CN209478191U - A kind of vertical lift structure and the Multi-freedom-degreemanipulator manipulator using the lifting structure - Google Patents

Abstract

The utility model relates to manipulator technical fields, and in particular to a kind of vertical lift structure and the Multi-freedom-degreemanipulator manipulator using the lifting structure, the vertical lift structure includes: a shell, and the one side of the shell is recessed a groove；One stepper motor, the stepper motor are fixed on one end of the groove；One lead screw, the both ends of the lead screw are separately fixed on stepper motor and on the other end of groove；One take-up housing, the take-up housing have one it is central axial run through through-hole, the lead screw by it is described it is central axial run through through-hole, and in the steel ball of the central axial setting cooperation lead screw inside the through-hole.Rise the utility model has the following beneficial effects: can be realized and will stablize with constant weight and manipulator, is convenient for the coordination of street writer each zero (portion) part.

Description

A kind of vertical lift structure and the Multi-freedom-degreemanipulator manipulator using the lifting structure

Technical field

The utility model relates to manipulator technical fields, and in particular to a kind of vertical lift structure and apply the lifting structure Multi-freedom-degreemanipulator manipulator.

Background technique

Manipulator is the earliest generation form of industrial robot, it can replace the mankind to complete various production activities, Also can make to produce more mechanization and automation, moreover it is possible to operate provide safeguard for human security in particular circumstances, therefore it is wide General is applied to the fields such as manufacturing industry, Metallurgy Industry and nuclear energy, and with the rapid development of China's economy, it is as in a kind of industrial production Highly important tool also becomes more and more important the continuous renewal of its technology.

One very important branch of robot is exactly manipulator, its characteristic be can by PLC or single-chip microcontroller come All kinds of expected tasks are completed in control, be provided simultaneously on component and performance the mankind and it is mechanical it is respective grow, it is especially embodied The characteristics of adaptability of people.Manipulator is mainly made of hand structure and movement mechanism two parts in structure, hand structure For grabbing thing, shape, quality, material and its job requirements based on this thing and have multiplicity structural form, fortune The mode of the self-movements such as stretch, rotate, rising and falling of motivation structure, is called the freedom degree of manipulator, to use several freedom degrees, It completes to need to draft in advance when the design of manipulator.It may be said that manipulator is the product of mankind's scientific and technological progress, it, which can be represented, works as The advanced instruments of labour of generation society, the level of a national social development can also be embodied by the development level of manipulator.Just Because of these reasons, the development of manipulator is increasingly by the attention of every country.

With the acceleration of urbanization process, all kinds of problem of environmental pollutions are aggravated, and the health care consciousness of people's lives level is held Continuous to improve, the health requirements of drinking water are more willing to selection " appliance water ", people in appliance water at object, most people are paid close attention to Live in it is most common be water dispenser, the use of water dispenser can improve people's lives quality, among these, household water drinking Machine also plays a more and more important role in daily life, and people mainly have the considerations of the following aspects: first, The serious pollution of water resource at present, people especially pay close attention to the health of drinking water, and second, market is equal to purchaser, desire to purchase, purchase It buys power to be added together, the huge population base in China also provides a large amount of consumer, third, quality of life for water dispenser market Raising allow people to change the attitude and purpose of drinking-water, so currently, water dispenser has been that huge numbers of families generally select Household electrical appliance, this electric appliance is able to achieve the heating of the cooling to bottled water, and high degree facilitates daily life.

Then, bottled water is substituted for for people's routine matter, and the water that changes of this water dispenser needs manpower to raise to replace completely It changes, this just causes great inconvenience to people, for not big enough the old man of strength, Ms, child.Even have Enough strength, installs and is also required to allow bung hole to be directed at water dispenser mouth, and installation process also easily causes spilling for mineral water, bucket If mouth is not aligned with inflow column, it will cause inflow column and leak, to directly result in the damage of water dispenser, therefore existing barreled Water manpower alternative there is a problem of very big urgently to be resolved, and wherein emphasis will solve the problems, such as just to be the lifting knot using which kind of Structure can be realized the lifting of stability and high efficiency.

Utility model content

In order to effectively solve the above problems, the utility model provides a kind of vertical lift structure and the application lifting structure Multi-freedom-degreemanipulator manipulator.

The concrete scheme of the utility model is as follows: a kind of vertical lift structure, and the vertical lift structure includes:

One shell, the one side of the shell are recessed a groove；

One stepper motor, the stepper motor are fixed on one end of the groove；

One lead screw, the both ends of the lead screw are separately fixed on stepper motor and on the other end of groove；

One take-up housing, the take-up housing is central axial through through-hole with one, and the lead screw passes through the central axis Cooperate the steel ball of lead screw to through through-hole, and in the central axial setting inside through-hole.

Further, the both ends of the groove are respectively arranged with a upper fixed seat and a lower fixed seat；

One end of the lead screw is connected on the lower fixed seat；

Fixed seat fixes the stepper motor, and fixed seat tool in contrast to the side of the lower fixed seat There is a through hole, the other end of the lead screw is connected to the output end of the stepper motor by the through hole.

Further, portion is provided at least one limit strut in the groove, and the limit strut is arranged described The avris of lead screw；

The both ends of the limit strut are separately fixed on fixed seat and the lower fixed seat.

Further, the axially position hole with the limit strut cooperation is provided on the take-up housing.

Further, the quantity of the limit strut is two；

Two limit struts respectively correspond the two sides that the screw rod is arranged in；

Tool is there are two axially position hole on the take-up housing, and the axially position hole is separately positioned on described central axial pass through The two sides of reach through hole.

Further, it is provided with a strip bottom fixed plate in the groove, the strip bottom fixed plate is from groove One end to the other end be covered on the groove bottom side, and fixed seat and the lower fixed seat are fixed on the strip In bottom fixed plate.

Further, the shell is aluminum alloy casing.

Further, a cavity is formed at the lower fixed seat center, and the lead screw one of the lower fixed seat is set End passes through in the fixed cavity of deep groove ball bearing.

A kind of Multi-freedom-degreemanipulator manipulator, using above-mentioned lifting structure, the installation manipulator on the take-up housing.

Rise the utility model has the following beneficial effects: can be realized and will stablize with constant weight and manipulator, is convenient for street The coordination of writer each zero (portion) part.

Detailed description of the invention

Fig. 1 is overall structure diagram provided by the utility model；

Fig. 2 is take-up housing structural schematic diagram provided by the utility model；

Fig. 3 is the structural schematic diagram that overall structure provided by the utility model does not have shell；

Fig. 4 is the schematic cross-section of shell provided by the utility model；

Fig. 5 is take-up housing internal structure provided by the utility model.

Specific embodiment

It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution of the utility model embodiment The attached drawing used is briefly described, it should be apparent that, the drawings in the following description are merely some embodiments of the present invention, The application range for not limiting the utility model is not making the creative labor for those of ordinary skill in the art Under the premise of, the utility model can be applied to other similar scene according to these attached drawings；

As shown in the specification and claims, unless context clearly prompt exceptional situation " one ", "one", The words such as "an" and/or "the" not refer in particular to odd number, also may include plural number.In general, term " includes " or "comprising" Only prompt included the steps that clearly identified and element, and these steps and element do not constitute one it is exclusive enumerate, method Or equipment may also include other step or element.Term "based" is " being based at least partially on ".A term " implementation Example " expression " at least one embodiment "；Term " another embodiment " expression " at least one other embodiment ".

It as shown in Figure 1,2,3, 4, is a kind of vertical lift structure provided by the utility model and the application lifting structure Multi-freedom-degreemanipulator manipulator, the vertical lift structure includes 1, stepper motor 2, one of shell using aluminum alloy material A lead screw 3 and a take-up housing 4；

The whole rectangular parallelepiped structure in a strip of the shell 1, and one on the cuboid length direction A groove 10 is recessed on side, the groove 10 leads to the shell 1；

The both ends of the groove 10 are respectively arranged with a upper fixed seat 11 and a lower fixed seat 12, fixed Seat 11 is arranged in parallel with the lower fixed seat 12, and the parallel direction is mutually perpendicular to 1 length direction of shell, together The bottom side of the vertical groove 10 of the upper and lower fixing seat of Shi Suoshu (11,12)；

Fixed seat 11 fixes the stepper motor 2 in contrast to the side of the lower fixed seat 12, and described solid Reservation 11 has a through hole 110, and one end of the lead screw 3 is connected to the stepper motor 2 by the through hole 110 Output end；The other end of the lead screw 3 is connected on the lower fixed seat 12；

A cavity 120 is formed specially at 12 center of lower fixed seat, and the silk of the lower fixed seat 12 is set 3 one end of thick stick by the fixed cavity 120 of deep groove ball bearing, it can be achieved that lead screw 3 according under the limit of lower fixed seat 12 recessed It is rotated in chamber 120, and the upper end of the lead screw 3 is connected to the output end of the stepper motor 2 by the peep hole, it is real Now end is fixed, and carries out driving rotation by upper end；

The take-up housing 4 is connected on the lead screw 3, and the specially described take-up housing 4 is central axial through logical with one Hole 41, the lead screw 3 are matched by described central axial through through-hole 41, and in central axial be arranged inside through-hole 41 The steel ball of plying thick stick 3；

After realizing the rotation for driving lead screw 3 by the stepper motor 2, take-up housing 4 is further driven to along the shell 1 Length direction is moved, and is specifically interpreted as moving along the installation direction of the lead screw 3.

In other embodiments, two limit struts 5 are internally provided in the groove 10, the limit strut 5 is arranged In the avris of the lead screw 3, two limit struts 5 respectively correspond the two sides that the lead screw 3 is arranged in；

The both ends of the limit strut 5 are separately fixed on fixed seat 11 and the lower fixed seat 12, the cunning There are two the axially position hole 42, the axially position hole 42 is separately positioned on described central axial through logical tool on block 4 The two sides in hole 4.

In other embodiments, a strip bottom fixed plate 100, the strip bottom are provided in the groove 10 Fixed plate 100 is covered on 10 bottom side of groove from one end of groove 10 to the other end, and fixed seat 11 and described Lower fixed seat 12 is fixed in the strip bottom fixed plate 100.

The utility model also provides a kind of Multi-freedom-degreemanipulator manipulator, using above-mentioned lifting structure, on the take-up housing 4 Installation manipulator.

In order to realize the beneficial effects of the utility model, return pipe spiral shell is used in take-up housing 4 used by the utility model Mother, specially steel ball are arranged according to bent-tube boiler endless form；

As shown in figure 5, the specially described return pipe nut includes a basal body of nut 6, in the inside of the basal body of nut 6 Multiple steel balls 60 are provided with, and steel ball 60 is internally provided with the bend pipe 61 that corresponding cooperation steel ball passes through, and is used for fixed bending tube 61 pressing plate 62, and labyrinth type sealing ring 63 is set at the both ends of the basal body of nut 4, for being carried out to the basal body of nut 6 Sealing.

Claims (9)

1. a kind of vertical lift structure, which is characterized in that the vertical lift structure includes:

One shell, the one side of the shell are recessed a groove；

One stepper motor, the stepper motor are fixed on one end of the groove；

One lead screw, the both ends of the lead screw are separately fixed on stepper motor and on the other end of groove；

One take-up housing, the take-up housing have one it is central axial run through through-hole, the lead screw central axial is passed through by described Reach through hole, and in the steel ball of the central axial setting cooperation lead screw inside through-hole.

2. a kind of vertical lift structure according to claim 1, which is characterized in that the both ends of the groove are respectively arranged with One upper fixed seat and a lower fixed seat；

One end of the lead screw is connected on the lower fixed seat；

Fixed seat is in contrast to the fixed stepper motor in the side of the lower fixed seat, and fixed seat tool has one A through hole, the other end of the lead screw are connected to the output end of the stepper motor by the through hole.

3. a kind of vertical lift structure according to claim 2, which is characterized in that portion is provided at least in the groove The avris of the lead screw is arranged in one limit strut, the limit strut；

The both ends of the limit strut are separately fixed on fixed seat and the lower fixed seat.

4. a kind of vertical lift structure according to claim 3, which is characterized in that be provided on the take-up housing with it is described Limit the axially position hole of strut cooperation.

5. a kind of vertical lift structure according to claim 4, which is characterized in that the quantity of the limit strut is two It is a；

Two limit struts respectively correspond the two sides that the lead screw is arranged in；

There are two axially position hole, the axially position hole is separately positioned on described central axial through logical tool on the take-up housing The two sides in hole.

6. a kind of vertical lift structure according to claim 2, which is characterized in that be provided with a strip in the groove Bottom fixed plate, the strip bottom fixed plate are covered on the groove bottom side from one end of groove to the other end, and described Upper fixed seat and the lower fixed seat are fixed in the strip bottom fixed plate.

7. a kind of vertical lift structure according to claim 1, which is characterized in that the shell is Al-alloy casing.

8. a kind of vertical lift structure according to claim 2, which is characterized in that formed at the lower fixed seat center One cavity, lead screw one end that the lower fixed seat is arranged in pass through in the fixed cavity of deep groove ball bearing.

9. a kind of Multi-freedom-degreemanipulator manipulator, using lifting structure described in one of the claims 1-8, which is characterized in that Installation manipulator on the take-up housing.