Guide rail system and robotic arm device

Abstract

The present invention provides a guide rail system and a robot arm device, the guide rail system comprises: a guide rail unit, comprising a guide rail seat and a linear rack arranged inside the guide rail seat; a first slider unit and a second slider unit, the first slider unit and the second slider unit both comprise a sliding seat and a main gear arranged on the sliding seat, the main gear both mesh with the rack, and the main gear both move along the rack so that the sliding seat is slidably connected to the guide rail seat; and a first connecting rod and a second connecting rod, the first end of the first connecting rod is pivotally connected to the sliding seat of the first slider unit, and the first end of the second connecting rod is pivotally connected to the sliding seat of the second slider unit; wherein the second end of the first connecting rod is pivotally connected to the second end of the second connecting rod to form a working end; the main gear moves along the rack so that the first slider unit and the second slider unit are closer to or farther away from each other, driving the working end to reach a target position.

Description

Technical Field

[0001] The present invention belongs to the field of automated production, and in particular relates to a guide rail system and a mechanical arm device. Background Art

[0002] Flexible feeders are mainly used for feeding, arranging and loading irregular micro-precision parts, and are widely used in precision manufacturing industries such as automotive parts, 3C electronics, aerospace and military, 5G / chip semiconductors, and medical. Due to the wide range of industries, the materials supplied are also different, so flexible feeders usually cooperate with robotic arm devices to pick up materials on the feeding tray.

[0003] The robot arm device usually needs to move in the X-axis, Y-axis, and Z-axis directions to move the picked-up materials to the target location. Existing robot arm devices need to move in the X-axis, Y-axis, and Z-axis directions, but they often have problems of complex structure and high manufacturing cost.

[0004] In view of this, it is necessary to propose a new guide rail system that can achieve movement in multiple directions and has the advantages of simple structure and low manufacturing cost. Summary of the invention

[0005] The object of the present invention is to provide a guide rail system and a robotic arm device, wherein the guide rail system can realize movement of a working end in multiple directions and has the advantages of a simple driving structure and low manufacturing cost.

[0006] To solve the above problems, the technical solution of the present invention provides a guide rail system, which includes: a guide rail unit, which includes a guide rail seat and a linear rack arranged inside the guide rail seat; a first slider unit and a second slider unit, which each include a sliding seat and a main gear arranged on the sliding seat, the main gear each meshing with the rack, and the main gear each moves along the rack so that the sliding seat each is slidably connected to the guide rail seat; and a first connecting rod and a second connecting rod, the first end of the first connecting rod being pivotally connected to the sliding seat of the first slider unit, and the first end of the second connecting rod being pivotally connected to the sliding seat of the second slider unit; wherein the second end of the first connecting rod is pivotally connected to the second end of the second connecting rod to form a working end; the main gear moves along the rack so that the first slider unit and the second slider unit are closer to or farther away from each other, driving the working end to reach the target position.

[0007] As an optional technical solution, the first slider unit and the second slider unit both include a power device, and the power device is arranged in the inner cavity of the corresponding sliding seat. The power device has an output shaft, and the output shaft outputs the driving force of the power device to make the corresponding main gear rotate and move along the rack.

[0008] As an optional technical solution, the power device also includes an auxiliary gear, which includes a driving gear and a first driven gear that are meshed with each other, and the driving gear is connected to the output shaft; the main gears include a first main gear, and the first driven gear and the first main gear are coaxially arranged; wherein the output shaft drives the driving gear to rotate and causes the first driven gear to rotate, thereby driving the first main gear to rotate.

[0009] As an optional technical solution, the auxiliary gear also includes a first corrugated spring sheet; the first driven gear includes a first wheel plate, and the first wheel plate is provided with a first recess; the first corrugated spring sheet is arranged in the first recess and elastically abuts against the inner side wall of the first recess.

[0010] As an optional technical solution, the auxiliary gear also includes a second driven gear, which is meshed with the driving gear; the main gears also include a second main gear, and the second main gear and the second driven gear are coaxially arranged; wherein the driving gear rotates and causes the second driven gear to rotate, thereby driving the second main gear to rotate.

[0011] As an optional technical solution, the auxiliary gear also includes a second corrugated spring sheet; the second driven gear includes a second wheel plate, and a second recess is provided on the second wheel plate; the second corrugated spring sheet is arranged in the second recess and elastically abuts against the inner side wall of the second recess.

[0012] As an optional technical solution, the guide rail unit also includes a strip-shaped protrusion, which is arranged inside the guide rail seat, and the strip-shaped protrusion and the rack are arranged opposite to and in parallel; the sliding seat also includes a slide groove; the strip-shaped protrusion is inserted into the slide groove, and the slide groove slides along the strip-shaped protrusion.

[0013] As an optional technical solution, the main gears are arranged between the bar-shaped protrusions and the racks, and the output shafts are perpendicular to the racks and the bar-shaped protrusions.

[0014] As an optional technical solution, the guide rail seat includes a base plate and side plates arranged around the base plate, the base plate and the side plates jointly define a sliding space, and the sliding seats are accommodated in the sliding space; wherein, the guide rail seat also includes a dust cover and a bracket, the dust cover covers one side of the sliding space and is opposite to the base plate, and the bracket is arranged on the side of the base plate away from the dust cover.

[0015] The present invention also provides a robotic arm device, comprising the guide rail system as described above.

[0016] Compared with the prior art, the guide rail unit adopts a linear rack structure, and the slider unit adopts a gear structure. The gear moves along the rack, so that the positions of the working ends of the first connecting rod and the second connecting rod pivotally connected to the slider unit change, thereby realizing position adjustment of the guide rail system in multiple directions. The coordination of the rack and the gear helps to reduce the manufacturing cost of the guide rail system.

[0017] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments, but is not intended to limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 FIG. 4 is a schematic diagram of a guide rail system in an embodiment of the present invention.

[0020] Figure 2 for Figure 1 Schematic diagram of the center rail system from another perspective.

[0021] Figure 3 for Figure 1 Exploded view of the center rail system.

[0022] Figure 4 for Figure 1 Schematic diagram of the hidden part of the center rail system.

[0023] Figure 5 for Figure 4 Enlarged schematic diagram of the dotted line in the middle.

[0024] Figure 6 for Figure 3 A schematic diagram of the first slider unit or the second slider unit in FIG.

[0025] Figure 7 for Figure 6 An exploded schematic diagram of the first slider unit or the second slider unit.

[0026] Figure 8 for Figure 6 A cross-sectional schematic diagram of the first slider unit or the second slider unit.

[0027] Fig. 9 for Figure 1 Schematic diagram of the linkage and pick-up unit of the center rail system.

[0028] Fig.10 for Fig. 9 Exploded view of the center link and pick-up unit.

[0029] Fig.11 A schematic diagram of the pickup unit.

[0030] Fig.12 for Fig.11 A cross-sectional schematic diagram of the pickup unit at a certain viewing angle.

[0031] Fig.13 for Fig.11 A cross-sectional schematic diagram of the pickup unit at another viewing angle.

[0032] Fig.14 for Fig.11 Schematic diagram of the pickup unit at one viewing angle after the outer shell is removed.

[0033] Fig.15 for Fig.11 Schematic diagram of the pickup unit from another perspective after removing the outer shell

[0034] Fig.16 for Figure 1 Schematic diagram of the working area of ​​the working end of the middle guide rail system. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments and drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0036] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the present invention.

[0037] like Figures 1 to 10 As shown, the present invention provides a guide rail system 100, which includes a guide rail unit 10, a first slider unit 14, a second slider unit 14', a first connecting rod 20 and a second connecting rod 30, wherein the guide rail unit 10 includes a guide rail seat 11 and a linear rack 12 arranged inside the guide rail seat 11; the first slider unit 14 and the second slider unit 14' respectively include a sliding seat 140 and a main gear 142 arranged on the sliding seat 140, the main gear 142 is meshed with the rack 12, and the main gear 142 moves along the rack 12 so that the sliding seat 140 is moved. The seat 140 is slidably connected to the guide rail seat 11; the first end 211 of the first connecting rod 20 is pivotally connected to the sliding seat 140 of the first slider unit 14, and the first end of the second connecting rod 30 is pivotally connected to the sliding seat 140 of the second slider unit 14'; wherein, the second end of the first connecting rod 20 and the second end of the second connecting rod 30 are pivotally connected to form the working end 101; the main gear 142 moves along the rack 12 so that the first slider unit 14 and the second slider unit 14' are closer to or farther away from each other, driving the working end 101 to reach the target position.

[0038] In this embodiment, the first slider unit 14 and the second slider unit 14' have the same driving mechanism, and both use the main gear 142 to move on the rack 12 to realize the movement of the first slider unit 14 and the second slider unit 14' in the X-axis direction; since the first slider unit 14 is pivotally connected to the first connecting rod 20, and the second slider unit 14' is pivotally connected to the second connecting rod 30, the movement of the first slider unit 14 and the second slider unit 14' in the X-axis direction includes moving closer to or farther away from each other, driving the position change of the working end 101 formed by the second end of the first connecting rod 20 and the second end of the second connecting rod 30 on the X-axis and Y-axis planes. Among them, the position change of the working end 101 in the Y-axis direction can be regarded as the working end 101 approaching or moving away from the guide rail unit 10.

[0039] like Fig.16 As shown, in the process that the first end of the first connecting rod 20 and the first end of the second connecting rod 30 move from one end to the other end of the guide rail unit 10 respectively driven by the first slider unit 14 and the second slider unit 14', the smaller the angle α between the second end of the first connecting rod 20 and the second end of the second connecting rod 30, the larger the area of ​​the working area S covered by the moving working end 101; the larger the angle α between the second end of the first connecting rod 20 and the second end of the second connecting rod 30, the smaller the area of ​​the working area S covered by the moving working end 101.

[0040] In addition, in the guide rail system 100, the working end 101 is provided with a picking unit 40, and the picking unit 40 is used to realize the movement and rotation operation of the guide rail system 100 in the Z-axis direction.

[0041] In one embodiment of the present invention, multiple guide rail seats 11 can be spliced ​​and arranged along the X-axis direction to form a longer guide rail unit to adapt to different application scenarios. Among them, when multiple guide rail seats 11 are spliced ​​and arranged, the first slider unit 14, the second slider unit 14', the first connecting rod 20 and the second connecting rod 30 thereon form a whole and can be arranged according to actual needs.

[0042] like Figure 3 , Figures 5 to 8 As shown, the first slider unit 14 and the second slider unit 14 ′ have the same structure. The first slider unit 14 is taken as an example to describe its specific structure in detail below.

[0043] like Figures 5 to 8 As shown, the first slider unit 14 includes a sliding seat 140 and a power device 141. The sliding seat 140 includes a connecting surface 1401, an inner cavity 1403 and a slide groove 1402. The connecting surface 1401 and the slide groove 1402 are arranged opposite to each other and are located at the front and rear sides of the inner cavity 1403 (with the Y-axis direction as a reference); the power device 141 is accommodated in the inner cavity 1403.

[0044] The power device 141 has an output shaft 1411, and the output shaft 1411 is used to output the driving force of the power device 141 to make the main gear 142 rotate and move along the rack 12. The main gear 142 moves along the rack 12 so that the sliding seat 140 slides in the guide rail seat 11.

[0045] In this embodiment, the driving force output by the output shaft 1411 of the power device 141 is transmitted to the driving gear 1431 through the auxiliary gear 143, but the present invention is not limited thereto. In other embodiments of the present invention, a main gear is provided at the end of the output shaft of the power device, and the main gear is directly driven by the output shaft and moves along the rack.

[0046] The auxiliary gear 143 includes a driving gear 1431 and a first driven gear 1432. The driving gear 1431 is disposed at the end of the output shaft 1411. The driving gear 1431 meshes with the first driven gear 1432. The first driven gear 1432 and the main gear 142 are coaxially disposed. The driving force output by the output shaft 1411 is transmitted to the main gear 142 after being decelerated by the driving gear 1431 and the first driven gear 1432, so that the sliding process of the first slider unit 14 can be more accurately controlled.

[0047] Preferably, the number of the main gears 142 in the first sliding unit 14 is two, for example, a first main gear 142 and a second main gear 142, wherein the first main gear 142 and the first driven gear 1432 are coaxially arranged. The structure of the double main gears 142 makes the overall structural configuration of the slider unit more symmetrical, and a smoother sliding effect can be obtained.

[0048] The auxiliary gear 143 further includes a second driven gear 1433 , which meshes with the driving gear 1431 . The second driven gear 1433 and the first driven gear 1432 are respectively located on both sides of the main gear 142 , wherein the second driven gear 1433 and the second main gear 142 are coaxially arranged.

[0049] The above-mentioned coaxial arrangement means that the first main gear 142 and the first driven gear 1432 rotate coaxially; the second main gear 142 and the second driven gear 1433 rotate coaxially.

[0050] In a preferred embodiment, the driving gear 1431, the first driven gear 1432 and the second driven gear 1433 are cylindrical gears respectively; the first main gear 142 and the second main gear 1433 are cycloid gears respectively. The rack 12 is, for example, a spur rack.

[0051] Among them, spur racks and cycloid gears are both common transmission structures, which are easy to process and manufacture, so the production cost of the guide rail system 100 is reduced. In addition, the cycloid gear has the advantages of stable transmission and high transmission accuracy, which helps to improve the movement accuracy of the working end 101.

[0052] It should be noted that the first slider unit 14 and the second slider unit 14' have the same structure, and the rotation direction of the output shaft 1411 in the first slider unit 14 is controlled to be opposite to the rotation direction of the output shaft 1411' in the second slider unit 14', so that the sliding direction of the first slider unit 14 and the sliding direction of the second slider unit 14' are opposite, thereby realizing the first slider unit 14 and the second slider unit 14' approaching or moving away from each other.

[0053] In addition, the rotation direction of the output shaft 1411 in the first slider unit 14 is controlled to be the same as the rotation direction of the output shaft 1411' in the second slider unit 14', so that the sliding direction of the first slider unit 14 and the sliding direction of the second slider unit 14' are the same, and the first slider unit 14 and the second slider unit 14' move in the same direction on the guide rail seat 11.

[0054] like Figure 8 As shown, an elastic member is also provided, which provides elastic force to force the first driven gear 1432 and the second driven gear 1433 to mesh closely with the driving gear 1431 respectively, thereby eliminating the gap between the first driven gear 1432 and the second driven gear 1433 caused by the rotation of the driving gear 1431.

[0055] Specifically, the first driven gear 1432 includes a first wheel disc 1434, which has a first recess. The first corrugated spring piece 144 is disposed in the first recess. The first corrugated spring piece 144 provides elastic force to act on the inner wall to eliminate the gap between the driving gear 1431 and the first driven gear 1432 when the driving gear 1431 rotates.

[0056] Preferably, the shape of the inner side wall of the first recess matches the shape of the first corrugated spring sheet 144 , for example, both are wave-shaped.

[0057] The second driven gear 1433 includes a second wheel disc 1435, which is provided with a second recess. The second corrugated spring piece 145 is arranged in the second recess. The second corrugated spring piece 145 provides elastic force to act on the inner wall of the second recess to eliminate the gap between the driving gear 1431 and the second driven gear 1433 when the driving gear 1431 rotates.

[0058] Preferably, the shape of the inner side wall of the second recess matches the shape of the second corrugated spring sheet 145 , for example, both are wave-shaped.

[0059] like Figure 5 , Figure 6 and Figure 7 As shown, the sliding seat 140 further includes an end cover 1404 , and the end cover 1404 includes an opening 1405 , wherein the first main gear 142 and the second main gear 142 respectively pass through the corresponding openings 1405 to be meshed with the rack 12 .

[0060] like Figures 3 to 5 As shown, the guide rail seat 11 provides a sliding space 111, and the sliding seat 140 is accommodated in the sliding space 111. The guide rail seat 11 includes a bottom plate 112 and a side plate 113 arranged around the bottom plate 112, and the bottom plate 112 and the side plate 113 together define the sliding space 111.

[0061] The rack 12 is disposed on one side of the side plate 113 ; the strip-shaped protrusion 13 is disposed on the other side opposite to the side plate 113 ; wherein the rack 12 and the strip-shaped protrusion 13 extend parallel to the length direction of the guide rail seat 11 .

[0062] like Figure 5 and Figure 7 As shown, the output shaft 1411 of the power device 141 is perpendicular to the rack 12 , and the main gear 142 is confined between the rack 12 and the bar-shaped protrusion 13 .

[0063] Furthermore, the slide groove 1402 on the sliding seat 140 and the strip-shaped protrusion 13 are combined with each other. When the sliding seat 140 slides in the sliding space 111 of the guide rail seat 11, the slide groove 1402 moves along the strip-shaped protrusion 13, thereby improving the sliding stability and smoothness of the sliding seat 140.

[0064] In this embodiment, the slide groove 1402 further includes a matching protrusion a; the strip-shaped protrusion 13 further includes a matching groove b; wherein the matching protrusion a is inserted into the matching groove b to enhance the stability of the combination of the slide groove 1402 and the strip-shaped protrusion 13 .

[0065] like Figures 1 to 3 As shown, the guide rail unit 10 further includes a dust cover 15 and a bracket 16, wherein the dust cover 15 covers one side of the sliding space 111 and is opposite to the bottom plate 112; the bracket 16 is arranged on the outside of the bottom plate 112, that is, the bracket 16 is arranged on the side of the bottom plate 112 away from the dust cover 15. In addition, the bracket 16 and the bottom plate 112 are connected by locking.

[0066] The dust cover 15 is arranged on a side opposite to the sliding space 111 and the bottom plate 112 , so that the guide rail system 100 can be applied to a dust-free workshop or a production workshop with high cleanliness requirements.

[0067] like Figure 1 , Figure 2 , Figure 3 , Fig. 9 and Fig.10 As shown, the first end of the first connecting rod 20 is pivotally connected to the first slider unit 14; the first end of the second connecting rod 30 is pivotally connected to the second slider unit 14'.

[0068] Specifically, the first link 20 includes a first section 21, a second section 22 and a first pivot unit 23, the first section 21 includes a first end 211 and a second end 212 opposite to each other; the first end 211 is pivotally connected to the first pivot unit 23, for example, the first end 211 is provided with a first pivot hole 2111, the first pivot unit 23 is provided with a first pivot shaft 231, the first pivot shaft 231 is inserted into the first pivot hole 2111, the first pivot hole 2111 rotates around the first pivot shaft 231, so that the first section 21 rotates relative to the first pivot unit 23. Among them, the first end 211 of the first section 21 can be regarded as the first end of the first link 20.

[0069] The first pivot unit 23 further includes a first fixing seat 232, which is fixed to the connecting surface 1401 of the sliding seat 140 of the first slider unit 14 by screws, for example. The first fixing seat 232 is fixedly connected to the first pivot shaft 231, and preferably, the first pivot shaft 231 is disposed at one side of the first fixing seat 232.

[0070] In this embodiment, the first pivot shaft 231 is arranged along the Z-axis direction and is parallel to the output shaft 1411 of the power device 141 in the first slider unit 14, that is, the axial direction of the first pivot shaft 231 is the same as the axial direction of the output shaft 1411. The first end 211 of the first section 21 pivots in the Z-axis direction, so that the position of the working end 101 formed by the second end of the first connecting rod 20 and the second end of the second connecting rod 30 pivotally connected on the X-axis and Y-axis planes changes.

[0071] like Fig.10 As shown, the second section 22 is fixedly connected to the second end 212 of the first section 21, and a second pivot shaft 221 is provided at the end of the second section 22 away from the second end 212. The second pivot shaft 221 is used to pivotally connect with the second connecting rod 30 to form the working end 101. The end of the second section 22 away from the second end 212 can be regarded as the second end of the first connecting rod 20.

[0072] The second section 22 protrudes toward the pickup unit 40, and the width (X-axis direction) of the second section 22 gradually narrows toward the pickup unit 40, and is generally in a tapered structure. The second section 22 further includes a vertical side wall (not shown), which fits the mounting surface 411 of the housing 410 of the pickup unit 40 and is fixedly connected by locking.

[0073] In addition, the first section 21 of the first connecting rod 20 is made of metal material, for example, and has a metal connecting rod structure, while the second section 22 is made of plastic material, for example, and has a plastic connecting rod structure. The independent first section 21 and second section 22 help reduce the manufacturing cost of the first connecting rod 20.

[0074] Continue to refer to Fig.10 The first section 21 is a linear structure, which includes an upper plate 213 and a lower plate 214 arranged opposite to each other, the upper plate 213 protrudes an L-shaped connecting structure 215 toward the lower plate 214, and the lower plate 214 protrudes another L-shaped connecting structure 216 toward the upper plate 213, and the upper plate 213 and the lower plate 214 are locked and fixed by the L-shaped connecting structures 215 and 216. Among them, the space defined between the upper plate 213 and the lower plate 214 can be used to arrange the electrical wiring of the guide rail system 100 (not shown). The first section 21 of the hollow structure formed by such splicing also helps to reduce the difficulty of manufacturing the first connecting rod 20.

[0075] The first section 21 also has a gasket 24 at the first end 211. There are two gaskets 24, which are respectively fixed on the lower surface of the upper plate 213 and the upper surface of the lower plate 214. A through hole is provided on the gasket 24, which corresponds to the first pivot hole 2111 and is used to improve the pivoting stability of the first section 21 relative to the first pivot unit 23.

[0076] The two ends of the second connecting rod 30 protrude toward the first connecting rod 20, respectively, so that the second connecting rod 30 is a C-shaped structure. Specifically, the second connecting rod 30 includes a middle section 31 and a third section 32 and a fourth section 34 connected to opposite ends of the middle section 31, the middle section 31 is a straight structure; the third section 32 and the fourth section 34 are arc structures, respectively, so that the second connecting rod 30 is roughly a C-shaped structure.

[0077] In a preferred embodiment, the middle section 31 , the third section 32 and the fourth section 34 are integrally formed to form the second connecting rod 30 .

[0078] Similar to the first connecting rod 20, the second connecting rod 30 also includes an upper plate 301 and a lower plate 302 that are relatively arranged. The portion of the upper plate 301 corresponding to the middle section 31 has an L-shaped connecting structure 303 protruding toward the lower plate 302, and the portion of the lower plate 302 corresponding to the middle section 31 has an L-shaped connecting structure 304 protruding toward the upper plate 301. The upper plate 301 and the lower plate 302 are respectively locked and fixed to the portion corresponding to the middle section 31 through the L-shaped connecting structures 303 and 304.

[0079] In addition, a plurality of support members 36 are arranged between the upper plate 301 and the lower plate 302. The support member 36 is a U-shaped structure. The two sides of the U-shaped structure respectively connect the upper plate 301 and the lower plate 302 corresponding to the third section 32, and the upper plate 301 and the lower plate 302 corresponding to the fourth section 34.

[0080] In addition, the bottom of the U-shaped structure adopts a hollow design, which is connected to the space defined by the upper plate 301 and the lower plate 302, so as to facilitate the arrangement of electrical wiring in the second connecting rod 30.

[0081] The end of the third section 32 of the second link 30 that is bent toward the second section 22 of the first link 20 is provided with a second pivot hole 321, and the second pivot shaft 221 is inserted into the second pivot hole 321 to form a working end 101. The end of the third section 32 that is bent toward the second section 22 of the first link 20 can be regarded as the second end of the second link 30.

[0082] In this embodiment, the second pivot shaft 221 and the second pivot hole 321 rotate relative to each other, so that the angle α between the second end of the first connecting rod 20 and the second end of the second connecting rod 30 becomes larger or smaller.

[0083] like Fig.10As shown, the second connecting rod 30 further includes a second pivot unit 33, and the second pivot unit 33 is pivotally connected to the end 341 of the fourth section 34; for example, the end 341 of the fourth section 34 is provided with a third pivot hole 3411; the second pivot unit 33 is provided with a third pivot shaft 331, and the third pivot shaft 331 is inserted into the third pivot hole 3411, and the third pivot hole 3411 rotates around the third pivot shaft 331, so that the fourth section 34 rotates relative to the second pivot unit 33. Among them, the end 341 of the fourth section 34 can be regarded as the first end of the second connecting rod 30.

[0084] Similarly, the second pivot unit 33 further includes a second fixing seat 332, which is fixed to the connecting surface 1401 of the sliding seat 140 of the second slider unit 14' by screws, for example. The second fixing seat 332 is fixedly connected to the third pivot shaft 331, and preferably, the third pivot shaft 331 is disposed at one side of the second fixing seat 332.

[0085] In this embodiment, the third pivot axis 331 extends along the Z-axis direction and is parallel to the output axis 1411' of the power device 141 of the second slider unit 14', the first pivot axis 231, and the second pivot axis 221. The end 341 of the fourth section 34 pivots in the Z-axis direction, so that the position of the working end 101 formed by the second end of the first connecting rod 20 and the second end of the second connecting rod 30 pivotally connected on the X-axis and Y-axis planes changes.

[0086] Combination Figures 1 to 10 , the first slider unit 14 slides along the guide rail seat 11 of the guide rail unit 10, the first end of the first connecting rod 20 pivots relative to the first pivot axis 231, and the second pivot axis 221 of the second end of the first connecting rod 20 rotates relative to the second pivot hole 321 of the second end of the second connecting rod 30; and / or, the second slider unit 14' slides along the guide rail seat 11 of the guide rail unit 10, the first end of the second connecting rod 30 pivots relative to the third pivot axis 331, and the second pivot hole 321 of the second end of the second connecting rod 30 rotates relative to the second pivot axis 221 of the second end of the first connecting rod 20; so that the angle α between the second end of the first connecting rod 20 and the second end of the second connecting rod 30 becomes larger or smaller, and then the position of the working end 101 on the X-axis and Y-axis planes changes, thereby realizing the position change of the working end 101 in the X-axis and Y-axis directions.

[0087] In the guide rail system 100, after the first connecting rod 20 and the second connecting rod 30 are assembled, they are roughly in a "human" structure. Among them, the length of the first connecting rod 20 is less than the length of the second connecting rod 30, and the two ends of the second connecting rod 30 are bent into an arc shape, so that the area of ​​the working area S of the working end 101 formed by the pivotal connection of the first connecting rod 20 and the second connecting rod 30 is larger. In addition, the two ends of the second connecting rod 30 are bent into an arc shape, which can also avoid the interference between the longer second connecting rod 30 and the shorter first connecting rod 20 during the pivoting process, resulting in a smaller area of ​​the working area S of the working end 101.

[0088] like Figures 1 to 13 As shown, a pick-up unit 40 is provided at the working end 101 formed by pivotally connecting the second end of the first link 20 and the second end of the second link 30 . The pick-up unit 40 is fixedly connected to the vertical side wall of the second section 22 of the first link 20 through the mounting surface 411 of the housing 410 .

[0089] like Figures 11 to 13 As shown, the picking unit 40 includes a shell 410, a picking end 420, a driving mechanism 430, a braking device 440 and a rack 450. The shell 410 includes a storage cavity 412, and an opening 413 is provided on one side of the storage cavity 412; the picking end 420, the driving mechanism 430, the braking device 440 and the rack 450 are respectively received in the storage cavity 412, and the picking end 420 partially extends out from the opening 413; the driving mechanism 430 includes a driving motor 431 and a driving gear 432 connected to a power shaft 4311 of the driving motor 431; the braking device 440 is arranged on the other side of the driving gear 432 and is connected to the power shaft 4311 of the driving motor 431; the rack 450 extends along the Z-axis direction and is meshed and connected to the driving gear 432, and the rack 450 is fixedly connected to the picking end 420.

[0090] In this embodiment, the driving motor 431 drives the power shaft 4311 to rotate, driving the driving gear 432 to rotate, so that the rack 450 moves in the z-axis direction, driving the picking end 420 to move in the z-axis direction, and the picking end 420 extends from the opening 413 to pick up the feed, and moves in the opposite direction to be stored in the storage cavity 412 after the feeding is completed.

[0091] In a preferred embodiment, the pick-up end 420 may further include a transfer structure, which is assembled with other pick-up devices to adapt to different feeding scenarios.

[0092] In a preferred embodiment, the driving gear 432 is, for example, a cycloid gear; and the rack 450 is, for example, a straight rack.

[0093] like Fig.13 , Fig.14 and Fig.15As shown, the pickup unit 40 further includes a mounting base 460, on which a driving mechanism 430 and a braking device 440 are integrally arranged, and a driving motor 431 and a driving gear 432 of the driving mechanism 430 are arranged on opposite sides of the mounting base 460, wherein the mounting base 460 includes a through hole, and a power shaft 4311 of the driving motor 431 passes through the through hole and is connected to the driving gear 432. The braking device 440 and the driving gear 432 are located on the same side of the mounting base 460, and the power shaft 4311 and the braking device 440 are connected.

[0094] In this embodiment, the driving gear 432 is located between the mounting base 460 and the braking device 440 .

[0095] The brake device 440 includes a brake structure (not shown). When the brake structure holds the power shaft 4311 tightly, the power shaft 4311 stops rotating, and the drive gear 432 is braked. At this time, the rack 450 does not move in the Z-axis direction. The brake structure can adopt an existing electromagnetic brake structure, that is, when the drive motor is powered on, the electromagnetic brake structure is powered on and attracted, and the output shaft of the drive motor rotates; when the drive motor is powered off, the electromagnetic brake structure is powered off, and the brake holds the output shaft through the action of the spring, and the output shaft stops rotating, so that the gear and rack are braked.

[0096] In this embodiment, the driving mechanism 430 and the braking device 440 are arranged on the mounting base 460 to form an assembly, which is then assembled with the picking end 420 and the rack 450, which can effectively improve the assembly efficiency of the picking unit 40 and reduce the difficulty of assembly.

[0097] like Fig.14 and Fig.15 As shown, the rack 450 is provided with a first sliding portion 451, such as a slider, on the side facing the mounting base 460; the mounting base 460 is provided with a second sliding portion 461, such as a slide groove; wherein the first sliding portion 451 slides in the second sliding portion 461, and the two are slidably connected to increase the stability of the movement of the rack 450 and avoid shaking.

[0098] like Fig.14 and Fig.15 As shown, a base 421 is provided on the periphery of the pick-up end 420, and a rotating shaft 422 of the pick-up end 420 is rotatably embedded in the opening of the base 421; a bayonet 423 is provided at the end of the rotating shaft 422 exposed from the base 421, and a protrusion (not shown) is inserted in the bayonet 423. Corresponding to the protrusion, the sensor 424 includes a notch 425. The rotation of the rotating shaft 422 drives the protrusion to move toward the notch 425, and the sensor 424 senses the protrusion entering the notch 425, thereby identifying the rotation angle of the rotating shaft 422.

[0099] In addition, the rack 450 further includes a connecting portion 452, the connecting portion 452 and the first sliding portion 451 are arranged on opposite sides of the rack 450, and the connecting portion 452 is fixedly connected to the base 421, that is, the rack 450 and the pick-up end 420 are fixedly connected and move together. Preferably, the connecting portion 452 and the base 421 can be an integrated structure.

[0100] In other embodiments of the present invention, the connection between the base of the pickup end and the rack forms an integrated base assembly, and the rack and the pickup end are arranged integrally on the base assembly to form another assembly. Integrating different structures to form a modular assembly can increase the convenience of assembling various components in the pickup unit.

[0101] The present invention further provides a robotic arm device, which includes the above-mentioned guide rail system 100.

[0102] In the guide rail system and the robot arm device provided by the present invention, the guide rail unit adopts a linear rack structure, the slider unit adopts a gear structure, and the gear moves along the rack to change the position of the working ends of the first connecting rod and the second connecting rod pivotally connected to the slider unit, thereby realizing position adjustment of the guide rail system in multiple directions. The coordination of the rack and the gear helps to reduce the manufacturing cost of the guide rail system.

[0103] The present invention has been described by the above-mentioned relevant embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. In addition, the technical features involved in the different embodiments of the present invention described above can be combined with each other as long as they do not conflict with each other. It must be pointed out that the present invention can also have other various embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art can make various corresponding changes and deformations according to the present invention, but these corresponding changes and deformations should all belong to the protection scope of the claims attached to the present invention.

Claims

1. A guide rail system, characterized in that: The guide rail system comprises: A guide rail unit, the guide rail unit comprising a guide rail seat and a linear rack arranged inside the guide rail seat; A first slider unit and a second slider unit, each of the first slider unit and the second slider unit comprises a sliding seat and a main gear disposed on the sliding seat, each of the main gears is meshed with the rack, and each of the main gears moves along the rack so that each of the sliding seats is slidably connected to the guide rail seat; and A first connecting rod and a second connecting rod, wherein a first end of the first connecting rod is pivotally connected to the sliding seat of the first slider unit, and a first end of the second connecting rod is pivotally connected to the sliding seat of the second slider unit; Wherein, the second end of the first connecting rod is pivotally connected with the second end of the second connecting rod to form a working end; the main gear moves along the rack so that the first slider unit and the second slider unit are close to or away from each other, driving the working end to reach the target position; The first slider unit and the second slider unit both include a power device, the power device is disposed in the inner cavity of the corresponding sliding seat, and the power device has an output shaft, the output shaft outputs the driving force of the power device to make the corresponding main gear rotate and move along the rack; The power device also includes an auxiliary gear, the auxiliary gear includes a driving gear and a first driven gear that mesh with each other, the driving gear is connected to the output shaft; the main gears include a first main gear, the first driven gear and the first main gear are coaxially arranged; wherein the output shaft drives the driving gear to rotate and causes the first driven gear to rotate, thereby driving the first main gear to rotate; The auxiliary gear further includes a first corrugated spring sheet; the first driven gear includes a first wheel plate, and the first wheel plate is provided with a first recess; the first corrugated spring sheet is arranged in the first recess and elastically abuts against the inner side wall of the first recess; The auxiliary gear also includes a second driven gear, which is meshed with the driving gear; the main gears also include a second main gear, which is coaxially arranged with the second driven gear; wherein the driving gear rotates and causes the second driven gear to rotate, thereby driving the second main gear to rotate; The auxiliary gear further includes a second corrugated spring piece; the second driven gear includes a second wheel plate, and the second wheel plate is provided with a second recess; the second corrugated spring piece is arranged in the second recess and elastically abuts against the inner side wall of the second recess.

2. The guide rail system according to claim 1, characterized in that: The guide rail unit also includes a strip-shaped protrusion, which is arranged inside the guide rail seat, and the strip-shaped protrusion and the rack are arranged opposite and parallel to each other; the sliding seats also include a slide groove; the strip-shaped protrusion is inserted into the slide groove, and the slide groove slides along the strip-shaped protrusion.

3. The guide rail system according to claim 2, characterized in that: The main gears are all arranged between the bar-shaped protrusions and the racks, and the output shafts are all perpendicular to the racks and the bar-shaped protrusions.

4. The guide rail system according to claim 1, characterized in that: The guide rail seat includes a base plate and side plates arranged around the base plate, the base plate and the side plates jointly define a sliding space, and the sliding seats are all accommodated in the sliding space; wherein, the guide rail seat also includes a dust cover and a bracket, the dust cover covers one side of the sliding space and is opposite to the base plate, and the bracket is arranged on a side of the base plate away from the dust cover.

5. A robotic arm device, characterized in that it comprises a guide rail system as described in any one of claims 1-4.

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