A rotary lifting manipulator

Abstract

The present invention discloses a rotary lifting manipulator, comprising: a base, a controller, a lifting mechanism, a rotating mechanism and a sliding sleeve, wherein the lifting mechanism and the rotating mechanism are arranged on the base, the lifting mechanism comprises a vertically arranged screw and a nut, the nut is sleeved on the outside of the screw, a first protrusion is extended outward from the side of the nut, and the lower end of the screw is connected with a first power device; the rotating mechanism comprises a guide sleeve, the guide sleeve is sleeved on the outside of the nut, the height of the guide sleeve matches the height of the screw, and the lower end of the guide sleeve is connected with a second power device; the sliding sleeve is sleeved on the outside of the guide sleeve; the side wall of the guide sleeve is provided with a gap for the first protrusion to pass through, the first protrusion passes through the guide sleeve and is fixedly connected to the sliding sleeve, and the first power device and the second power device are both electrically connected to the controller. The rotary lifting manipulator has lifting and rotating functions at the same time, has a simple structure, is easy to assemble and disassemble, and is conducive to reducing costs and improving work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a rotary lifting manipulator. Background Art

[0002] Manipulators are the most widely used automated mechanical devices in the field of robotics technology, and can be found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration, etc. Although they have different forms, they all have one common feature, which is the ability to receive instructions and accurately grasp workpieces for operation.

[0003] However, the existing manipulators have many parts and complex structures, which leads to high manufacturing costs and increase the difficulty of work and maintenance to a certain extent. The work efficiency is low, and the work tasks cannot be completed effectively to achieve the expected results. It also consumes a lot of unnecessary energy and is not very practical. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a rotary lifting manipulator, which has a simple structure and is easy to assemble and disassemble, and is conducive to reducing costs and improving work efficiency.

[0005] A rotary lifting manipulator according to an embodiment of the present invention comprises:

[0006] Pedestal;

[0007] Controller;

[0008] A lifting mechanism is arranged on the base, the lifting mechanism comprises a vertically arranged screw rod and a nut, the nut is sleeved on the outside of the screw rod, a first protrusion is extended outward from the side of the nut, and the lower end of the screw rod is connected to a first power device;

[0009] A rotating mechanism is arranged on the base, the rotating mechanism comprises a guide sleeve, the guide sleeve is sleeved on the outside of the nut, the height of the guide sleeve matches the height of the screw, and the lower end of the guide sleeve is connected to a second power device;

[0010] A sliding sleeve, sleeved on the outer side of the guide sleeve;

[0011] The side wall of the guide sleeve is provided with a gap for the first protrusion to pass through, the first protrusion passes through the guide sleeve and is fixedly connected to the sliding sleeve, and the first power device and the second power device are both electrically connected to the controller.

[0012] A rotary lifting manipulator according to an embodiment of the present invention has at least the following beneficial effects: the first protrusion passes through the gap provided in the side wall of the guide sleeve and is fixedly connected to the sliding sleeve, thereby making the nut and the sliding sleeve fixedly connected, the controller starts the first power device, the first power device drives the screw to rotate, the nut and the screw are meshed and transmitted, and then drives the sliding sleeve to move up and down along the guide sleeve. The controller starts the second power device, the second power device drives the guide sleeve to rotate, and the sliding sleeve rotates with the guide sleeve. The rotary lifting manipulator in the above technical solution has both lifting and rotating functions, simple structure, and convenient assembly and disassembly, which is conducive to reducing costs and improving work efficiency.

[0013] According to some embodiments of the present invention, the first power device is a screw drive motor, and the main shaft of the screw drive motor is fixedly connected to the lower end of the screw via a coupling.

[0014] According to some embodiments of the present invention, the second power device includes a driving wheel, a driven wheel and a driving wheel drive motor, the driving wheel drive motor and the screw drive motor are arranged in parallel, the main shaft of the driving wheel drive motor passes through the base to connect the driving wheel, the driven wheel is sleeved on the outer side of the lower end of the guide sleeve, and the driving wheel and the driven wheel are connected by a synchronous belt.

[0015] According to some embodiments of the present invention, two ends of the screw are rotatably connected to two ends of the guide sleeve via bearings.

[0016] According to some embodiments of the present invention, a second protrusion extends radially outward from a side surface of the nut, an upper end of the second protrusion extends outward to form the first protrusion, and a width of the second protrusion matches a width of the first protrusion.

[0017] According to some embodiments of the present invention, a notch groove matching the first protrusion is formed at an upper end of the side wall of the sliding sleeve.

[0018] According to some embodiments of the present invention, a disc is extended radially outward from the lower end of the side wall of the sliding sleeve, and the disc is connected to a clamping mechanism for clamping a workpiece.

[0019] According to some embodiments of the present invention, the clamping mechanism includes a bracket, on which a clamping drive motor, a first rack and a second rack are provided, the clamping drive motor is arranged on one side of the bracket close to the sliding sleeve, the first rack and the second rack are vertically and parallelly arranged on the other side of the bracket, the upper end of the first rack and the lower end of the second rack are both provided with clamps, the clamping drive motor is electrically connected to the controller, and the main shaft of the clamping drive motor passes through the bracket and engages with the first rack and the second rack to drive the two clamps to move closer to or away from each other.

[0020] According to some embodiments of the present invention, a slider is connected to the first rack and the second rack on one side facing the bracket, a guide rail is provided on the bracket, and a slide groove is provided on the slider for slidingly cooperating with the guide rail.

[0021] According to some embodiments of the present invention, it further includes a base fixedly connected to the lower end of the base, and the lower end of the base is connected to a propulsion mechanism.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 It is a schematic diagram of the overall structure of the rotary lifting manipulator according to an embodiment of the present invention;

[0025] Figure 2 A cross-sectional view of a rotary lifting manipulator according to an embodiment of the present invention;

[0026] Figure 3 It is a schematic diagram of the exploded structure of the rotary lifting manipulator according to an embodiment of the present invention;

[0027] Figure 4 for Figure 3 The enlarged view of point A in the middle;

[0028] Figure 5 is a cross-sectional view of a nut according to an embodiment of the present invention;

[0029] Figure 6 It is a structural schematic diagram of a clamping mechanism according to an embodiment of the present invention;

[0030] Figure 7 This is an application scenario diagram of the rotary lifting manipulator of an embodiment of the present invention;

[0031] Figure 8 This is another application scenario diagram of the rotary lifting manipulator according to an embodiment of the present invention.

[0032] Reference numerals:

[0033] Base 100

[0034] Lifting mechanism 200, screw drive motor 201, coupling 202, bearing 203, screw 204, nut 205, first protrusion 2051, second protrusion 2052

[0035] Rotating mechanism 300, driving wheel driving motor 301, driving wheel 302, driven wheel 303, synchronous belt 304, guide sleeve 305

[0036] Sliding sleeve 400, disc 401, notch groove 402

[0037] Gripping mechanism 500, outer cover 501, gripping drive motor 502, first rack 503, second rack 504, guide rail 505, slider 506, connecting plate 507, bracket 508, clamp 509

[0038] Stage 600, propulsion mechanism 700, base 800 DETAILED DESCRIPTION

[0039] The embodiments of the invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0043] Reference Figures 1 to 3 As shown, in one embodiment of the present application, a rotary lifting manipulator is provided, and the overall structure is as follows:

[0044] The invention comprises a base 100 and a controller. The base 100 is provided with a sliding sleeve 400, a lifting mechanism 200 and a rotating mechanism 300. The sliding sleeve 400 is connected with a clamping mechanism 500 for clamping a workpiece. Under the action of the lifting mechanism 200, the sliding sleeve 400 moves upward or downward relative to the base 100, thereby driving the clamping mechanism 500 to move upward or downward relative to the base 100; under the action of the rotating mechanism 300, the sliding sleeve 400 rotates relative to the base 100, thereby driving the clamping mechanism 500 to rotate relative to the base 100.

[0045] The lifting mechanism 200 includes a vertically arranged screw 204 and a nut 205. The nut 205 is sleeved on the outside of the screw 204 and meshes with the screw 204. The side wall of the nut 205 extends outward with a first protrusion 2051. The lower end of the screw 204 is connected to a first power device, and the first power device is electrically connected to the controller. The rotating mechanism 300 includes a guide sleeve 305. The guide sleeve 305 is sleeved on the outside of the nut 205. The height of the guide sleeve 305 matches the height of the screw 204. The upper and lower ends of the screw 204 are rotatably connected to the upper and lower ends of the guide sleeve 305 through bearings 203. The upper and lower ends of the screw 204 are provided with bearing spacers and locking members for positioning the bearing 203 to prevent the bearing 203 from jumping out of position during the rotation of the guide sleeve 305. The side wall of the guide sleeve 305 is provided with a gap for the first protrusion 2051 to pass through, and the lower end of the guide sleeve 305 is connected to the second power device, and the second power device is electrically connected to the controller. The sliding sleeve 400 is sleeved on the outer side of the guide sleeve 305, and the first protrusion 2051 passes through the guide sleeve 305 and is fixedly connected to the sliding sleeve 400, that is, the nut 205 is fixedly connected to the sliding sleeve 400 through the first protrusion 2051. In this embodiment, the position of the controller is not limited, and it can be set on the base 100, and it can also be set independently of the base 100. The controller is used to start or stop the first power device and the second power device. The controller starts the first power device, and the first power device drives the screw 204 to rotate, and the nut 205 is meshed with the screw 204 for transmission, thereby driving the sliding sleeve 400 to move up and down along the guide sleeve 305. The controller starts the second power device, and the second power device drives the guide sleeve 305 to rotate, and the sliding sleeve 400 rotates following the guide sleeve 305. At this time, the first power device needs to keep synchronization with the speed of the second power device to make the speeds of the screw 204, the nut 205 and the guide sleeve 305 consistent.

[0046] The specific structure is as follows:

[0047] Reference Figures 1 to 3As shown, in some embodiments of the present application, the first power device is a screw drive motor 201, the body of the screw drive motor 201 is fixed on the base 100 through a support seat, and the main shaft of the screw drive motor 201 is fixedly connected to the lower end of the screw 204 through a coupling 202. The second power device includes a driving wheel 302, a driven wheel 303 and a driving wheel drive motor 301, the driving wheel drive motor 301 and the screw drive motor 201 are arranged in parallel, the main shaft of the driving wheel drive motor 301 passes through the base 100 to connect the driving wheel 302, the driven wheel 303 is sleeved on the outer side of the lower end of the guide sleeve 305, and the driving wheel 302 and the driven wheel 303 are connected through a synchronous belt 304.

[0048] Reference Figures 4 to 5 As shown, in some embodiments of the present application, the upper end of the side wall of the sliding sleeve 400 is provided with a notch groove 402 matching the first protrusion 2051. The first protrusion 2051 is embedded in the notch groove 402 and fixed in the notch groove 402 by screws to ensure that the nut 205 is always fixedly connected to the sliding sleeve 400.

[0049] Further, the side surface of the nut 205 extends radially outwardly with a second protrusion 2052, and the upper end of the second protrusion 2052 extends radially outwardly with the nut 205 to form a first protrusion 2051, and the width of the second protrusion 2052 matches the width of the first protrusion 2051. That is, the second protrusion 2052 is inserted into the gap of the side wall of the guide sleeve 305, and the height of the second protrusion 2052 matches the height of the nut 205. The second protrusion 2052 is provided to provide strength support for the nut 205 and the first protrusion 2051, so as to prevent the sliding sleeve 400 from damaging the nut 205 and the first protrusion 2051 during the rotation of the guide sleeve 305.

[0050] Reference Figure 4 As shown, in some embodiments of the present application, a disc 401 is extended radially outward from the lower end of the side wall of the sliding sleeve 400, and the disc 401 is connected to a clamping mechanism 500 for clamping a workpiece through a connecting plate 507. Figure 6As shown, the clamping mechanism 500 includes a bracket 508, on which a clamping drive motor 502, a first rack 503 and a second rack 504 are arranged. The clamping drive motor 502 is electrically connected to the controller, and the main axis of the clamping drive motor 502 is perpendicular to the sliding sleeve 400. The body of the clamping drive motor 502 is arranged on a side of the bracket 508 close to the sliding sleeve 400, and is fixedly connected to the connecting plate 507 through the bracket 508. The first rack 503 and the second rack 504 are arranged on the other side of the bracket 508, that is, the side of the bracket 508 away from the sliding sleeve 400. The main axis of the clamping drive motor 502 passes through the bracket 508 and engages with the first rack 503 and the second rack 504 for transmission. The first rack 503 and the second rack 504 are arranged vertically and in parallel on both sides of the main shaft of the clamping drive motor 502. The upper end of the first rack 503 and the lower end of the second rack 504 are both provided with a clamp 509. The first rack 503 and the second rack 504 are synchronously meshed with the main shaft of the clamping drive motor 502 to drive the two clamps 509 to move closer to or farther away from each other. The two clamps 509 move closer to each other to tighten the workpiece, and the two clamps 509 move away from each other to loosen the workpiece. In other embodiments, the arrangement of the first rack 503 and the second rack 504 can be further adjusted according to the shape and position of the workpiece to be clamped, and it is only necessary to ensure that under the action of the clamping drive motor 502, the first rack 503 and the second rack 504, the two clamps 509 can move closer to each other to tighten the workpiece, and move away from each other to loosen the workpiece.

[0051] Furthermore, a slider 506 is connected to the first rack 503 and the second rack 504 on one side facing the bracket 508, a guide rail 505 is provided at a corresponding position on the bracket 508, and a slide groove is provided on the slider 506 to slide with the guide rail 505. The first rack 503 and the second rack 504 move along the guide rail 505 under the action of the clamping drive motor 502.

[0052] Furthermore, an outer cover 501 is also provided on the bracket 508, and the outer cover 501 surrounds the main shaft of the clamping drive motor 502, the first rack 503 and the second rack 504 to protect the main shaft of the clamping drive motor 502, the first rack 503 and the second rack 504, and the clamp 509 passes through the outer cover 501 to clamp the workpiece.

[0053] Reference Figure 7 and Figure 8 In the application scenario of the manipulator shown in the figure, during the actual operation of the manipulator, a propulsion mechanism 700 may be provided at the stage 600 and / or the lower end of the manipulator to shorten the distance between the manipulator and the stage 600, so as to facilitate the manipulator to grasp the workpiece. Figure 7As shown, a base 800 is provided at the driving wheel driving motor 301, the base 800 is fixedly connected to the lower end of the base 100, and the lower end of the base 800 is connected to the propulsion mechanism 700. In this embodiment, the propulsion mechanism 700 is preferably a lead screw transmission mechanism.

[0054] The rotary lifting manipulator in the above technical solution has both lifting and rotating functions, a simple structure, and convenient assembly and disassembly, which is conducive to reducing costs and improving work efficiency.

[0055] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A rotary lifting manipulator, characterized in that: include: Base(100); Controller; A lifting mechanism (200) is arranged on the base (100), the lifting mechanism (200) comprising a vertically arranged screw rod (204) and a nut (205), the nut (205) being sleeved on the outside of the screw rod (204), a first protrusion (2051) extending outwardly from the side surface of the nut (205), and a first power device being connected to the lower end of the screw rod (204); A rotating mechanism (300) is arranged on the base (100), the rotating mechanism (300) comprises a guide sleeve (305), the guide sleeve (305) is sleeved on the outside of the nut (205), the height of the guide sleeve (305) matches the height of the screw rod (204), and the lower end of the guide sleeve (305) is connected to a second power device; A sliding sleeve (400) is sleeved on the outside of the guide sleeve (305), and the sliding sleeve (400) is connected to a clamping mechanism (500) for clamping a workpiece; The side wall of the guide sleeve (305) is provided with a slit for the first protrusion (2051) to pass through, the first protrusion (2051) passes through the guide sleeve (305) and is fixedly connected to the sliding sleeve (400), the first power device and the second power device are both electrically connected to the controller, the first power device can drive the screw rod (204) to rotate, thereby driving the sliding sleeve (400) to move up and down along the guide sleeve (305), the second power device can drive the guide sleeve (305) to rotate, so that the sliding sleeve (400) rotates following the guide sleeve (305), and when the second power device drives the guide sleeve (305) to rotate, the rotation speeds of the first power device and the second power device are kept synchronous, so that the rotation speeds of the screw rod (204), the nut (205) and the guide sleeve (305) are consistent.

2. The rotary lifting manipulator according to claim 1, characterized in that: The first power device is a screw drive motor (201), and the main shaft of the screw drive motor (201) is fixedly connected to the lower end of the screw (204) via a coupling (202).

3. The rotary lifting manipulator according to claim 2, characterized in that: The second power device comprises a driving wheel (302), a driven wheel (303), and a driving wheel drive motor (301); the driving wheel drive motor (301) and the screw drive motor (201) are arranged in parallel; a main shaft of the driving wheel drive motor (301) passes through the base (100) and is connected to the driving wheel (302); the driven wheel (303) is sleeved on the outer side of the lower end of the guide shaft sleeve (305); and the driving wheel (302) and the driven wheel (303) are connected via a synchronous belt (304).

4. The rotary lifting manipulator according to claim 1, characterized in that: The two ends of the screw rod (204) are rotatably connected to the two ends of the guide sleeve (305) via bearings (203).

5. The rotary lifting manipulator according to claim 1, characterized in that: A second protrusion (2052) is provided on the side surface of the nut (205) extending outwardly in the radial direction of the nut (205), the upper end of the second protrusion (2052) extends outwardly to form the first protrusion (2051), and the width of the second protrusion (2052) matches the width of the first protrusion (2051).

6. The rotary lifting manipulator according to claim 1, characterized in that: The upper end of the side wall of the sliding sleeve (400) is provided with a notch groove (402) matching the first protrusion (2051).

7. The rotary lifting manipulator according to claim 1, characterized in that: A circular disc (401) is provided at the lower end of the side wall of the sliding sleeve (400) and extends radially outwards, and the circular disc (401) is connected to a clamping mechanism (500) for clamping a workpiece.

8. The rotary lifting manipulator according to claim 7, characterized in that: The clamping mechanism (500) comprises a bracket (508), on which a clamping drive motor (502), a first rack (503) and a second rack (504) are provided. The clamping drive motor (502) is arranged on one side of the bracket (508) close to the sliding sleeve (400), and the first rack (503) and the second rack (504) are arranged vertically and in parallel on the other side of the bracket (508). A clamp (509) is provided at the upper end of the first rack (503) and the lower end of the second rack (504). The clamping drive motor (502) is electrically connected to the controller, and a main shaft of the clamping drive motor (502) passes through the bracket (508) and meshes with the first rack (503) and the second rack (504) to drive the two clamps (509) to move closer to or away from each other.

9. The rotary lifting manipulator according to claim 8, characterized in that: A sliding block (506) is connected to one side of the first rack (503) and the second rack (504) facing the bracket (508); a guide rail (505) is provided on the bracket; and a sliding groove for slidingly cooperating with the guide rail (505) is provided on the sliding block (506).

10. The rotary lifting manipulator according to claim 1, characterized in that: It also includes a base (800) fixedly connected to the lower end of the base (100), and the lower end of the base is connected to a propulsion mechanism (700).

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