A four-speed manipulator transmission mechanism

Abstract

The present invention discloses a four-times-speed manipulator transmission mechanism, comprising: a four-times-speed unit, a Z-axis body, a Z-axis motor, a Z-axis balance bar, a Z-axis mounting plate, and a Y-axis crossbeam, wherein the Z-axis motor is arranged on the Y-axis crossbeam, and the Z-axis balance bar and the Z-axis body are arranged on the Z-axis mounting plate. Through the above manner, the four-times-speed manipulator transmission mechanism of the present invention adopts two sets of speed rod structures to form a four-times-speed structure, provides four times the stroke in a limited space, and effectively improves the stroke length, movement speed and work efficiency.

Description

Technical Field

[0001] The invention relates to the field of transmission structures, and in particular to a four-speed manipulator transmission mechanism. Background Art

[0002] The speed lever is a commonly used mechanical device, which is often used in conjunction with other mechanical devices. The speed lever can achieve double speed and distance transportation.

[0003] However, the existing speed lever has a simple structure and can only achieve double speed, and cannot meet the travel requirements when space is limited. Summary of the invention

[0004] The main technical problem solved by the present invention is to provide a four-speed manipulator transmission mechanism, which has the advantages of high reliability, precise positioning, compact structure, fast transmission speed, etc., and has broad market prospects in the application and popularization of transmission structures.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is:

[0006] A four-speed manipulator transmission mechanism is provided, which comprises: a four-speed unit, a Z-axis body, a Z-axis lifting drive device, a Z-axis balance bar, a Z-axis mounting plate, and a Y-axis crossbeam, wherein the Z-axis balance bar and the Z-axis body are arranged on the Z-axis mounting plate, the output end of the Z-axis balance bar is connected to the Z-axis body, the Z-axis lifting drive device is arranged on the Y-axis crossbeam, and drives the Z-axis body and the four-speed unit to move up and down.

[0007] The quadruple speed unit includes an upper main body, a driving pulley, an upper transition wheel, an upper passive wheel, a connecting plate, an upper driving belt, an upper passive belt, a lower main body, a lower transition wheel, a lower passive wheel, a bottom plate, a lower driving belt, a lower passive belt, a driving motor, a motor seat, and an end picker.

[0008] The motor seat is fixedly connected to the Z-axis body, and the upper body is movably connected to the motor seat, so that the upper body moves back and forth on the motor seat. The driving motor is arranged on the motor seat, and the driving pulley and the upper transition pulley are arranged in the motor seat. The driving motor drives the driving pulley to rotate, and the upper passive pulley is arranged on both sides of the upper body. One end of the upper driving belt is fixed to one side of the upper body, and the other end bypasses the upper transition wheel and the driving pulley and is fixed to the other side of the upper body. The lower body is arranged below the upper body, and the connecting plate is movably arranged between the upper body and the lower body. An upper passive belt for driving the connecting plate to move back and forth is arranged in the upper body, and one end of the upper passive belt is fixed to the connecting plate, and the other end bypasses the upper passive wheel and is fixed to the bottom surface of the motor seat.

[0009] A lower transition wheel is arranged on the connecting plate, one end of the lower active belt is fixed to one side of the upper main body, and the other end of the lower active belt bypasses the lower transition wheel and is fixed to one side of the lower main body, so that the upper main body drives the lower main body to move forward and backward through the lower active belt, the bottom plate is movably arranged at the bottom of the lower main body, the end picker is arranged on the bottom plate, the lower passive wheels are arranged on both sides of the lower main body, and the lower passive belt that drives the bottom plate to move forward and backward is arranged in the lower main body, the upper end of the lower passive belt is fixed to the bottom surface of the connecting plate, and the lower end bypasses the lower passive wheel and is fixed to the bottom plate, so that the bottom plate and the end picker are displaced at four times the speed relative to the motor seat.

[0010] In a preferred embodiment of the present invention, the upper passive wheel is connected to both ends of the upper main body through an upper mounting seat.

[0011] In a preferred embodiment of the present invention, the lower passive wheel is connected to both ends of the lower main body through a lower mounting seat.

[0012] In a preferred embodiment of the present invention, a guide rail is provided between the Z-axis body and the Z-axis mounting plate.

[0013] In a preferred embodiment of the present invention, a slide rail is disposed on the top surface of the upper body, and slide rails are disposed on the top surface and side walls of the upper body and the top surface and side walls of the lower body, and a connecting seat movably connected to the slide rail is disposed on the bottom surface of the motor seat, the connecting plate, and the bottom plate.

[0014] In a preferred embodiment of the present invention, the upper fixing frame is fixedly disposed in the upper main body, and the upper fixing frame is provided with an upper active belt pressure plate for fixing the end of the upper active belt.

[0015] In a preferred embodiment of the present invention, the upper driving belt is wound around the driving pulley, and both ends of the upper driving belt pass through the middle of the two upper transition wheels and are fixed to the upper fixing frame through the upper driving belt pressure plate.

[0016] In a preferred embodiment of the present invention, one end of the upper passive belt is fixed to the connecting plate through the upper slide plate pressure plate, and the other end is fixed to the bottom surface of the motor base through the upper passive belt pressure plate after passing around the second upper passive wheel.

[0017] In a preferred embodiment of the present invention, the lower fixed frame is fixedly arranged in the lower main body, one end of the lower active belt is fixed to the upper fixed frame through the lower driving pressure plate, and the other end is fixed to the lower fixed frame through the lower active belt pressure plate after passing around the lower transition wheel.

[0018] In a preferred embodiment of the present invention, the upper end of the lower passive belt is fixed to the bottom surface of the connecting plate through the lower passive belt pressure plate, and the lower end is fixed to the bottom plate through the lower slide pressure plate after passing around the lower passive wheel.

[0019] The beneficial effects of the present invention are: two sets of speed rod structures are used to form a four-speed structure, which provides four times the stroke in a limited space, effectively improving the stroke length, movement speed and work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0021] Figure 1 It is a top view structural schematic diagram of a preferred embodiment of a four-speed manipulator transmission mechanism of the present invention;

[0022] Figure 2 It is a three-dimensional structural schematic diagram of a preferred embodiment of a four-speed manipulator transmission mechanism of the present invention;

[0023] Figure 3 It is a schematic side sectional structure diagram of a quadruple-speed unit in a quadruple-speed manipulator transmission mechanism of the present invention;

[0024] Figure 4 It is a three-dimensional structural schematic diagram of a four-speed unit in a four-speed manipulator transmission mechanism of the present invention;

[0025] Figure 5 It is a side structural schematic diagram of a four-times-speed unit in a four-times-speed manipulator transmission mechanism of the present invention. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] See also Figure 1-5 , the embodiment of the present invention includes:

[0028] A four-speed manipulator transmission mechanism has two sets of speed rods combined to form a four-speed structure, which provides four times the stroke in a limited space. Its structure includes: a four-speed unit 1, a Z-axis body 2, a Z-axis motor 3, a Z-axis balance bar 4, a Z-axis mounting plate 5, and a Y-axis crossbeam 6.

[0029] The Z-axis lifting drive device may include a variety of different equipment structures such as a Z-axis motor, a screw or a cylinder, as long as it can drive the Z-axis body to move. Different driving devices may also be selected according to the requirements of driving accuracy, etc. The Z-axis motor is arranged on the Y-axis crossbeam, the output end of the Z-axis motor is connected to the Z-axis body, and drives the Z-axis body to move up and down, a guide rail is arranged between the Z-axis body and the Z-axis mounting plate, and the quadruple speed unit is arranged at the bottom of the Z-axis body.

[0030] The Z-axis balance bar is fixedly arranged on the Z-axis mounting plate and acts on the Z-axis body. The balance bar structure can continuously provide a pulling force equivalent to the weight of the Z-axis body and the four-speed structure to offset the gravity burden brought by the complex structure. When providing power on the Z-axis stroke, it is only necessary to meet the acceleration requirements without providing additional useless work to overcome gravity.

[0031] The quadruple-speed unit includes an upper main body 11, a driving pulley 12, an upper transition wheel 13, an upper passive wheel 14, an upper driving belt pressure plate 15, an upper passive belt pressure plate 16, an upper slide pressure plate 17, a connecting plate 18, an upper driving belt 19, an upper passive belt 110, a lower main body 111, a lower driving pressure plate 112, a lower transition wheel 113, a lower passive wheel 114, a lower driving belt pressure plate 115, a lower passive belt pressure plate 116, a lower slide pressure plate 117, a bottom plate 118, a lower driving belt 119, a lower passive belt 120, a driving motor 121, a motor seat 122, and an end picker 123.

[0032] The top surface of the motor seat is fixedly connected to the Z-axis body, and the top surface and side walls of the upper body and the top surface and side walls of the lower body are all provided with slide rails. The bottom surface of the motor seat, the connecting plate and the bottom plate are all provided with connecting seats movably connected to the slide rails, so that the upper body and the lower body can move forward and backward along the direction of the slide rails, and the bottom surface of the motor seat is also provided with an upper passive belt pressure plate for fixing the upper passive belt.

[0033] The driving motor is arranged on the motor seat, and the driving pulley and two upper transition wheels are arranged in the motor seat. The output shaft of the driving motor is connected to the driving pulley and drives the driving pulley to rotate. The upper transition wheels are arranged on both sides of the driving pulley to stabilize the upper driving belt and assist belt transmission.

[0034] The upper passive wheel is connected to both ends of the upper main body through a mounting seat, and the upper fixing frame is fixedly arranged in the upper main body. The top surface of the upper fixing frame is provided with an upper active belt pressure plate for fixing the end of the upper active belt. One end of the upper active belt is fixed to the first upper fixing frame on one side of the upper main body, and the other end is fixed to the second upper fixing frame on the other side of the upper main body after passing through the first upper transition wheel, the active belt wheel, and the second upper transition wheel in sequence.

[0035] The connecting plate is movably arranged between the upper main body and the lower main body, and an upper slide plate pressure plate is arranged on each side of the top surface of the connecting plate. Two upper passive belts are arranged in the upper main body to drive the connecting plate to move forward and backward. One end of the first upper passive belt is fixed to the connecting plate through the first upper slide plate pressure plate, and the other end is fixed to the bottom surface of the motor seat through the first upper passive belt pressure plate after bypassing the first upper passive wheel. One end of the second upper passive belt is fixed to the connecting plate through the second upper slide plate pressure plate, and the other end is fixed to the bottom surface of the motor seat through the second upper passive belt pressure plate after bypassing the second upper passive wheel.

[0036] The bottom surface of the upper fixed frame is provided with a lower driving pressure plate for fixing the end portion of the lower active belt, and two lower transition wheels are provided on the connecting plate, and two lower fixed frames are fixedly provided in the lower main body, and a lower active belt pressure plate is provided on the lower fixed frame, and the upper main body drives the lower main body to move forward and backward through the two lower active belts, wherein one end of the first lower active belt is fixed to the first upper fixed frame through the first lower driving pressure plate, and the other end of the first lower active belt is fixed to the first lower fixed frame through the first lower active belt pressure plate after passing around the first lower transition wheel, and one end of the second lower active belt is fixed to the second upper fixed frame through the second lower driving pressure plate, and the other end of the second lower active belt is fixed to the second lower fixed frame through the second lower active belt pressure plate after passing around the second lower transition wheel, thereby forming an active structure for driving the lower main body to move.

[0037] The end picker for grabbing the product is arranged on the floor, the bottom plate is movably arranged at the bottom of the lower body, and a lower slide plate pressure plate is arranged on both sides of the top surface of the bottom plate. The lower passive wheel is connected to the two ends in the lower body through a mounting seat, and a lower passive belt pressure plate is arranged on both sides of the bottom surface of the connecting plate. Two lower passive belts are arranged in the lower body to drive the bottom plate to move forward and backward, wherein the upper end of the first lower passive belt is fixed to the bottom surface of the connecting plate through the first lower passive belt pressure plate, and the lower end is fixed to the bottom plate through the first lower slide plate pressure plate after bypassing the first lower passive wheel, and the upper end of the second lower passive belt is fixed to the bottom surface of the connecting plate through the second lower passive belt pressure plate, and the lower end is fixed to the bottom plate through the second lower slide plate pressure plate after bypassing the second lower passive wheel.

[0038] The principle of a four-speed manipulator transmission mechanism:

[0039] The motor seat, the upper main body and the connecting plate constitute the movable pulley structure of the upper speed lever;

[0040] The motor seat is used as a fixed point, and the driving motor provides the moving pulley structure with forward power, and pulls the upper active belt to move through the active pulley and the upper transition wheel, thereby driving the upper main body to move forward;

[0041] While the upper active belt drives the upper main body to move forward, the upper passive belt and the upper passive wheel are driven, so that the upper passive belt drives the connecting plate to move forward synchronously. At this time, the connecting plate produces a double speed displacement relative to the motor seat;

[0042] The connecting plate, the lower body and the bottom plate constitute the movable pulley structure of the lower speed lever;

[0043] When the connecting plate moves forward on the upper body, it provides power to the lower movable pulley structure, and pulls the lower body relative to the connecting plate through the lower transition wheel and the lower active belt to produce the same displacement in the same direction;

[0044] While the lower active belt drives the lower main body to move forward, the lower passive belt and the lower passive wheel are also driven to move, thereby driving the bottom plate to move forward. At this time, the bottom plate produces a double-speed displacement relative to the connecting plate. Similarly, the bottom plate produces a quadruple-speed displacement relative to the motor base, that is, the end picker can transport products at four times the speed, thereby improving work efficiency.

[0045] The beneficial effects of the four-speed manipulator transmission mechanism of the present invention are:

[0046] 1. Two sets of speed rod structures are used to form a four-speed structure, which provides four times the stroke in a limited space, effectively increasing the stroke length and movement speed;

[0047] 2. It provides the feasibility of high travel in a small space and improves work efficiency.

[0048] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A four-speed manipulator transmission mechanism, characterized in that: include: A quadruple speed unit, a Z-axis body, a Z-axis lifting drive device, a Z-axis balance bar, a Z-axis mounting plate, and a Y-axis crossbeam. The Z-axis balance bar and the Z-axis body are arranged on the Z-axis mounting plate, the output end of the Z-axis balance bar is connected to the Z-axis body, and the Z-axis lifting drive device is arranged on the Y-axis crossbeam and drives the Z-axis body and the quadruple speed unit to move up and down. The quadruple speed unit includes an upper main body, a driving pulley, an upper transition wheel, an upper passive wheel, a connecting plate, an upper driving belt, an upper passive belt, a lower main body, a lower transition wheel, a lower passive wheel, a bottom plate, a lower driving belt, a lower passive belt, a driving motor, a motor seat, and an end picker. The motor seat is fixedly connected to the Z-axis body, and the upper body is movably connected to the motor seat, so that the upper body moves back and forth on the motor seat. The driving motor is arranged on the motor seat, and the driving pulley and the upper transition pulley are arranged in the motor seat. The driving motor drives the driving pulley to rotate, and the upper passive pulley is arranged on both sides of the upper body. One end of the upper driving belt is fixed to one side of the upper body, and the other end bypasses the upper transition wheel and the driving pulley and is fixed to the other side of the upper body. The lower body is arranged below the upper body, and the connecting plate is movably arranged between the upper body and the lower body. An upper passive belt for driving the connecting plate to move back and forth is arranged in the upper body, and one end of the upper passive belt is fixed to the connecting plate, and the other end bypasses the upper passive wheel and is fixed to the bottom surface of the motor seat. A lower transition wheel is arranged on the connecting plate, one end of the lower active belt is fixed to one side of the upper main body, and the other end of the lower active belt bypasses the lower transition wheel and is fixed to one side of the lower main body, so that the upper main body drives the lower main body to move forward and backward through the lower active belt, the bottom plate is movably arranged at the bottom of the lower main body, the end picker is arranged on the bottom plate, the lower passive wheels are arranged on both sides of the lower main body, and the lower passive belt that drives the bottom plate to move forward and backward is arranged in the lower main body, the upper end of the lower passive belt is fixed to the bottom surface of the connecting plate, and the lower end bypasses the lower passive wheel and is fixed to the bottom plate, so that the bottom plate and the end picker are displaced at four times the speed relative to the motor seat.

2. A four-speed manipulator transmission mechanism according to claim 1, characterized in that: The upper passive wheel is connected to the two ends of the upper main body through the upper mounting seat.

3. A four-speed manipulator transmission mechanism according to claim 1, characterized in that: The lower passive wheel is connected to both ends of the lower main body through a lower mounting seat.

4. A four-speed manipulator transmission mechanism according to claim 1, characterized in that: A guide rail is arranged between the Z-axis main body and the Z-axis mounting plate.

5. A four-speed manipulator transmission mechanism according to claim 1, characterized in that: The top surface and side walls of the upper body and the top surface and side walls of the lower body are all provided with slide rails, and the bottom surface of the motor seat, the connecting plate and the bottom plate are all provided with connecting seats movably connected to the slide rails.

6. A four-speed manipulator transmission mechanism according to claim 1, characterized in that: The upper fixing frame is fixedly arranged in the upper main body, and the upper fixing frame is provided with an upper active belt pressure plate for fixing the end of the upper active belt.

7. A four-speed manipulator transmission mechanism according to claim 6, characterized in that: The upper driving belt is wound around the driving pulley, and the two ends of the upper driving belt pass through the middle of the two upper transition wheels and are fixed to the upper fixing frame through the upper driving belt pressure plate.

8. A four-speed manipulator transmission mechanism according to claim 1, characterized in that: One end of the upper passive belt is fixed to the connecting plate through the upper slide plate pressure plate, and the other end is fixed to the bottom surface of the motor seat through the upper passive belt pressure plate after passing around the second upper passive wheel.

9. A four-speed manipulator transmission mechanism according to claim 6, characterized in that: The lower fixing frame is fixedly arranged in the lower main body, one end of the lower active belt is fixed to the upper fixing frame through the lower driving pressure plate, and the other end is fixed to the lower fixing frame through the lower active belt pressure plate after passing around the lower transition wheel.

10. A four-speed manipulator transmission mechanism according to claim 1, characterized in that: The upper end of the lower passive belt is fixed to the bottom surface of the connecting plate through the lower passive belt pressure plate, and the lower end is fixed to the bottom plate through the lower slide plate pressure plate after passing around the lower passive wheel.

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