Rotary manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a rotary manipulator which comprises an installation base, a rotary motor is fixedly installed at the middle end of the top of the inner side of the installation base, the output end of the rotary motor is fixedly connected with a rotary disc, and an electric push rod is fixedly installed at the middle end of the top of the installation base. Through the arrangement of the electric push rod, the rotary manipulator has the advantages of increasing the reserved space and preventing other articles from being touched, and solves the problems that after an existing rotary manipulator clamps goods, the clamped goods are usually driven to rise to the initial position and then are placed after rotation, however, the existing rotary manipulator is inconvenient to use. The problems that goods needing to be clamped by the rotary mechanical arm are high and large in size sometimes, even if the goods are lifted to the initial position, the reserved space below the goods is still insufficient, the goods are likely to touch other objects in the rotary placement process, and the use risk of the rotary mechanical arm is improved are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a rotary manipulator. Background Technique

[0002] With the development of the times, in order to improve the handling efficiency of goods in the factory, manipulators are usually selected to replace manual labor for corresponding work. At the same time, considering to occupy as little production space in the factory as possible, the rotary manipulator has been vigorously promoted and used.

[0003] At present, after the existing rotary manipulator grabs goods, it usually drives the grabbed goods to rise to the initial position and then places them after rotation. However, sometimes the goods to be grabbed by the rotary manipulator are relatively tall and large in volume. Even after the goods rise to the initial position, the reserved space under the goods is still insufficient, and it is easy to touch other items during the rotation and placement process, increasing the risk of its use. For this reason, we propose a rotary manipulator. Content of the Utility Model

[0004] The purpose of the utility model is to provide a rotary manipulator, which has the advantages of increasing the reserved space and preventing touching other items, and solves the problem that after the existing rotary manipulator grabs goods, it usually drives the grabbed goods to rise to the initial position and then places them after rotation. However, sometimes the goods to be grabbed by the rotary manipulator are relatively tall and large in volume. Even after the goods rise to the initial position, the reserved space under the goods is still insufficient, and it is easy to touch other items during the rotation and placement process, increasing the risk of its use.

[0005] To achieve the above object, the present utility model provides the following technical solutions: A rotary manipulator, including a mounting base, a rotary motor is fixedly installed in the middle of the inner top of the mounting base, the output end of the rotary motor is fixedly connected with a rotating disk, an electric push rod is fixedly installed in the middle of the top of the mounting base, the extending end of the electric push rod is fixedly connected with a fixed disk, a telescopic seat is fixedly connected in the middle of the top of the fixed disk, a telescopic arm is slidably connected inside the telescopic seat, a toothed plate is fixedly installed in the middle of the top of the telescopic arm, a telescopic motor is fixedly installed at the upper end of the rear side of the telescopic seat, the output end of the telescopic motor is fixedly connected with a gear meshing with the toothed plate, a lifting motor is fixedly installed at the right end of the top of the telescopic arm, the output end of the lifting motor is fixedly connected with a lifting threaded rod, a lifting seat is threadedly connected to the outer surface of the lifting threaded rod, a top plate is fixedly connected to the right end of the top of the lifting seat, a double-headed motor is fixedly installed inside the right end of the lifting seat, both output ends of the double-headed motor are fixedly connected with clamping threaded rods, a moving plate is threadedly connected to the outer surface of the clamping threaded rods, a docking groove is opened at the lower end of the right side of the moving plate, a docking block adapted to it is inserted inside the docking groove, and a clamping plate is fixedly connected to the right side of the docking block.

[0006] Preferably, both the left and right ends of the top of the rotating disk are fixedly connected with fixed sleeves, a movable rod is slidably connected to the upper end inside the fixed sleeve, and the top of the movable rod is fixedly connected to the bottom of the fixed disk.

[0007] Preferably, both the front and rear ends of the bottom of the top plate are fixedly connected with fixing plates, and the end of the clamping threaded rod away from the double-headed motor is movably connected to one side of the fixing plate through a bearing.

[0008] Preferably, a limiting slide bar that slides on the inner surface of the right end of the telescopic arm is fixedly connected to the top of the lifting seat.

[0009] Preferably, an annular rail groove is opened at the top of the mounting base, and a stable sliding ring that slides in the annular rail groove is fixedly connected to the bottom of the rotating disk.

[0010] Preferably, anti-slip pads are bonded to the opposite sides of the two clamping plates, and anti-slip grooves are opened on the side of the anti-slip pads away from the clamping plates.

[0011] Preferably, a locking screw is threadedly connected to the right end of the side of the moving plate close to the fixing plate, and the locking screw is threadedly connected to the docking block with a threaded hole opened on its inner surface.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] 1. The utility model drives the clamping threaded rod to rotate through a double-headed motor, so that the moving plate moves towards the fixed plate on the outer surface of the clamping threaded rod. And with the cooperation of the docking block and the docking groove, the clamping plate can be driven to unfold. Then, the lifting motor drives the lifting threaded rod to rotate, so that the lifting seat moves downward on the outer surface of the lifting threaded rod, and then the unfolded clamping plate approaches the center position of the goods to be transported. Then, the telescopic motor drives the gear to rotate forward, and with the assistance of the meshing tooth plate, the telescopic arm can be driven to move to the right, so that the unfolded clamping plate is placed outside the clamped goods. Then, the double-headed motor drives the clamping threaded rod to rotate in the reverse direction, so that the moving plate moves towards the double-headed motor on the outer surface of the clamping threaded rod, and then the clamping plate can clamp the goods. Then, the lifting motor drives the lifting threaded rod to rotate in the reverse direction, so that the lifting seat moves upward on the outer surface of the lifting threaded rod, and then the goods clamped by the clamping plate move upward, and the goods are separated from the placement position. Then, the telescopic motor drives the gear to rotate in the reverse direction, and with the assistance of the meshing tooth plate, the telescopic arm can be driven to move to the left. Then, the electric push rod extends and drives the fixed disk to move upward, so as to expand the reserved space below the goods when they rotate. Then, the rotary motor drives the rotating disk to rotate, which can avoid touching other items and is convenient for the staff to use.

[0014] 3. Through the arrangement of the fixed sleeve and the movable rod, when the electric push rod extends and drives the fixed disk to move upward, the stability of the fixed disk during movement is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is the structural schematic diagram of the first perspective of the utility model;

[0016] Figure 2 is the structural schematic diagram of the second perspective of the utility model;

[0017] Figure 3 is the sectional structural schematic diagram of the third perspective of the utility model;

[0018] Figure 4 is the structural schematic diagram of the cooperation between the fixed sleeve and the movable rod of the utility model;

[0019] Figure 5 is the structural schematic diagram of the cooperation between the moving plate and the docking block of the utility model.

[0020] In the figure: 1, mounting base; 2, rotating disk; 3, fixed sleeve; 4, electric push rod; 5, fixed disk; 6, telescopic seat; 7, telescopic arm; 8, toothed plate; 9, lifting motor; 10, limit slide bar; 11, top plate; 12, fixed plate; 13, clamping plate; 14, anti-slip pad; 15, lifting seat; 16, moving plate; 17, clamping threaded rod; 18, double-headed motor; 19, telescopic motor; 20, gear; 21, stable sliding ring; 22, slewing motor; 23, annular rail groove; 24, lifting threaded rod; 25, movable rod; 26, locking screw; 27, docking block; 28, docking groove. Detailed implementation mode

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0022] In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the 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 to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0023] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "connected" 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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0024] The installation base 1, rotating disk 2, fixed sleeve 3, electric push rod 4, fixed disk 5, telescopic seat 6, telescopic arm 7, toothed plate 8, lifting motor 9, limit slide bar 10, top plate 11, fixed plate 12, clamping plate 13, anti-slip pad 14, lifting seat 15, moving plate 16, clamping threaded rod 17, double-headed motor 18, telescopic motor 19, gear 20, stable sliding ring 21, slewing motor 22, annular rail groove 23, lifting threaded rod 24, movable rod 25, locking screw 26, docking block 27 and docking groove 28 components of the present application are all common standard components or components known to those skilled in the art, and their structures and principles can all be learned by those skilled in the art through technical manuals or obtained through conventional experimental methods.

[0025] Embodiment 1

[0026] Please refer to Figures 1-5 As shown in the figure, the present utility model provides a technical solution: a rotary manipulator, including an installation base 1, a slewing motor 22 is fixedly installed in the middle of the inner top of the installation base 1, the output end of the slewing motor 22 is fixedly connected to a rotating disk 2, an electric push rod 4 is fixedly installed in the middle of the top of the installation base 1, the extending end of the electric push rod 4 is fixedly connected to a fixed disk 5, a telescopic seat 6 is fixedly connected to the middle of the top of the fixed disk 5, a telescopic arm 7 is slidably connected inside the telescopic seat 6, a toothed plate 8 is fixedly installed in the middle of the top of the telescopic arm 7, a telescopic motor 19 is fixedly installed at the upper end of the rear side of the telescopic seat 6, the output end of the telescopic motor 19 is fixedly connected to a gear 20 meshing with the toothed plate 8, a lifting motor 9 is fixedly installed at the right end of the top of the telescopic arm 7, the output end of the lifting motor 9 is fixedly connected to a lifting threaded rod 24, a lifting seat 15 is threadedly connected to the outer surface of the lifting threaded rod 24, a top plate 11 is fixedly connected to the right end of the top of the lifting seat 15, a double-headed motor 18 is fixedly installed inside the right end of the lifting seat 15, both output ends of the double-headed motor 18 are fixedly connected to clamping threaded rods 17, both the front and rear ends of the bottom of the top plate 11 are fixedly connected to fixed plates 12, and the end of the clamping threaded rod 17 away from the double-headed motor 18 is movably connected to one side of the fixed plate 12 through a bearing, a moving plate 16 is threadedly connected to the outer surface of the clamping threaded rod 17, a docking groove 28 is opened at the lower end of the right side of the moving plate 16, a docking block 27 adapted to it is inserted inside the docking groove 28, and a clamping plate 13 is fixedly connected to the right side of the docking block 27.

[0027] This technical solution: Through the setting of the installation base 1, after installing this manipulator at the use position, the external controller is used to turn on the operation of this manipulator. Then, the double-headed motor 18 drives the clamping threaded rod 17 to rotate, causing the moving plate 16 to move towards the fixed plate 12 on the outer surface of the clamping threaded rod 17. And with the cooperation of the docking block 27 and the docking groove 28, it can drive the clamping plate 13 to expand. Then, the lifting motor 9 drives the lifting threaded rod 24 to rotate, so that the lifting seat 15 moves downward on the outer surface of the lifting threaded rod 24, and then the expanded clamping plate 13 approaches the center position of the goods to be transported. Next, the telescopic motor 19 drives the gear 20 to rotate forward, and with the assistance of the meshing tooth plate 8, it can drive the telescopic arm 7 to move to the right, so that the expanded clamping plate 13 is placed outside the goods to be clamped. Then, the double-headed motor 18 drives the clamping threaded rod 17 to rotate in the reverse direction, causing the moving plate 16 to move towards the double-headed motor 18 on the outer surface of the clamping threaded rod 17, so that the clamping plate 13 can clamp the goods. Next, the lifting motor 9 drives the lifting threaded rod 24 to rotate in the reverse direction, so that the lifting seat 15 moves upward on the outer surface of the lifting threaded rod 24, and then the goods clamped by the clamping plate 13 move upward, and the goods are separated from the placement position. Then, the telescopic motor 19 drives the gear 20 to rotate in the reverse direction, and with the assistance of the meshing tooth plate 8, it can drive the telescopic arm 7 to move to the left. Next, the electric push rod 4 extends and drives the fixed disk 5 to move upward, so as to expand the reserved space below the goods when they rotate, which can avoid touching other items and is convenient for the staff to use.

[0028] Embodiment 2

[0029] On the basis of Embodiment 1, as shown in the present utility model Figures 1-4 shows that both the left and right ends of the top of the rotating disk 2 are fixedly connected with fixed sleeves 3. The upper end inside the fixed sleeve 3 is slidably connected with a movable rod 25, and the top of the movable rod 25 is fixedly connected with the bottom of the fixed disk 5.

[0030] This technical solution: Through the setting of the fixed sleeve 3 and the movable rod 25, when the electric push rod 4 extends and drives the fixed disk 5 to move upward, the stability of the fixed disk 5 during movement is ensured.

[0031] Embodiment 3

[0032] On the basis of Embodiment 1, as shown in the present utility model Figures 1-3 shows that the top of the lifting seat 15 is fixedly connected with a limiting slide rod 10 that slides inside the right end of the telescopic arm 7.

[0033] This technical solution: Through the setting of the limiting slide rod 10, the stability of the lifting seat 15 during up and down movement is ensured.

[0034] Example 4

[0035] On the basis of Example 1, as shown in the present utility model Figure 3 , the top of the mounting base 1 is provided with an annular rail groove 23, and the bottom of the rotating disc 2 is fixedly connected with a stable sliding ring 21 that slides in the annular rail groove 23.

[0036] Technical solution of the present invention: Through the arrangement of the annular rail groove 23 and the stable sliding ring 21, the stability of the rotating disc 2 during rotation is ensured.

[0037] Example 5

[0038] On the basis of Example 1, as shown in the present utility model Figures 1-5 , it is disclosed that anti-slip pads 14 are bonded to the opposite sides of the two clamping plates 13, and anti-slip grooves are provided on the sides of the anti-slip pads 14 away from the clamping plates 13.

[0039] Technical solution of the present invention: Through the arrangement of the anti-slip pads 14, the strength of the clamping plates 13 for clamping goods can be improved, and the risk of goods slipping is reduced.

[0040] Example 6

[0041] On the basis of Example 1, as shown in the present utility model Figures 1-5 , it is disclosed that a locking screw 26 is threadedly connected to the right end of the side of the moving plate 16 close to the fixed plate 12, and the locking screw 26 is threadedly connected to a docking block 27 with a threaded hole provided on its inner surface.

[0042] Technical solution of the present invention: Through the arrangement of the locking screw 26, the docking block 27 can be locked in the docking groove 28, and it is convenient for the staff to replace the clamping plate 13 according to the different specifications of the goods to be transported in batches.

[0043] Importantly, it should be noted that the construction and arrangement of the present application shown in multiple different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who refer to this disclosure should easily understand that many modifications are possible without materially departing from the novel teachings and advantages of the subject matter described in this application (e.g., changes in the dimensions, scales, structures, shapes and proportions of various elements, as well as parameter values (such as temperature, pressure, etc.), installation arrangements, use of materials, colors, orientations, etc.). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of the element may be inverted or otherwise changed, and the nature, number or position of discrete elements may be altered or changed. Accordingly, all such modifications are intended to be included within the scope of the present utility model. The order or sequence of any process or method steps may be changed or reordered according to alternative embodiments. In the claims, any clause of "means-plus-function" is intended to cover the structure that performs the recited function herein, and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present utility model. Therefore, the present utility model is not limited to a particular embodiment, but extends to various modifications that still fall within the scope of the appended claims.

[0044] In addition, in order to provide a concise description of the exemplary embodiments, all features of the actual embodiments may not be described (i.e., those features that are not relevant to the currently considered best mode of carrying out the present utility model, or those features that are not relevant to the implementation of the present utility model).

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit the protection scope of the present utility model. Although the present utility model has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present utility model may be modified or equivalently replaced without departing from the essence and scope of the technical solutions of the present utility model.

Claims

1. A rotary manipulator, comprising a mounting base (1), characterized in that: A rotary motor (22) is fixedly mounted at the middle end of the top of the inner side of the mounting base (1), and the output end of the rotary motor (22) is fixedly connected to a rotating disk (2). An electric push rod (4) is fixedly mounted at the middle end of the top of the mounting base (1), and the extended end of the electric push rod (4) is fixedly connected to a fixed disk (5). A telescopic seat (6) is fixedly connected at the middle end of the top of the fixed disk (5). A telescopic arm (7) is slidably connected to the inner side of the telescopic seat (6), and a toothed plate (8) is fixedly mounted at the middle end of the top of the telescopic arm (7). A telescopic motor (19) is fixedly mounted at the upper end of the rear side of the telescopic seat (6), and a gear (20) meshing with the toothed plate (8) is fixedly connected to the output end of the telescopic motor (19). The right end of the top of the telescopic arm (7) is fixedly mounted. A lifting motor (9) is provided, the output end of the lifting motor (9) is fixedly connected to a lifting threaded rod (24), the outer surface of the lifting threaded rod (24) is threadedly connected to a lifting seat (15), the right end of the top of the lifting seat (15) is fixedly connected to a top plate (11), a double-headed motor (18) is fixedly installed on the inner side of the right end of the lifting seat (15), both output ends of the double-headed motor (18) are fixedly connected to a clamping threaded rod (17), the outer surface of the clamping threaded rod (17) is threadedly connected to a moving plate (16), a docking groove (28) is provided at the lower end of the right side of the moving plate (16), a docking block (27) matched with the docking groove (28) is inserted into the inner side of the docking groove (28), and the right side of the docking block (27) is fixedly connected to the clamping plate (13).

2. A rotary manipulator according to claim 1, characterized in that: The left and right ends of the top of the rotating disk (2) are fixedly connected to a fixed sleeve (3), the upper end of the inner side of the fixed sleeve (3) is slidably connected to a movable rod (25), and the top of the movable rod (25) is fixedly connected to the bottom of the fixed disk (5).

3. A rotary manipulator according to claim 1, characterized in that: The front and rear ends of the bottom of the top plate (11) are fixedly connected to a fixing plate (12), and the end of the clamping threaded rod (17) away from the double-headed motor (18) is movably connected to one side of the fixing plate (12) through a bearing.

4. A rotary manipulator according to claim 1, characterized in that: The top of the lifting seat (15) is fixedly connected with a limiting sliding rod (10) which slides on the inner surface of the right end of the telescopic arm (7).

5. The rotary manipulator according to claim 1, characterized in that: An annular track groove (23) is provided on the top of the mounting base (1), and a stabilizing slip ring (21) that slides on the annular track groove (23) is fixedly connected to the bottom of the rotating disk (2).

6. A rotary manipulator according to claim 1, characterized in that: An anti-skid pad (14) is bonded to one side opposite to the two clamping plates (13), and an anti-skid groove is provided on one side of the anti-skid pad (14) away from the clamping plates (13).

7. A rotary manipulator according to claim 1, characterized in that: A locking screw (26) is threadedly connected to the right end of one side of the movable plate (16) close to the fixed plate (12), and the locking screw (26) is threadedly connected to a docking block (27) with a threaded hole on the inner surface.

Images