GB2592468A

GB2592468A - A robotic manipulator

Info

Publication number: GB2592468A
Application number: GB2019439.5A
Authority: GB
Inventors: Fei Guomin
Original assignee: Hangzhou Sanwo Intelligent Technology Co Ltd; Hangzhou Sanwo Intelligent Tech Co Ltd
Current assignee: Hangzhou Sanwo Intelligent Technology Co Ltd; Hangzhou Sanwo Intelligent Tech Co Ltd
Priority date: 2020-02-27
Filing date: 2020-12-10
Publication date: 2021-09-01
Anticipated expiration: 2040-12-10
Also published as: CN111152211A; JP2021133495A; GB2592468B; CN111152211B; GB202019439D0

Abstract

A robotic manipulator comprises a bottom panel 1, a support 2, an arm 3, a barrel body 4, upper and lower boards 5, 6 dividing an internal cavity of the barrel body 4 into an upper cavity 4a, a middle cavity 4b and a lower cavity 4c, two air holes 4d on the barrel body 4, a motor 7 comprising a main shaft sealed with a through hole arranged on the lower board 6 with first sealing ring (8 fig. 2) and a rotation shaft 9 on the upper board 5. The air holes 4d may be connected to an air source to drive the upper board 5 and move the arm 3 while motor 7 drives the rotation shaft 9 to rotate the arm 3. Second and third sealing rings 11, 12 abut the outer wall of the rotation shaft 9. Support portion 5b1 of the upper board 5 is connected with the rotation shaft 9 through a bearing 10.

Description

A ROBOTIC MANIPULATOR

TECHNICAL FIELD

[0001] The present invention relates to the technical field of mechanical engineering, in particular to a robotic manipulator.

BACKGROUND OF THE INVENTION

[0002] The robotic manipulator refers to a complex system with high precision, more input and output, high nonlinearity and strong coupling. As a special operational flexibility, the robotic manipulator has been widely applied in many fields like industrial assembly and safety explosion-proof [0003] The existing robotic manipulator generally comprises a movable base, a arm arranged on the movable base and a driving device, wherein the driving device is used to drive the movable base to lift or rotate; the existing driving device for lifting or rotating is generally independent, which caused entire structure of the robotic manipulator more loose with a large space usage.

BRIEF SUMMARY OF THE INVENTION

[0004] The technical problem to be solved by the invention is to provide a robotic manipulator with compact structure so as to overcome the above-mentioned problems existing in the prior art.

[0005] The purpose of the present invention is achieved by the following technical schemes: a robotic manipulator comprises a bottom panel, wherein a support arranged on the bottom panel, wherein an arm fixedly arranged on one side of the support, and a barrel body vertically arranged on the bottom panel, wherein a bucket mouth of the barrel body is arranged downward and the barrel body is fixedly connected with the bottom panel; an upper board which is vertically slidable is arranged in the barrel body, and a lower board is horizontally fixed in the barrel body, wherein the upper board and the lower board divide an internal cavity of the barrel body into an upper cavity, a middle cavity and a lower cavity which are non-communicated with each other, wherein two of air holes respectively communicated with the upper cavity and the middle cavity are defined on a barrel wall of the barrel body, and a motor is fixed in the lower cavity, wherein the motor comprises a main shaft vertically arranged, wherein a through hole for the main shaft of the motor to penetrate through is arranged on the lower board, wherein the main shaft and the through hole are sealed with first sealing ring; a rotation shaft on tube-shaped is rotatably arranged on the upper board, wherein an upper end and a lower end of the rotation shaft are respectively on closed and opening state, wherein the upper end of the rotation shaft extends out of the barrel body to fixedly connect with the support, and the lower end of the rotation shaft is sleeved on an upper end of the main shaft, and the rotation shaft is connected with the main shaft through a spline; whereby sealing effects can be respectively formed by the rotation shaft with the upper board or the barrel body through a second sealing ring or a third sealing ring.

[0006] When in installment, two of the air holes are connected with an air supply source; a using process is listed as follows: air crush into the middle cavity through a corresponding one of the air holes to drive the upper board to move upward to make the ann to move to an operation position, and then the air crush into the upper cavity through the corresponding one of the air holes to make the upper cavity and middle cavity to keep an air pressure balance to tightly press the upper board, and then the motor drives the rotation shaft to rotate to make the arm to rotate to a designated position to perform a gripping operation; [0007] The motor and the rotation shaft are arranged in the barrel body to drive the rotation shaft to lift and rotate under a cooperation of the upper board arranged in the barrel body, which can effectively decrease a distance between each parts and make a stmcture of whole manipulator more compact.

[0008] In above-stated robotic manipulator, wherein the upper board comprises a fourth sealing ring and a board body horizontally arranged in the barrel body, wherein fourth annular groove is defined on a side wall of the board body, wherein the fourth sealing ring is located in the fourth annular groove and an outer side wall of the fourth sealing ring is abutted against an inner side wall of the barrel body.

[0009] In above-stated robotic manipulator, wherein a support portion on tube-shaped is arranged on the board body, wherein the support portion is integrally molded with the board body and the board body is located between the support portion and the lower board, wherein the support portion is sleeved on the rotation shaft and the support portion is rotatably connected with the rotation shaft through a bearing, wherein the second sealing ring is located below the bearing, with above-stated design is convenient for the bearing to connect with the upper board.

[0010] In above-stated robotic manipulator, wherein a second annular groove is defined on an inner side wall of the board body, wherein the second sealing ring is located in the second annular groove and an inner side wall of the second sealing ring is abutted against an outer side wall of the rotation shaft [0011] In above-stated robotic manipulator, wherein a first annular groove is defined on an outer side wall of the main shaft, wherein a first sealing ring is located in the first annular groove, wherein an outer side wall of the first sealing ring is abutted against a hole wall of the through hole.

[0012] Compared with existing technology, the robotic manipulator in this invention can arrange the motor and the rotation shaft in the barrel to drive the rotation shaft to lift and rotate with the cooperation of the upper board arranged in the barrel, which can effectively decrease the distance between each parts and make the structure of the whole robotic manipulator more compact

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] FIG.1 is the schematic structural diagram depicting a robotic manipulator in this invention.

[0014] FIG.2 is the enlarged structural diagram of "A" in FIG.!.

[0015] In the figures, a bottom panel 1, a support 2, an arm 3, a barrel body 4, an upper cavity 4a, a middle cavity 4b, a lower cavity 4c, air holes 4d, an upper board 5, a fourth sealing ring 5a, a board body 5b, a support portion 5b1, a lower board 6, a motor 7, a first sealing ring 8, a rotation shaft 9, a bearing 10, second sealing ring 11, a third sealing ring 12

DETAILED DESCRIPTION OF THE INVENTION

[0016] The above is only the further description of the technical proposal of this invention in combination with the specific embodiments and drawings, but the protection scope of the present invention is not limited thereto [0017] Referring to FIG 1, a robotic manipulator comprises a bottom panel 1, a support 2 arranged on the bottom panel 1, an arm 3 fixedly arranged on one side of the support 2, wherein the arm 3 is an existing product and can be purchased on markets; a barrel body 4 is vertically arranged on the bottom panel 1, wherein a bucket mouth of the barrel body 4 is arranged downward and the barrel body 4 is fixedly connected with the bottom panel 1; in this embodiment, the connection method between the barrel body 4 and the bottom panel 1 is as follows. annular cuffs are integrally molded on an outer side wall of the barrel body 4, wherein the annular cuffs are tightly pressing the bottom panel 1 and fixedly and removable connected with the bottom panel 1 through a plurality of screws [0018] Specifically, an upper board 5 which is vertically slidable is arranged in the barrel body 4, and a lower board 6 is horizontally fixed in the barrel body 4, wherein the upper board 5 and the lower board 6 divide an internal cavity of the barrel body 4 into an upper cavity 4a, a middle cavity 4b and a lower cavity 4c which are non-communicated with each other, wherein a side wall of the lower board 6 closely contacts an inner wall of the barrel body 4 to form a sealing effect and the lower board 6 is fixedly connected with the barrel body 4 by welding to further enhance a sealing degree formed between the lower board 6 and the barrel body 4; the upper board 5 comprises a fourth sealing ring 5a and a board body 5b horizontally arranged in the barrel body 4, wherein fourth annular groove is defined on a side wall of the board body 5b, wherein the fourth sealing ring 5a is located in the fourth annular groove and an outer side wall of the fourth sealing ring 5a is abutted against an inner side wall of the barrel body 4.

[0019] Referring to FIG. 1 and 2, two of air holes 4d respectively communicated with the upper cavity 4a and the middle cavity 4b are defined on a barrel wall of the barrel body 4, and a motor 7 is fixed in the lower cavity 4c, wherein the motor 7 comprises a main shaft vertically arranged, wherein a through hole for the main shaft of the motor 7 to penetrate through is arranged on the lower board 6, wherein the main shaft and the through hole are sealed with first sealing ring 8; a rotation shaft 9 on tube-shaped is rotatably arranged on the upper board 5; whereby at this time, a lower end of the rotation shaft 9 is located in the middle cavity 4b, and an upper end and a lower end of the rotation shaft 9 are respectively on closed and opening state, wherein the upper end of the rotation shaft 9 extends out of the barrel body 4 to fixedly connect with the support 2, and the lower end of the rotation shaft 9 is sleeved on an upper end of the main shaft, and the rotation shaft 9 is connected with the main shaft through a spline; whereby sealing effects can be respectively formed by the rotation shaft 9 with the upper board 5 or the barrel body 4 through a second sealing ring 11 or a third sealing ring 12 [0020] Wherein, a connection method of the rotation shaft 9 and the upper board 5 is listed as follows: a support portion 5b1 on tube-shaped is arranged on the board body 5b, wherein the support portion 5b1 is integrally molded with the board body 5b and the board body 5b is located between the support portion 5b1 and the lower board 6, wherein the support portion 5b1 is sleeved on the rotation shaft 9 and the support portion 5b1 is rotatably connected with the rotation shaft 9 through a bearing 10, wherein the second sealing ring 11 is located below the bearing 10; for further explanation, a second annular groove is defined on an inner side wall of the board body 5b, wherein the second sealing ring 11 is located in the second annular groove and an inner side wall of the second sealing ring 11 is abutted against an outer side wall of the rotation shaft 9.

[0021] The connection method of the main shaft and the lower board 6 is listed as follows: a first annular groove is defined on an outer side wall of the main shaft, wherein a first sealing ring 8 is located in the first annular groove, wherein an outer side wall of the first sealing ring 8 is abutted against a hole wall of the through hole.

[0022] The connection method of the rotation shaft 9 and the barrel body 4 is listed as follows: an connection hole for an upper end of the rotation shaft 9 to penetrate through is arranged on the barrel body 4, wherein a third annular groove is defined on a hole wall of the connection hole, wherein a third sealing ring 12 is located in the third annular groove, and an inner side wall of the third sealing ring]2 is abutted against an outer side wall of the rotation shaft 9.

[0023] When in installment, two of the air holes 4d are connected with an air supply source; a using process is listed as follows: air crush into the middle cavity 4b through a corresponding one of the air holes 4d to drive the upper board 5 to move upward to make the arm 3 to move to an operation position, and then the air crush into the upper cavity 4a through the corresponding one of the air holes 4d to make the upper cavity 4a and middle cavity 4b to keep an air pressure balance to tightly press the upper board 5, and then the motor 7 drives the rotation shaft 9 to rotate to make the arm 3 to rotate to a designated position to perform a gripping operation; the motor 7 and the rotation shaft 9 are arranged in the barrel body 4 to drive the rotation shaft 9 to lift and rotate under a cooperation of the upper board 5 arranged in the barrel body 4, which can effectively decrease a distance between each parts and make a structure of whole manipulator more compact.

[0024] The embodiments described here is merely examples for the spirits of this invention. The person skilled in this art can make any amendments, supplementary or similar replacement to the specific embodiments, which will not deviate from the spirit of the invention or surpass the scope defined by the claims.

Claims

Claims 1. A robotic manipulator, comprising: a bottom panel, wherein a support arranged on the bottom panel, wherein an arm fixedly arranged on one side of the support, a barrel body vertically arranged on the bottom panel, wherein a bucket mouth of the barrel body is arranged downward, and the barrel body is fixedly connected with the bottom panel; an upper board which is vertically slidable arranged in the barrel body; a lower board horizontally fixed in the barrel body, wherein the upper board and the lower board divide an internal cavity of the barrel body into an upper cavity, a middle cavity and a lower cavity which are non-communicated with each other, wherein two of air holes respectively communicated with the upper cavity and the middle cavity are defined on a barrel wall of the barrel body, a motor fixed in the lower cavity, wherein the motor comprises a main shaft vertically arranged, wherein a through hole for the main shaft of the motor to penetrate through is arranged on the lower board, wherein the main shaft and the through hole are sealed with first sealing ring; a rotation shaft on tube-shaped rotatably arranged on the upper board, wherein an upper end and a lower end of the rotation shaft are respectively on closed and opening state, wherein the upper end of the rotation shaft extends out of the barrel body to fixedly connect with the support, and the lower end of the rotation shaft is sleeved on an upper end of the main shaft, and the rotation shaft is connected with the main shaft through a spline; whereby sealing effects can be respectively formed by the rotation shaft with the upper board or the barrel body through a second sealing ring or a third sealing ring.
2. The robotic manipulator defined in claim 1, wherein the upper board comprising: a fourth sealing ring and a board body horizontally arranged in the barrel body, wherein fourth annular groove is defined on a side wall of the board body, wherein the fourth sealing ring is located in the fourth annular groove and an outer side wall of the fourth sealing ring is abutted against an inner side wall of the barrel body.
3. The robotic manipulator defined in claim 2, wherein a support portion on tube-shaped is arranged on the board body, wherein the support portion is integrally molded with the board body and the board body is located between the support portion and the lower board, wherein the support portion is sleeved on the rotation shaft and the support portion is rotatably connected with the rotation shaft through a bearing, wherein the second sealing ring is located below the bearing with above-stated design is convenient for the bearing to connect with the upper board
4. The robotic manipulator defined in claim 2, wherein a second annular groove is defined on an inner side wall of the board body, wherein the second sealing ring is located in the second annular groove and an inner side wall of the second sealing ring is abutted against an outer side wall of the rotation shaft.
5. The robotic manipulator defined in claim 2, wherein a first annular groove is defined on an outer side wall of the main shaft, wherein a first sealing ring is located in the first annular groove, wherein an outer side wall of the first sealing ring is abutted against a hole wall of the through hole.