A multi-stage lifting manipulator

Abstract

The utility model relates to the technical field of manipulators, and in particular to a multi-stage lifting manipulator, comprising a fixed base, a first hydraulic cylinder is fixedly installed in the middle of the top side of the fixed base, an output end of the first hydraulic cylinder is fixedly connected to a moving shell with a hollow structure inside, a motor mounting seat is fixedly connected to one side of the moving shell, and a first motor is fixedly installed on the top side of the motor mounting seat. The advantages of the utility model are: through the coordinated arrangement of the first steel, the moving shell, the motor mounting seat, the first motor, the first screw rod, the lifting plate, the T-shaped lifting seat, the second motor, the second screw rod, the guide slider, the mounting seat, the second hydraulic cylinder, the mounting plate and the pneumatic clamp, the manipulator structure can perform a four-stage lifting operation, and the height of the pneumatic clamp can be adjusted four times, so that the manipulator can clamp workpieces of more heights, expand the scope of application of the manipulator, and improve the practicality and structural flexibility of the manipulator.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a multi-stage lifting manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It can be programmed to complete various expected operations, and has the advantages of both human and mechanical machines in terms of structure and performance. The manipulator is the earliest industrial robot and the earliest modern robot. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry and atomic energy.

[0003] Most of the manipulators in the prior art use a height adjustment structure to adjust the height of the mechanical claw, which limits the range of the mechanical claw that can be raised and lowered. In the process of moving the workpiece by the manipulator, the mechanical claw needs to clamp the workpiece, and the limited height adjustment of the mechanical claw limits the height at which the existing manipulator can clamp the workpiece, thereby reducing the practicality of the manipulator. Therefore, a multi-stage lifting manipulator is needed to solve the above problem. Utility Model Content

[0004] The purpose of the present invention is to solve at least one of the above technical deficiencies.

[0005] Therefore, one purpose of the present invention is to provide a multi-stage lifting manipulator to solve the problems mentioned in the background technology and overcome the deficiencies in the prior art.

[0006] In order to achieve the above-mentioned objectives, an embodiment of the utility model on one hand provides a multi-stage lifting manipulator, comprising a fixed base, a first hydraulic cylinder is fixedly installed in the middle of the top side of the fixed base, the output end of the first hydraulic cylinder is fixedly connected to a moving shell with a hollow structure inside, one side of the moving shell is fixedly connected to a motor mounting seat, a first motor is fixedly installed on the top side of the motor mounting seat, the output end of the first motor is fixedly connected to a first screw rod, the outer surface of the first screw rod is threadedly connected to a lifting plate, one end of the lifting plate is fixedly connected to a T-shaped lifting seat, a second motor is fixedly installed on the top side of the T-shaped lifting seat, the output end of the second motor is fixedly connected to a second screw rod, the outer surface of the second screw rod is threadedly connected to a guide slider, one end of the guide slider is fixedly connected to a mounting seat, a second hydraulic cylinder is fixedly installed on one side of the mounting seat, the output end of the second hydraulic cylinder is fixedly connected to a mounting plate, and a pneumatic clamp is fixedly installed on the bottom side of the mounting plate.

[0007] Preferably, any of the above schemes has a guide seat fixedly mounted on the top side of the fixed base, a guide slot is provided on one side of the guide seat, and a guide slide plate fixedly connected to the movable shell is slidably connected to the inner wall of the guide slot.

[0008] Preferably, any of the above schemes is that a guide rod is fixedly connected to the bottom side of the motor mounting seat, the guide rod passes through the lifting plate, and the lifting plate is slidably connected to the guide rod.

[0009] Preferably, any of the above schemes is that a guide groove is provided on one side of the T-shaped lifting seat, and the guide sliding block is slidably connected to the guide groove.

[0010] Preferably, any of the above schemes has a stabilizing seat fixedly mounted on the bottom of one side of the movable shell, the first screw rod is rotatably connected to the motor mounting seat via a bearing, and the bottom end of the first screw rod is rotatably connected to the stabilizing seat via a bearing.

[0011] Preferably, any of the above schemes has a T-shape in shape of the guide slide plate and the guide slide groove, and the guide slide plate is matched to the guide slide groove in size.

[0012] Compared with the prior art, the advantages and beneficial effects of the utility model are:

[0013] Through the coordinated arrangement of the first steel bar, the movable shell, the motor mounting seat, the first motor, the first screw rod, the lifting plate, the T-shaped lifting seat, the second motor, the second screw rod, the guide slider, the mounting seat, the second hydraulic cylinder, the mounting plate and the pneumatic clamp, the manipulator structure can perform four-stage lifting operations and can adjust the height of the pneumatic clamp four times, so that the manipulator can clamp workpieces of greater heights, thereby expanding the scope of application of the manipulator and improving the practicality and structural flexibility of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the utility model from a first perspective;

[0015] Figure 2 This is a schematic diagram of the structure of the utility model from a second viewing angle;

[0016] Figure 3 It is a structural schematic diagram of the movable shell and its connecting components of the utility model;

[0017] Figure 4 It is a structural schematic diagram of the fixed base and its connecting components of the utility model.

[0018] In the figure: 1-fixed base, 2-first hydraulic cylinder, 3-movable shell, 4-motor mounting seat, 5-first motor, 6-first screw rod, 7-lifting plate, 8-T-shaped lifting seat, 9-second motor, 10-second screw rod, 11-guide slider, 12-mounting seat, 13-second hydraulic cylinder, 14-mounting plate, 15-pneumatic clamp, 16-guide seat, 17-guide slide groove, 18-guide slide plate, 19-guide rod, 20-guide groove, 21-stable seat. DETAILED DESCRIPTION

[0019] The present invention is further described below in conjunction with the accompanying drawings, but the protection scope of the present invention is not limited to the following description.

[0020] like Figures 1 to 4 As shown, a multi-stage lifting manipulator comprises a fixed base 1, which is T-shaped, a first hydraulic cylinder 2 is fixedly installed in the middle of the top side of the fixed base 1, an output end of the first hydraulic cylinder 2 is fixedly connected to a moving shell 3 with a hollow structure inside, the first hydraulic cylinder 2 is located inside the moving shell 3, a maximum diameter of the first hydraulic cylinder 2 is smaller than the width of the internal dimension of the moving shell 3, so that the first hydraulic cylinder 2 can be retracted into the moving shell 3, a motor mounting seat 4 is fixedly connected to one side of the moving shell 3, a first motor 5 is fixedly installed on the top side of the motor mounting seat 4, a first screw rod 6 is fixedly connected to the output end of the first motor 5, a lifting plate 7 is threadedly connected to the outer surface of the first screw rod 6, a T-shaped lifting seat 8 is fixedly connected to one end of the lifting plate 7, a second motor 9 is fixedly installed on the top side of the T-shaped lifting seat 8, a second motor 9 is fixedly connected to the output end of the second motor 9, a guide slider 11 is threadedly connected to the outer surface of the second screw rod 10, one end of the guide slider 11 is fixedly connected to a mounting seat 12, and one side of the mounting seat 12 is fixed A second hydraulic cylinder 13 is fixedly installed, and the output end of the second hydraulic cylinder 13 is fixedly connected to a mounting plate 14, and a pneumatic clamp 15 is fixedly installed on the bottom side of the mounting plate 14. When adjusting the height of the pneumatic clamp 15, the first hydraulic cylinder 2 is started to move the movable shell 3, and the pneumatic clamp 15 moves accordingly, so that the pneumatic clamp 15 is initially lifted and lowered, and the first motor 5 is started to rotate the first screw rod 6, and the lifting plate 7 will drive the T-shaped lifting seat 8 to move, and the pneumatic clamp 15 moves accordingly. The pneumatic clamp 15 is moved, thereby adjusting the pneumatic clamp 15 to be lifted and lowered for the second time, the second motor 9 is started to rotate the screw rod 10, and the guide slider 11 drives the mounting seat 12 to move. At this time, the pneumatic clamp 15 moves accordingly, thereby adjusting the pneumatic clamp 15 to be lifted and lowered for the third time, and the second hydraulic cylinder 13 is started to make the mounting plate 14 drive the pneumatic clamp 15 to move, thereby adjusting the pneumatic clamp 15 to be lifted and lowered for the fourth time. The pneumatic clamp 15 can be lifted and lowered four times, thereby expanding the lifting range of the pneumatic clamp 15.

[0021] As an optional technical solution of the present invention, a guide seat 16 is fixedly installed on the top side of the fixed base 1, and a guide groove 17 is opened on one side of the guide seat 16. The inner wall of the guide groove 17 is slidably connected with a guide slide plate 18 fixedly connected to the movable shell 3. Through the guide slide plate 18 and the guide groove 17, the movable shell 3 can be smoothly moved in the vertical direction.

[0022] As an optional technical solution of the utility model, a guide rod 19 is fixedly connected to the bottom side of the motor mounting base 4, and the guide rod 19 passes through the lifting plate 7. The lifting plate 7 is slidably connected to the guide rod 19. The guide rod 19 guides the lifting plate 7, so that the lifting plate 7 can smoothly perform a linear motion along the direction of the guide rod 19.

[0023] As an optional technical solution of the present invention, a guide groove 20 is opened on one side of the T-shaped lifting seat 8, and the guide slider 11 is slidably connected to the guide groove 20, so that the guide slider 11 can smoothly move linearly along the direction of the guide groove 20.

[0024] As an optional technical solution of the utility model, a stabilizing seat 21 is fixedly installed at the bottom of one side of the movable shell 3, and the first screw rod 6 is rotatably connected to the motor mounting seat 4 through a bearing. The bottom end of the first screw rod 6 is rotatably connected to the stabilizing seat 21 through a bearing, supporting the first screw rod 6 and ensuring the stability of the first screw rod 6 during rotation.

[0025] As an optional technical solution of the present invention, the guide slide 18 and the guide groove 17 are both T-shaped, and the size of the guide slide 18 is adapted to the size of the guide groove 17. The T-shaped guide slide 18 and the guide groove 17 prevent the movable shell 3 from separating from the guide seat 16 during the movement.

[0026] A multi-stage lifting manipulator, the working principle is as follows:

[0027] When adjusting the height of the pneumatic clamp 15, the first hydraulic cylinder 2 is started to move the movable shell 3, and the pneumatic clamp 15 moves accordingly, thereby causing the pneumatic clamp 15 to be lifted and lowered for the first time. The first motor 5 is started to rotate the first screw rod 6, and the lifting plate 7 will drive the T-shaped lifting seat 8 to move. At this time, the pneumatic clamp 15 moves accordingly, thereby causing the pneumatic clamp 15 to be lifted and lowered for the second time. The second motor 9 is started to rotate the screw rod 10, and the guide slider 11 drives the mounting seat 12 to move. At this time, the pneumatic clamp 15 moves accordingly, thereby causing the pneumatic clamp 15 to be lifted and lowered for the third time. The second hydraulic cylinder 13 is started to cause the mounting plate 14 to drive the pneumatic clamp 15 to move, thereby causing the pneumatic clamp 15 to be lifted and lowered for the fourth time. The pneumatic clamp 15 is adjusted to a suitable height according to the actual situation during use.

[0028] To sum up, the multi-stage lifting manipulator, through the coordinated arrangement of the first steel 2, the moving shell 3, the motor mounting seat 4, the first motor 5, the first screw 6, the lifting plate 7, the T-shaped lifting seat 8, the second motor 9, the second screw 10, the guide slider 11, the mounting seat 12, the second hydraulic cylinder 13, the mounting plate 14 and the pneumatic clamp 15, enables the manipulator structure to perform four-stage lifting operations and can adjust the height of the pneumatic clamp 15 four times, so that the manipulator can clamp workpieces of greater heights, thereby expanding the scope of application of the manipulator and improving the practicality and structural flexibility of the manipulator.

Claims

1. A multi-stage lifting manipulator, characterized in that: The invention comprises a fixed base (1), a first hydraulic cylinder (2) is fixedly installed in the middle of the top side of the fixed base (1), an output end of the first hydraulic cylinder (2) is fixedly connected to a moving shell (3) with a hollow structure inside, one side of the moving shell (3) is fixedly connected to a motor mounting seat (4), a first motor (5) is fixedly installed on the top side of the motor mounting seat (4), an output end of the first motor (5) is fixedly connected to a first screw rod (6), an outer surface of the first screw rod (6) is threadedly connected to a lifting plate (7), one end of the lifting plate (7) is fixedly connected to a T-shaped lifting plate (8), and a lifting plate (9) is fixedly connected to the lifting plate (10) at one end. A lifting seat (8), a second motor (9) is fixedly installed on the top side of the T-shaped lifting seat (8), the output end of the second motor (9) is fixedly connected to a second screw rod (10), the outer surface of the second screw rod (10) is threadedly connected to a guide slider (11), one end of the guide slider (11) is fixedly connected to a mounting seat (12), a second hydraulic cylinder (13) is fixedly installed on one side of the mounting seat (12), the output end of the second hydraulic cylinder (13) is fixedly connected to a mounting plate (14), and a pneumatic clamp (15) is fixedly installed on the bottom side of the mounting plate (14).

2. A multi-stage lifting manipulator according to claim 1, characterized in that: A guide seat (16) is fixedly mounted on the top side of the fixed base (1), a guide slot (17) is provided on one side of the guide seat (16), and a guide slide plate (18) fixedly connected to the movable shell (3) is slidably connected to the inner wall of the guide slot (17).

3. A multi-stage lifting manipulator according to claim 2, characterized in that: A guide rod (19) is fixedly connected to the bottom side of the motor mounting seat (4); the guide rod (19) passes through the lifting plate (7); and the lifting plate (7) is slidably connected to the guide rod (19).

4. A multi-stage lifting manipulator according to claim 3, characterized in that: A guide groove (20) is provided on one side of the T-shaped lifting seat (8), and the guide sliding block (11) is slidably connected to the guide groove (20).

5. A multi-stage lifting manipulator according to claim 4, characterized in that: A stabilizing seat (21) is fixedly mounted on the bottom of one side of the movable shell (3); the first screw rod (6) is rotatably connected to the motor mounting seat (4) via a bearing; and the bottom end of the first screw rod (6) is rotatably connected to the stabilizing seat (21) via a bearing.

6. A multi-stage lifting manipulator according to claim 5, characterized in that: The guide slide plate (18) and the guide slide groove (17) are both T-shaped, and the guide slide plate (18) and the guide slide groove (17) are adapted in size.

Images