CN113043255A

CN113043255A - Carrying manipulator

Info

Publication number: CN113043255A
Application number: CN202110331383.0A
Authority: CN
Inventors: 罗带君
Original assignee: Changsha Xiangtai Machinery Technology Co ltd
Current assignee: Changsha Xiangtai Machinery Technology Co ltd
Priority date: 2021-03-29
Filing date: 2021-03-29
Publication date: 2021-06-29

Abstract

The invention discloses a carrying manipulator which comprises a base, a support frame, a mechanical arm, a carrying mechanism, a combined power driving device, a lifting mechanism and a rotary driving mechanism, wherein the rotary driving mechanism is arranged on the base and is connected with the lower end of the support frame through the lifting mechanism; the combined power driving device comprises a first rotary driving mechanism, a second rotary driving mechanism, a third rotary driving mechanism, a fourth rotary driving mechanism, a first power transmission mechanism, a second power transmission mechanism and a third power transmission mechanism. The automatic carrying device is stable and reliable in structure, realizes automatic carrying of objects, does not need manual participation, saves labor cost and improves production efficiency.

Description

Carrying manipulator

Technical Field

The invention relates to the technical field of robots, in particular to a carrying manipulator.

Background

In the product course of working such as engineering trade, building trade, chemical industry now, its product need just can process the completion through multichannel process, and add man-hour between the last process to next process, often need to accomplish the transport of treating the shaping product, still adopt artifical transport now generally, the cost of labor is high, wastes time and energy, is unfavorable for production efficiency's improvement moreover, and there is the potential safety hazard in artifical transport simultaneously.

Disclosure of Invention

The invention aims to overcome the defects of the prior art, and provides a carrying manipulator which is stable and reliable in structure, realizes automatic carrying of objects, does not need manual participation, saves labor cost and improves production efficiency.

In order to achieve the purpose, the invention provides a carrying manipulator which comprises a base, a supporting frame, a mechanical arm, a carrying mechanism, a combined power driving device, a lifting mechanism and a rotary driving mechanism, wherein the rotary driving mechanism is arranged on the base and is connected with the lower end of the supporting frame through the lifting mechanism; the combined power driving device comprises a first rotary driving mechanism, a second rotary driving mechanism, a third rotary driving mechanism, a fourth rotary driving mechanism, a first power transmission mechanism, a second power transmission mechanism and a third power transmission mechanism, the carrying mechanism comprises clamping fingers, a first clamping connecting rod, a second clamping connecting rod, a lifting support, a first rotary cylinder, a second rotary cylinder and a nut sleeve, the first rotary driving mechanism, the second rotary driving mechanism, the third rotary driving mechanism and the fourth rotary driving mechanism are all arranged above the supporting frame, one end of the mechanical arm is rotationally connected with the upper part of the supporting frame, and one end of the mechanical arm is connected with the first rotary driving mechanism;

the first rotary cylinder body is rotatably arranged above the other end of the mechanical arm, and the second rotary cylinder body is sleeved on the first rotary cylinder body and is rotatably arranged with the first rotary cylinder body; the second rotary driving mechanism is connected with the first rotary cylinder through the first power transmission mechanism, the third rotary driving mechanism is connected with the second rotary cylinder through the second power transmission mechanism, the first clamping connecting rod comprises a long cylinder and a first plate body vertically connected with the lower end of the long cylinder, the second clamping connecting rod comprises a long shaft body and a second plate body vertically connected with the lower end of the long shaft body, and the first plate body and the second plate body are both provided with waist round holes; the lifting support comprises a mounting plate and a hollow threaded rod connected with the mounting plate, the nut sleeve is rotatably mounted below the other end of the mechanical arm, and the rotary driving mechanism IV is connected with the nut sleeve through the power transmission mechanism III; a central hole is formed in the middle of the mounting plate and communicated with the hollow threaded rod; the long shaft body, the long barrel body and the hollow threaded rod are sequentially sleeved from inside to outside, the hollow threaded rod penetrates through the nut sleeve and is in threaded connection with the nut sleeve, the upper end of the hollow threaded rod is located in the first rotating barrel body, and the upper end of the long barrel body extends out of the upper end of the hollow threaded rod, moves with the first rotating barrel body and is rotatably installed; the upper end of the long shaft body extends out of the upper end of the long cylinder body, moves with the second rotary cylinder body and is rotatably installed, the lower end of the long cylinder body extends out of the central hole of the installation plate, the lower end of the long shaft body extends out of the lower end of the long cylinder body, and the first plate body and the second plate body are located below the installation plate; the number of the clamping fingers is two, the clamping fingers comprise V-shaped plates, clamping plates connected with one ends of the V-shaped plates, and pin shafts arranged at the other ends of the V-shaped plates, the tip parts of the two V-shaped plates are respectively rotatably connected with two sides of the mounting plate, the two pin shafts are respectively inserted into the waist round holes of the first plate body and the waist round holes of the second plate body, and the two clamping plates are opposite in position; the first clamping connecting rod and the second clamping connecting rod rotate to drive the two clamping fingers to open or retract.

Furthermore, the mechanical arm comprises a first arm body, a second arm body, a third arm body, a fourth arm body, a first hinge shaft, a second hinge shaft and a hinge sleeve, wherein one ends of the first arm body and the second arm body are arranged in an up-down overlapped mode and are rotatably connected with the support frame, the other end of the first arm body and one end of the third arm body are arranged in an up-down overlapped mode and are hinged through the first hinge shaft, the other end of the second arm body and one end of the fourth arm body are arranged in an up-down overlapped mode and are hinged through the second hinge shaft, and the other end of the third arm body and the other end of the fourth arm body are arranged in an up-down overlapped mode and are hinged through the hinge sleeve; a parallelogram structure is formed among the first arm body, the second arm body, the third arm body and the fourth arm body; the first rotating cylinder is rotatably arranged at the other end of the third arm body, the carrying mechanism comprises a fixed seat which is fixedly arranged at the other end of the fourth arm body, and the nut sleeve is rotatably arranged on the fixed seat; the first rotary driving mechanism comprises a first sub rotary driving part and a second sub rotary driving part, the first sub rotary driving part is connected with one end of the first arm body, and the second sub rotary driving part is connected with one end of the second arm body; the first power transmission mechanism comprises a plurality of groups of first belt pulley assemblies which are sequentially connected, a driving belt pulley included in the first belt pulley assembly positioned at the head end is connected with the second rotary driving mechanism, and a driven belt pulley included in the first belt pulley assembly positioned at the tail end is connected with the first rotary cylinder into a whole; the second power transmission mechanism comprises a plurality of groups of second belt pulley assemblies which are sequentially connected, a driving belt pulley included in the second belt pulley assembly positioned at the head end is connected with the third rotary driving mechanism, and a driven belt pulley included in the second belt pulley assembly positioned at the tail end is connected with the second rotary cylinder into a whole; the third power transmission mechanism comprises a plurality of groups of third belt pulley assemblies which are sequentially connected, a driving belt pulley included in the third belt pulley assembly positioned at the head end is connected with the fourth rotary driving mechanism, and a driven belt pulley included in the third belt pulley assembly positioned at the tail end is connected with the nut sleeve into a whole.

Furthermore, the first sub-rotary driving part comprises a first driving motor, a first gear and a first outer gear ring arranged on the outer surface of one end of the first arm body, the first driving motor is arranged on the supporting frame, the first gear is arranged on an output shaft of the first driving motor, and the first gear is meshed with the first outer gear ring; the secondary rotary driving part II comprises a driving motor II, a gear II and an outer gear ring II arranged on the outer surface of one end of the second arm body, the driving motor II is arranged on the supporting frame, the gear II is arranged on an output shaft of the driving motor II, and the gear II is meshed with the outer gear ring II.

Further, the second rotary driving mechanism comprises a first motor, a first driving gear, a first annular gear and a first transmission sleeve, the third rotary driving mechanism comprises a second motor, a second driving gear, a second annular gear and a second transmission sleeve, the fourth rotary driving mechanism comprises a third motor, a third driving gear, a driven gear and a transmission shaft, the first motor, the second motor and the third motor are arranged on the support frame, the first driving gear is arranged on an output shaft of the first motor, the second driving gear is arranged on an output shaft of the second motor, the third driving gear is arranged on an output shaft of the third motor, the upper end of the first transmission sleeve is connected with the first annular gear, the upper end of the second transmission sleeve is connected with the second annular gear, the transmission shaft is connected with the driven gear, and the second transmission sleeve is rotatably arranged on the support frame, the second transmission sleeve, the first transmission sleeve and the transmission shaft are sequentially sleeved from outside to inside, the first annular gear ring is meshed with the first driving gear, the second annular gear ring is meshed with the second driving gear, and the driven gear is meshed with the three phases of the driving gear; the lower end of the second transmission sleeve is connected with the second power transmission mechanism; the lower end of the first transmission sleeve extends out of the second transmission sleeve and is connected with the first power transmission mechanism; the lower end of the transmission shaft extends out of the transmission sleeve and is connected with the power transmission mechanism III.

Further, combination power drive device still includes rotary driving mechanism five, power transmission mechanism four, transport mechanism still includes rotatory cover, the nut cover install in on the rotatory cover, rotatory cover rotate install in on the fixing base, rotary driving mechanism five install in the top of support frame, power transmission mechanism four includes the fourth belt pulley subassembly that the multiunit connected gradually, be located the fourth belt pulley subassembly of head end include driving pulley with rotary driving mechanism five is connected, be located the driven pulley that includes in the fourth belt pulley subassembly of terminal and link into an integrated entity with the rotatory cover, the rotatory overcoat hollow threaded rod, rotatory cover with hollow threaded rod removes and rotates the installation.

Furthermore, the rotary driving mechanism five comprises a motor four, a driving gear four, an annular gear ring three and a transmission sleeve three, the motor four is installed on the support frame, the driving gear four is installed on an output shaft of the motor four, the upper end of the transmission sleeve three is connected with the annular gear ring in a three-phase mode, the transmission sleeve three is located between the transmission sleeve one and the transmission shaft, the transmission sleeve three extends out of the transmission sleeve and is connected with the power transmission mechanism four in a lump, and the driving gear four is meshed with the annular gear ring in a three-phase mode.

When the lifting mechanical arm is used, the base is fixed on the ground through the fastening piece, the overall stability is ensured, the height of the mechanical arm relative to the ground is adjusted through the lifting mechanism so as to adapt to the carrying of objects with different heights, the upper portion of the base is driven to rotate integrally through the rotation driving mechanism so as to carry the objects in the 360-degree direction, the carrying range of the objects is greatly improved, and the application range is wide.

The first rotary cylinder is driven to rotate through the first power transmission mechanism by the second rotary driving mechanism to drive the long cylinder to rotate, so that the first plate connected with the long cylinder is driven to rotate, the clamping finger connected with the first plate is driven to move, the second rotary cylinder is driven to rotate through the second power transmission mechanism by the third rotary driving mechanism to drive the long shaft to rotate, so that the second plate connected with the long shaft is driven to rotate, the clamping finger connected with the second plate is driven to move, and the two clamping fingers are driven to be opened or closed, namely the two clamping fingers clamp an object when being disturbed, and loosen the object when being opened; the nut sleeve is driven to rotate by the fourth rotary driving mechanism through the third power transmission mechanism, the nut sleeve is in threaded fit with the hollow threaded rod, so that the hollow threaded rod is driven to move up and down, namely, the lifting support is lifted up and down to drive the two clamping fingers, the first clamping connecting rod and the second clamping connecting rod to move up and down synchronously, and the lifting movement of the carrying mechanism is realized; the mechanical arm is driven to rotate relative to the supporting frame through the rotary driving mechanism, rotation of the carrying mechanism is achieved, adjustment of the spatial position of the carrying mechanism is achieved, automatic carrying of an object is achieved, the object is automatically rotated to a next station (or procedure) from a previous station (or procedure), namely when the object is located at the previous station (or procedure), the carrying mechanism clamps the object and conducts lifting movement, the mechanical arm rotates to the next station (or procedure) where the object is located, the carrying mechanism lifts and releases the object, manual carrying is not needed, manpower is saved, and production efficiency is improved.

The mechanical arm is of a parallelogram structure, the first arm body is driven to rotate by the first sub-rotating driving piece, the second arm body is driven to rotate by the second sub-rotating driving piece, and the size of the parallelogram structure of the mechanical arm is adjusted, so that the adjustment of the space position of the carrying mechanism is realized, the range of the carrying position of an object is enlarged, and the application range is wide. The invention also realizes the rotary motion of the lifting bracket, thereby realizing the rotary motion of the carrying mechanism, improving the operation range and being flexible to use.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a perspective view of the present invention.

Fig. 2 is a perspective view corresponding to the upper left portion of fig. 1.

Fig. 3 is a perspective view corresponding to the right part of fig. 1.

Fig. 4 is a perspective view of fig. 1 rotated by a certain angle.

Fig. 5 is a perspective view corresponding to the upper right portion of fig. 4.

Fig. 6 is a perspective view of fig. 1 with the first arm, the second arm, the third arm and the fourth arm removed.

Fig. 7 is a cut perspective view of fig. 3 rotated by a certain angle.

Fig. 8 is a perspective view of fig. 3 rotated by a certain angle.

FIG. 9 is a perspective view of a first clamp link of the present invention.

The above reference numerals:

1 support frame, 2 mechanical arms, 20 first arm body, 21 second arm body, 22 third arm body, 23 fourth arm body, 24 first articulated shaft, 25 second articulated shaft, 26 articulated sleeve, 30 rotary driving member two, 301 driving motor two, 302 gear two, 303 external gear ring two, 40 rotary driving member one, 401 external gear ring one, 402 driving motor one, 403 gear one, 501 motor four, 502 driving gear four, 503 annular gear ring three, 504 driving sleeve three, 601 motor two, 602 driving gear two, 603 annular gear ring two, 604 driving sleeve two, 701 motor three, 702 driving gear three, 703 driven gear, 704 driving shaft, 801 annular gear ring one, 802 driving sleeve one, 803 driving gear one, 804 motor one, 901 second belt pulley component, first belt pulley component, 903 third belt pulley component, 904 fourth belt pulley component, 1010 second rotary cylinder body, 1011 first rotary cylinder body, 1013 lifting support, 10131 hollow threaded rod, 10132 mounting panel, 1014 second clamping connecting rod, 10141 long axis body, 10142 second plate, 1040 waist round hole, 1015 fixing base, 1016 swivel mount, 1017 clamp finger, 10171 clamp plate, 10172V template, 10173 round pin axle, 10174 connecting axle, 1018 first clamping connecting rod, 10181 long barrel, 10182 first plate, 1019 nut cover, 4 elevating system, 5 rotary driving mechanism, 6 bases.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in a generic and descriptive sense only and not for purposes of limitation, the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the generic and descriptive sense only and not for purposes of limitation, as the term is used in the generic and descriptive sense, and not for purposes of limitation, unless otherwise specified or implied, and the specific reference to a device or element is intended to be a reference to a particular element, structure, or component. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 9, the carrying robot according to the present embodiment includes a base 6, a support frame 4, a robot arm 2, a carrying mechanism, a combined power drive device, a lifting mechanism 4, and a rotation drive mechanism 5, wherein the rotation drive mechanism 5 is mounted on the base 6, and the rotation drive mechanism 5 is connected to a lower end of the support frame 1 through the lifting mechanism 4.

The combined power driving device comprises a first rotary driving mechanism, a second rotary driving mechanism, a third rotary driving mechanism, a fourth rotary driving mechanism, a first power transmission mechanism, a second power transmission mechanism and a third power transmission mechanism, the carrying mechanism comprises a clamping finger 1017, a first clamping connecting rod 1018, a second clamping connecting rod 1017, a lifting support 1013, a first rotary cylinder 1011, a second rotary cylinder 1010 and a nut sleeve 1019, the first rotary driving mechanism, the second rotary driving mechanism, the third rotary driving mechanism and the fourth rotary driving mechanism are all arranged above the support frame 1, one end of the mechanical arm 2 is rotatably connected with the upper part of the support frame 1, and one end of the mechanical arm 2 is connected with the first rotary driving mechanism.

The first rotary cylinder 1011 is rotatably mounted above the other end of the mechanical arm 2, and the second rotary cylinder 1010 is sleeved on the first rotary cylinder 1011 and rotatably mounted with the first rotary cylinder 1011; the second rotary driving mechanism is connected with the first rotary cylinder 1011 through the first power transmission mechanism, the third rotary driving mechanism is connected with the second rotary cylinder 1010 through the second power transmission mechanism, the first clamping connecting rod 1018 comprises a long cylinder 10181 and a first plate 10182 vertically connected with the lower end of the long cylinder 10181, the second clamping connecting rod 1014 comprises a long shaft 10141 and a second plate 10142 vertically connected with the lower end of the long shaft 10141, and the first plate 10182 and the second plate 10142 are both provided with a kidney round hole 1040; the lifting support 1013 comprises a mounting plate 10132 and a hollow threaded rod 10131 connected with the mounting plate 10132, the nut sleeve 1019 is rotatably mounted below the other end of the mechanical arm 2, and the rotary driving mechanism IV is connected with the nut sleeve 1019 through the power transmission mechanism III; a central hole is formed in the middle of the mounting plate 10132 and communicated with the hollow threaded rod 10131; the long shaft body 10141, the long cylinder body 10181 and the hollow threaded rod 10131 are sequentially sleeved from inside to outside, the hollow threaded rod 10131 penetrates through the nut sleeve 1019 and is in threaded connection with the nut sleeve 1019, the upper end of the hollow threaded rod 10131 is located in the first rotating cylinder 1011, and the upper end of the long cylinder body 10181 extends out of the upper end of the hollow threaded rod 10131, moves with the first rotating cylinder 1011 and is rotatably mounted; the upper end of the long shaft body 10141 extends out of the upper end of the long cylinder body 10181, moves with the second rotary cylinder body 1010 and is rotatably mounted, the lower end of the long cylinder body 10181 extends out of the central hole of the mounting plate 10132, the lower end of the long shaft body 10141 extends out of the lower end of the long cylinder body 10181, and the first plate 10182 and the second plate 10142 are located below the mounting plate 10132; the number of the clamping fingers 1017 is two, the clamping fingers 1071 include a V-shaped plate 10172, a clamping plate 10171 connected with one end of the V-shaped plate 10172, and a pin 10173 disposed at the other end of the V-shaped plate 10172, tip portions of the two V-shaped plates 10172 are respectively rotatably connected with two sides of the mounting plate, specifically, the tip portion of the V-shaped plate 10172 is rotatably connected with the mounting plate 10132 through a connecting shaft 10174, the two pin 10173 are respectively inserted into the oval hole 1040 of the first plate 10182 and the oval hole 1040 of the second plate 10142, and the two clamping plates 10171 are opposite in position; the first clamp link 1018 and the second clamp link 1014 rotate to open or close the two clamp fingers 1017.

When this embodiment uses, 6 bases are fixed in subaerially through the fastener, guarantee holistic stability, adjust the height of arm 2 for ground through elevating system 4 to adapt to the object transport of co-altitude not, drive 6 tops bodily rotations of base through rotary driving mechanism 5, with the transport of realizing 360 position interior objects, improve the scope of object transport greatly, application range is wide. The lifting mechanism 4 can adopt the existing linear driving equipment such as an oil cylinder, an air cylinder, an electric push rod and the like, and can also adopt a structure of combining a motor with a screw rod and a nut. The rotation driving mechanism 5 directly adopts the structure of the existing motor and gear structure, such as the existing slewing bearing, which is the existing conventional technology, and therefore, the details are not repeated.

In this embodiment, the second rotary driving mechanism drives the first rotary cylinder 1011 to rotate through the first power transmission mechanism, so as to drive the long cylinder 10181 to rotate, thereby driving the first plate 10182 connected with the long cylinder 10181 to rotate, so that the clamping finger 1017 connected with the first plate 10182 moves, and the third rotary driving mechanism drives the second rotary cylinder 1010 to rotate through the second power transmission mechanism, so as to drive the long shaft 10141 to rotate, thereby driving the second plate 10142 connected with the long shaft 10141 to rotate, so that the clamping finger 1017 connected with the second plate 10142 moves, thereby driving the two clamping fingers 1017 to open or close, namely, the two clamping fingers 1017 clamp an object when being folded, and release the object when being opened; the nut sleeve 1019 is driven to rotate by the fourth rotary driving mechanism through the third power transmission mechanism, and the nut sleeve 1019 is in threaded fit with the hollow threaded rod 10131, so that the hollow threaded rod 10131 is driven to move up and down, namely, the lifting support 1013 is lifted up and down to drive the two clamping fingers 1017, the first clamping connecting rod 1018 and the second clamping connecting rod 1014 to synchronously lift up and down, and the lifting movement of the carrying mechanism is realized; the mechanical arm 2 is driven to rotate relative to the support frame 1 through the rotary driving mechanism, so that the rotation of the carrying mechanism is realized, the adjustment of the space position of the carrying mechanism is realized, the automatic carrying of an object is realized, the object is automatically transferred to the next station (or procedure) from the previous station (or procedure), namely, when the object is positioned at the previous station (or procedure), the carrying mechanism clamps and carries out lifting motion after clamping the object, the mechanical arm 2 rotates to the position where the object is positioned at the next station (or procedure), the carrying mechanism is lifted and loosened, the manual carrying is not needed, the labor is saved, and the production efficiency is improved. The mechanical arm can be used for carrying products in the processing processes of the existing engineering industry, the building industry, the chemical industry and the like, and is wide in application range, economical and practical.

In the embodiment, the first rotary driving mechanism, the second rotary driving mechanism, the third rotary driving mechanism and the fourth rotary driving mechanism are all arranged on the support frame 1, so that the whole gravity center is deviated to the support frame 1, the gravity center is stable, and the carrying mechanism arranged at the other end of the mechanical arm 2 is light in weight, so that the mechanical arm 2 and the carrying mechanism are quick in response when acting.

In this embodiment, it is further preferable that the mechanical arm 2 includes a first arm 20, a second arm 21, a third arm 22, a fourth arm 23, a first hinge shaft 24, a second hinge shaft 25, and a hinge sleeve 26, one end of the first arm 20 and one end of the second arm 21 are stacked up and down and rotatably connected to the support frame 1, the other end of the first arm 20 and one end of the third arm 22 are stacked up and down and hinged via the first hinge shaft 24, the other end of the second arm 21 and one end of the fourth arm 23 are stacked up and down and hinged via the second hinge shaft 25, the other end of the third arm 22 and the other end of the fourth arm 23 are stacked up and down and hinged via the hinge sleeve 26, wherein the hinge sleeve 26 is fixed to the other end of the fourth arm 23, the third arm 22 is provided with a mounting groove matching with the hinge sleeve 23, to achieve a rotational mounting; a parallelogram structure is formed among the first arm body 20, the second arm body 21, the third arm body 22 and the fourth arm body 23; the first rotating cylinder 1011 is rotatably mounted at the other end of the third arm 22, the carrying mechanism comprises a fixed seat 1015, the fixed seat 1015 is fixedly mounted at the other end of the fourth arm 23, and the nut sleeve 1019 is rotatably mounted on the fixed seat 1015; the first rotary driving mechanism comprises a first sub rotary driving part 40 and a second sub rotary driving part 30, the first sub rotary driving part 40 is connected with one end of the first arm body 20, and the second sub rotary driving part 30 is connected with one end of the second arm body 21; the first power transmission mechanism comprises a plurality of groups of first belt pulley assemblies 902 which are sequentially connected, a driving belt pulley included in the first belt pulley assembly 902 positioned at the head end is connected with the second rotary driving mechanism, a driven belt pulley included in the first belt pulley assembly 902 positioned at the tail end is connected with the first rotary cylinder 1011 into a whole, and the number of the first belt pulley assemblies 902 in the embodiment is three; the second power transmission mechanism comprises a plurality of groups of second belt pulley assemblies 901 which are sequentially connected, a driving pulley included in the second belt pulley assembly 901 positioned at the head end is connected with the third rotary driving mechanism, a driven pulley included in the second belt pulley assembly 901 positioned at the tail end is connected with the second rotary cylinder 1010 into a whole, and the number of the second belt pulley assemblies 901 is three in the embodiment; the third power transmission mechanism comprises a plurality of groups of third belt pulley assemblies 903 which are sequentially connected, a driving belt pulley included in the third belt pulley assembly 903 at the head end is connected with the fourth rotary driving mechanism, a driven belt pulley included in the third belt pulley assembly 903 at the tail end is connected with the nut sleeve 1019 into a whole, and the number of the third belt pulley assemblies 903 is two in the embodiment.

This embodiment arm 2 is the parallelogram structure, and it is rotatory to drive first arm body 20 through son rotary driving spare 40, leads to son rotary driving spare two 30 and drives second arm body 21 rotation to adjust the size of arm 2 parallelogram structure, thereby realize the regulation of transport mechanism spatial position, with the scope that improves object transport position, application range is wide. The first power transmission mechanism adopts a plurality of sets of first belt pulley assemblies 902 connected in sequence, as shown in fig. 6, the number of the first belt pulley assemblies 902 is three, and the three sets of first belt pulley assemblies 902 are connected in sequence so as to transmit the power of the second rotary driving mechanism to the first rotary cylinder 1011, and similarly, the second power transmission mechanism and the third power transmission mechanism.

In this embodiment, preferably, the first sub-rotary driving member 40 includes a first driving motor 402, a first gear 403, and a first external gear 401 disposed on an outer surface of one end of the first arm 20, the first driving motor 402 is mounted on the supporting frame 1, the first gear 403 is mounted on an output shaft of the first driving motor 402, and the first gear 403 is engaged with the first external gear 401; the second sub-rotary driving part 30 comprises a second driving motor 301, a second gear 302 and a second outer gear ring 303 arranged on the outer surface of one end of the second arm body 21, the second driving motor 301 is installed on the supporting frame 1, the second gear 302 is installed on an output shaft of the second driving motor 301, and the second gear 302 is meshed with the second outer gear ring 303.

In this embodiment, preferably, the second rotary driving mechanism includes a first motor 804, a first driving gear 803, a first ring gear 801 and a first transmission sleeve 802, the third rotary driving mechanism includes a second motor 601, a second driving gear 602, a second ring gear 603 and a second transmission sleeve 604, the fourth rotary driving mechanism includes a third motor 701, a third driving gear 702, a driven gear 703 and a transmission shaft 704, the first motor 804, the second motor 601 and the third motor 701 are mounted on the support frame 1, the first driving gear 803 is mounted on an output shaft of the first motor 804, the second driving gear 602 is mounted on an output shaft of the second motor 601, the third driving gear 702 is mounted on an output shaft of the third motor 701, the upper end of the first transmission sleeve 802 is connected with the first ring gear 801, the upper end of the second transmission sleeve 604 is connected with the second ring gear 603, the transmission shaft 704 is connected with the driven gear 703, the second transmission sleeve 604 is rotatably mounted on the support frame 1, the second transmission sleeve 604, the first transmission sleeve 802 and the transmission shaft 703 are sequentially sleeved from outside to inside, the second transmission sleeve 604, the first transmission sleeve 802 and the transmission shaft 703 are rotatably mounted but do not axially move, the first annular gear ring 801 is meshed with the first driving gear 803, the second annular gear ring 603 is meshed with the second driving gear 602, and the driven gear 703 is meshed with the third driving gear 702; the lower end of the second transmission sleeve 604 is connected with the second power transmission mechanism; the lower end of the first transmission sleeve 802 extends out of the second transmission sleeve 604 and is connected with the first power transmission mechanism; the lower end of the transmission shaft 704 extends out of the first transmission sleeve 802 and is connected with the third power transmission mechanism. Taking the second rotation driving mechanism as an example, the first motor 804 is started to drive the first driving gear 803, the first ring gear 801 and the first transmission sleeve 802 to rotate, so as to be transmitted to the first rotation cylinder 1011 through the first power transmission mechanism, and similarly, the third rotation driving mechanism and the fourth rotation driving mechanism.

Further preferably, the combined power driving device further includes a fifth rotating driving mechanism and a fourth power transmission mechanism, the carrying mechanism further includes a rotating sleeve 1016, the nut sleeve 1019 is installed on the rotating sleeve 1016, the rotating sleeve 1016 is rotatably installed on the fixing seat 1015, the fifth rotating driving mechanism is installed above the supporting frame 1, the fourth power transmission mechanism includes multiple sets of sequentially connected fourth belt pulley assemblies 904, a driving pulley included in the fourth belt pulley assembly 904 at the head end is connected with the fifth rotating driving mechanism, a driven pulley included in the fourth belt pulley assembly 904 at the tail end is connected with the rotating sleeve 1016 into a whole, the hollow threaded rod 10131 is sleeved outside the rotating sleeve 1016, and the rotating sleeve 1016 and the hollow threaded rod 10131 are moved and rotatably installed. The number of the fourth pulley assemblies 904 in this embodiment is two. When the lifting support 1013 lifting device is used, the rotary driving mechanism is started five times, the rotary sleeve 1016 is driven to rotate relative to the fixing seat 1015 through the power transmission mechanism four, the rotary sleeve 1016 rotates to drive the hollow threaded rod 10131 to rotate, meanwhile, the rotary driving mechanism four is started, the nut sleeve 1019 is driven to rotate relative to the rotary sleeve 1016 through the power transmission mechanism three, so that the nut sleeve 1019 is driven to rotate, the hollow threaded rod 10131 cannot move up and down due to synchronous rotation of the nut sleeve 1019 and the hollow threaded rod 10131, and only can move rotationally relative to the rotary sleeve 1016, so that the rotary movement of the lifting support 1013 is realized, the rotary movement of the carrying mechanism is realized, the operation range is improved, and the use is flexible.

Preferably, in this embodiment, the fifth rotary driving mechanism includes a fourth motor 501, a fourth driving gear 502, a third annular gear 503, and a third driving sleeve 504, the fourth motor 501 is mounted on the support frame 1, the fourth driving gear 502 is mounted on an output shaft of the fourth motor 501, an upper end of the third driving sleeve 504 is connected to the third annular gear 503, the third driving sleeve 504 is located between the first driving sleeve 802 and the transmission shaft 703, the third driving sleeve 504 extends out of the first driving sleeve 802 and is connected to the fourth power transmission mechanism, and the fourth driving gear 502 is engaged with the third annular gear 503.

This embodiment is preferred, as shown in fig. 9, the cross section of the outline of long cylinder 10181 is waist circular structure, be equipped with on the first rotatory cylinder 1011 with long cylinder 10181 waist circular structure matched with first waist round hole, realize the removal and the rotation installation of long cylinder 10181 and first rotatory cylinder 1011 through the waist circular structure of long cylinder 10181 and the first waist round hole of first rotatory cylinder 1011, of course long cylinder 10181 and first rotatory cylinder 1011 can also realize removing and rotate the installation through the key.

In this embodiment, preferably, the cross section of the outer contour of the long shaft body 10141 is a waist-round structure, and the second rotating cylinder 1010 is provided with a second waist-round hole matched with the waist-round structure of the long shaft body 10141. The long shaft body 10141 and the second rotary cylinder 1010 can be moved and rotatably mounted through the oval structure of the long shaft body 10141 and the second oval hole of the second rotary cylinder 1010, and of course, the long shaft body 10141 and the second rotary cylinder 1010 can also be moved and rotatably mounted through keys.

In this embodiment, preferably, the cross section of the outer contour of the hollow threaded rod 10131 is a waist circular structure, and the rotating sleeve 1016 is provided with a third waist circular hole matched with the waist circular structure of the hollow threaded rod 10131. The hollow threaded rod 10131 and the rotary sleeve 1016 are movably and rotatably mounted through a waist circle structure of the hollow threaded rod 10131 and a second waist circle hole of the rotary sleeve 1016, and the hollow threaded rod 10131 and the rotary sleeve 1016 can also be movably and rotatably mounted through keys.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A carrying manipulator is characterized by comprising a base, a supporting frame, a mechanical arm, a carrying mechanism, a combined power driving device, a lifting mechanism and a rotary driving mechanism, wherein the rotary driving mechanism is arranged on the base and is connected with the lower end of the supporting frame through the lifting mechanism;

the combined power driving device comprises a first rotary driving mechanism, a second rotary driving mechanism, a third rotary driving mechanism, a fourth rotary driving mechanism, a first power transmission mechanism, a second power transmission mechanism and a third power transmission mechanism, the carrying mechanism comprises clamping fingers, a first clamping connecting rod, a second clamping connecting rod, a lifting support, a first rotary cylinder, a second rotary cylinder and a nut sleeve, the first rotary driving mechanism, the second rotary driving mechanism, the third rotary driving mechanism and the fourth rotary driving mechanism are all arranged above the supporting frame, one end of the mechanical arm is rotationally connected with the upper part of the supporting frame, and one end of the mechanical arm is connected with the first rotary driving mechanism;

2. The carrying manipulator as claimed in claim 1, wherein the manipulator comprises a first arm body, a second arm body, a third arm body, a fourth arm body, a first hinge shaft, a second hinge shaft and a hinge sleeve, one end of the first arm body and one end of the second arm body are arranged in an up-down overlapping manner and are rotatably connected with the support frame, the other end of the first arm body and one end of the third arm body are arranged in an up-down overlapping manner and are hinged through the first hinge shaft, the other end of the second arm body and one end of the fourth arm body are arranged in an up-down overlapping manner and are hinged through the second hinge shaft, and the other end of the third arm body and the other end of the fourth arm body are arranged in an up-down overlapping manner and are hinged through the hinge sleeve; a parallelogram structure is formed among the first arm body, the second arm body, the third arm body and the fourth arm body; the first rotating cylinder is rotatably arranged at the other end of the third arm body, the carrying mechanism comprises a fixed seat which is fixedly arranged at the other end of the fourth arm body, and the nut sleeve is rotatably arranged on the fixed seat; the first rotary driving mechanism comprises a first sub rotary driving part and a second sub rotary driving part, the first sub rotary driving part is connected with one end of the first arm body, and the second sub rotary driving part is connected with one end of the second arm body; the first power transmission mechanism comprises a plurality of groups of first belt pulley assemblies which are sequentially connected, a driving belt pulley included in the first belt pulley assembly positioned at the head end is connected with the second rotary driving mechanism, and a driven belt pulley included in the first belt pulley assembly positioned at the tail end is connected with the first rotary cylinder into a whole; the second power transmission mechanism comprises a plurality of groups of second belt pulley assemblies which are sequentially connected, a driving belt pulley included in the second belt pulley assembly positioned at the head end is connected with the third rotary driving mechanism, and a driven belt pulley included in the second belt pulley assembly positioned at the tail end is connected with the second rotary cylinder into a whole; the third power transmission mechanism comprises a plurality of groups of third belt pulley assemblies which are sequentially connected, a driving belt pulley included in the third belt pulley assembly positioned at the head end is connected with the fourth rotary driving mechanism, and a driven belt pulley included in the third belt pulley assembly positioned at the tail end is connected with the nut sleeve into a whole.

3. The handling manipulator as claimed in claim 2, wherein the first sub-rotary driving member includes a first driving motor, a first gear, and a first external gear ring disposed on an outer surface of one end of the first arm, the first driving motor is mounted on the support frame, the first gear is mounted on an output shaft of the first driving motor, and the first gear is engaged with the first external gear ring; the secondary rotary driving part II comprises a driving motor II, a gear II and an outer gear ring II arranged on the outer surface of one end of the second arm body, the driving motor II is arranged on the supporting frame, the gear II is arranged on an output shaft of the driving motor II, and the gear II is meshed with the outer gear ring II.

4. The carrying manipulator as claimed in claim 2, wherein the second rotary driving mechanism includes a first motor, a first driving gear, a first annular gear and a first transmission sleeve, the third rotary driving mechanism includes a second motor, a second driving gear, a second annular gear and a second transmission sleeve, the fourth rotary driving mechanism includes a third motor, a third driving gear, a driven gear and a transmission shaft, the first motor, the second motor and the third motor are mounted on the support frame, the first driving gear is mounted on an output shaft of the first motor, the second driving gear is mounted on an output shaft of the second motor, the third driving gear is mounted on an output shaft of the third motor, an upper end of the first transmission sleeve is connected with the first annular gear, an upper end of the second transmission sleeve is connected with the second annular gear, and the transmission shaft is connected with the driven gear, the second transmission sleeve is rotatably mounted on the support frame, the second transmission sleeve, the first transmission sleeve and the transmission shaft are sequentially sleeved from outside to inside, the first annular gear ring is meshed with the first driving gear, the second annular gear ring is meshed with the second driving gear, and the driven gear is meshed with the three phases of the driving gear; the lower end of the second transmission sleeve is connected with the second power transmission mechanism; the lower end of the first transmission sleeve extends out of the second transmission sleeve and is connected with the first power transmission mechanism; the lower end of the transmission shaft extends out of the transmission sleeve and is connected with the power transmission mechanism III.

5. The carrying manipulator as claimed in claim 4, wherein the combined power driving device further includes a fifth rotation driving mechanism and a fourth power transmission mechanism, the carrying mechanism further includes a rotation sleeve, the nut sleeve is mounted on the rotation sleeve, the rotation sleeve is rotatably mounted on the fixed seat, the fifth rotation driving mechanism is mounted above the supporting frame, the fourth power transmission mechanism includes a plurality of sets of sequentially connected fourth belt pulley assemblies, a driving pulley included in the fourth belt pulley assembly at the head end is connected with the fifth rotation driving mechanism, a driven pulley included in the fourth belt pulley assembly at the tail end is connected with the rotation sleeve into a whole, the rotation sleeve is sleeved on the hollow threaded rod, and the rotation sleeve and the hollow threaded rod move and are rotatably mounted.

6. The carrying manipulator as claimed in claim 5, wherein the fifth rotary driving mechanism includes a fourth motor, a fourth driving gear, a third annular gear and a third transmission sleeve, the fourth motor is mounted on the support frame, the fourth driving gear is mounted on an output shaft of the fourth motor, the upper end of the third transmission sleeve is connected with the third annular gear in a three-phase manner, the third transmission sleeve is located between the first transmission sleeve and a transmission shaft, the third transmission sleeve extends out of the first transmission sleeve and is connected with the fourth power transmission mechanism in a lifting manner, and the fourth driving gear is meshed with the third annular gear in a three-phase manner.