Cantilever type manipulator

Abstract

The invention discloses a cantilever type manipulator, and relates to the technical field of industrial cantilever type manipulators, the cantilever type manipulator comprises a mounting rack, the upper side of the mounting rack is fixedly connected with a first motor, and the output end of the first motor is fixedly connected with a threaded column; the lower end of the threaded column penetrates through the mounting frame and is rotationally connected with the upper surface of the lower side of the mounting frame through a bearing, the outer wall of the threaded column is in threaded connection with a sliding frame, the outer wall of the sliding frame is in sliding connection with the inner wall of the mounting frame, and the front side of the sliding frame is in sliding connection with a guide rail. Inertial torque generated when the connecting column stops instantly after rapid movement can be reduced, impact caused by inertia is avoided, shaking of the connecting column and the lower end structure due to inertia is reduced, it is ensured that equipment is more stable when stopped, and the beneficial effects that practicability is high, and errors occurring in the using process can be reduced are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of industrial cantilever manipulators, in particular to a cantilever manipulator. Background Art

[0002] With the continuous development of automation technology, cantilever manipulators are increasingly used in industrial production, precision operations and many other fields. Cantilever manipulators can perform high-precision movement and operations in a limited space, and are particularly suitable for tasks that require complex direction adjustment and precise positioning. However, existing cantilever manipulator systems face a series of challenges during operation, mainly including the impact caused by inertia, the difficulty of precise control, and the wear and stability problems during long-term use.

[0003] The existing cantilever manipulator with the publication number CN107322580A forms a parallelogram structure with the bearing mounting seat, the fixing rod, the connecting plate and the rotating shaft. When the bearing mounting seat slides on the vertical slide rail bracket, the shaking caused by the vertical up and down movement of the rotating shaft is reduced. However, the accuracy cannot be maintained after the equipment is used for a long time. After high load or rapid movement, it will face the influence of inertial torque, resulting in equipment vibration and increased component wear, which in turn affects the stability and accuracy of the system. In addition, due to the friction and vibration between the movements of the various components, the long-term use of the system often accelerates the loss of the motor and the fatigue of the components, reducing the service life of the overall equipment.

[0004] Therefore, it is necessary to design a cantilever manipulator that is highly practical and can reduce errors that occur during use. Summary of the invention

[0005] The object of the present invention is to provide a cantilever manipulator to solve the problems raised in the above background technology.

[0006] To solve the above technical problems, the present invention provides the following technical solution: a cantilever manipulator, including a mounting frame, a first motor is fixedly connected to the upper side of the mounting frame, the output end of the first motor is fixedly connected to a threaded column, the lower end of the threaded column penetrates through the mounting frame and is rotatably connected to the upper surface of the lower side of the mounting frame through a bearing, a sliding frame is threadedly connected to the outer wall of the threaded column, the outer wall of the sliding frame is slidably connected to the inner wall of the mounting frame, a guide rail is slidably connected to the front side of the sliding frame, a moving pile is slidably connected to the outer wall of the guide rail, a detection mechanism is arranged on the upper side of the moving pile, a connecting column is fixedly connected to the lower end of the moving pile, a damping mechanism is arranged on the lower side inside the connecting column, a mounting table is fixedly connected to the lower end of the connecting column, a rotary clamp is rotatably connected to the inner wall of the mounting table through a bearing, a side plate is fixedly connected to the upper surface of the mounting table, the side wall of the side plate is fixedly connected to the outer wall of the connecting column, a second motor is arranged at the rear end of the rotary clamp, the outer wall of the second motor is fixedly connected to the outer wall of the mounting table, and the output end of the second motor is fixedly connected to the rear side of the rotary clamp. A transmitting module is fixedly connected to the outer wall of the lower side of the mounting frame.

[0007] According to the above technical solution, the outer wall of the guide rail is connected to the front side of the sliding frame through a linear motor, and the outer wall of the guide rail is connected to the outer wall of the moving pile through a linear motor. The second motor, the linear motors at the connections of the guide rail and the moving pile, the linear motor at the connection of the guide rail and the sliding frame, and the first motor are all electrically connected to the transmitting module, and a sliding opening is formed on the upper side of the sliding frame.

[0008] According to the above technical solution, the detection mechanism includes a mounting seat, the outer wall of the mounting seat is fixedly connected to the upper surface of the rear end of the guide rail, the upper end of the mounting seat extends to the outside of the upper side of the sliding frame through the sliding opening, a fixed table is rotatably connected to the upper side outer wall of the mounting seat through a bearing, a gear is fixedly connected to the outer wall of the fixed table, a third motor is fixedly connected to the side wall of the mounting seat, the output end of the third motor is fixedly connected to a transmission wheel, the outer wall of the transmission wheel is engaged with the outer wall of the gear, a laser displacement sensor is fixedly connected to the inner wall of the fixed table, and first laser reflection plates are arranged at both ends of the sliding frame, and a second laser reflection plate is arranged on the upper side of the moving pile.

[0009] According to the above technical solution, fourth motors are fixedly connected to both ends of the carriage, the outer wall of the output end of the fourth motor is fixedly connected to the inner wall of the first laser reflector, an installation groove is formed in the upper side of the moving pile, a rotating column is fixedly connected to the inner wall of the installation groove, the outer wall of the rotating column is rotationally connected to the inner wall of the second laser reflector through a bearing, a fifth motor is further fixedly connected to the outer wall of the moving pile, the output end of the fifth motor is fixedly connected to a connecting cylinder, one end of the connecting cylinder extends into the interior of the installation groove, a pressing plate is fixedly connected to the outer wall of the end of the connecting cylinder located inside the installation groove, a counterweight is fixedly connected to the lower surface of the rear end of the second laser reflector, and the upper surface of the front side of the pressing plate is in contact with the lower side of the counterweight.

[0010] According to the above technical solution, the damping mechanism includes an installation cavity, the installation cavity is a cavity formed in the lower side inside the connecting column, a pulling wire is fixedly connected to the upper side of the inner wall of the installation cavity, a damping block is fixedly connected to the lower end of the pulling wire, a conductive ring is fixedly connected to the middle part of the inner wall of the installation cavity where the damping block is located, a connecting pipe is fixedly connected to the side wall of the connecting column at the upper part of the installation cavity, the connecting pipe communicates the interior of the installation cavity with the outside of the installation cavity, and an alarm is inserted into the interior of the connecting pipe.

[0011] The damping block and the conductive ring are respectively electrically connected to the alarm, the interior of the installation cavity is pre-filled with liquid, the liquid level height is consistent with the upper surface of the damping block, and the alarm is electrically connected to the transmitting module.

[0012] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: by providing viscous liquid and a damping block, the present invention can reduce the inertial torque generated when the connecting column stops instantaneously after rapid movement, avoid the impact caused by inertia, reduce the shaking of the connecting column and the lower structure due to inertia, and ensure that the equipment stops more smoothly.

[0013] By providing a linear motor-driven guide rail, a moving pile and a second motor, the rotary fixture platform can be accurately moved in the front-back, left-right, and up-down directions and complete a rotary motion, ensuring high-precision operation of the platform in all directions, improving flexibility, and ensuring efficient and stable work.

[0014] By providing the engagement of a transmission wheel and a gear, the laser displacement sensor at the laser emission end can be driven to rotate to the positions of the first laser reflector and the second laser reflector, ensuring that the laser source accurately irradiates the target position, avoiding the influence of deformation or deflection on the detection accuracy, improving the stability and detection accuracy of the system in a dynamic environment, facilitating rapid maintenance, and thus reducing the error in use.

[0015] By setting an alarm, it is possible to trigger the alarm when the shaking amplitude of the connecting column and the damping block is too large, detect abnormalities in a timely manner, send signals to the receiving terminal, activate the safety mechanism, effectively avoid equipment damage, improve the safety and reliability of the system, reduce the risk of failure, and ensure the long-term stable operation of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0017] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0018] Figure 2 is a partial structural schematic diagram of the present invention;

[0019] Figure 3 is a structural schematic diagram of the carriage of the present invention;

[0020] Figure 4 is a partial structural schematic diagram of the detection mechanism of the present invention;

[0021] Figure 5 is a structural schematic diagram of the mounting base of the present invention;

[0022] Figure 6 is a structural schematic diagram of the moving pile of the present invention;

[0023] Figure 7 is a structural schematic diagram of the damping mechanism of the present invention;

[0024] In the figure: 1, mounting frame; 2, first motor; 3, threaded column; 4, carriage; 5, guide rail; 6, moving pile; 7, detection mechanism; 8, connecting column; 9, mounting table; 10, rotary clamp; 11, side plate; 12, second motor; 13, damping mechanism; 14, transmitting module; 701, mounting base; 702, fixed table; 703, gear; 704, third motor; 705, transmission wheel; 706, laser displacement sensor; 707, fourth motor; 708, first laser reflector; 709, mounting groove; 710, rotating column; 711, second laser reflector; 712, fifth motor; 713, connecting tube; 714, pressing plate; 715, counterweight; 301, mounting cavity; 302, pull wire; 303, damping block; 304, connecting pipe; 305, conductive ring; 306, alarm. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Please refer to Figures 1-7 , the present invention provides a technical solution: a cantilever manipulator, including a mounting frame 1, a first motor 2 is fixedly connected to the upper side of the mounting frame 1, the output end of the first motor 2 is fixedly connected to a threaded column 3, the lower end of the threaded column 3 penetrates through the mounting frame 1 and is rotatably connected to the upper surface of the lower side of the mounting frame 1 through a bearing, a sliding frame 4 is threadedly connected to the outer wall of the threaded column 3, the outer wall of the sliding frame 4 is slidably connected to the inner wall of the mounting frame 1, a guide rail 5 is slidably connected to the front side of the sliding frame 4, a moving pile 6 is slidably connected to the outer wall of the guide rail 5, a detection mechanism 7 is arranged on the upper side of the moving pile 6, a connecting column 8 is fixedly connected to the lower end of the moving pile 6, a damping mechanism 13 is arranged on the lower side inside the connecting column 8, a mounting table 9 is fixedly connected to the lower end of the connecting column 8, a rotating fixture 10 is rotatably connected to the inner wall of the mounting table 9 through a bearing, a side plate 11 is fixedly connected to the upper surface of the mounting table 9, the side wall of the side plate 11 is fixedly connected to the outer wall of the connecting column 8, a second motor 12 is arranged at the rear end of the rotating fixture 10, the outer wall of the second motor 12 is fixedly connected to the outer wall of the mounting table 9, the output end of the second motor 12 is fixedly connected to the rear side of the rotating fixture 10, a transmitting module 14 is fixedly connected to the outer wall of the lower side of the mounting frame 1, the outer wall of the guide rail 5 is connected to the front side of the sliding frame 4 through a linear motor, and the outer wall of the guide rail 5 is connected to the outer wall of the moving pile 6 through a linear motor, and the second motor 12, the linear motors at the joints of the guide rail 5 and the moving pile 6, the linear motors at the joints of the guide rail 5 and the sliding frame 4, and the first motor 2 are all electrically connected to the transmitting module 14, and a sliding opening is formed on the upper side of the sliding frame 4;

[0027] During the use of this device, the operating platform is installed on the front side of the rotating fixture 10. The guide rail 5 is driven to move on the sliding frame 4 through the linear motor, and the moving pile 6 is driven to move on the guide rail 5 through the linear motor. The threaded column 3 is driven to rotate by the first motor 2, so that the sliding frame 4 can move up and down on the mounting frame 1, and then the rotating fixture 10 can complete the movement in the front-back, left-right, and up-down directions. And through the drive of the second motor 12, the rotating fixture 10 can be rotated, so that the rotating fixture 10 can support the working platform to work stably;

[0028] The detection mechanism 7 includes a mounting base 701. The outer wall of the mounting base 701 is fixedly connected to the upper surface of the rear end of the guide rail 5. The upper end of the mounting base 701 extends to the outside of the upper side of the carriage 4 through a sliding opening. The upper side of the outer wall of the mounting base 701 is rotatably connected to a fixed platform 702 through a bearing. The outer wall of the fixed platform 702 is fixedly connected to a gear 703. The side wall of the mounting base 701 is fixedly connected to a third motor 704. The output end of the third motor 704 is fixedly connected to a transmission wheel 705. The outer wall of the transmission wheel 705 meshes with the outer wall of the gear 703. The inner wall of the fixed platform 702 is fixedly connected to a laser displacement sensor 706. First laser reflectors 708 are provided at both ends of the carriage 4. A second laser reflector 711 is provided on the upper side of the moving pile 6. Fourth motors 707 are fixedly connected to both ends of the carriage 4. The outer wall of the output end of the fourth motor 707 is fixedly connected to the inner wall of the first laser reflector 708. An installation groove 709 is formed on the upper side of the moving pile 6. A rotating column 710 is fixedly connected to the inner wall of the installation groove 709. The outer wall of the rotating column 710 is rotatably connected to the inner wall of the second laser reflector 711 through a bearing. A fifth motor 712 is also fixedly connected to the outer wall of the moving pile 6. The output end of the fifth motor 712 is fixedly connected to a connecting cylinder 713. One end of the connecting cylinder 713 extends into the interior of the installation groove 709. A pressing plate 714 is fixedly connected to the outer wall of the end of the connecting cylinder 713 located inside the installation groove 709. A counterweight 715 is fixedly connected to the lower surface of the rear end of the second laser reflector 711. The upper surface of the front side of the pressing plate 714 contacts the lower side of the counterweight 715;

[0029] By providing a third motor 704, the third motor 704 can drive the driving wheel 705 to rotate. Since the outer wall of the gear 703 meshes with the outer wall of the driving wheel 705, the rotation of the driving wheel 705 will drive the gear 703 to rotate, enabling the gear 703 to drive the laser displacement sensor 706 to rotate the laser emission end to positions corresponding to the first laser reflector 708 and the second laser reflector 711 respectively. During the operation of the device, both the first laser reflector 708 and the second laser reflector 711 remain in a horizontal state. When detection is required, the fourth motor 707 is activated to deflect the first laser reflector 708 to an upright state, allowing the light source of the laser displacement sensor 706 to irradiate on the first laser reflector 708. Meanwhile, the fifth motor 712 drives the pressing plate 714 to deflect downward. Since the upper side of the pressing plate 714 is far from the lower side of the counterweight 715, the lower side of the counterweight 715 loses support. Consequently, due to the weight of the counterweight 715, the second laser reflector 711 is driven to deflect and stand upright, enabling the laser displacement sensor 706 to irradiate on the second laser reflector 711. Moreover, since the second laser reflector 711 is deflected by the gravitational force of the counterweight 715, the second laser reflector 711 is in a vertical state at this time, which can avoid the skew of the second laser reflector 711 caused by the deformation of the guide rail 5 during operation, thereby improving the detection accuracy. After the detection is completed, the fifth motor 712 can drive the pressing plate 714 to deflect upward, and then the pressing plate 714 supports the counterweight 715 to make the second laser reflector 711 return to the horizontal state and retract into the installation groove 709, preventing the second laser reflector 711 from obstructing the movement of the moving pile 6;

[0030] The damping mechanism 13 includes an installation cavity 301, which is a cavity opened in the lower side of the connecting column 8. The upper side of the inner wall of the installation cavity 301 is fixedly connected with a wire 302, and the lower end of the wire 302 is fixedly connected with a damping block 303. The inner wall of the installation cavity 301 at the middle part of the damping block 303 is fixedly connected with a conductive ring 305. The side wall of the connecting column 8 at the upper part of the installation cavity 301 is fixedly connected with a connecting pipe 304. The connecting pipe 304 communicates the inside of the installation cavity 301 with the outside of the installation cavity 301. An alarm 306 is inserted into the connecting pipe 304. The damping block 303 and the conductive ring 305 are respectively electrically connected to the alarm 306. The installation cavity 301 is pre-filled with liquid, and the liquid level height is consistent with the upper surface of the damping block 303. Moreover, the alarm 306 is electrically connected to the transmitting module 14;

[0031] By providing the connecting column 8, during the use of the device, the torsion caused by the inertia of the connecting column 8 and the structure at the lower end of the connecting column 8 when the connecting column 8 moves quickly and then stops instantly can be reduced through the swinging of the damping block 303 in the viscous liquid. Moreover, due to the resistance of the viscous liquid, the swaying of the damping block 303 and the connecting column 8 after stopping will be reduced, thereby increasing the service life of the connecting column 8 and reducing the loss of each linear motor of the device;

[0032] When the abnormal operation of the device causes the swaying amplitude of the connecting column 8 and the damping block 303 to be too large, the damping block 303 will hit the conductive ring 305 due to the swaying, thus triggering the alarm 306 to generate an alarm. At the same time, the alarm 306 sends an alarm to the receiving terminal through the transmitting module 14, so as to enable it to detect the abnormality in time.

[0033] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device.

[0034] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A cantilever manipulator, comprising a mounting frame (1), a first motor (2) being fixedly connected to the upper side of the mounting frame (1), a threaded column (3) being fixedly connected to the output end of the first motor (2), a lower end of the threaded column (3) passing through the mounting frame (1) and being rotatably connected to the lower upper surface of the mounting frame (1) through a bearing, a slide (4) being threadedly connected to the outer wall of the threaded column (3), an outer wall of the slide (4) being slidably connected to the inner wall of the mounting frame (1), a guide rail (5) being slidably connected to the front side of the slide (4), and a moving pile (6) being slidably connected to the outer wall of the guide rail (5), characterized in that: A detection mechanism (7) is arranged on the upper side of the movable pile (6); a connecting column (8) is fixedly connected to the lower end of the movable pile (6); a damping mechanism (13) is arranged on the lower inner side of the connecting column (8); a mounting platform (9) is fixedly connected to the lower end of the connecting column (8); a rotating fixture (10) is rotatably connected to the inner wall of the mounting platform (9) through a bearing; a side plate (11) is fixedly connected to the upper surface of the mounting platform (9); a side wall of the side plate (11) is fixedly connected to the outer wall of the connecting column (8); a second motor (12) is arranged at the rear end of the rotating fixture (10); an outer wall of the second motor (12) is fixedly connected to the outer wall of the mounting platform (9); an output end of the second motor (12) is fixedly connected to the rear side of the rotating fixture (10); and a transmitting module (14) is fixedly connected to the lower outer wall of the mounting frame (1).

2. A cantilever manipulator according to claim 1, characterized in that: The outer wall of the guide rail (5) is connected to the front side of the slide (4) through a linear motor, and the outer wall of the guide rail (5) is connected to the outer wall of the movable pile (6) through a linear motor. The second motor (12), the linear motor at the connection between the guide rail (5) and the movable pile (6), the linear motor at the connection between the guide rail (5) and the slide (4), and the first motor (2) are all electrically connected to the transmitting module (14), and a sliding opening is provided on the upper side of the slide (4).

3. A cantilever manipulator according to claim 2, characterized in that: The detection mechanism (7) comprises a mounting seat (701), the outer wall of the mounting seat (701) is fixedly connected to the upper surface of the rear end of the guide rail (5), the upper end of the mounting seat (701) extends to the upper side of the slide (4) through a sliding mouth, the upper side of the outer wall of the mounting seat (701) is rotatably connected to a fixed platform (702) through a bearing, the outer wall of the fixed platform (702) is fixedly connected to a gear (703), the side wall of the mounting seat (701) is fixedly connected to a third motor (704), the output end of the third motor (704) is fixedly connected to a transmission wheel (705), the outer wall of the transmission wheel (705) is meshed with the outer wall of the gear (703), the inner wall of the fixed platform (702) is fixedly connected to a laser displacement sensor (706), and first laser reflection plates (708) are provided at both ends of the slide (4), and a second laser reflection plate (711) is provided on the upper side of the movable pile (6).

4. A cantilever manipulator according to claim 3, characterized in that: The two ends of the slide (4) are fixedly connected with a fourth motor (707), the outer wall of the output end of the fourth motor (707) is fixedly connected with the inner wall of the first laser reflection plate (708), the upper side of the movable pile (6) is provided with a mounting groove (709), the inner wall of the mounting groove (709) is fixedly connected with a rotating column (710), the outer wall of the rotating column (710) is rotatably connected with the inner wall of the second laser reflection plate (711) through a bearing, and the outer wall of the movable pile (6) is also fixedly connected with a fifth motor (707). The output end of the fifth motor (712) is fixedly connected to a connecting tube (713), one end of the connecting tube (713) extends to the inside of the mounting groove (709), and the outer wall of one end of the connecting tube (713) located inside the mounting groove (709) is fixedly connected to a pressure plate (714), and the lower surface of the rear end of the second laser reflection plate (711) is fixedly connected to a counterweight (715), and the upper surface of the front side of the pressure plate (714) is in contact with the lower side of the counterweight (715).

5. A cantilever manipulator according to claim 4, characterized in that: The damping mechanism (13) comprises an installation cavity (301), the installation cavity (301) being a cavity opened at the lower side of the interior of the connecting column (8), a pull wire (302) being fixedly connected to the upper side of the inner wall of the installation cavity (301), a damping block (303) being fixedly connected to the lower end of the pull wire (302), a conductive ring (305) being fixedly connected to the inner wall of the installation cavity (301) at the middle of the damping block (303), a connecting tube (304) being fixedly connected to the side wall of the connecting column (8) at the upper part of the installation cavity (301), the connecting tube (304) connecting the interior of the installation cavity (301) with the outside of the installation cavity (301), and an alarm (306) being plugged into the interior of the connecting tube (304).

6. A cantilever manipulator according to claim 5, characterized in that: The damping block (303) and the conductive ring (305) are electrically connected to the alarm (306) respectively, the installation cavity (301) is pre-filled with liquid, the liquid level is consistent with the upper surface of the damping block (303), and the alarm (306) is electrically connected to the transmitting module (14).

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