Manipulator main body servo device

Abstract

The utility model relates to the field of servo control, in particular to a manipulator main body servo device which comprises a main body box, a platform plate is fixed at the upper end of the main body box, two first rails are arranged at the upper end of the platform plate in the Y-axis direction, and two first sliding seats are arranged on the two first rails in a sliding mode. Second rails are arranged on the two first sliding seats in the X-axis direction. Second sliding seats are arranged on the two second rails in a sliding mode, two vertical sliding rods are arranged on the two second sliding seats in the Z-axis direction, and third sliding seats are arranged on the two vertical sliding rods on the same second sliding seat in a sliding mode. A control panel is rotationally arranged between the two first rails on the platform plate, and two linkage plates are symmetrically and rotationally arranged on the control panel. The two linkage plates are rotationally connected with the two first sliding seats correspondingly, so that the two first sliding seats are controlled to synchronously move close to or away from each other by rotating the control disc. The two manipulators are controlled to synchronously and symmetrically move in the same direction at the same time.

Description

Technical Field

[0001] The utility model relates to the field of servo control, more specifically to a manipulator main body servo device. Background Art

[0002] The manipulator is the most widely used automated mechanical device in the field of robotics. In order to enable it to move in space, the main servo device of the manipulator is its important component.

[0003] For example, Chinese public document CN112454423A discloses a multi-axis servo manipulator, the structure of which includes a manipulator operating end for performing injection molding, the manipulator operating end is connected to an X-axis transmission assembly for driving it to move along the X-axis direction and a Y-axis transmission assembly for driving it to move along the Y-axis direction, the X-axis transmission assembly and / or the Y-axis transmission assembly include a support table and a travel arm, the travel arm is arranged above the support table and is slidably connected to it along the corresponding axial direction. The technical problem that the manipulator stroke cannot be flexibly adjusted in the prior art, thus affecting its scope of application, is solved. However, it cannot simultaneously control two manipulators to move synchronously and symmetrically in the same direction. Utility Model Content

[0004] The utility model provides a manipulator main body servo device, which controls two manipulators to move synchronously and symmetrically in the same direction at the same time.

[0005] The technical solution adopted by the utility model to solve the above problems is:

[0006] The robot main body servo device includes a main body box with a platform plate fixed on the upper end, two first tracks are provided at the upper end of the platform plate along the Y-axis direction, two first sliding seats are slid on the two first tracks, second tracks are provided on the two first sliding seats along the X-axis direction, second sliding seats are slid on the two second tracks, two vertical sliding bars are provided on the two second sliding seats along the Z-axis direction, a third sliding seat is slid on the two vertical sliding bars on the same second sliding seat, a control disk is rotated between the two first tracks on the platform plate, two linkage plates are symmetrically rotated on the control disk, and the two linkage plates are respectively rotatably connected to the two first sliding seats, so that the two first sliding seats are controlled to move synchronously close or away by rotating the control disk.

[0007] As a preferred embodiment of the present invention, a first motor is installed in the main body box for driving the control disk to rotate.

[0008] As a preferred embodiment of the utility model, a driving track is installed on the platform plate along the X-axis direction, a middle seat is slidably provided on the driving track, a sliding shaft is passed through the middle seat, sleeve seats are respectively slidably provided at both ends of the sliding shaft, and the two sleeve seats are respectively installed on two second sliding seats.

[0009] As a preferred embodiment of the present invention, the driving track moves along the X-axis direction through a hydraulic motor driving the middle seat.

[0010] As a preferred embodiment of the present invention, the drive rail moves along the X-axis direction through the second motor transmission center seat.

[0011] As a preferred embodiment of the present invention, telescopic power mechanisms are installed on the two third sliding seats for controlling the third sliding seats to slide along the two vertical sliding rods.

[0012] As a preferred embodiment of the present invention, the telescopic power mechanism is a pneumatic telescopic cylinder.

[0013] As a preferred embodiment of the utility model, a screw rod is provided through the center of the vertical sliding rod, and the lower end of the screw rod is threadedly connected to the second sliding seat to form a detachable fixation between the vertical sliding rod and the second sliding seat.

[0014] As a preferred embodiment of the present invention, a control panel is provided on the front side of the main box.

[0015] As a preferred embodiment of the present invention, support legs are provided at the four corners of the lower end of the main body box.

[0016] The beneficial effects of the utility model are:

[0017] 1. By rotating the control panel, the two first sliding seats are controlled to move synchronously toward or away from each other, thereby driving the two manipulators to move synchronously and symmetrically in the Y-axis direction.

[0018] 2. The driving track cooperates with the sliding shaft and the sleeve seat to ensure that the two manipulators move synchronously and symmetrically in the Y-axis direction while being able to control the two second sliding seats to move synchronously in the X-axis direction.

[0019] 3. The vertical slide bar is detachably fixed to the second slide seat through a screw at the center, thereby enabling the vertical slide bar and the third slide seat to be detachably installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the robot main body servo device;

[0021] Figure 2 This is a schematic diagram of the partial structure of the robot's main servo device.

[0022] In the figure:

[0023] Main body box 1; platform plate 2; first track 3; first sliding seat 4; second track 5; control panel 6; linkage plate 7; second sliding seat 8; vertical slide rod 9; third sliding seat 10; telescopic power mechanism 11; driving track 12; middle seat 13; sliding shaft 14; sleeve seat 15. DETAILED DESCRIPTION

[0024] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on this patent; in order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0025] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "inner", "outer", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is 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. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as a limitation on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0026] In the description of the present invention, unless otherwise clearly specified and limited, if the term "connection" or the like appears to indicate the connection relationship between components, the term 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 components or the interaction relationship between two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] like Figure 1-2 As shown, the embodiments of the utility model are described in detail:

[0028] The manipulator main body servo device includes a main body box 1, a platform plate 2, a first track 3, a first sliding seat 4, a second track 5, a control panel 6, a linkage plate 7, a second sliding seat 8, a vertical slide rod 9, a third sliding seat 10, a telescopic power mechanism 11, a driving track 12, a middle seat 13, a sliding shaft 14 and a sleeve seat 15.

[0029] Among them, the platform plate 2 is fixedly installed on the upper end of the main box 1 by screws, and the two first rails 3 are fixedly installed on the upper end of the platform plate 2 along the Y-axis direction by screws, and the two first sliding seats 4 slide on the two first rails 3; a control disk 6 rotates between the two first rails 3 on the platform plate 2, and two linking plates 7 rotate symmetrically on the control disk 6, and the two linking plates 7 are respectively rotatably connected with the two first sliding seats 4, so that by rotating the control disk 6, the two linking plates 7 are transmitted, and then the two first sliding seats 4 are controlled to move synchronously close to or away from each other in the Y-axis direction, so as to achieve the purpose of symmetrical movement.

[0030] Furthermore, a first motor is installed in the main box 1 to drive the control disk 6 to rotate.

[0031] At the same time, the two linkage plates 7 are arc-shaped plates, so that the two linkage plates 7 can be offset from each other, so that the two first sliding seats 4 can be controlled by the control disk 6 to rotate and be as close as possible.

[0032] Furthermore, the two first sliding seats 4 are fixed with second rails 5 along the X-axis direction by screws, and the two second rails 5 are slid with second sliding seats 8. The platform plate 2 is installed with a driving rail 12 along the X-axis direction by screws, and a middle seat 13 slides on the driving rail 12. A sliding shaft 14 is installed and fixed on the middle seat 13, and sleeve seats 15 are respectively slidably mounted on both ends of the sliding shaft 14. The two sleeve seats 15 are respectively mounted on the two second sliding seats 8 by screws.

[0033] By means of a hydraulic motor or a second motor installed on the outside of the driving track 12, the screw in the driving track 12 is driven to rotate, and then the threaded middle seat 13 is driven to move along the driving track 12, thereby driving the two sleeves 15 through the sliding shaft 14 to make the two second sliding seats 8 move synchronously on the two second tracks 5 respectively, so as to achieve the purpose of making the two second sliding seats 8 move synchronously in the X-axis direction.

[0034] Furthermore, by sliding the two sleeves 15 on the slide shaft 14, the two second slide seats 8 can move synchronously in the X-axis direction and the two first slide seats 4 can move symmetrically in the Y-axis direction without affecting each other.

[0035] Furthermore, two vertical slide bars 9 are provided on the two second slide seats 8 along the Z-axis direction, and a third slide seat 10 is slid on the two vertical slide bars 9 on the same second slide seat 8, and a telescopic power mechanism 11 is installed on the two third slide seats 10 for controlling the third slide seat 10 to slide along the two vertical slide bars 9; the telescopic power mechanism 11 is a pneumatic telescopic cylinder;

[0036] A screw rod is provided through the center of the vertical slide rod 9, and the lower end of the screw rod is threadedly connected to the second slide seat 8, so that the vertical slide rod 9 and the second slide seat 8 can be detachably fixed; the vertical slide rod 9 and the third slide seat 10 can be detachably installed.

[0037] Furthermore, a control panel is provided on the front side of the main box 1, and a program can be input through the control panel, and then the first motor, the hydraulic motor or the second motor, and the pneumatic telescopic cylinder are controlled by the program.

[0038] Furthermore, support legs are provided at the four corners of the lower end of the main box 1 for supporting the entire device, and each support leg is composed of a support screw and a support plate, and the support plate is threadedly connected to the support screw, so that the overall length of the support leg can be adjusted by rotating the support plate, thereby ensuring that the platform plate 2 at the upper end of the main box 1 is level.

[0039] The principles of this application are:

[0040] The first motor drives the control disk 6 to rotate, driving the two linkage plates 7, and then controlling the two first sliding seats 4 to move synchronously closer or farther in the Y-axis direction, thereby achieving the purpose of symmetrical movement; the hydraulic motor or the second motor installed on the outside of the driving track 12 drives the middle seat 13 to move along the driving track 12, thereby driving the two sleeves 15 through the sliding shaft 14 to make the two second sliding seats 8 move synchronously on the two second tracks 5 respectively, thereby achieving the purpose of making the two second sliding seats 8 move synchronously in the X-axis direction; the third sliding seat 10 is controlled to slide along the two vertical sliding rods 9 by controlling the telescopic cylinder to extend and retract.

[0041] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0042] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. The main body servo device of the manipulator is characterized by: The invention comprises a main body box (1) with a platform plate (2) fixed at the upper end, the upper end of the platform plate (2) being provided with two first rails (3) along the Y-axis direction, two first sliding seats (4) slidingly arranged on the two first rails (3), second rails (5) being provided along the X-axis direction on the two first sliding seats (4), second sliding seats (8) slidingly arranged on the two second rails (5), two vertical sliding rods (9) being provided along the Z-axis direction on the two second sliding seats (8), a third sliding seat (10) slidingly arranged on the two vertical sliding rods (9) on the same second sliding seat (8), a control disk (6) rotating between the two first rails (3) on the platform plate (2), two interlocking plates (7) symmetrically rotating on the control disk (6), the two interlocking plates (7) being respectively connected to the two first sliding seats (4) for rotation, so that the two first sliding seats (4) can be controlled to move synchronously towards or away from each other by rotating the control disk (6).

2. The robot main body servo device according to claim 1, characterized in that: A first motor is installed in the main body box (1) and is used to drive the control disk (6) to rotate.

3. The robot main body servo device according to claim 1, characterized in that: A driving rail (12) is installed on the platform plate (2) along the X-axis direction, a middle seat (13) is slidably mounted on the driving rail (12), a sliding shaft (14) is passed through the middle seat (13), sleeve seats (15) are slidably mounted at both ends of the sliding shaft (14), and the two sleeve seats (15) are respectively mounted on the two second sliding seats (8).

4. The robot main body servo device according to claim 3, characterized in that: The driving track (12) moves along the X-axis direction via a hydraulic motor driving the middle seat (13).

5. The robot main body servo device according to claim 3, characterized in that: The driving track (12) moves along the X-axis direction via the second motor transmission center seat (13).

6. The robot main body servo device according to claim 1, characterized in that: The two third sliding seats (10) are each provided with a telescopic power mechanism (11) for controlling the third sliding seats (10) to slide along the two vertical sliding rods (9).

7. The robot main body servo device according to claim 6, characterized in that: The telescopic power mechanism (11) is a pneumatic telescopic cylinder.

8. The robot main body servo device according to claim 6, characterized in that: A screw rod is provided through the center of the vertical sliding rod (9), and the lower end of the screw rod is threadedly connected to the second sliding seat (8), so that the vertical sliding rod (9) and the second sliding seat (8) are detachably fixed.

9. The robot main body servo device according to claim 1, characterized in that: A control panel is provided on the front of the main box (1).

10. The robot main body servo device according to claim 1, characterized in that: Support legs are provided at the four corners of the lower end of the main body box (1).

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