Composite lifting operation device of intelligent mechanical arm

Abstract

The utility model discloses a kind of composite lifting operating devices of intelligent mechanical arm, it is related to mechanical arm technical field, including steering unit, further include setting in the lifting unit above steering unit, setting in the turnover unit of lifting unit side portion, and setting in the telescopic unit of turnover unit side portion;Lifting unit includes the installation in the top of steering unit's type seat, the screw shaft that is movably set in type seat, the moving piece installed in screw shaft circumferential surface, and the second driving motor installed in screw shaft input end.The utility model discloses a kind of composite lifting operating devices of intelligent mechanical arm, by the lifting unit and turnover unit of setting, the turnover adjustment of mechanical arm is realized, and applicability is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a composite lifting operation device for an intelligent robotic arm. Background Technology

[0002] In situations involving the handling of diverse materials of various specifications and types (such as the assembly of engineering machinery, the assembly of rail transit equipment, and machining processes), a human-machine collaborative product is needed that lies between automated robotic handling and manual handling. This product combines the advantages of strong robotic handling capabilities, high precision, and good rigidity (i.e., robot output) with the flexibility of manual operation (human positioning). This improves the efficiency of material handling operations, reduces labor intensity, and protects workers' occupational health.

[0003] A search revealed a telescopic lifting-type assisted manipulator under publication number CN214136050U, comprising a column, a lifting guide assembly, a lifting drive assembly, a telescopic arm assembly, and a control assembly. The lifting guide assembly includes a lifting guide rail and a sliding assembly. The lifting drive assembly includes a rack, gears, and a drive mechanism. The telescopic arm assembly includes a large arm, a small arm telescopic guide sleeve, a small arm, and a clamping flange. The control assembly includes a weighing sensor and a control box. In practical use, on the one hand, rigid guiding motion is achieved in the vertical direction, and the driving force can be adaptively adjusted according to the weight of the material and the magnitude of the manual operating force. On the other hand, in the horizontal direction, through a low-damping rotating joint and a low-damping telescopic joint, easy manual pushing and positioning on the horizontal plane is achieved. This achieves human-machine collaboration and a "leveraging" effect, which is beneficial for energy saving and improving the overall level of intelligence.

[0004] While the above solution enables easy manual pushing and positioning on a horizontal plane through a low-damping rotating joint and a low-damping telescopic joint, it is inconvenient to achieve the flipping of the robotic arm, which is inconvenient for some transfer operations that require flipping. Therefore, we propose a composite lifting operation device for an intelligent robotic arm. Utility Model Content

[0005] The main purpose of this utility model is to provide a composite lifting operation device for an intelligent robotic arm. By setting up a lifting unit and a flipping unit, it solves the problem that it is inconvenient to flip the robotic arm, and that some transfer operations that require flipping are inconvenient.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A composite lifting operation device for an intelligent robotic arm includes a steering unit, a lifting unit disposed above the steering unit, a flipping unit disposed on the side of the lifting unit, and a telescopic unit disposed on the side of the flipping unit.

[0008] The lifting unit includes a C-shaped seat mounted on top of the steering unit, a threaded shaft movably disposed within the C-shaped seat, a movable component mounted on the circumferential side of the threaded shaft, and a second drive motor mounted on the input end of the threaded shaft.

[0009] The flipping unit includes a flipping box installed on the side wall of the moving part, a rotating rod that moves through and is disposed in the flipping box, and an adjusting component disposed in the flipping box.

[0010] Preferably, the steering unit includes a base box, a rotating shaft that extends through and is disposed inside the base box, a fixed plate mounted on top of the rotating shaft, and a driving component disposed inside the base box.

[0011] Preferably, the driving component includes a driven gear mounted on the side wall of the rotating shaft and located inside the base box, a first drive motor mounted inside the base box, and a drive gear mounted on the output end of the first drive motor and meshing with the driven gear.

[0012] Preferably, the lifting unit further includes a limiting washer installed on the inner side wall of the U-shaped seat, and the limiting washer is sleeved on the circumferential side of the threaded shaft.

[0013] Preferably, the adjusting component includes a worm gear mounted on the side wall of the rotating rod and located inside the tilting box, a worm movably disposed inside the tilting box and meshing with the worm gear, and a third drive motor mounted on the input end of the worm.

[0014] Preferably, the telescopic unit includes a fixed arm mounted on the end of the rotating rod, a movable arm movably mounted on the periphery of the fixed arm, and a power component disposed between the fixed arm and the movable arm.

[0015] Preferably, the power component includes a rack installed inside the fixed arm, a fourth drive motor installed at the end of the moving arm, and a power gear installed at the output end of the fourth drive motor and meshing with the rack.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] In this invention, by setting up a lifting unit and a flipping unit, when the height of the robotic arm needs to be adjusted, the second drive motor drives the threaded shaft to rotate. At this time, the moving part can drive the telescopic unit to move up and down along the threaded shaft through the flipping box until the moving arm is at a predetermined height and then stops, thereby realizing convenient adjustment of the height of the robotic arm. When the robotic arm needs to be flipped, the third drive motor drives the worm gear to rotate, and the worm gear meshes with the worm wheel, thereby causing the rotating rod to drive the fixed arm to rotate circumferentially until the moving arm is adjusted to the corresponding angle and then stops, thereby realizing the flipping adjustment of the robotic arm and improving its applicability. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a top view schematic diagram of the structure of this utility model;

[0020] Figure 3 This utility model Figure 2 Schematic diagram of the cross-sectional structure at point AA;

[0021] Figure 4 This utility model Figure 2 Schematic diagram of the cross-sectional structure at point BB;

[0022] Figure 5 This utility model Figure 3 Schematic diagram of the cross-sectional structure at the CC section.

[0023] In the picture:

[0024] 1. Steering unit; 101. Base box; 102. Rotating shaft; 103. Fixed plate; 104. Driving component; 1041. First drive motor; 1042. Driven gear; 1043. Drive gear;

[0025] 2. Lifting unit; 201. C-shaped base; 202. Moving part; 203. Threaded shaft; 204. Second drive motor; 205. Limit washer;

[0026] 3. Tilting unit; 301. Tilting box; 302. Rotating rod; 303. Adjusting component; 3031. Worm gear; 3032. Worm; 3033. Third drive motor;

[0027] 4. Telescopic unit; 401. Fixed arm; 402. Moving arm; 403. Power component; 4031. Rack; 4032. Power gear; 4033. Fourth drive motor. Detailed Implementation

[0028] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0029] Example 1

[0030] like Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown, a composite lifting operation device for an intelligent robotic arm includes a steering unit 1, a lifting unit 2 disposed above the steering unit 1, a flipping unit 3 disposed on the side of the lifting unit 2, and a telescopic unit 4 disposed on the side of the flipping unit 3.

[0031] like Figure 1 As shown, the lifting unit 2 includes a U-shaped seat 201 mounted on the top of the steering unit 1, a threaded shaft 203 movably disposed in the U-shaped seat 201, a movable part 202 mounted on the peripheral side of the threaded shaft 203, and a second drive motor 204 mounted on the input end of the threaded shaft 203. When the second drive motor 204 drives the threaded shaft 203 to rotate, the movable part 202 can move along the threaded shaft 203.

[0032] like Figure 3 As shown, the flipping unit 3 includes a flipping box 301 installed on the side wall of the moving part 202, a rotating rod 302 that is movably inserted through and disposed in the flipping box 301, and an adjusting member 303 disposed in the flipping box 301. The adjusting member 303 can adjust and transmit the rotating rod 302.

[0033] like Figure 4 As shown, the steering unit 1 includes a base box 101, a rotating shaft 102 that is movably inserted through and disposed inside the base box 101, a fixed plate 103 mounted on the top of the rotating shaft 102, and a driving member 104 disposed inside the base box 101. When the driving member 104 drives the rotating shaft 102 to rotate, the rotating shaft 102 can drive the fixed plate 103 to rotate synchronously.

[0034] like Figure 4 As shown, the drive unit 104 includes a driven gear 1042 mounted on the side wall of the rotating shaft 102 and located inside the base box 101, a first drive motor 1041 mounted inside the base box 101, and a drive gear 1043 mounted on the output end of the first drive motor 1041 and meshing with the driven gear 1042. When the first drive motor 1041 drives the drive gear 1043 to rotate, the driven gear 1042 can drive the rotating shaft 102 to rotate synchronously.

[0035] like Figure 1As shown, the lifting unit 2 also includes a limiting washer 205 installed on the inner side wall of the C-shaped seat 201, and the limiting washer 205 is sleeved on the circumferential side of the threaded shaft 203. The setting of the limiting washer 205 avoids the moving part 202 from contacting and colliding with the inner side wall of the C-shaped seat 201 during the movement of the moving part 202 along the threaded shaft 203.

[0036] like Figure 2 As shown, the telescopic unit 4 includes a fixed arm 401 installed at the end of the rotating rod 302, a movable arm 402 movably installed on the periphery of the fixed arm 401, and a power member 403 disposed between the fixed arm 401 and the movable arm 402. The power member 403 enables the movable arm 402 to move along the fixed arm 401.

[0037] like Figure 3 and Figure 5 As shown, the power component 403 includes a rack 4031 installed inside the fixed arm 401, a fourth drive motor 4033 installed at the end of the moving arm 402, and a power gear 4032 installed at the output end of the fourth drive motor 4033 and meshing with the rack 4031. When the fourth drive motor 4033 drives the power gear 4032 to rotate, the power gear 4032 can move along the rack 4031.

[0038] When the height of the robotic arm needs to be adjusted, the second drive motor 204 drives the threaded shaft 203 to rotate. At this time, the moving part 202 can drive the telescopic unit 4 to move up and down along the threaded shaft 203 through the flip box 301 until the moving arm 402 stops at the predetermined height, thus realizing convenient adjustment of the height of the robotic arm.

[0039] Example 2

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 as well as Figure 5 As shown, a composite lifting operation device for an intelligent robotic arm includes a steering unit 1, a lifting unit 2 disposed above the steering unit 1, a flipping unit 3 disposed on the side of the lifting unit 2, and a telescopic unit 4 disposed on the side of the flipping unit 3.

[0041] like Figure 1 As shown, the lifting unit 2 includes a U-shaped seat 201 mounted on the top of the steering unit 1, a threaded shaft 203 movably disposed in the U-shaped seat 201, a movable part 202 mounted on the peripheral side of the threaded shaft 203, and a second drive motor 204 mounted on the input end of the threaded shaft 203. When the second drive motor 204 drives the threaded shaft 203 to rotate, the movable part 202 can move along the threaded shaft 203.

[0042] like Figure 3As shown, the flipping unit 3 includes a flipping box 301 installed on the side wall of the moving part 202, a rotating rod 302 that is movably inserted through and disposed in the flipping box 301, and an adjusting member 303 disposed in the flipping box 301. The adjusting member 303 can adjust and transmit the rotating rod 302.

[0043] like Figure 4 As shown, the steering unit 1 includes a base box 101, a rotating shaft 102 that is movably inserted through and disposed inside the base box 101, a fixed plate 103 mounted on the top of the rotating shaft 102, and a driving member 104 disposed inside the base box 101. When the driving member 104 drives the rotating shaft 102 to rotate, the rotating shaft 102 can drive the fixed plate 103 to rotate synchronously.

[0044] like Figure 4 As shown, the drive unit 104 includes a driven gear 1042 mounted on the side wall of the rotating shaft 102 and located inside the base box 101, a first drive motor 1041 mounted inside the base box 101, and a drive gear 1043 mounted on the output end of the first drive motor 1041 and meshing with the driven gear 1042. When the first drive motor 1041 drives the drive gear 1043 to rotate, the driven gear 1042 can drive the rotating shaft 102 to rotate synchronously.

[0045] like Figure 1 As shown, the lifting unit 2 also includes a limiting washer 205 installed on the inner side wall of the C-shaped seat 201, and the limiting washer 205 is sleeved on the circumferential side of the threaded shaft 203. The setting of the limiting washer 205 avoids the moving part 202 from contacting and colliding with the inner side wall of the C-shaped seat 201 during the movement of the moving part 202 along the threaded shaft 203.

[0046] like Figure 4 As shown, the adjusting component 303 includes a worm gear 3031 installed on the side wall of the rotating rod 302 and located inside the tilting box 301, a worm 3032 movably disposed inside the tilting box 301 and meshing with the worm gear 3031, and a third drive motor 3033 installed at the input end of the worm 3032. When the third drive motor 3033 drives the worm 3032 to rotate, the worm 3032 can mesh with and drive the worm gear 3031.

[0047] like Figure 2 As shown, the telescopic unit 4 includes a fixed arm 401 installed at the end of the rotating rod 302, a movable arm 402 movably installed on the periphery of the fixed arm 401, and a power member 403 disposed between the fixed arm 401 and the movable arm 402. The power member 403 enables the movable arm 402 to move along the fixed arm 401.

[0048] like Figure 3 and Figure 5As shown, the power component 403 includes a rack 4031 installed inside the fixed arm 401, a fourth drive motor 4033 installed at the end of the moving arm 402, and a power gear 4032 installed at the output end of the fourth drive motor 4033 and meshing with the rack 4031. When the fourth drive motor 4033 drives the power gear 4032 to rotate, the power gear 4032 can move along the rack 4031.

[0049] When the robotic arm needs to be flipped and adjusted, the third drive motor 3033 drives the worm gear 3032 to rotate, and the worm gear 3032 meshes with the worm wheel 3031 to drive the rotating rod 302 to rotate the fixed arm 401 in a circular motion until the moving arm 402 is adjusted to the corresponding angle and then stops, thereby realizing the flipping and adjustment of the robotic arm and improving its applicability.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A composite lifting operation device for an intelligent robotic arm, comprising a steering unit (1), characterized in that, It also includes a lifting unit (2) disposed above the steering unit (1), a flipping unit (3) disposed on the side of the lifting unit (2), and a telescopic unit (4) disposed on the side of the flipping unit (3); The lifting unit (2) includes a C-shaped seat (201) installed on the top of the steering unit (1), a threaded shaft (203) movably disposed in the C-shaped seat (201), a moving part (202) installed on the circumferential side of the threaded shaft (203), and a second drive motor (204) installed at the input end of the threaded shaft (203). The flipping unit (3) includes a flipping box (301) installed on the side wall of the moving part (202), a rotating rod (302) that is movably inserted through and disposed in the flipping box (301), and an adjusting part (303) disposed in the flipping box (301).

2. The composite lifting operation device for an intelligent robotic arm according to claim 1, characterized in that: The steering unit (1) includes a base box (101), a rotating shaft (102) that is movably inserted through and disposed inside the base box (101), a fixed plate (103) mounted on the top of the rotating shaft (102), and a driving component (104) disposed inside the base box (101).

3. The composite lifting operation device for an intelligent robotic arm according to claim 2, characterized in that: The drive unit (104) includes a driven gear (1042) mounted on the side wall of the rotating shaft (102) and located inside the base box (101), a first drive motor (1041) mounted inside the base box (101), and a drive gear (1043) mounted on the output end of the first drive motor (1041) and meshing with the driven gear (1042).

4. The composite lifting operation device for an intelligent robotic arm according to claim 3, characterized in that: The lifting unit (2) also includes a limiting washer (205) installed on the inner side wall of the C-shaped seat (201), and the limiting washer (205) is sleeved on the circumferential side of the threaded shaft (203).

5. The composite lifting operation device for an intelligent robotic arm according to claim 1, characterized in that: The adjusting component (303) includes a worm gear (3031) installed on the side wall of the rotating rod (302) and located inside the tilting box (301), a worm (3032) movably disposed inside the tilting box (301) and meshing with the worm gear (3031), and a third drive motor (3033) installed at the input end of the worm (3032).

6. The composite lifting operation device for an intelligent robotic arm according to claim 2, characterized in that: The telescopic unit (4) includes a fixed arm (401) installed at the end of the rotating rod (302), a movable arm (402) movably installed on the periphery of the fixed arm (401), and a power component (403) disposed between the fixed arm (401) and the movable arm (402).

7. The composite lifting operation device for an intelligent robotic arm according to claim 6, characterized in that: The power unit (403) includes a rack (4031) installed inside the fixed arm (401), a fourth drive motor (4033) installed at the end of the moving arm (402), and a power gear (4032) installed at the output end of the fourth drive motor (4033) and meshing with the rack (4031).

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