Speed-multiplied wall-mounted manipulator

Abstract

The utility model discloses a multi-speed wall-mounted manipulator which comprises a cross beam frame fixing seat, a first multi-speed structure and a second multi-speed structure, the cross beam frame fixing seat is located above the first multi-speed structure, and the second multi-speed structure is located above the second multi-speed structure. The first motor drives the first gear to rotate, and the first gear is meshed with the first rack, so that the first sliding block on the cross beam frame fixing seat slides up and down along the first sliding rail; second sliding blocks on the two sides of a first synchronous belt run on an upper sliding rail, the first synchronous belt rotates, the speed of a first speed multiplication structure is increased to double speed, a lower rack is matched with a transmission gear, the upper rack is driven to generate triple speed, and the second synchronous belt is driven to run; the second multi-speed structure is lifted to the quadruple speed, and quadruple-speed movement of the whole suction cup frame is achieved; the device is small in occupied space, large in stroke and high in speed, so that the practicability of the device is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, in particular to a double-speed wall-mounted manipulator. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production. It can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] However, existing similar manipulators occupy a large space, have a small travel range, and are slow, which reduces their practicality. In order to solve the above problems, we propose a double-speed wall-mounted manipulator. Utility Model Content

[0004] The utility model aims to provide a double-speed wall-mounted manipulator to solve the existing problems.

[0005] In order to solve the above technical problems, the utility model is achieved through the following technical solutions:

[0006] The utility model is a double-speed wall-mounted manipulator, comprising a beam frame fixing seat, a double-speed structure 1 and a double-speed structure 2, a plurality of first sliders are arranged in the middle of a surface of the beam frame fixing seat, a first motor is arranged on a surface of the beam frame fixing seat, a first gear is arranged at the output end of the first motor, a first slide rail is arranged in the first slider, a fixed seat is fixedly connected to a surface of the first slide rail, a first rack is arranged on one side of the fixed seat, a second motor is arranged on a surface of the fixed seat, the output end of the second motor passes through the fixed seat and extends to the outside, and a helical gear is arranged at the output end of the second motor; first card covers are fixed on both sides of the lower surface of the fixed seat, a first tooth plate is fixed by screws on the lower surface of the first card cover, a first synchronous belt is fixed between the first tooth plate and the first card cover, side plates are arranged on both sides of the lower end of the fixed seat, and a second slider is fixed inside the side plates;

[0007] The double-speed structure 1 includes a first connecting cross bar, with first runners provided at both ends of the first connecting cross bar. Upper sliding rails and lower sliding rails are provided on opposite two surfaces of the first connecting cross bar. The first synchronous belt is sleeved on the circumferential side surface of the first connecting cross bar, and the first synchronous belt cooperates with the first runners. On one side of the front end of the upper surface of the first connecting cross bar, a second rack is provided. In the middle of one surface of the first synchronous belt, a connecting block is fixed. On the lower surface of the connecting block, a first connecting plate is fixed. On opposite two surfaces of the first connecting plate, vertical plates are provided. Inside the vertical plates, an upper sliding block and a lower sliding block are fixedly connected. The upper sliding block is in sliding fit with the lower sliding rail. On one side of the rear end of the lower surface of the first connecting cross bar, a lower rack is provided. Between the two vertical plates, a connecting shaft is provided. A bearing is fixedly provided on the circumferential side surface of the connecting shaft, and a transmission gear is provided on the circumferential side surface of the bearing.

[0008] The double-speed structure 2 includes a second connecting cross bar, with second runners provided at both ends of the second connecting cross bar. Second sliding rails are provided on opposite two surfaces of the second connecting cross bar. The second sliding rails are meshed with the lower sliding blocks. On one side of the front end of the upper surface of the second connecting cross bar, an upper rack is provided. Both the upper rack and the lower rack are meshed with the transmission gear. On both sides of the lower surface of the first connecting plate, second clamping covers are fixed. On the lower surface of the second clamping covers, a second toothed plate is fixed by screws. Between the second toothed plate and the second clamping covers, a second synchronous belt is fixed. The second synchronous belt is sleeved on the circumferential side surface of the second connecting cross bar, and the second synchronous belt cooperates with the second runners. On both sides of the lower surface of the second connecting cross bar, bottom sliding rails are provided. In the middle of one surface of the second synchronous belt, a fixing block is fixed. On the lower surface of the fixing block, a second connecting plate is provided. On both sides of the upper surface of the second connecting plate, bottom sliding blocks are provided. The bottom sliding blocks are in sliding fit with the bottom sliding rails. On the lower surface of the second connecting plate, a suction cup holder is fixed.

[0009] Further, the helical gear is located between the two first clamping covers. The first runner and the second runner have the same structure, and the first synchronous belt and the second synchronous belt have the same structure.

[0010] Further, the shape and size of the first rack are adapted to the first gear, and the first rack is meshed with the first gear.

[0011] Further, the shape and size of the second rack are adapted to the helical gear, and the second rack is meshed with the helical gear.

[0012] Further, the first sliding rail, the upper sliding rail, the lower sliding rail, the second sliding rail, and the bottom sliding rail have the same structure; the first sliding block, the second sliding block, the upper sliding block, the lower sliding block, and the bottom sliding block have the same structure.

[0013] Furthermore, the shape and size of the upper slide rail are adapted to the second slide block, and the upper slide rail and the second slide block are slidably matched.

[0014] The utility model has the following beneficial effects:

[0015] The utility model drives the bevel gear to rotate through the second motor, and the bevel gear meshes with the second rack, thereby generating a first speed. The second sliders on both sides of the first synchronous belt run on the upper slide rail, the first synchronous belt rotates, and the speed structure one increases to a second speed. The lower rack cooperates with the transmission gear to drive the upper rack to generate a third speed, and at the same time drives the second synchronous belt to run, and the speed structure two is increased to a fourth speed, thereby realizing the overall four-speed movement of the suction cup frame. The utility model occupies a small space, not only has a large stroke, but also has a fast speed, thereby improving its practicality.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of a double-speed wall-mounted manipulator;

[0019] Figure 2 It is a schematic diagram of the partial structure of a double-speed wall-mounted manipulator;

[0020] Figure 3 for Figure 2 Enlarged view of part C in the middle;

[0021] Figure 4 This is a partial exploded view of a double-speed wall-mounted manipulator;

[0022] Figure 5 for Figure 4 Enlarged view of part A in the middle;

[0023] Figure 6 for Figure 4 Enlarged view of part B;

[0024] Figure 7 This is a schematic diagram of the internal structure of a double-speed wall-mounted manipulator;

[0025] Figure 8 for Figure 7 Right view of .

[0026] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0027] 1. Beam frame fixing seat; 2. Speed ​​structure 1; 3. Speed ​​structure 2; 101. First slider; 1011. First motor; 1012. First gear; 1013. First slide rail; 1014. Fixing seat; 1015. First rack; 1017. Second motor; 1018. Bevel gear; 1019. First card cover; 1020. First tooth plate; 1021. First synchronous belt; 1022. Side plate; 1023. Second slider; 1024. First connecting plate; 1025. Vertical plate; 1026. Upper slider; 1027. Lower slider; 10 28. Transmission gear; 1029. Second card cover; 1030. Second tooth plate; 1031. Second synchronous belt; 1032. Connecting shaft; 1033. Bearing; 201. First connecting cross bar; 2011. First rotating wheel; 2012. Upper slide rail; 2013. Lower slide rail; 2014. Second rack; 2015. Lower rack; 301. Second connecting cross bar; 3011. Second sliding rail; 3012. Upper rack; 3013. Second rotating wheel; 3014. Bottom slide rail; 3015. Second connecting plate; 3016. Bottom slider; 3017. Suction cup holder. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limitations on the present invention.

[0030] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" 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 it can be an indirect connection through an intermediate medium, or it can be the internal communication of 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.

[0031] See also Figures 1 to 8As shown, the utility model is a double-speed wall-mounted manipulator, including a beam frame fixing seat 1, a double-speed structure 1 2 and a double-speed structure 2 3. A plurality of first sliders 101 are arranged in the middle of a surface of the beam frame fixing seat 1, a first motor 1011 is arranged on a surface of the beam frame fixing seat 1, a first gear 1012 is arranged at the output end of the first motor 1011, a first slide rail 1013 is arranged in the first slider 101, a surface of the first slide rail 1013 is fixedly connected to a fixing seat 1014, a first rack 1015 is arranged on one side of the fixing seat 1014, the shape and size of the first rack 1015 are adapted to the first gear 1012, and the first rack 1015 is meshed with the first gear 1012; a second motor 1017 is arranged on one surface of the fixed seat 1014, the output end of the second motor 1017 passes through the fixed seat 1014 and extends to the outside, and a bevel gear 1018 is arranged on the output end of the second motor 1017; first card covers 1019 are fixed on both sides of the lower surface of the fixed seat 1014, a first tooth plate 1020 is fixed on the lower surface of the first card cover 1019 with screws, a first synchronous belt 1021 is fixed between the first tooth plate 1020 and the first card cover 1019, and side plates 1022 are arranged on both sides of the lower end of the fixed seat 1014, and a second slider 1023 is fixed inside the side plates 1022;

[0032] The speed structure 2 includes a first connecting cross bar 201, both ends of the first connecting cross bar 201 are provided with first rotating wheels 2011, the first connecting cross bar 201 is provided with an upper slide rail 2012 and a lower slide rail 2013 on two opposite surfaces, the first synchronous belt 1021 is sleeved on the side surface of the first connecting cross bar 201, the first synchronous belt 1021 and the first rotating wheel 2011 cooperate with each other, a second rack 2014 is provided on the front end side of the upper surface of the first connecting cross bar 201, the shape and size of the second rack 2014 are adapted to the bevel gear 1018, and the second rack 2014 is meshed with the bevel gear 1018; the first A connecting block is fixed in the middle of one surface of the synchronous belt 1021, a first connecting plate 1024 is fixed on the lower surface of the connecting block, vertical plates 1025 are arranged on both opposite surfaces of the first connecting plate 1024, an upper slider 1026 and a lower slider 1027 are fixedly connected to the inner wall of the vertical plate 1025, and the upper slider 1026 is slidably matched with the lower rail 2013; a lower rack 2015 is arranged on one side of the rear end of the lower surface of the first connecting cross bar 201, a connecting shaft 1032 is arranged between the two vertical plates 1025, a bearing 1033 is arranged and fixed on the side surface of the connecting shaft 1032, and a transmission gear 1028 is arranged on the side surface of the bearing 1033;

[0033] The speed structure 2 3 includes a second connecting cross bar 301, and second rotating wheels 3013 are arranged at both ends of the second connecting cross bar 301. Second slide rails 3011 are arranged on two opposite surfaces of the second connecting cross bar 301, and the second slide rails 3011 are meshed with the lower slider 1027. An upper rack 3012 is arranged on one side of the front end of the upper surface of the second connecting cross bar 301, and the upper rack 3012 and the lower rack 2015 are meshed with the transmission gear 1028. Second card covers 1029 are fixed on both sides of the lower surface of the first connecting plate 1024, and a second toothed plate 1030 is fixed to the lower surface of the second card cover 1029 with screws, and the second toothed plate 1030 is meshed with the second A second synchronous belt 1031 is fixed between the card covers 1029, and the second synchronous belt 1031 is sleeved on the side surface of the second connecting cross bar 301. The second synchronous belt 1031 cooperates with the second rotating wheel 3013. Bottom slide rails 3014 are provided on both sides of the lower surface of the second connecting cross bar 301. A fixed block is fixed to the middle of one surface of the second synchronous belt 1031, and a second connecting plate 3015 is provided on the lower surface of the fixed block. Bottom sliders 3016 are provided on both sides of the upper surface of the second connecting plate 3015. The bottom slider 3016 and the bottom slide rail 3014 are slidably cooperated, and a suction cup frame 3017 is fixed to the lower surface of the second connecting plate 3015.

[0034] The bevel gear 1018 is located between the two first card covers 1019 , the first rotating wheel 2011 and the second rotating wheel 3013 have the same structure, and the first synchronous belt 1021 and the second synchronous belt 1031 have the same structure.

[0035] Among them, the first slide rail 1013, the upper slide rail 2012, the lower slide rail 2013, the second slide rail 3011 and the bottom slide rail 3014 all have the same structure; the first slider 101, the second slider 1023, the upper slider 1026, the lower slider 1027 and the bottom slider 3016 all have the same structure.

[0036] The shape and size of the upper slide rail 2012 are adapted to the second slider 1023 , and the upper slide rail 2012 and the second slider 1023 are slidably matched.

[0037] See also Figures 1 to 8 As shown, this embodiment is a working principle of a double-speed wall-mounted manipulator: the first motor 1011 drives the first gear 1012 to rotate, and the first gear 1012 is engaged with the first rack 1015, so that the first slider 101 on the beam frame fixing seat 1 slides up and down along the first slide rail 1013;

[0038] The second motor 1017 drives the bevel gear 1018 to rotate, and the bevel gear 1018 meshes with the second rack 2014, thereby generating a first speed. The second sliders 1023 on both sides of the first synchronous belt 1021 run on the upper slide rail 2012, and the first synchronous belt 1021 rotates, and the speed structure 1 2 increases to a second speed. The lower rack 2015 cooperates with the transmission gear 1028 to drive the upper rack 3012 to generate a third speed, and drives the second synchronous belt 1031 to run, and the speed structure 2 3 is increased to a fourth speed, thereby realizing the overall four-speed movement of the suction cup frame 3017.

[0039] It needs to be further explained that: a fixing piece is formed between the first card cover 1019 and the first tooth plate 1020, and the first card cover 1019 and the first tooth plate 1020 have the same structure as the second card cover 1029 and the second tooth plate 1030; the fixing piece is fixed at both ends of the first synchronous belt 1021 and the second synchronous belt 1031.

[0040] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0041] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A double-speed wall-mounted manipulator, comprising a beam frame fixing seat (1), a double-speed structure 1 (2) and a double-speed structure 2 (3), characterized in that: A plurality of first sliders (101) are arranged in the middle of a surface of the beam frame fixing seat (1); a first motor (1011) is arranged on a surface of the beam frame fixing seat (1); a first gear (1012) is arranged at an output end of the first motor (1011); a first slide rail (1013) is arranged inside the first slider (101); a fixing seat (1014) is fixedly connected to a surface of the first slide rail (1013); a first rack (1015) is arranged on one side of the fixing seat (1014); a second motor (1017) is arranged inside the fixing seat (1014); and the second motor (1017) is arranged at a first gear (1012). 17) The output end passes through the fixed seat (1014) and extends to the outside, and the output end of the second motor (1017) is provided with a bevel gear (1018); first card covers (1019) are fixed on both sides of the lower surface of the fixed seat (1014), a first tooth plate (1020) is fixed on the lower surface of the first card cover (1019) by screws, a first synchronous belt (1021) is fixed between the first tooth plate (1020) and the first card cover (1019), and side plates (1022) are provided on both sides of the lower end of the fixed seat (1014), and a second slider (1023) is fixed inside the side plates (1022); The speed-multiplying structure (2) comprises a first connecting cross bar (201), both ends of which are provided with first rotating wheels (2011), the first connecting cross bar (201) is provided with an upper slide rail (2012) and a lower slide rail (2013) on two opposite surfaces, the first synchronous belt (1021) is sleeved on the peripheral side of the first connecting cross bar (201), the first synchronous belt (1021) and the first rotating wheel (2011) cooperate with each other, a second rack (2014) is provided on one side of the front end of the upper surface of the first connecting cross bar (201), a connecting block is fixed in the middle of the first synchronous belt (1021), and the lower surface of the connecting block A first connecting plate (1024) is fixed, and vertical plates (1025) are arranged on two opposite surfaces of the first connecting plate (1024), and an upper slider (1026) and a lower slider (1027) are fixedly connected to the inner wall of the vertical plate (1025), and the upper slider (1026) and the lower sliding rail (2013) are slidably matched; a lower rack (2015) is arranged on one side of the rear end of the lower surface of the first connecting crossbar (201), and a connecting shaft (1032) is arranged between the two vertical plates (1025), and a bearing (1033) is arranged and fixed on the peripheral side of the connecting shaft (1032), and a transmission gear (1028) is arranged on the peripheral side of the bearing (1033); The speed-multiplying structure 2 (3) comprises a second connecting cross bar (301), both ends of the second connecting cross bar (301) are provided with second rotating wheels (3013), the second connecting cross bar (301) is provided with second slide rails (3011) on two opposite surfaces, the second slide rails (3011) are meshed with the lower sliding block (1027), an upper rack (3012) is provided on one side of the front end of the upper surface of the second connecting cross bar (301), the upper rack (3012) and the lower rack (2015) are both meshed with the transmission gear (1028), second card covers (1029) are fixed on both sides of the lower surface of the first connecting plate (1024), a second tooth plate (1030) is fixed to the lower surface of the second card cover (1029) by screws, and the second tooth plate (1030) A second synchronous belt (1031) is fixed between the second card cover (1029), the second synchronous belt (1031) is sleeved on the peripheral side of the second connecting cross bar (301), the second synchronous belt (1031) and the second rotating wheel (3013) cooperate with each other, bottom slide rails (3014) are arranged on both sides of the lower surface of the second connecting cross bar (301), a fixed block is fixed to the middle of one surface of the second synchronous belt (1031), a second connecting plate (3015) is arranged on the lower surface of the fixed block, bottom sliders (3016) are arranged on both sides of the upper surface of the second connecting plate (3015), the bottom slider (3016) and the bottom slide rail (3014) are slidably matched, and a suction cup frame (3017) is arranged on the lower surface of the second connecting plate (3015).

2. The wall-mounted robot with double speed according to claim 1, characterized in that: The bevel gear (1018) is located between the two first card covers (1019), the first rotating wheel (2011) and the second rotating wheel (3013) have the same structure, and the first synchronous belt (1021) and the second synchronous belt (1031) have the same structure.

3. The double-speed wall-mounted manipulator according to claim 1, characterized in that: The shape and size of the first rack (1015) are adapted to the first gear (1012), and the first rack (1015) is meshed with the first gear (1012).

4. The double-speed wall-mounted manipulator according to claim 1, characterized in that: The shape and size of the second rack (2014) are adapted to the bevel gear (1018), and the second rack (2014) is meshed with the bevel gear (1018).

5. The double-speed wall-mounted manipulator according to claim 1, characterized in that: The first slide rail (1013), the upper slide rail (2012), the lower slide rail (2013), the second slide rail (3011) and the bottom slide rail (3014) all have the same structure; the first slider (101), the second slider (1023), the upper slider (1026), the lower slider (1027) and the bottom slider (3016) all have the same structure.

6. The wall-mounted robot with double speed according to claim 1, characterized in that: The shape and size of the upper slide rail (2012) are compatible with the second slide block (1023), and the upper slide rail (2012) and the second slide block (1023) are in sliding cooperation.

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