged, so that the lower end surfaces of the rollers are in contact with the slide rails, the crane is driven to move through the rotation of the rollers, the self-locking of the position of the crane is realized, the control precision of the crane is improved, and the manipulator can conveniently perform large-angle swing adjustment.

Description

Movable manipulator for sky rail

Technical Field

The utility model relates to the technical field of manipulators, in particular to a movable type sky rail manipulator.

Background

A manipulator is an automated device that mimics some of the motion of a human hand and arm to grasp, transport objects or manipulate tools according to a fixed program. The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

The manipulator divides fixed and portable, wherein portable again including the portable manipulator of sky rail, reduces occupation space through suspending in midair the manipulator, improve equipment operation degree of freedom, but current sky rail formula manipulator removes the structure comparatively simple, and the operating accuracy is low, can't be applied to the higher occasion of requirement, and the practicality is not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the defects in the prior art and provides a movable type sky rail manipulator.

In order to achieve the purpose, the utility model adopts the following technical scheme:

the utility model provides a movable manipulator of sky rail, includes the slide rail and sets up the loop wheel machine at the slide rail downside, be equipped with motor and gyro wheel in the loop wheel machine, the slide rail is the I shape, the vertical setting of gyro wheel axis, slide rail middle part both sides are established respectively to the gyro wheel, the loop wheel machine downside is equipped with the linking arm, the linking arm downside is equipped with rotary joint, the rotary joint downside is equipped with the rotation arm, the rotation arm downside is equipped with adjusts the forearm, it is equipped with the operation arm to adjust the forearm downside, the operation arm downside is equipped with the mount pad.

Preferably, the crane is in sliding contact with the slide rail, and the lower end face of the roller is abutted to the slide rail.

Preferably, the inner side of the crane is provided with a groove matched with the roller, and the output shaft of the motor is fixedly connected with the roller.

Preferably, the torsion arm is hinged with the adjusting short arm through a rotary joint.

Preferably, the adjusting short arm is hinged with the operating arm through a rotary joint.

Preferably, step motors are arranged in the rotary joint and the torsion arm.

The utility model has the beneficial effects that:

compared with the prior art, the utility model vertically arranges the axis of the roller, so that the lower end surface of the roller is contacted with the slide rail, and the crane is driven to move by the rotation of the roller, thereby realizing the self-locking of the position of the crane, improving the control precision of the crane and facilitating the large-angle swing adjustment of the manipulator.

Drawings

Fig. 1 is a schematic structural view of a movable type robot of a sky rail according to the present invention;

fig. 2 is a schematic view of a right-side cross-sectional structure of a crane of a movable overhead rail manipulator according to the present invention.

In the figure: 1 crane, 11 motors, 12 rollers, 2 sliding rails, 3 rotary joints, 4 torsion arms, 5 mounting seats, 6 operating arms and 7 adjusting short arms.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, a movable manipulator of sky rail, including slide rail 2 and the loop wheel machine 1 of setting in slide rail 2 downside, be equipped with motor 11 and gyro wheel 12 in the loop wheel machine 1, slide rail 2 is the I shape, the vertical setting of gyro wheel 12 axis, 2 middle part both sides of slide rail are established respectively to gyro wheel 12, loop wheel machine 1 downside is equipped with the linking arm, the linking arm downside is equipped with

rotary joint

3, 3 downside of rotary joint is equipped with

torsion arm

4, 4 downside of torsion arm is equipped with adjusts

short arm

7, 7 downside of adjusting short arm are equipped with

operation arm

6, 6 downside of operation arm is equipped with mount pad 5.

In this embodiment, sliding contact between loop wheel machine 1 and slide rail 2, terminal surface and slide rail 2 offset under the gyro wheel 12, and the recess with gyro wheel 12 adaptation is seted up to loop wheel machine 1 inboard, and motor 11 output shaft and gyro wheel 12 fixed connection, motor 11 control gyro wheel 12 rotate, drive loop wheel machine 1 and remove.

Specifically, the torsion arm 4 is hinged to the adjusting short arm 7 through the rotary joint 3, the adjusting short arm 7 is hinged to the operating arm 6 through the rotary joint 3, stepping motors are arranged in the rotary joint 3 and the torsion arm 4, and angle adjustment of the mechanical arm is achieved.

In this embodiment, the vertical setting of gyro wheel 12 axis, make gyro wheel 12 lower terminal surface and slide rail 2 contact, rotate through gyro wheel 12, drive loop wheel machine 1 and remove, realize loop wheel machine 1 position auto-lock, improve loop wheel machine 1 control accuracy simultaneously, the manipulator of being convenient for carries out wide-angle swing and adjusts, between torsion arm 4 and the regulation forearm 7, it is all articulated through rotary joint 3 to adjust between forearm 7 and the operating arm 6, realize arm angular adjustment, 4 both ends of torsion arm set up independently simultaneously, through step motor control, but relative rotation, improve arm adjustment operation degree of freedom.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

Claims

1. The utility model provides a movable manipulator of sky rail, includes slide rail (2) and sets up loop wheel machine (1) at slide rail (2) downside, its characterized in that, be equipped with motor (11) and gyro wheel (12) in loop wheel machine (1), slide rail (2) are the I shape, the vertical setting of gyro wheel (12) axis, slide rail (2) middle part both sides are established respectively to gyro wheel (12), loop wheel machine (1) downside is equipped with the linking arm, the linking arm downside is equipped with swivel joint (3), swivel joint (3) downside is equipped with torsion arm (4), torsion arm (4) downside is equipped with adjusts forearm (7), it is equipped with operating arm (6) to adjust forearm (7) downside, operating arm (6) downside is equipped with mount pad (5).

2. The movable type manipulator for the sky rail as claimed in claim 1, wherein the crane (1) is in sliding contact with the slide rail (2), and the lower end surface of the roller (12) is abutted against the slide rail (2).

3. The movable type manipulator for the sky rail as claimed in claim 2, wherein a groove matched with the roller (12) is formed in the inner side of the crane (1), and an output shaft of the motor (11) is fixedly connected with the roller (12).

4. A monorail mobile manipulator as claimed in claim 1, characterised in that said torsion arm (4) is articulated to the adjusting stub arm (7) by means of a rotary joint (3).

5. A movable manipulator according to claim 1, characterized in that the adjusting short arm (7) is hinged to the operating arm (6) by means of a rotary joint (3).

6. The movable type manipulator according to claim 1, wherein step motors are arranged in the rotary joint (3) and the torsion arm (4).