An ultra-narrow robot hand

Abstract

The utility model discloses a kind of ultra-narrow mechanical hands, and the ultra-narrow mechanical hand includes Y-axis moving platform and executing mechanism;Y-axis moving platform includes Y-axis platform frame, Y-axis guide rail, Y-axis sliding member and Y-axis driving mechanism;Y-axis guide rail is set on Y-axis platform frame;Y-axis sliding member and Y-axis guide rail sliding fit, Y-axis sliding member is slidably set on Y-axis platform frame;Y-axis driving mechanism is set on Y-axis platform frame and located in the side of Y-axis guide rail, Y-axis driving mechanism is also connected with Y-axis sliding member;Executing mechanism is set on Y-axis sliding member.In this embodiment, compared with the scheme that the driving mechanism of the conventional mechanical hand is arranged at the end of the guide rail, the utility model sets the Y-axis driving mechanism on the side of the guide rail.Under the premise of maintaining the original function of the mechanical hand, the overall width of the mechanical hand in the Y-axis direction is effectively reduced, the width size is reduced by more than 30%, and it is particularly suitable for installation and use in narrow gaps of assembly line.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to an ultra-narrow robotic arm. Background Technology

[0002] Generally, a robotic arm comprises several moving platforms and actuators, where the moving platforms can be at least one of an X-axis moving platform, a Y-axis moving platform, and a Z-axis moving platform. For example, when a robotic arm includes an X-axis moving platform and an actuator, the actuator can be moved arbitrarily along the X-axis direction via the X-axis moving platform. As another example, if a robotic arm includes X-axis, Y-axis, and Z-axis moving platforms and actuators, then the robotic arm can move the actuator arbitrarily along all three axes via the X-axis, Y-axis, and Z-axis moving platforms.

[0003] Taking a typical mobile platform, such as an X-axis mobile platform, as an example, its length includes, in addition to the lead screw and guide rail, a first fixed plate, a second fixed plate, a coupling, a reducer, a motor, and other structures. The lengths of the lead screw and guide rail are similar in numerical value, but the positions of the first fixed plate, second fixed plate, coupling, reducer, and motor extend beyond the lead screw and guide rail. As a result, the length of these other attached structures is significantly increased, enlarging the size of the robot. This makes it difficult to assemble and disassemble the robot in some narrow scenarios, resulting in limited applicability. Utility Model Content

[0004] In order to solve the technical problem of insufficient adaptability of existing robotic arms to narrow scenarios, one of the objectives of this utility model is to provide an ultra-narrow robotic arm.

[0005] One of the objectives of this utility model is achieved through the following technical solution: An ultra-narrow robotic arm, the ultra-narrow robotic arm comprising a Y-axis moving platform and an actuator; The Y-axis moving platform includes a Y-axis platform frame, a Y-axis guide rail, a Y-axis slider, and a Y-axis drive mechanism; The Y-axis guide rail is mounted on the Y-axis platform frame; The Y-axis slider is slidably engaged with the Y-axis guide rail, and the Y-axis slider is slidably mounted on the Y-axis platform frame; The Y-axis drive mechanism is mounted on the Y-axis platform frame and located on one side of the Y-axis guide rail. The Y-axis drive mechanism is also connected to the Y-axis slider. The actuator is mounted on the Y-axis slider.

[0006] Optionally, the Y-axis moving platform further includes a Y-axis mounting plate and an upper platform frame, wherein the upper platform frame and the Y-axis platform frame are disposed on the same side of the Y-axis mounting plate, and the upper platform frame is located above the Y-axis platform frame; The number of Y-axis guide rails is two sets, and the two sets of Y-axis guide rails are respectively set on the same side of the upper platform frame and the Y-axis platform frame; The upper and lower parts of the Y-axis slider are respectively slidably engaged with the two sets of Y-axis guide rails; The Y-axis drive mechanism is mounted on the Y-axis platform frame and located on one side of the Y-axis guide rail on the Y-axis platform frame.

[0007] Optionally, the number of Y-axis guide rails is two sets, and the two sets of Y-axis guide rails are respectively arranged on both sides of the Y-axis platform frame; The Y-axis drive mechanism is located in the middle of the Y-axis platform frame and between the two sets of Y-axis guide rails.

[0008] Optionally, the Y-axis moving platform further includes a Y-axis mounting plate and an upper platform frame, wherein the upper platform frame and the Y-axis platform frame are disposed on the same side of the Y-axis mounting plate, and the upper platform frame is located above the Y-axis platform frame; The number of Y-axis guide rails is four sets, of which two sets of Y-axis guide rails are respectively set on both sides of the upper platform frame, and the other two sets of Y-axis guide rails are respectively set on both sides of the Y-axis platform frame; The Y-axis slider simultaneously slides with four sets of Y-axis guide rails; The Y-axis drive mechanism is mounted on the Y-axis platform frame and located between the two sets of Y-axis guide rails on the Y-axis platform frame.

[0009] Optionally, the Y-axis slider includes four sliding plates located at four positions: up, down, left, and right. The two sliding plates on the left and right sides respectively slide in cooperation with the Y-axis guide rail arranged vertically on the same side.

[0010] Optionally, the upper platform frame is U-shaped.

[0011] Optionally, the slider is provided with a rack extending along the Y-axis, and the output end of the Y-axis drive mechanism is provided with a gear, which meshes with the rack.

[0012] Optionally, the actuator includes a first lifting guide rail, a first driving mechanism, a first mounting component, and a mold separation gripper mechanism. The first lifting guide rail is disposed on one side of the Y-axis sliding component. The mold separation gripper mechanism is slidably disposed on the first lifting guide rail for mold separation. The first driving mechanism is connected to the mold separation gripper mechanism to drive the mold separation gripper mechanism to perform lifting and lowering movements.

[0013] Optionally, the actuator includes a second lifting guide rail, a second drive mechanism, a second mounting component, a mold clamping claw mechanism, and a mold clamping claw mechanism; The second lifting guide rail is disposed on the other side of the Y-axis sliding member, the second mounting member is slidably disposed on the second lifting guide rail, and the second driving mechanism is connected to the second mounting member to drive the second mounting member to perform lifting movement; The mold-supporting claw mechanism is disposed on the second mounting component, and the mold-supporting claw mechanism is provided with downward-facing mold-supporting claws for supporting the mold; The mold clamping mechanism is disposed on the second mounting component, and the mold clamping mechanism is provided with downward-facing clamping claws for clamping the mold.

[0014] Optionally, the ultra-narrow manipulator further includes an X-axis moving platform and a Z-axis moving platform, wherein the Z-axis moving platform is disposed on the X-axis moving platform and the Y-axis moving platform is disposed on the Z-axis moving platform.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: In this embodiment, compared with the traditional robotic arm where the drive mechanism is located at the end of the guide rail, this utility model places the Y-axis drive mechanism on the side of the guide rail. While maintaining the original function, the overall width of the robotic arm in the Y-axis direction is effectively reduced, with the width dimension reduced by more than 30%, making it particularly suitable for installation and use in narrow production line gaps. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the ultra-narrow robotic arm of this utility model; Figure 2 This is an exploded view of the ultra-narrow robotic arm of this utility model; Figure 3 This is an exploded view of the Y-axis moving platform in the ultra-narrow manipulator of this utility model; Figure 4 This is an exploded view of one of the actuators in the ultra-narrow manipulator of this utility model; Figure 5 This is an exploded view of another actuator in the ultra-narrow manipulator of this utility model.

[0017] Explanation of reference numerals in the attached diagram: 1. Y-axis moving platform; 11. Y-axis platform frame; 12. Y-axis guide rail; 13. Y-axis sliding component; 14. Y-axis drive mechanism; 15. Y-axis mounting plate; 16. Upper platform frame; 17. Rack and pinion; 2. Actuating mechanism; 21. First lifting guide rail; 22. First drive mechanism; 23. First mounting component; 24. Mold separation gripper mechanism; 241. Separation gripper; 25. Second lifting guide rail; 26. Second drive mechanism; 27. Second mounting component; 28. Mold support gripper mechanism; 281. Mold support gripper; 29. ​​Mold gripper mechanism; 291. Clamping gripper; 3. X-axis moving platform; 4. Z-axis moving platform. Detailed Implementation

[0018] The following will refer to the appendices in the embodiments of this application. Figure 1 To be continued Figure 5 The technical solutions in the embodiments of this application are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0019] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0020] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0021] like Figure 1-3 As shown, this embodiment of the invention provides an ultra-narrow robotic arm, including a Y-axis moving platform 1 and an actuator 2. The Y-axis moving platform 1 includes a Y-axis platform frame 11, a Y-axis guide rail 12, a Y-axis slider 13, and a Y-axis drive mechanism 14. The Y-axis guide rail 12 is mounted on the Y-axis platform frame 11, and the Y-axis slider 13 is slidably engaged with the Y-axis guide rail 12, slidably mounted on the Y-axis platform frame 11. The Y-axis drive mechanism 14 is mounted on the Y-axis platform frame 11 and located on one side of the Y-axis guide rail 12, and is also connected to the Y-axis slider 13. The actuator 2 is mounted on the Y-axis slider 13.

[0022] In this embodiment, compared with the traditional robotic arm where the drive mechanism is located at the end of the guide rail, the present invention places the Y-axis drive mechanism 14 on the side of the Y-axis guide rail 12. While maintaining the original function, the overall width of the robotic arm in the Y-axis direction is effectively reduced, with the width dimension reduced by more than 30%, making it particularly suitable for installation and use in narrow production line gaps.

[0023] In practical implementation, the Y-axis platform frame 11 is made of high-strength aluminum alloy, and its flatness and straightness are ensured through precision machining. The Y-axis guide rail 12 is a linear guide rail, combined with a high-precision ball bearing slider, to ensure smooth movement. The Y-axis drive mechanism 14 uses a servo motor with a reducer to output stable torque.

[0024] In some further embodiments, such as Figure 2 , Figure 3 As shown, the Y-axis moving platform 1 also includes a Y-axis mounting plate 15 and an upper platform frame 16. The upper platform frame 16 and the Y-axis platform frame 11 are located on the same side of the Y-axis mounting plate 15, with the upper platform frame 16 positioned above the Y-axis platform frame 11. There are two sets of Y-axis guide rails 12, each set located on the same side of the upper platform frame 16 and the Y-axis platform frame 11. The upper and lower parts of the Y-axis sliding member 13 are slidably engaged with the two sets of Y-axis guide rails 12, respectively. The Y-axis drive mechanism 14 is mounted on the Y-axis platform frame 11 and located on one side of the Y-axis guide rails 12 on the Y-axis platform frame 11.

[0025] The upper platform frame 16 and the Y-axis platform frame 11 are arranged vertically and mounted via the Y-axis mounting plate 15. Two sets of Y-axis guide rails 12 are respectively located on the same side of the upper platform frame 16 and the Y-axis platform frame 11. This dual-guide rail layout significantly improves motion stability. In practical applications, this structure can effectively resist the overturning moment generated by the actuator 2, ensuring accurate positioning even during high-speed motion.

[0026] When the upper and lower parts of the Y-axis slider 13 are in sliding engagement with the two sets of Y-axis guide rails 12 respectively, it is convenient to arrange the actuator 2 on the side of the Y-axis slider 13.

[0027] In addition, the upper platform frame 16 adopts a U-shaped structure, which ensures structural strength while reducing overall weight. At the same time, the U-shaped area also provides installation space for the Y-axis drive mechanism 14.

[0028] In another guide rail layout embodiment, such as Figure 2 , Figure 3 As shown, there are two sets of Y-axis guide rails 12, which are respectively arranged on both sides of the Y-axis platform frame 11. The Y-axis drive mechanism 14 is located in the middle of the Y-axis platform frame 11 and between the two sets of Y-axis guide rails 12.

[0029] Two sets of Y-axis guide rails 12 are mounted on both sides of the Y-axis platform frame 11, forming a symmetrical arrangement of the Y-axis guide rails 12. This symmetrical layout further optimizes the force distribution. The Y-axis drive mechanism 14 is located between the two sets of Y-axis guide rails 12, so that the line of action of the driving force passes through the center of mass of the moving part, reducing vibration and impact during movement. At the same time, this layout allows the robot arm to be made narrower, making it suitable for applications with extremely limited space.

[0030] In a more preferred embodiment, such as Figure 2 , Figure 3 As shown, the Y-axis moving platform 1 also includes a Y-axis mounting plate 15 and an upper platform frame 16. The upper platform frame 16 and the Y-axis platform frame 11 are located on the same side of the Y-axis mounting plate 15, with the upper platform frame 16 positioned above the Y-axis platform frame 11. There are four sets of Y-axis guide rails 12, with two sets located on either side of the upper platform frame 16 and the other two sets located on either side of the Y-axis platform frame 11. The Y-axis sliding member 13 slides in cooperation with all four sets of Y-axis guide rails 12. The Y-axis drive mechanism 14 is mounted on the Y-axis platform frame 11 and positioned between the two sets of Y-axis guide rails 12 on the Y-axis platform frame 11.

[0031] The upper platform frame 16 and the Y-axis platform frame 11 are arranged vertically. Four sets of Y-axis guide rails 12 are installed on both sides of the upper platform frame 16 and both sides of the Y-axis platform frame 11. The Y-axis drive mechanism 14 is located in the space between the four sets of Y-axis guide rails 12. The layout of the four sets of guide rails provides extremely high rigidity and stability. The Y-axis slider 13 includes four sliding plates located at four positions: up, down, left, and right. The two sliding plates on the left and right sides slide in cooperation with the Y-axis guide rails 12 arranged vertically on the same side. This design ensures that the slider receives uniform support during movement, effectively preventing jamming and displacement.

[0032] The upper platform frame 16 is preferably U-shaped, which can reduce the weight of the upper platform frame 16, while the U-shaped area can also provide installation space for the Y-axis drive mechanism 14.

[0033] In terms of transmission method, such as Figure 2 , Figure 3 As shown, the Y-axis slider 13 is provided with a rack 17 extending along the Y-axis direction, and the output end of the Y-axis drive mechanism 14 is provided with a gear, which meshes with the rack 17. This gear and rack 17 transmission method has the advantages of high transmission efficiency, good precision, and long service life, and is particularly suitable for long-stroke precision positioning applications.

[0034] In one embodiment of actuator 2, such as Figure 4As shown, the actuator 2 includes a first lifting guide rail 21, a first drive mechanism 22, a first mounting component 23, and a mold separation gripper mechanism 24. The first lifting guide rail 21 is disposed on one side of the Y-axis sliding component 13. The mold separation gripper mechanism 24 is slidably disposed on the first lifting guide rail 21 for mold separation. The first drive mechanism 22 is connected to the mold separation gripper mechanism 24 to drive the mold separation gripper mechanism 24 to perform lifting and lowering movements. Specifically, the mold separation gripper mechanism 24 is provided with a downward-facing separation claw 241, which clamps and separates the mold.

[0035] This actuator 2 is specifically designed for mold separation operations. Through precise lifting control, it enables smooth mold separation, preventing damage to the mold. The first drive mechanism 22 employs a pneumatic push rod or a servo motor in conjunction with a ball screw to ensure lifting and positioning accuracy.

[0036] The first mounting component 23 can be a single plate-like structure, a rod-like structure, or an assembly structure composed of several plate-like structures and several rod-like structures. The first mounting component 23 is used to change the mounting direction, angle, and position of the mold separation gripper mechanism 24.

[0037] In another embodiment of actuator 2, such as Figure 5 As shown, the actuator 2 includes a second lifting guide rail 25, a second drive mechanism 26, a second mounting member 27, a mold clamping claw mechanism 28, and a mold clamping claw mechanism 29. The second lifting guide rail 25 is located on the other side of the Y-axis sliding member 13. The second mounting member 27 is slidably mounted on the second lifting guide rail 25. The second drive mechanism 26 is connected to the second mounting member 27 to drive the second mounting member 27 to perform lifting and lowering movements. The mold clamping claw mechanism 28 is mounted on the second mounting member 27 and has downward-facing mold clamping claws 281 for supporting the mold. The mold clamping claw mechanism 29 is mounted on the second mounting member 27 and has downward-facing clamping claws 291 for clamping the mold or specific structures on the mold. The ends of the two mold clamping claws 281 extend below the ends of the two clamping claws 291, and the width of the ends of the two mold clamping claws 281 is greater than the width of the ends of the two clamping claws 291.

[0038] This combined actuator 2 can simultaneously perform mold lifting and clamping operations, greatly improving work efficiency. The mold lifting claw 281 is made of polyurethane material to avoid scratching the mold surface; the clamping claw 291 is pneumatically driven, with adjustable clamping force to adapt to molds of different sizes.

[0039] Of course, the two types of actuators 2 mentioned above can be set on both sides of the Y-axis slider 13 at the same time. The actuators 2 on both sides work together to effectively improve work efficiency.

[0040] The second drive mechanism 26 uses a pneumatic push rod or a servo motor in conjunction with a ball screw to ensure lifting and positioning accuracy.

[0041] The second mounting component 27 can be a single plate-like structure, a rod-like structure, or an assembly structure composed of several plate-like structures and several rod-like structures. The second mounting component 27 is used to change the mounting direction, angle, and position of the mold clamping claw mechanism 28 and the mold clamping claw mechanism 29.

[0042] In an embodiment of a complete robotic arm system, such as Figure 1 , Figure 2 As shown, the ultra-narrow manipulator also includes an X-axis moving platform 3 and a Z-axis moving platform 4. The Z-axis moving platform 4 is mounted on the X-axis moving platform 3, and the Y-axis moving platform 1 is mounted on the Z-axis moving platform 4. This three-axis structure enables precise positioning of the actuator 2 in three-dimensional space while maintaining a compact design in each axis direction, making the overall structure more suitable for narrow working environments.

[0043] In this invention, the Y-axis drive mechanism 14 is set on the side of the Y-axis guide rail 12 or between the Y-axis guide rails 12, which significantly reduces the width of the robot. This invention can be flexibly combined according to specific application requirements, and achieves miniaturization and lightweighting of the robot while ensuring performance, providing an ideal solution for automated operations in narrow spaces.

[0044] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. An ultra-narrow robotic arm, characterized in that, The ultra-narrow manipulator includes a Y-axis moving platform and an actuator; The Y-axis moving platform includes a Y-axis platform frame, a Y-axis guide rail, a Y-axis slider, and a Y-axis drive mechanism; The Y-axis guide rail is mounted on the Y-axis platform frame; The Y-axis slider is slidably engaged with the Y-axis guide rail, and the Y-axis slider is slidably mounted on the Y-axis platform frame; The Y-axis drive mechanism is mounted on the Y-axis platform frame and located on one side of the Y-axis guide rail. The Y-axis drive mechanism is also connected to the Y-axis slider. The actuator is mounted on the Y-axis slider.

2. The ultra-narrow robotic arm as described in claim 1, characterized in that, The Y-axis moving platform also includes a Y-axis mounting plate and an upper platform frame. The upper platform frame and the Y-axis platform frame are disposed on the same side of the Y-axis mounting plate, and the upper platform frame is located above the Y-axis platform frame. The number of Y-axis guide rails is two sets, and the two sets of Y-axis guide rails are respectively set on the same side of the upper platform frame and the Y-axis platform frame; The upper and lower parts of the Y-axis slider are respectively slidably engaged with the two sets of Y-axis guide rails; The Y-axis drive mechanism is mounted on the Y-axis platform frame and located on one side of the Y-axis guide rail on the Y-axis platform frame.

3. The ultra-narrow robotic arm as described in claim 1, characterized in that, The number of Y-axis guide rails is two sets, and the two sets of Y-axis guide rails are respectively set on both sides of the Y-axis platform frame; The Y-axis drive mechanism is located in the middle of the Y-axis platform frame and between the two sets of Y-axis guide rails.

4. The ultra-narrow robotic arm as described in claim 1, characterized in that, The Y-axis moving platform also includes a Y-axis mounting plate and an upper platform frame. The upper platform frame and the Y-axis platform frame are disposed on the same side of the Y-axis mounting plate, and the upper platform frame is located above the Y-axis platform frame. The number of Y-axis guide rails is four sets, of which two sets of Y-axis guide rails are respectively set on both sides of the upper platform frame, and the other two sets of Y-axis guide rails are respectively set on both sides of the Y-axis platform frame; The Y-axis slider simultaneously slides with four sets of Y-axis guide rails; The Y-axis drive mechanism is mounted on the Y-axis platform frame and located between the two sets of Y-axis guide rails on the Y-axis platform frame.

5. The ultra-narrow robotic arm as described in claim 4, characterized in that, The Y-axis slider includes four sliding plates located at four positions: up, down, left, and right. The two sliding plates on the left and right sides respectively slide in cooperation with the Y-axis guide rails arranged vertically on the same side.

6. The ultra-narrow robotic arm as described in claim 2 or 4, characterized in that, The upper platform is U-shaped.

7. The ultra-narrow robotic arm as described in any one of claims 1 to 5, characterized in that, The sliding member is provided with a rack extending along the Y-axis direction, and the output end of the Y-axis drive mechanism is provided with a gear, which meshes with the rack.

8. The ultra-narrow robotic arm as described in claim 1, characterized in that, The actuator includes a first lifting guide rail, a first driving mechanism, a first mounting component, and a mold separation gripper mechanism. The first lifting guide rail is disposed on one side of the Y-axis sliding component. The mold separation gripper mechanism is slidably disposed on the first lifting guide rail for mold separation. The first driving mechanism is connected to the mold separation gripper mechanism to drive the mold separation gripper mechanism to perform lifting and lowering movements.

9. The ultra-narrow robotic arm as described in claim 1 or 8, characterized in that, The actuator includes a second lifting guide rail, a second drive mechanism, a second mounting component, a mold clamping claw mechanism, and a mold clamping claw mechanism; The second lifting guide rail is disposed on the other side of the Y-axis sliding member, the second mounting member is slidably disposed on the second lifting guide rail, and the second driving mechanism is connected to the second mounting member to drive the second mounting member to perform lifting movement; The mold-supporting claw mechanism is disposed on the second mounting component, and the mold-supporting claw mechanism is provided with downward-facing mold-supporting claws for supporting the mold; The mold clamping mechanism is disposed on the second mounting component, and the mold clamping mechanism is provided with downward-facing clamping claws for clamping the mold.

10. The ultra-narrow robotic arm as described in claim 1, characterized in that, The ultra-narrow manipulator also includes an X-axis moving platform and a Z-axis moving platform, with the Z-axis moving platform disposed on the X-axis moving platform and the Y-axis moving platform disposed on the Z-axis moving platform.

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