An operating robot

Abstract

The utility model discloses an operating manipulator, comprising a frame, a first driving mechanism arranged on the frame, a first rotating arm arranged on the first driving mechanism, a second rotating arm arranged on the first rotating arm, and an executing component rotatably arranged on the second rotating arm, wherein the second rotating arm is provided with a second driving mechanism for driving the second rotating arm to rotate and a third driving mechanism for driving the executing component to rotate. The operating manipulator has the advantages of large rotation range, large torque, large load, etc.

Description

Technical Field

[0001] The utility model relates to the technical field of food and medicine packaging machinery and equipment, in particular to an operating manipulator. Background Art

[0002] Clean industrial robots have reliable repeatability in their movements and can safely operate tube nests and vials, which is crucial to reducing particle generation, turbulence, bottle shaking and other potentially destructive variables. It helps prevent leaks and other accidents, eliminates unplanned human intervention, and ensures a sterile environment. They are widely used in biopharmaceutical filling, transportation, cell culture, biological reactions and other scenarios.

[0003] The existing application number is 202130145139.7, which is a kind of inner package dismantling robot, including a frame, a lifting mechanism is provided between the upper and lower fixed plates of the frame, the lifting mechanism is connected to multiple spindles, a spindle seat is provided on the upper fixed plate of the frame, the top of the spindle seat is connected to one end of the big arm, the other end of the big arm is connected to one end of the small arm, the other end of the small arm is connected to the clamping mechanism, the inside of the spindle seat is slidably connected to the first spindle, the inside of the first spindle is slidably connected to the second spindle, the inside of the second spindle is slidably connected to the third spindle, the big arm includes a big arm cover, the lower part of one end of the big arm cover is connected to the third spindle, the upper part is connected to the first rocker, the first rocker is connected to the second rocker through a connecting rod, and the other end of the second rocker is set at the connection between the big arm and the small arm. The inner package dismantling robot has the following shortcomings:

[0004] 1) The small arm is driven by the connecting rod mechanism on the big arm, and can only move halfway, with a small working range, small torque and small load;

[0005] 2) Low accuracy and slow response;

[0006] 3) The connecting rod mechanism is arranged outside the boom, which is easily contaminated and difficult to clean;

[0007] 4) The layout of the lifting mechanism and the upper transmission mechanism is unreasonable and occupies a large space. Utility Model Content

[0008] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide an operating manipulator with a large rotation range, a large torque and a large load.

[0009] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0010] A manipulator comprises a frame, a first driving mechanism arranged on the frame, a first rotating arm arranged on the first driving mechanism, a second rotating arm arranged on the first rotating arm, and an actuator rotatably arranged on the second rotating arm, wherein the second rotating arm is provided with a second driving mechanism for driving the second rotating arm to rotate and a third driving mechanism for driving the actuator to rotate, the frame is provided with a lifting mechanism, and the first driving mechanism is arranged on the lifting mechanism.

[0011] As a further improvement of the above technical solution:

[0012] The second driving mechanism includes a second driving motor and a second transmission assembly. The second driving motor is disposed on the second rotating arm and is connected to the second rotating shaft of the second rotating arm through the second transmission assembly.

[0013] The second transmission assembly is a pulley assembly.

[0014] The third driving mechanism includes a third driving motor and a third transmission assembly. The third driving motor is arranged on the second rotating arm and is connected to the third rotating shaft of the actuator through the third transmission assembly.

[0015] The second rotating arm is provided with a protective cover on the outer cover of the second driving mechanism and the third driving mechanism.

[0016] The frame is provided with a lifting mechanism, the first driving mechanism includes a first driving motor and a driving shaft, the first rotating arm is rotatably arranged on the lifting mechanism, the first driving motor is arranged on the lifting mechanism, and the first rotating shaft of the first rotating arm is connected with the driving shaft through a reduction box.

[0017] The frame comprises an upper fixing plate, a lower fixing plate and a guide sleeve arranged on the upper fixing plate, the lifting mechanism is arranged between the upper fixing plate and the lower fixing plate, each of the rotating arms is located above the upper fixing plate, and the driving shaft is passed through the guide sleeve.

[0018] The outer rotating sleeve of the driving shaft is provided with a lifting tube, the outer sleeve of the lifting tube is provided with a bellows, the lifting tube is passed through the guide sleeve, and the bellows is located between the reduction box and the guide sleeve.

[0019] The reduction gearbox includes a shell, a reduction assembly and an adapter. The shell is arranged at the top of the lifting tube, the bellows is arranged between the shell and the guide sleeve, the reduction assembly is connected to the top of the driving shaft through the adapter, the first rotating arm is rotatably arranged on the shell, the first rotating shaft of the first rotating arm is connected to the reduction assembly, the reduction assembly and the adapter are both located in the shell, the driving shaft is connected to the lifting tube through a bearing, and a connecting threading channel is provided in the center of the first rotating shaft, the reduction assembly, the adapter and the driving shaft.

[0020] A threading hole passes through the second rotating shaft of the second rotating arm.

[0021] Compared with the prior art, the advantages of the utility model are:

[0022] The utility model has an operating manipulator, in which the second rotating arm is driven to rotate by a driving part on the second rotating arm, and is not affected by a transmission part on the first rotating arm. The utility model has a large rotation range, a large torque and a large load.

[0023] In the operating manipulator of the utility model, the second driving motor drives the second rotating shaft of the second rotating arm to rotate through the second transmission assembly, thereby driving the second rotating arm to rotate about the rotation center of the second rotating shaft. Compared with the existing connecting rod mechanism, it has high precision and fast response. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a main structural schematic diagram of the operating manipulator of the utility model.

[0025] Figure 2 It is a three-dimensional structural schematic diagram of the operating manipulator of the utility model (the protective cover is not shown).

[0026] Figure 3 yes Figure 2 Enlarged view of point A in the middle.

[0027] Figure 4 It is a structural schematic diagram of the first rotating arm of the operating manipulator of the utility model.

[0028] Figure 5 It is a structural schematic diagram of the first driving mechanism and the lifting mechanism of the operating manipulator of the utility model.

[0029] Figure 6 It is a schematic diagram of the main cross-sectional structure of the operating manipulator of the utility model (the protective cover is not shown).

[0030] Figure 7 yes Figure 6 Enlarged view of point B in the middle.

[0031] The symbols in the figure represent:

[0032] 1. Frame; 11. Upper fixed plate; 12. Lower fixed plate; 13. Guide sleeve; 2. First rotating arm; 21. First rotating axis; 3. Second rotating arm; 31. Second rotating axis; 32. Protective cover; 33. Threading hole; 4. Actuator; 41. Third rotating axis; 5. First driving mechanism; 51. First driving motor; 52. Driving shaft; 521. Bellows; 522. Lifting tube; 6. Second driving mechanism; 61. Second driving motor; 62. Second transmission assembly; 7. Third driving mechanism; 71. Third driving motor; 72. Third transmission assembly; 8. Lifting mechanism; 9. Reducer box; 91. Housing; 92. Reducer assembly; 93. Adapter; 94. Bearing; 95. Threading channel. DETAILED DESCRIPTION

[0033] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0034] In the description of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0035] 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present utility model, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] In the present invention, unless otherwise clearly specified and limited, the terms "assemble", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] Figures 1 to 5An embodiment of the manipulator of the utility model is shown. The manipulator of the embodiment comprises a frame 1, a first driving mechanism 5 arranged on the frame 1, a first rotating arm 2 arranged on the first driving mechanism 5, a second rotating arm 3 arranged on the first rotating arm 2, and an actuator 4 rotatably arranged on the second rotating arm 3. The second rotating arm 3 is provided with a second driving mechanism 6 for driving the second rotating arm 3 to rotate and a third driving mechanism 7 for driving the actuator 4 to rotate. The frame 1 is provided with a lifting mechanism 8, and the first driving mechanism 5 is arranged on the lifting mechanism 8. The first driving mechanism 5 drives the first rotating arm 2 to rotate. The second rotating arm 3 is driven to rotate by the second driving mechanism 6 on the second rotating arm 3, and is not affected by the transmission components on the first rotating arm 2. The rotation range, torque and load are large. In addition, the first driving mechanism 5 is arranged on the lifting mechanism 8. The first driving mechanism 5 realizes lifting and lowering motion under the drive of the lifting mechanism 8, thereby driving the first rotating arm 2 and the components thereon to perform lifting and lowering motion. The structural arrangement is reasonable and the space occupied is small.

[0038] Furthermore, in this embodiment, if Figure 3 As shown, the second driving mechanism 6 includes a second driving motor 61 and a second transmission assembly 62. The second driving motor 61 is arranged on the second rotating arm 3 and connected to the second rotating shaft 31 of the second rotating arm 3 through the second transmission assembly 62. The second driving motor 61 drives the second rotating shaft 31 of the second rotating arm 3 to rotate through the second transmission assembly 62, thereby driving the second rotating arm 3 to rotate about the rotation center of the second rotating shaft 31. Compared with the existing connecting rod mechanism, it has high precision and fast response.

[0039] Furthermore, in this embodiment, the second transmission assembly 62 is a pulley assembly.

[0040] Furthermore, in this embodiment, if Figure 3 As shown, the third driving mechanism 7 includes a third driving motor 71 and a third transmission assembly 72. The third driving motor 71 is arranged on the second rotating arm 3 and is connected to the third rotating shaft 41 of the actuator 4 through the third transmission assembly 72. The third driving motor 71 drives the third rotating shaft 41 to rotate through the third transmission assembly 72, thereby driving the actuator 4 to rotate with the third rotating shaft 41 as the rotation center. The third driving mechanism 7 and the second driving mechanism 6 are both arranged on the second rotating arm 3, and the overall structure is compact, which is convenient for setting the protective cover 32.

[0041] Furthermore, in this embodiment, the third transmission assembly 72 is a pulley assembly.

[0042] Furthermore, in this embodiment, if Figure 1 As shown, the second rotating arm 3 is provided with a protective cover 32 outside the second driving mechanism 6 and the third driving mechanism 7. The second driving mechanism 6 and the third driving mechanism 7 are covered in the protective cover 32 and are not easily contaminated.

[0043] Furthermore, in this embodiment, if Figure 1 , Figure 2 and Figure 5 As shown, the frame 1 is provided with a lifting mechanism 8, the first driving mechanism 5 includes a first driving motor 51 and a driving shaft 52, the first rotating arm 2 is rotatably arranged on the lifting mechanism 8, the first driving motor 51 is arranged on the lifting mechanism 8, and the first rotating shaft 21 of the first rotating arm 2 is connected with the driving shaft 52 through a reduction box 9. The first driving motor 51 drives the first rotating shaft 21 to rotate through the driving shaft 52, thereby driving the first rotating arm 2 and the components thereon to rotate, and the lifting mechanism 8 drives the first driving motor 51, the driving shaft 52, the first rotating shaft 21, the first rotating arm 2 and the components thereon to rotate as a whole.

[0044] Furthermore, in this embodiment, if Figure 1 and Figure 2 As shown, the frame 1 includes an upper fixing plate 11, a lower fixing plate 12 and a guide sleeve 13 arranged on the upper fixing plate 11, the lifting mechanism 8 is arranged between the upper fixing plate 11 and the lower fixing plate 12, each rotating arm is located above the upper fixing plate 11, and the driving shaft 52 is passed through the guide sleeve 13. The rotating arm and the first driving mechanism 5 are distributed in the upper and lower environments of the upper fixing plate 11, and the overall layout is reasonable to reduce the influence of the environment where the other party is located.

[0045] Furthermore, in this embodiment, if Figure 6 and Figure 7 As shown, the outer rotating sleeve of the driving shaft 52 is provided with a lifting tube 522, and the outer sleeve of the lifting tube 522 is provided with a bellows 521, and the lifting tube 522 is inserted into the guide sleeve 13, and the bellows 521 is located between the reduction box 9 and the guide sleeve 13. The bellows 521 is sleeved outside the lifting tube 522, which can protect the lifting tube 522 and the driving shaft 52, prevent the lifting tube 522 and the driving shaft 52 from being polluted by the external environment, and can also be extended and retracted with the lifting and lowering of the driving shaft 52, without affecting the lifting and lowering movement of the driving shaft 52.

[0046] Furthermore, in the present embodiment, the reduction gearbox 9 includes a shell 91, a reduction assembly 92 and an adapter 93. The shell 91 is disposed at the top end of the lifting tube 522, the bellows 521 is disposed between the shell 91 and the guide sleeve 13, the reduction assembly 92 is connected to the top end of the drive shaft 52 through the adapter 93, the first rotating arm 2 is rotatably disposed on the shell 91, the first rotating shaft 21 of the first rotating arm 2 is connected to the reduction assembly 92, the reduction assembly 92 and the adapter 93 are both located in the shell 91, the drive shaft 52 is connected to the lifting tube 522 through a bearing 94, and a connecting threading channel 95 is provided in the center of the first rotating shaft 21, the reduction assembly 92, the adapter 93 and the drive shaft 52.

[0047] The shell 91 is made of aluminum alloy to achieve a lightweight design. The deceleration function is mainly achieved through the hollow harmonic deceleration component 92 inside the structure. It has high precision, low noise, and can realize internal threading, avoiding the risk of cables and air pipes exposed on the outside to pollute the clean area or turbulence of laminar wind; all connectors in the shell 91 are equipped with O-rings made of fluororubber to ensure the sealing of the shell 91 and resistance to hydrogen peroxide sterilization requirements.

[0048] The first rotating arm 2 is directly connected to the deceleration assembly 92 through the mounting hole on the deceleration assembly 92, and a radial shaft sealing ring made of fluororubber is installed at the rotating part to ensure the sealing inside and outside of the joint during high-speed rotation. The bellows 521 is made of polytetrafluoroethylene resistant to hydrogen peroxide to achieve pollution-free high-speed operation in the clean area.

[0049] Furthermore, in this embodiment, if Figure 4 As shown, a threading hole 33 is passed through the second rotating shaft 31 of the second rotating arm 3. The threading hole 33 is used for the wire to pass through, so that the wire can pass through from the inside and reduce the exposure of the wire.

[0050] Although the present invention has been disclosed as a preferred embodiment as above, it is not intended to limit the present invention. Any technician familiar with the art can use the above disclosed technical content to make many possible changes and modifications to the technical solution of the present invention without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention should fall within the scope of protection of the technical solution of the present invention.

Claims

1. A manipulator, comprising a frame (1), a first driving mechanism (5) arranged on the frame (1), a first rotating arm (2) arranged on the first driving mechanism (5), a second rotating arm (3) arranged on the first rotating arm (2), and an actuator (4) rotatably arranged on the second rotating arm (3), characterized in that: The second rotating arm (3) is provided with a second driving mechanism (6) for driving the second rotating arm (3) to rotate and a third driving mechanism (7) for driving the actuator (4) to rotate. The frame (1) is provided with a lifting mechanism (8), and the first driving mechanism (5) is arranged on the lifting mechanism (8).

2. The manipulator according to claim 1, characterized in that: The second driving mechanism (6) comprises a second driving motor (61) and a second transmission assembly (62); the second driving motor (61) is arranged on the second rotating arm (3) and is connected to the second rotating shaft (31) of the second rotating arm (3) via the second transmission assembly (62).

3. The operating robot according to claim 2, characterized in that: The second transmission assembly (62) is a pulley assembly.

4. The operating robot according to claim 1, characterized in that: The third driving mechanism (7) comprises a third driving motor (71) and a third transmission assembly (72); the third driving motor (71) is arranged on the second rotating arm (3) and is connected to the third rotating shaft (41) of the actuator (4) via the third transmission assembly (72).

5. The manipulator according to any one of claims 1 to 4, characterized in that: The second rotating arm (3) is provided with a protective cover (32) on the outer cover of the second driving mechanism (6) and the third driving mechanism (7).

6. The manipulator according to any one of claims 1 to 4, characterized in that: The first driving mechanism (5) comprises a first driving motor (51) and a driving shaft (52); the first rotating arm (2) is rotatably arranged on a lifting mechanism (8); the first driving motor (51) is arranged on the lifting mechanism (8); and the first rotating shaft (21) of the first rotating arm (2) is connected to the driving shaft (52) via a reduction gear box (9).

7. The manipulator according to claim 6, characterized in that: The frame (1) comprises an upper fixing plate (11), a lower fixing plate (12) and a guide sleeve (13) arranged on the upper fixing plate (11); the lifting mechanism (8) is arranged between the upper fixing plate (11) and the lower fixing plate (12); each of the rotating arms is located above the upper fixing plate (11); and the driving shaft (52) is inserted into the guide sleeve (13).

8. The operating robot according to claim 7, characterized in that: The outer rotating sleeve of the driving shaft (52) is provided with a lifting tube (522), the outer sleeve of the lifting tube (522) is provided with a bellows (521), the lifting tube (522) is inserted into the guide sleeve (13), and the bellows (521) is located between the reduction box (9) and the guide sleeve (13).

9. The manipulator according to claim 8, characterized in that: The reduction box (9) comprises a housing (91), a reduction assembly (92) and an adapter (93); the housing (91) is arranged at the top end of the lifting tube (522); the bellows (521) is arranged between the housing (91) and the guide sleeve (13); the reduction assembly (92) is connected to the top end of the drive shaft (52) via the adapter (93); the first rotating arm (2) is rotatably arranged on the housing (91); the first rotating shaft (21) of the first rotating arm (2) is connected to the reduction assembly (92); the reduction assembly (92) and the adapter (93) are both located in the housing (91); the drive shaft (52) and the lifting tube (522) are connected via a bearing (94); and a threading channel (95) communicating with each other is provided at the center of the first rotating shaft (21), the reduction assembly (92), the adapter (93) and the drive shaft (52).

10. The manipulator according to any one of claims 1 to 4, characterized in that: A threading hole (33) passes through the second rotating shaft (31) of the second rotating arm (3).

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