Inverted hanging type manipulator

Abstract

The utility model provides an inverted hanging type mechanical arm which comprises a clamping block, a left-right displacement assembly, an up-down displacement assembly and a front-back displacement assembly. The left-right displacement assembly comprises a left-right beam and a first sliding block, a first guide rail is fixedly arranged on the left-right beam, and a first driving part is arranged on the first sliding block; the vertical displacement assembly comprises a stand column, a second guide rail arranged on the stand column and a second driving part arranged on the stand column, and a second sliding block is arranged on the second guide rail in a sliding mode; the front-back displacement assembly comprises a front-back arm and a front-back mounting base, the front-back arm is provided with a third guide rail, a third sliding block is slidably arranged on the third guide rail, and a third driving part is arranged on the front-back arm. According to the mechanical arm, the position of the clamping block can be adjusted, a large object can be clamped more stably, meanwhile, the reliability of the mechanical arm is further improved through the arrangement of the balance air cylinder, the anti-collision block and the like, and the safety of operators is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an inverted manipulator. Background Art

[0002] The inverted manipulator is also commonly known as a hanging manipulator, which is usually fixed on a beam to grab and clamp objects below to carry or perform other operations. The inverted manipulator is usually used in scenarios where manual handling is difficult to achieve the requirements of transferring heavy and irregular loads, so that operators can reduce labor intensity and improve work efficiency. For example, the Chinese utility model patent with announcement number CN220074710U discloses a side-mounted three-axis manipulator, including a support leg, a displacement rod is installed on the top of the support leg, a displacement mechanism is installed on the displacement rod, a cross bar is installed on the displacement mechanism, a column is installed on the cross bar, a lifting mechanism is installed on the column, a clamping box is installed on the lifting mechanism, and a driving mechanism is installed at the bottom of the column. This solution facilitates the grabbing of objects by fine-tuning the manipulator, and the electric push rod in the starting position drives the movable plate to move downward, thereby driving the clamping rod to slide on the metal block, so that the clamping rod on the movable plate clamps the goods, which is labor-saving and convenient and not easy to damage. This solution is not very suitable for clamping and transporting large objects. Utility Model Content

[0003] The purpose of the utility model is to provide an inverted hanging manipulator capable of clamping and carrying large objects in view of the deficiencies existing in the above-mentioned background technology.

[0004] In order to achieve the above-mentioned purpose, the utility model provides an inverted hanging manipulator, including a clamping block, a left-right displacement component, an up-and-down displacement component, and a front-and-back displacement component;

[0005] The left-right displacement assembly includes left-right beams and a first slider, the clamping block is fixedly connected to the left-right beams, a first guide rail is fixedly provided on the left-right beams, the first slider is slidably connected to the first guide rail, and a first driving unit is provided on the first slider, and the first driving unit is used to drive the first slider to move relative to the left-right beams;

[0006] The up-and-down displacement assembly includes a column, a second guide rail arranged on the column, and a second driving unit arranged on the column, a second slider is slidably arranged on the second guide rail, the second slider is fixedly connected to the first slider, and the second driving unit is used to drive the first slider to move relative to the second guide rail;

[0007] The front-rear displacement assembly comprises front and rear arms and front and rear mounting seats, the front and rear arms are provided with a third guide rail, a third slider is slidably provided on the third guide rail, the third slider is fixedly connected to the front and rear mounting seats, the front and rear mounting seats are connected to the column, and a third driving part is provided on the front and rear arms, and the third driving part is used to drive the front and rear mounting seats to displace relative to the third guide rail;

[0008] The front-rear displacement assembly further includes front and rear beams, the ends of which are fixedly connected to the front and rear arms to connect the front and rear arms at the front and rear positions into one.

[0009] Furthermore, the first driving unit includes a first rack arranged on the left and right beams, a first gear and a first motor arranged on the first sliding block, the first gear is meshed with the first rack, and the first motor is transmission-connected with the first gear.

[0010] Furthermore, a limit base is provided on the left and right beams, and a first anti-collision block is provided on the first sliding block, and the first anti-collision block corresponds to the limit base.

[0011] Furthermore, the second driving part includes a screw rod, a nut and a second motor, the screw rod is rotationally connected to the column, the second motor is transmission-connected to the screw rod, the nut is fixedly connected to the first slider, and the nut is threadably matched with the screw rod.

[0012] Furthermore, the up-and-down displacement assembly further comprises a balancing cylinder, the piston rod end of the balancing cylinder is connected to the column, and the cylinder body of the balancing cylinder is connected to the first sliding block.

[0013] Furthermore, the first driving part includes a third rack arranged on the front and rear arms, and a third gear and a third motor arranged on the front and rear mounting seats, the third gear is meshed with the third rack, and the third motor is transmission connected with the third gear.

[0014] Furthermore, the front and rear beams are also provided with a tightening clamp, and the tightening clamp is used for installing the robot.

[0015] The above solution of the utility model has the following beneficial effects:

[0016] The inverted manipulator provided by the utility model can adjust the position of the clamping block through the arrangement of the left and right displacement components, the up and down displacement components and the front and back displacement groups, so that large objects can be clamped more stably. At the same time, the reliability of the manipulator is further improved through the arrangement of the balancing cylinder, the anti-collision block, etc., and the safety of the operator is improved.

[0017] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 It is a schematic diagram of the left and right displacement components of the utility model;

[0020] Figure 3 It is a schematic diagram of the up and down displacement component of the utility model;

[0021] Figure 4 It is a schematic diagram of the front and rear displacement components of the utility model.

[0022] [Description of Reference Numerals]

[0023] 10-clamping block; 20-left and right displacement assembly; 21-left and right beams; 22-first slider; 23-first guide rail; 24-first rack; 25-first gear; 26-first motor; 27-limiting base; 28-first anti-collision block; 30-up and down displacement assembly; 31-column; 32-second guide rail; 33-second slider; 34-screw rod; 35-nut; 36-second motor; 37-balancing cylinder; 40-front and rear displacement assembly; 41-front and rear arms; 42-front and rear mounting seats; 43-third guide rail; 44-third slider; 45-third rack; 46-third gear; 47-third motor; 48-third anti-collision block; 49-front and rear beams; 410-tightening clamp. DETAILED DESCRIPTION

[0024] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are provided in the drawings. However, the present application can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0025] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0026] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application 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 application.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0029] like Figure 1 As shown, an embodiment of the utility model provides an inverted manipulator, including a clamping block 10, a left-right displacement assembly 20, an up-and-down displacement assembly 30 and a front-and-back displacement assembly 40.

[0030] At the same time Figure 2 As shown, the clamping block 10 is connected to the left-right displacement assembly 20, and the left-right displacement assembly 20 includes left-right beams 21 and a first slider 22. The clamping block 10 is fixedly arranged at both ends of the left-right beams 21. The left-right beams 21 are fixedly provided with a first guide rail 23, and the first slider 22 is slidably connected to the first guide rail 23. At the same time, the left-right beams 21 are also provided with a first rack 24, and the first slider 22 is provided with a first gear 25 and a first motor 26. The first gear 25 is meshed with the first rack 24, and the first motor 26 is transmission-connected with the first gear 25 (through a reducer, etc.) to drive the first gear 25 to rotate, so that the first gear 25 moves along the first rack 24, and the first slider 22 is displaced relative to the left-right beams 21.

[0031] The first slider 22 is connected to the up-and-down displacement assembly 30 , so when the first motor 26 is driven, the left and right beams 21 and the clamping block 10 can move left and right to adjust the left and right positions to clamp the object.

[0032] As a preferred embodiment, in this embodiment, a limit base 27 is further provided on the left and right beams 21, and a first anti-collision block 28 is provided on the first slider 22. The first anti-collision block 28 corresponds to the limit base 27 to limit the range of movement of the first slider 22 relative to the first guide rail 23, that is, the range of left and right movement of the left and right beams 21, to prevent them from leaving the device. Among them, a limit rubber pad made of elastic material can be provided on the limit base 27 to buffer and avoid hard collision.

[0033] At the same time Figure 3 As shown, the up-down displacement assembly 30 includes a column 31, a second guide rail 32 arranged on the column 31, and a screw drive mechanism arranged on the column 31. Among them, a second slider 33 is slidably arranged on the second guide rail 32, and the second slider 33 is fixedly connected to the first slider 22. The screw drive mechanism includes a screw rod 34, a nut 35 and a second motor 36, the screw rod 34 is rotatably connected to the column 31, the second motor 36 is transmission-connected to the screw rod 34 (through a reducer, etc.) to drive the screw rod 34 to rotate, and the nut 35 is fixedly connected to the first slider 22 and is threadedly matched with the screw rod 34, so that the first slider 22 is driven to move by the rotation of the screw rod 34. Based on the fact that the second guide rail 32, the screw rod 34, etc. are all arranged in the up-down direction, the left-right displacement assembly 20 can be driven to move up and down. It should be noted that in order to improve the compactness of the structure, the screw drive mechanism is arranged inside the column 31 as a whole, and a groove is provided on one side of the column 31, through which the nut 35 can be connected to the first slider 22.

[0034] As a preferred embodiment, the up and down displacement assembly 30 in this embodiment also includes a gravity balancing mechanism, which includes a balancing cylinder 37. The piston rod end of the balancing cylinder 37 is connected to the column 31, and the cylinder body of the balancing cylinder 37 is connected to the first slider 22. The air pressure of the balancing cylinder 37 is used to offset a portion of the gravity on the first slider 22, so that the screw drive mechanism can more reliably and smoothly drive the first slider up and down, and the reliability is significantly improved, especially for heavy objects.

[0035] At the same time Figure 4 As shown, the front-to-back displacement assembly 40 includes a front-to-back arm 41 and a front-to-back mounting seat 42. The front-to-back arm 41 is provided with a third guide rail 43, on which a third slider 44 is slidably provided, and the third slider 44 is fixedly connected to the front-to-back mounting seat 42, and the front-to-back mounting seat 42 is used to mount the column 31 of the up-down displacement assembly 30. The front-to-back arm 41 is also provided with a third rack 45, and the front-to-back mounting seat 42 is provided with a third gear 46 and a third motor 47, the third gear 46 is meshed with the third rack 45, and the third motor 47 is transmission-connected with the third gear 46 (through a reducer, etc.) to drive the third gear 46 to rotate, so that the third gear 46 moves along the third rack 45, and the front-to-back mounting seat 42 is displaced relative to the front-to-back arm 41.

[0036] As a preferred embodiment, in this embodiment, a third anti-collision block 48 is further provided on the front and rear arms 41 to limit the range of movement of the front and rear mounting seats 42 relative to the third guide rail 43, that is, the range of forward and backward movement of the front and rear mounting seats 42 to prevent them from detaching from the device. Of course, a soft cushion or the like can also be provided on the third anti-collision block 48 to prevent hard collision.

[0037] In this embodiment, the third guide rail 43, the third rack 45, etc. are arranged on the outer surface of the front and rear arms 41. The front and rear displacement assembly 40 also includes a front and rear beam 49, the ends of which are fixedly connected to the front and rear arms 41 to connect the front and rear arms 41 at the front and rear positions into one body, and the front and rear clamping blocks 10 can be in a suitable adjustment range to clamp the object in the middle. At the same time, a top clamp 410 is also provided on the front and rear beam 49, and the top clamp 410 enables the entire manipulator to be installed upside down.

[0038] In summary, the inverted manipulator provided in this embodiment can adjust the position of the clamping block 10 through the setting of the left and right displacement components 20, the up and down displacement components 30 and the front and back displacement components 40, so that large objects can be clamped more stably. At the same time, the reliability of the manipulator is further improved by the setting of the balancing cylinder 37, anti-collision blocks, etc.

[0039] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0040] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An inverted manipulator, characterized in that: It comprises a clamping block (10), a left-right displacement component (20), an up-down displacement component (30) and a front-back displacement component (40); The left-right displacement assembly (20) comprises left-right beams (21) and a first slider (22); the clamping block (10) is fixedly connected to the left-right beams (21); the left-right beams (21) are fixedly provided with a first guide rail (23); the first slider (22) is slidably connected to the first guide rail (23); the first slider (22) is provided with a first driving unit, and the first driving unit is used to drive the first slider (22) to displace relative to the left-right beams (21); The up-and-down displacement assembly (30) comprises a column (31), a second guide rail (32) arranged on the column (31), and a second driving unit arranged on the column (31); a second slider (33) is slidably arranged on the second guide rail (32); the second slider (33) is fixedly connected to the first slider (22); and the second driving unit is used to drive the first slider (22) to move relative to the second guide rail (32); The front-rear displacement assembly (40) comprises a front-rear arm (41) and a front-rear mounting seat (42); the front-rear arm (41) is provided with a third guide rail (43); a third slider (44) is slidably provided on the third guide rail (43); the third slider (44) is fixedly connected to the front-rear mounting seat (42); the front-rear mounting seat (42) is connected to the column (31); a third driving unit is provided on the front-rear arm (41); the third driving unit is used to drive the front-rear mounting seat (42) to displace relative to the third guide rail (43); The front-rear displacement assembly (40) further comprises a front-rear beam (49), wherein the front-rear beam (49) is fixedly connected to the front-rear arms (41) so as to connect the front-rear arms (41) at the front and rear positions into one body.

2. The inverted robot according to claim 1, characterized in that: The first driving unit comprises a first rack (24) arranged on the left and right beams (21), a first gear (25) and a first motor (26) arranged on the first slider (22), the first gear (25) meshing with the first rack (24), and the first motor (26) being transmission-connected with the first gear (25).

3. The inverted robot according to claim 1, characterized in that: A limit base (27) is also provided on the left and right beams (21), and a first anti-collision block (28) is provided on the first sliding block (22), wherein the first anti-collision block (28) corresponds to the limit base (27).

4. The inverted robot according to claim 1, characterized in that: The second driving part comprises a screw rod (34), a nut (35) and a second motor (36); the screw rod (34) is rotationally connected to the column (31); the second motor (36) is transmission-connected to the screw rod (34); the nut (35) is fixedly connected to the first slider (22); and the nut (35) is threadably matched with the screw rod (34).

5. The inverted robot according to claim 1, characterized in that: The up-and-down displacement assembly (30) further comprises a balancing cylinder (37), the piston rod end of the balancing cylinder (37) being connected to the column (31), and the cylinder body of the balancing cylinder (37) being connected to the first sliding block (22).

6. The inverted robot according to claim 1, characterized in that: The first driving unit comprises a third rack (45) arranged on the front and rear arms (41), and a third gear (46) and a third motor (47) arranged on the front and rear mounting seats (42); the third gear (46) is meshed with the third rack (45), and the third motor (47) is transmission-connected with the third gear (46).

7. The inverted robot according to claim 1, characterized in that: The front and rear beams (49) are also provided with a tightening clamp (410), and the tightening clamp (410) is used for installing a robot.

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