Arm lifting device of carrying manipulator

Abstract

The utility model discloses an arm lifting device of a carrying manipulator, and relates to the technical field of carrying manipulators. The arm lifting device of the carrying mechanical arm comprises a base, a connecting base fixedly installed at the top of the base and a lifting structure arranged on the connecting base. The lifting structure comprises a first motor, a lead screw and a sliding block. A telescopic mechanism and a clamping mechanism in the prior art are arranged on the outer wall of the sliding block. An adjusting structure is arranged in the base and comprises a second motor, a first threaded rod, a second threaded rod, a first belt pulley, a second belt pulley, a transmission belt, a guide rod, a connecting block, a mounting plate and universal wheels, and an opening allowing the universal wheels to pass through is formed in the top of the base. Compared with an electric push rod used in the prior art, the height accuracy and stability in the lifting process are guaranteed, the lead screw lifting structure is simple, the number of parts is small, and maintenance and replacement work is more convenient.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, specifically to an arm lifting device for a material handling robot. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both humans and machines.

[0003] Application No. 202323293767.1 discloses a robotic arm structure for grasping and handling, comprising an operating platform, a base, a lifting mechanism, a telescopic mechanism, and a clamping mechanism. The base is located above the operating platform, the lifting mechanism is located above the base, the telescopic mechanism is located to the right of the lifting mechanism, and the clamping mechanism is located to the right of the telescopic mechanism. The lifting mechanism consists of a connecting arm, a first electric push rod, and a moving block. The connecting arm is fixedly connected to the top of the base, the first electric push rod is fixedly installed on the inner bottom surface of the connecting arm, and the moving block is fixedly connected to the output end of the first electric push rod. This device allows the clamping mechanism to grasp items at different heights and angles, improving the flexibility and enhancing the scope of application and practicality of the device. However, the height adjustment device used in this device is an electric push rod, which contains multiple components such as a motor, a reduction mechanism, a transmission system, and a control system. This increases the difficulty of maintenance and repair, and also increases the possibility of failure. Furthermore, it is inconvenient for moving the device. Based on this, a lifting device for the arm of a handling robotic arm is proposed to improve upon the above problems. Utility Model Content

[0004] The purpose of this invention is to provide an arm lifting device for a handling robot to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a lifting device for a handling robot arm, comprising a base, a connecting seat fixedly mounted on the top of the base, and a lifting structure disposed on the connecting seat:

[0006] The lifting structure includes a first motor, a lead screw, and a slider. The outer wall of the slider is provided with a telescopic mechanism and a clamping mechanism as used in the prior art.

[0007] The base has an internal adjustment structure, which includes a second motor, a first threaded rod, a second threaded rod, a first pulley, a second pulley, a transmission belt, a guide rod, a connecting block, a mounting plate, and a caster wheel. The top of the base has an opening that allows the caster wheel to pass through.

[0008] Preferably, the base is hinged to a sealed door on the front side to facilitate the installation and maintenance of the components inside the base.

[0009] Preferably, the connecting seat has a sliding groove inside, a lead screw is rotatably installed in the sliding groove, a first motor is fixedly installed on the top of the connecting seat, the output shaft of the first motor is fixedly connected to the lead screw through a coupling, and a slider is slidably installed in the sliding groove. The slider and the inside of the sliding groove are fitted together, that is, when the lead screw rotates, the slider will not rotate with the rotation of the lead screw.

[0010] Preferably, the lead screw passes through the slider and is threadedly connected to the slider to achieve lifting operation.

[0011] Preferably, a second motor is fixedly installed on the top of the base, and a first threaded rod and a second threaded rod are rotatably installed on the inner top of the base. The output shaft of the second motor is fixedly connected to the first threaded rod through a coupling. A first pulley is welded and installed on the first threaded rod, and a second pulley is welded and installed on the first threaded rod. A transmission belt is fitted on the first pulley and the second pulley. Two sets of connecting blocks are provided inside the base. The two sets of threaded rods pass through the two sets of connecting blocks respectively and are threadedly connected to the connecting blocks. Two sets of guide rods are fixedly installed on the inner top of the base. The guide rods pass through the connecting blocks and are slidably connected to the connecting blocks. Mounting plates are fixedly installed on the adjacent side walls of the two sets of connecting blocks. Universal wheels are rotatably installed on the bottom of the mounting plates, and brake pads are provided on the universal wheels.

[0012] Preferably, the first pulley and the second pulley are connected by a drive belt.

[0013] Preferably, the mounting plate is U-shaped.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] (1) The lifting device of the handling robot arm adjusts the height of the device by using the first motor, lead screw and slider in combination. Compared with the electric push rod used in the prior art, this structure ensures the height accuracy and stability during the lifting process. The lead screw lifting structure is simple and has fewer parts, making maintenance and replacement more convenient. At the same time, due to the use of wear-resistant and corrosion-resistant materials, the service life is also effectively extended.

[0016] (2) The lifting device of the handling robot arm, through the cooperation of the second motor, the first threaded rod, the second threaded rod, the first pulley, the second pulley, the transmission belt, the guide rod, the connecting block, the mounting plate and the universal wheel, enables the device to operate and ensures stability during use. Attached Figure Description

[0017] Figure 1 This is a front view schematic diagram of the present invention;

[0018] Figure 2 This is a bottom view diagram of the present invention;

[0019] Figure 3 This is a schematic diagram of the base structure in this utility model;

[0020] Figure 4 This is an enlarged schematic diagram of part A in this utility model.

[0021] In the diagram: 1. Base; 2. Connecting seat; 3. Lifting structure; 4. Adjusting structure; 5. Opening.

[0022] First motor 31, lead screw 32, slider 33;

[0023] Second motor 41, first threaded rod 42, second threaded rod 43, first pulley 44, second pulley 45, transmission belt 46, guide rod 47, connecting block 48, mounting plate 49, caster wheel 410. Detailed Implementation

[0024] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0025] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0026] In the description of this utility model, terms such as greater than, less than, and exceeding are understood to exclude the stated number, while terms such as above, below, and within are understood to include the stated number. The use of terms like "first" and "second" is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the quantity or sequence of the indicated technical features.

[0027] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0028] In the description of this utility model, the circuits, electronic components and control modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated. The content protected by this utility model does not involve improvements to the software and methods.

[0029] Please see Figure 1-4 This utility model provides a technical solution: a lifting device for a handling robot arm, including a base 1, a connecting seat 2 fixedly mounted on the top of the base 1, and a lifting structure 3 disposed on the connecting seat 2, such as... Figure 1 As shown, a sealed door is hinged to the front of the base 1, facilitating the installation and maintenance of the components inside the base 1. The lifting structure 3 includes a first motor 31, a lead screw 32, and a slider 33. A groove is provided inside the connecting seat 2, and the lead screw 32 is rotatably installed in the groove. The first motor 31 is fixedly installed on the top of the connecting seat 2. The output shaft of the first motor 31 is fixedly connected to the lead screw 32 through a coupling. The slider 33 is slidably installed in the groove. The lead screw 32 passes through the slider 33 and is threadedly connected to the slider 33, driving the first motor 31. The first motor 31 drives the lead screw 32 to rotate, and the rotation of the lead screw 32 drives the slider 33 to move longitudinally. The longitudinal movement of the slider 33 drives the telescopic mechanism and the clamping mechanism to move longitudinally, thereby adjusting the height of the device. Compared with the electric push rod used in the prior art, this structure ensures the accuracy and stability of the height during the lifting process. The lead screw lifting structure is simple, has fewer parts, and is more convenient for maintenance and replacement. At the same time, due to the use of wear-resistant and corrosion-resistant materials, the service life is also effectively extended.

[0030] It should be noted that the slider 33 and the inside of the groove are fitted together. That is to say, when the lead screw 32 rotates, the slider 33 will not rotate with the lead screw 32. The outer wall of the slider 33 is provided with the telescopic mechanism and clamping mechanism of the prior art, which are not shown in the figure. For details, please refer to the prior art. It will not be described in detail here.

[0031] The base 1 has an internal adjustment structure 4, which includes a second motor 41, a first threaded rod 42, a second threaded rod 43, a first pulley 44, a second pulley 45, a transmission belt 46, a guide rod 47, a connecting block 48, a mounting plate 49, and a caster wheel 410. Figure 3As shown, a second motor 41 is fixedly installed on the top of the base 1. A first threaded rod 42 and a second threaded rod 43 are rotatably installed on the inner top of the base 1. The output shaft of the second motor 41 is fixedly connected to the first threaded rod 42 through a coupling. A first pulley 44 and a second pulley 45 are welded and installed on the first threaded rod 42. A transmission belt 46 is fitted on the first pulley 44 and the second pulley 45. The first pulley 44 and the second pulley 45 are connected by transmission belt 46. When the second motor 41 is started, the second motor 41 drives the first threaded rod 42 to rotate. The rotation of the first threaded rod 42 drives the first pulley 44 to rotate. With the cooperation of the transmission belt 46, the second pulley 45 rotates, thus driving the second threaded rod 43 to rotate.

[0032] The base 1 has two sets of connecting blocks 48 inside. Two sets of threaded rods pass through the two sets of connecting blocks 48 and are threadedly connected to the connecting blocks 48. Two sets of guide rods 47 are fixedly installed on the top inner side of the base 1. The guide rods 47 pass through the connecting blocks 48 and are slidably connected to the connecting blocks 48. Mounting plates 49 are fixedly installed on the adjacent side walls of the two sets of connecting blocks 48. The mounting plates 49 are U-shaped. Universal wheels 410 are rotatably installed on the bottom of the mounting plates 49. The universal wheels 410 are equipped with brake pads. When the guide rods 47 are in use, the two sets of threaded rods rotate, causing the connecting blocks 48 to move longitudinally. The longitudinal movement of the connecting blocks 48 causes the mounting plates 49 and the universal wheels 410 to move longitudinally until the universal wheels 410 are in contact with the ground. When the universal wheels 410 are retracted, the reverse drive motor can be used. The use of this structure enables the device to operate and ensures stability during use.

[0033] It should be noted that during the retraction of the caster wheel 410, the device should be stabilized and supported by manual assistance to prevent the caster wheel 410 from retracting and causing the base 1 to hit the ground suddenly.

[0034] In addition, the top of the base 1 has an opening 5 that allows the caster wheel 410 to pass through.

[0035] In use, the first motor 31 is driven, which drives the lead screw 32 to rotate. The rotation of the lead screw 32 drives the slider 33 to move longitudinally. The longitudinal movement of the slider 33 drives the telescopic mechanism and the clamping mechanism to move longitudinally, thereby adjusting the height of the device. Compared with the electric push rod used in the prior art, this structure ensures the height accuracy and stability during the lifting process.

[0036] When the device is to be operated, the second motor 41 is started. The second motor 41 drives the first threaded rod 42 to rotate, which in turn drives the first pulley 44 to rotate. With the cooperation of the transmission belt 46, the second pulley 45 rotates, thus driving the second threaded rod 43 to rotate. With the help of the guide rod 47, the rotation of the two sets of threaded rods causes the connecting block 48 to move longitudinally. The longitudinal movement of the connecting block 48 causes the mounting plate 49 and the caster wheel 410 to move longitudinally until the caster wheel 410 is in contact with the ground. When the caster wheel 410 is retracted, the reverse drive motor can be used. The use of this structure enables the device to operate and ensures stability during use.

[0037] It should be noted that during the retraction of the caster wheel 410, the device should be stabilized and supported by manual assistance to prevent the caster wheel 410 from retracting and causing the base 1 to hit the ground suddenly.

[0038] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A lifting device for a handling robot arm, comprising a base (1), a connecting seat (2) fixedly mounted on the top of the base (1), and a lifting structure (3) disposed on the connecting seat (2), characterized in that: The lifting structure (3) includes a first motor (31), a lead screw (32) and a slider (33). The outer wall of the slider (33) is provided with a telescopic mechanism and a clamping mechanism as in the prior art. The base (1) is provided with an adjustment structure (4) inside. The adjustment structure (4) includes a second motor (41), a first threaded rod (42), a second threaded rod (43), a first pulley (44), a second pulley (45), a transmission belt (46), a guide rod (47), a connecting block (48), a mounting plate (49), and a caster wheel (410). The top of the base (1) is provided with an opening (5) that allows the caster wheel (410) to pass through.

2. The lifting device for the arm of the handling robot according to claim 1, characterized in that: A sealing door is hinged to the front side of the base (1).

3. The lifting device for the arm of the handling robot according to claim 2, characterized in that: The connecting seat (2) has a sliding groove inside, and a lead screw (32) is rotatably installed in the sliding groove. A first motor (31) is fixedly installed on the top of the connecting seat (2). The output shaft of the first motor (31) is fixedly connected to the lead screw (32) through a coupling. A slider (33) is slidably installed in the sliding groove, and the slider (33) and the inside of the sliding groove are fitted together.

4. The lifting device for the arm of the handling robot according to claim 3, characterized in that: The lead screw (32) passes through the slider (33) and is threadedly connected to the slider (33).

5. The lifting device for the arm of the handling robot according to claim 4, characterized in that: A second motor (41) is fixedly installed on the top of the base (1). A first threaded rod (42) and a second threaded rod (43) are rotatably installed on the top inner side of the base (1). The output shaft of the second motor (41) is fixedly connected to the first threaded rod (42) through a coupling. A first pulley (44) is welded onto the first threaded rod (42). A second pulley (45) is welded onto the first threaded rod (42). A transmission belt (46) is fitted onto the first pulley (44) and the second pulley (45). The base (1) has two sets of connecting blocks (48) inside. Two sets of threaded rods pass through the two sets of connecting blocks (48) and are threadedly connected to the connecting blocks (48). Two sets of guide rods (47) are fixedly installed on the top inner side of the base (1). The guide rods (47) pass through the connecting blocks (48) and are slidably connected to the connecting blocks (48). Mounting plates (49) are fixedly installed on the adjacent side walls of the two sets of connecting blocks (48). Universal wheels (410) are rotatably installed on the bottom of the mounting plates (49). Brake pads are provided on the universal wheels (410).

6. The lifting device for the arm of the handling robot according to claim 5, characterized in that: The first pulley (44) and the second pulley (45) are connected by a drive belt (46).

7. The lifting device for the arm of the handling robot according to claim 6, characterized in that: The mounting plate (49) is U-shaped.

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