CN218462193U - Rotary taking and placing manipulator - Google Patents

Abstract

The utility model discloses a rotatory manipulator of putting of getting relates to manipulator technical field, has solved current technique and has had when the manipulator can not get the material centre gripping, rotatory lift gets the technical problem of putting the material, including the main base, the toper platform has been seted up to the wall on the main base, set up the swivelling chute in the toper platform, wall fixed mounting has thrust bearing down in the swivelling chute, wall fixed mounting has antifriction bearing in the swivelling chute, thrust bearing fits with a contraceptive ring and goes up wall fixed mounting and rotates the seat, it installs the manipulator rotary device in the antifriction bearing inner circle internal face to rotate seat fixed mounting, install manipulator rotary device in the main base, the utility model discloses a rotating base structure can be with the material rotary motion of centre gripping to the position that needs, through material raising and lowering functions, can get the material of centre gripping and put on different stations, through extending structure, places the material in the position of different distances apart from the arm, through flip structure, can place the material turn over.

Description

Rotary taking and placing manipulator

Technical Field

The utility model relates to a manipulator technical field specifically is a rotatory manipulator of getting.

Background

The utility model relates to a manipulator technique, robotic arm just lies in flexibility ratio and resistant dynamics with having the biggest difference of human arm, also be exactly that the biggest advantage of manipulator can be repeated do same action, robotic arm's application also will be more and more extensive, the manipulator is the high-tech automatic production equipment that recent decades developed, accomplish the ability of operation in the accuracy of operation and the environment, an important branch of industrial robot arm, the kind of manipulator can divide into the fluid pressure type according to the drive mode, the pneumatic type, electrodynamic type, mechanical type. The manipulator is characterized in that various expected operations can be completed through programming, the structure and the performance of the manipulator have the advantages of both a human body and a manipulator machine, and the existing manipulator is not enough to take and place materials, turn the materials and place the materials at other positions with different heights.

For example, a manipulator for a quick workpiece taking and placing clamp of an injection molding machine, a utility model with the publication number of CN207415838U, has the technical problem that when the manipulator can not clamp materials, the material can be taken and placed by rotary lifting.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a rotatory manipulator of getting is put has solved current technique and has had the manipulator when can not be with the material centre gripping, and rotatory lift gets the technical problem of putting the material.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a rotatory manipulator of getting and putting, includes the main base, its characterized in that, the toper platform has been seted up to the main base upper wall, the swivelling chute has been seted up in the toper platform, wall fixed mounting has thrust bearing under in the swivelling chute, wall fixed mounting has antifriction bearing in the swivelling chute, thrust bearing fits with a contraceptive ring and goes up wall fixed mounting and rotates the seat, rotate seat fixed mounting in antifriction bearing inner circle internal face, install manipulator rotary device in the main base, fixed mounting has the seat that goes up and down in rotating the seat, slidable mounting has the lifter in the seat that goes up and down, lifter upper end fixed mounting has lift platform, install manipulator elevating gear in the seat that goes up and down, the last wall of lift platform installs the manipulator telescoping device.

Preferably, manipulator rotary device includes first motor, fixed mounting has the motor case in the main base, first motor fixed mounting is in the motor case, first motor drive end fixed mounting has the driving gear, the main shaft is installed to main base internal rotation, main shaft lower extreme fixed mounting has driven gear, the driving gear is connected with the driven gear meshing, main shaft upper end fixed connection is in wall under the rotation seat.

Preferably, a spline groove is formed in the rotating seat, the lifting seat is fixedly installed in the rotating seat, a bolt head is fixedly installed on the lower wall surface in the spline groove, a bolt hole is formed in the lower wall surface in the lifting seat, and the bolt head is connected in the bolt hole.

Preferably, manipulator elevating gear includes the second motor, second motor fixed mounting is in the lift seat, second motor drive end fixed mounting has drive bevel gear, the threaded rod is installed to the lift seat internal rotation, threaded rod lower extreme fixed mounting has driven bevel gear, drive bevel gear is connected with driven bevel gear meshing, the internal thread has been seted up in the lifter, fixed mounting has the guide key on the lifter, the guide way has been seted up in the lift seat, guide key slidable mounting is in the guide way, lifter and threaded rod threaded connection.

Preferably, manipulator telescoping device includes first cylinder, first cylinder fixed mounting is in lift platform upper wall, the flexible fixed mounting of first cylinder has the rotation case, the rotation incasement fixed mounting has the third motor, the third motor drive end passes rotation case lateral wall fixed mounting has the claw end, rotation case slidable mounting is in lift platform, lift platform upper wall fixed mounting has the air pump body.

Preferably, the claw end head is rotatably provided with a pair of mechanical claws, the claw end head is rotatably provided with a pair of electric push rods, and the telescopic ends of the electric push rods are rotatably arranged on the outer wall surface of the mechanical claws.

Advantageous effects

The utility model provides a rotatory manipulator of getting, the utility model discloses a rotating base structure can be with the material swivelling movement of centre gripping to the position that needs, through material raising and lowering functions, can get the material of centre gripping and put on the station of difference, through extending structure, places the material in the position of the different distances of distance arm, through flip structure, can place the material turn-over.

Drawings

Fig. 1 is a schematic view of a rotary pick-and-place manipulator of the present invention.

In the figure: 1. a main base; 2. a conical table; 3. a thrust bearing; 4. a rolling bearing; 5. a rotating seat; 6. a lifting rod; 7. a lifting platform; 8. a first motor; 9. a motor case; 10. a driving gear; 11. a main shaft; 12. a driven gear; 13. a plug pin head; 14. a second motor; 15. a drive bevel gear; 16. a threaded rod; 17. a driven bevel gear; 18. a guide key; 19. a first cylinder; 20. a rotating box; 21. a third motor; 22. a claw end; 23. a gas pump body; 24. a gripper; 25. an electric push rod; 26. a lifting seat;

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the 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, the present invention provides a technical solution: a rotary pick-and-place manipulator comprises a main base 1 and is characterized in that a conical table 2 is arranged on the upper wall surface of the main base 1, a rotary groove is formed in the conical table 2, a thrust bearing 3 is fixedly arranged on the lower wall surface in the rotary groove, a rolling bearing 4 is fixedly arranged on the inner wall surface of the upper ring of the thrust bearing 3, a rotary seat 5 is fixedly arranged on the upper wall surface of the upper ring of the thrust bearing 3, the rotary seat 5 is fixedly arranged on the inner ring inner wall surface of the rolling bearing 4, a manipulator rotating device is arranged in the main base 1, a lifting seat 26 is fixedly arranged in the rotary seat 5, a lifting rod 6 is fixedly arranged in the lifting seat 26, the upper end of the lifting rod 6 is fixedly provided with a lifting platform 7, a manipulator lifting device is arranged in the lifting seat 26, a manipulator telescopic device is arranged on the upper wall surface of the lifting platform 7, the manipulator rotating device comprises a first motor 8, a motor box 9 is fixedly arranged in the main base 1, the first motor 8 is fixedly arranged in the motor box 9, a driving gear 10 is fixedly arranged on the driving gear, a main shaft 11 is rotatably arranged in the main base 1, a driven gear 12 is fixedly connected with a lower wall surface of the main shaft 11, a spline seat 14 is fixedly arranged in a second lifting spline seat, a lifting pin 14 is fixedly arranged in a lifting pin fixed lower wall surface of the lifting seat, a lifting motor 5, a lifting pin 14, a lifting pin fixed bolt seat is fixedly arranged in a lifting pin 14, a lifting pin fixed lower wall surface of the lifting seat, a lifting pin 14 is fixedly arranged in a lifting seat, a lifting pin fixed bolt seat 14, a lifting pin fixed bolt seat 14 is arranged in a lifting pin fixed bolt seat, a lifting pin fixed lifting pin 14 is arranged in a lifting pin fixed in a lifting pin seat, a lifting pin 14, a lifting pin fixed in a lifting pin fixed bolt seat, a lifting pin fixed shaft 14 is arranged in a lifting pin fixed in a lifting pin 14, the utility model discloses a mechanical arm, including lift seat 26, drive bevel gear 15, guide key 18, lifting platform 7, claw end 22, claw end push rod 25, threaded rod 16, driven bevel gear 17, drive bevel gear 15, driven bevel gear 17, the internal thread has been seted up in the lifter 6, fixed mounting has guide key 18 on the lifter 6, the guide key 18 slidable mounting has been seted up in the lift seat 26, lifter 6 and threaded rod 16 threaded connection, the manipulator telescoping device includes first cylinder 19, first cylinder 19 fixed mounting has wall on lift platform 7, the flexible fixed mounting of first cylinder 19 has a rotation case 20, fixed mounting has third motor 21 in the rotation case 20, third motor 21 drive end passes rotation case 20 lateral wall fixed mounting has claw end 22, rotation case 20 slidable mounting has in lift platform 7, wall fixed mounting has gas 23 on lift platform 7, claw end 22 rotates and installs a pair of gripper 24, claw end push rod 22 rotates and installs a pair of electric motor push rod 25, the flexible end of electric motor push rod 25 rotates and installs in the outer wall of gripper 24.

The detailed connection means is a technique known in the art, and the following mainly describes the working principle and process, and the specific operation is as follows.

Example (b): as shown in fig. 1, the first motor 8, the second motor 14, the third motor 21, the air pump body 23, and the electric push rod 25 are connected to an external controller and a power supply through wires, the first motor 8 drives the driving gear 10 to rotate, so as to drive the driven gear 12 engaged therewith to rotate, the driven gear 12 drives the spindle 11 to rotate, the spindle 11 drives the rotating base 5 to rotate, so that the manipulator rotates around the spindle 11, the lifting base 26 is inserted into the rotating base 5, the plug head 13 transmits signals and power supply power, the second motor 14 drives the driving gear 15 to rotate, the driving gear 15 drives the driven bevel gear 17 engaged therewith to rotate, the driven bevel gear 17 drives the threaded rod 16 to rotate, the threaded rod 16 is in threaded connection with the lifting rod 6, so as to enable the lifting rod 6 to slide up and down through the guide key 18, the air pump body 23 drives the first air cylinder 19 to perform telescopic motion, the telescopic end of the first air cylinder 19 drives the rotating box 20 to slide linearly in the lifting platform 7, the third motor 21 drives the claw 22 to rotate, so as to pick up the lifting end of the material, so as to rotate the lifting end of the mechanical push rod 25, so as to shorten the material, and turn the material taking end of the manipulator, so as to take the material, and turn over the material, so as to shorten the material.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.

Claims (6)

1. The utility model provides a rotatory manipulator of getting and putting, includes main base (1), its characterized in that, conical station (2) have been seted up to main base (1) last wall, the swivelling chute has been seted up in conical station (2), wall fixed mounting has thrust bearing (3) under the swivelling chute, wall fixed mounting has antifriction bearing (4) in the swivelling chute, wall fixed mounting has rotation seat (5) on thrust bearing (3) fit with a contraceptive ring, rotation seat (5) fixed mounting has interior ring internal face in antifriction bearing (4), install manipulator rotary device in main base (1), fixed mounting has lift seat (26) in rotation seat (5), slidable mounting has lifter (6) in lift seat (26), lifter (6) upper end fixed mounting has lift platform (7), install manipulator elevating gear in lift seat (26), the manipulator telescoping device is installed to lift platform (7) last wall.

2. The mechanical hand of claim 1, wherein the mechanical hand rotating device comprises a first motor (8), a motor box (9) is fixedly installed in the main base (1), the first motor (8) is fixedly installed in the motor box (9), a driving gear (10) is fixedly installed at a driving end of the first motor (8), a main shaft (11) is rotatably installed in the main base (1), a driven gear (12) is fixedly installed at a lower end of the main shaft (11), the driving gear (10) is meshed with the driven gear (12), and an upper end of the main shaft (11) is fixedly connected to a lower wall surface of the rotating base (5).

3. The mechanical hand of claim 2, wherein a spline groove is formed in the rotating base (5), the lifting base (26) is fixedly installed in the rotating base (5), a pin head (13) is fixedly installed on the lower wall surface in the spline groove, a pin hole is formed in the lower wall surface in the lifting base (26), and the pin head (13) is connected in the pin hole.

4. A rotary pick-and-place manipulator according to claim 3, wherein the manipulator lifting device comprises a second motor (14), the second motor (14) is fixedly installed in a lifting seat (26), a driving bevel gear (15) is fixedly installed at the driving end of the second motor (14), a threaded rod (16) is rotatably installed in the lifting seat (26), a driven bevel gear (17) is fixedly installed at the lower end of the threaded rod (16), the driving bevel gear (15) is engaged with the driven bevel gear (17), an internal thread is formed in the lifting rod (6), a guide key (18) is fixedly installed on the lifting rod (6), a guide groove is formed in the lifting seat (26), the guide key (18) is slidably installed in the guide groove, and the lifting rod (6) is in threaded connection with the threaded rod (16).

5. The mechanical hand of claim 4, wherein the mechanical hand telescoping device comprises a first cylinder (19), the first cylinder (19) is fixedly mounted on the upper wall surface of the lifting platform (7), a rotating box (20) is fixedly mounted at the telescoping end of the first cylinder (19), a third motor (21) is fixedly mounted in the rotating box (20), the driving end of the third motor (21) penetrates through the side wall of the rotating box (20) and is fixedly provided with a claw end head (22), the rotating box (20) is slidably mounted in the lifting platform (7), and an air pump body (23) is fixedly mounted on the upper wall surface of the lifting platform (7).

6. The mechanical hand of claim 5, wherein the claw head (22) is rotatably provided with a pair of mechanical claws (24), the claw head (22) is rotatably provided with a pair of electric push rods (25), and the telescopic ends of the electric push rods (25) are rotatably arranged on the outer wall surface of the mechanical claws (24).

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