A blade robot

Abstract

The present invention relates to the technical field of automation equipment, and discloses a blade robot, at least one robot module; the robot module includes: a mounting frame, a first power element, a second power element, a first screw rod, a second screw rod, a first slider, a second slider, a rotatable first winding wheel, a rotatable second winding wheel, a rotatable third winding wheel, a cantilever, and a rotatable fourth winding wheel, the fourth winding wheel is fixedly connected to the other end of the cantilever, the third winding wheel and the fourth winding wheel are sleeved with a winding wire, so that the rotation of the third winding wheel can drive the rotation of the fourth winding wheel, and the center of the fourth winding wheel is used to install a working accessory; the blade robot provided in the present application can realize the self-rotation of the working accessory and the rotation around the center axis of the third winding wheel.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, and in particular to a blade robot. Background Art

[0002] Automation technology is widely used in industry, agriculture, military affairs, scientific research, transportation, commerce, healthcare, services, and the home. It not only liberates people from heavy physical labor, some mental labor, and harsh and dangerous working environments, but also expands the functions of human organs, greatly improves labor productivity, and enhances humanity's ability to understand and transform the world.

[0003] In order to meet the automation needs in product production, assembly, processing and other processes, automated robots are usually required to realize automated work. In the existing technology, there is a lack of a robot with a simple structure that can simultaneously realize the rotation and revolution of working parts. Summary of the Invention

[0004] The purpose of the present invention is to provide a blade robot in order to solve the above problems, which has a simple structure and can simultaneously realize the rotation and revolution of the working parts installed on the robot.

[0005] The present invention achieves the above-mentioned object through the following technical solutions: a blade robot, comprising at least one robot module;

[0006] The robot module includes:

[0007] Mounting rack;

[0008] a first power element, the first power element being disposed on the mounting frame;

[0009] a second power element, the second power element being disposed on the mounting frame;

[0010] a first screw rod, the first screw rod being connected to the first power element;

[0011] a second screw rod, the second screw rod being connected to the second power element;

[0012] a first slider, the first slider being threadably connected to the first screw rod, and the first slider being provided with a first winding portion;

[0013] a second slider, the second slider being threadably connected to the second screw rod, and the second slider being provided with a second winding portion;

[0014] a rotatable first winding wheel, wherein a winding wire is wound around the first winding portion and the first winding wheel, so that movement of the first slider can drive the first winding wheel to rotate;

[0015] a rotatable second winding wheel; the second winding wheel is coaxially arranged with the first winding wheel, and a winding wire is wound around the second winding portion and the second winding wheel, so that the movement of the second slider can drive the second winding wheel to rotate;

[0016] a rotatable third winding wheel; the third winding wheel is coaxially arranged with the first winding wheel, and the third winding wheel is fixedly connected to the first winding wheel via a connecting shaft;

[0017] a cantilever, one end of the cantilever being fixedly connected to the second winding wheel;

[0018] A rotatable fourth winding wheel is fixedly connected to the other end of the cantilever, and the third winding wheel and the fourth winding wheel are sleeved with a winding line so that the rotation of the third winding wheel can drive the rotation of the fourth winding wheel, and the center of the fourth winding wheel is used to install working accessories.

[0019] Furthermore, the robot module also includes a moving mechanism capable of moving, the mounting frame is connected to the moving mechanism, and the moving mechanism can drive the mounting frame to move.

[0020] Furthermore, the motion mechanism can drive the mounting frame to move along the X-axis and the Z-axis.

[0021] Furthermore, the motion mechanism includes two relatively arranged linear motion modules, the linear motion modules are arranged longitudinally, the linear motion module includes a longitudinally arranged guide rail and a third slider slidingly connected to the guide rail, the third slider can move along the guide rail, and the two sides of the third slider are respectively rotatably connected to connecting rods, and the connecting rods are rotatably connected to the mounting frame.

[0022] Furthermore, the linear motion module further includes a third power element and a third screw rod fixedly connected to the output shaft of the third power element, and the third slider is threadedly connected to the third screw rod.

[0023] Furthermore, a bearing is sleeved on the outer wall of the connecting shaft, and the second winding wheel is sleeved and fixed on the outer ring of the bearing.

[0024] Furthermore, the robot module also includes a first screw connection member, the first screw connection member has a first threaded hole, the first screw rod passes through the first threaded hole, and the first screw connection member is fixedly connected to the first slider.

[0025] Furthermore, the first screw connection member has a first protrusion, the first slider has a first through hole, and the first protrusion is embedded in the first through hole to achieve a fixed connection between the first screw connection member and the first slider.

[0026] Furthermore, the robot module also includes a second screw connection member, the second screw connection member has a second threaded hole, the second screw rod passes through the second threaded hole, and the second screw connection member is fixedly connected to the second slider.

[0027] Furthermore, the second screw connection member has a second protrusion, the second slider has a second through hole, and the second protrusion is embedded in the second through hole to achieve a fixed connection between the second screw connection member and the second slider.

[0028] The beneficial effects of the present invention are as follows: in the blade robot provided above, the second power element drives the second screw rod to rotate, and the rotation of the second screw rod can drive the linear motion of the second slider. Since the second winding portion of the second slider is connected to the second winding wheel with a winding wire, the movement of the second slider can drive the second winding wheel to rotate, and the rotation of the second winding wheel can drive the cantilever to rotate with the central axis of the second winding wheel as the axis; the other end of the cantilever is connected to a rotatable fourth winding wheel, and the center of the fourth winding wheel is used to install a working accessory, that is, the working accessory installed on the fourth winding wheel can rotate with the central axis of the second winding wheel as the axis; and the first power element can drive the first screw rod to rotate, and the first screw rod The rotation of can drive the linear motion of the first slider. Since the first winding part of the first slider is connected to the first winding wheel by a winding wire, the movement of the first slider can drive the first winding wheel to rotate. Since the third winding wheel is fixedly connected to the first winding wheel through the connecting shaft, the rotation of the first winding wheel can drive the rotation of the third winding wheel. Since the fourth winding wheel and the third winding wheel are sleeved with a winding wire, the rotation of the third winding wheel can drive the rotation of the fourth winding wheel. The center of the fourth winding wheel is used to install the working accessories, that is, the rotation of the fourth winding wheel can drive the working accessories installed thereon to rotate on its own. In summary, the working accessories can rotate on their own and rotate around the center axis of the third winding wheel as the axis. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic structural diagram of a blade robot according to an embodiment of the present invention;

[0030] Figure 2 This is a schematic structural diagram of a robot module of a blade robot according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram of a robot module of a blade robot according to an embodiment of the present invention;

[0032] Figure 4 This is a structural diagram of a robot module of a blade robot according to an embodiment of the present invention;

[0033] Figure 5 A structural diagram of a first slider and a first screw rod according to an embodiment of the present invention;

[0034] Figure 6 2 is a structural diagram of the second slider and the second screw rod according to an embodiment of the present invention.

[0035] In the picture:

[0036] 1. Robot module

[0037] 10. Mounting bracket

[0038] 20. First power element

[0039] 30. Second power element

[0040] 40. First screw

[0041] 50. Second screw

[0042] 60. First Slider

[0043] 601, first winding part

[0044] 70. Second Slider

[0045] 701, second winding part

[0046] 80. First winding wheel

[0047] 90. Second winding wheel

[0048] 100. Third Winding Wheel

[0049] 110. Cantilever

[0050] 120. Fourth Winding Wheel

[0051] 1302, Connecting Rod

[0052] 13011、Guide Rail

[0053] 13012, the third slider

[0054] 13013, the third power element

[0055] 13014, third screw

[0056] 601, first screw connection

[0057] 701, second screw connection DETAILED DESCRIPTION

[0058] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0059] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0061] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0062] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0063] The implementation of the present invention is described in detail below with reference to specific embodiments.

[0064] Reference Figure 1-6 As shown, a preferred embodiment of the present invention is provided.

[0065] A blade robot comprises at least one robot module 1;

[0066] The robot module 1 includes:

[0067] Mounting frame 10;

[0068] A first power element 20, wherein the first power element 20 is disposed on the mounting frame 10;

[0069] A second power element 30 , the second power element 30 is disposed on the mounting frame 10 ;

[0070] A first screw rod 40 , wherein the first screw rod 40 is connected to the first power element 20 ;

[0071] A second screw rod 50 , the second screw rod 50 is connected to the second power element 30 ;

[0072] A first slider 60 , wherein the first slider 60 is threadedly connected to the first screw rod 40 , and a first winding portion 601 is provided on the first slider 60 ;

[0073] A second slider 70 , the second slider 70 being threadedly connected to the second screw rod 50 , and the second slider 70 being provided with a second winding portion 701 ;

[0074] a rotatable first winding wheel 80 , wherein a winding wire is wound around the first winding portion 601 and the first winding wheel 80 , so that movement of the first slider 60 can drive the first winding wheel 80 to rotate;

[0075] a rotatable second winding wheel 90; the second winding wheel 90 is coaxially arranged with the first winding wheel 80, and a winding wire is wound around the second winding portion 701 and the second winding wheel 90, so that the movement of the second slider 70 can drive the second winding wheel 90 to rotate;

[0076] a rotatable third winding wheel 100; the third winding wheel 100 is coaxially arranged with the first winding wheel 80, and the third winding wheel 100 is fixedly connected to the first winding wheel 80 via a connecting shaft;

[0077] a cantilever 110, one end of the cantilever 110 being fixedly connected to the second winding wheel 90;

[0078] A rotatable fourth winding wheel 120 is fixedly connected to the other end of the cantilever 110. The third winding wheel 100 and the fourth winding wheel 120 are sleeved with a winding line so that the rotation of the third winding wheel 100 can drive the rotation of the fourth winding wheel 120. The center of the fourth winding wheel 120 is used to install working accessories.

[0079] In the blade robot provided above, the second power element 30 drives the second screw rod 50 to rotate, and the rotation of the second screw rod 50 can drive the linear motion of the second slider 70. Since the second winding portion 701 of the second slider 70 is connected to the second winding wheel 90 with a winding wire, the movement of the second slider 70 can drive the second winding wheel 90 to rotate, and the rotation of the second winding wheel 90 can drive the cantilever 110 to rotate around the center axis of the second winding wheel 90; the other end of the cantilever 110 is connected to a rotatable fourth winding wheel 120, and the center of the fourth winding wheel 120 is used to install working accessories, that is, the working accessories installed on the fourth winding wheel 120 can rotate around the center axis of the second winding wheel 90; moreover, the first power element 20 can drive the first screw rod 40 to rotate, and the rotation of the first screw rod 40 can The first slider 60 can be driven to move linearly. Since the first winding portion 601 of the first slider 60 is wound with a winding wire around the first winding wheel 80, the movement of the first slider 60 can drive the first winding wheel 80 to rotate. Since the third winding wheel 100 is fixedly connected to the first winding wheel 80 through a connecting shaft, the rotation of the first winding wheel 80 can drive the rotation of the third winding wheel 100. Since the fourth winding wheel 120 is sleeved with a winding wire, the rotation of the third winding wheel 100 can drive the rotation of the fourth winding wheel 120. The center of the fourth winding wheel 120 is used to install working accessories. That is, the rotation of the fourth winding wheel 120 can drive the working accessories installed thereon to rotate. In summary, the working accessories can rotate on their own and rotate around the center axis of the third winding wheel 100.

[0080] It should be noted that the working accessories mentioned in this application can be fixed parts such as suction cups, processing parts such as processing tool heads, or other parts set according to actual needs. No limitation is made in this application.

[0081] It should be noted that the blade robot provided in the present application may include one robot module 1 described above, or may include multiple robot modules 1 described above, so that multiple robot modules 1 can also be responsible for achieving different work purposes respectively, and cooperate with each other. For example, one robot module 1 is used to fix part A, and another robot module 1 is used to fix part B. The two robot modules 1 cooperate with each other to jointly realize the assembly of A and B.

[0082] Preferably, the length of the cantilever of any robot module a is x, the previous robot module adjacent to the robot module a is a-1, the previous robot module adjacent to the robot module a-1 is a-2, the next robot module adjacent to the robot module a is a+1, and the next robot module adjacent to the robot module a+1 is a+2; the sum of the cantilever length of the robot module a and the cantilever length of the robot module a-2 is greater than the distance between the center of the second winding wheel of the robot module a and the center of the second winding wheel of the robot module a-2; the sum of the cantilever length of the robot module a and the cantilever length of the robot module a+2 is greater than the distance between the center of the second winding wheel of the robot module a and the center of the second winding wheel of the robot module a+2; in this way, the working accessories of any robot module can cooperate with the working accessories of the first two robot modules adjacent to it and the last two robot modules adjacent to it.

[0083] It should be noted that the working accessories can be arranged vertically or inclined, and this application does not impose any limitation on this.

[0084] It should be noted that the robot modules 1 may be arranged at equal distances or at unequal distances from each other, and this application does not limit this.

[0085] Preferably, the first power element 20 and the second power element 30 are both motors.

[0086] As an embodiment of the present invention, the robot module 1 also includes a moving mechanism that can move, and the mounting frame 10 is connected to the moving mechanism, and the moving mechanism can drive the mounting frame 10 to move; the mounting frame 10 can move, and can also drive the working accessories to move, thereby increasing the application scenario range of the blade robot of the present invention and being able to achieve different working purposes.

[0087] Furthermore, the motion mechanism can drive the mounting frame 10 to move along the X-axis and the Z-axis.

[0088] Specifically, the motion mechanism includes two relatively arranged linear motion modules, which are arranged longitudinally. The linear motion module includes a longitudinally arranged guide rail 13011 and a third slider 13012 slidingly connected to the guide rail 13011. The third slider 13012 can move along the guide rail 13011. The two sides of the third slider 13012 are respectively rotatably connected with connecting rods 1302, and the connecting rods 1302 are rotatably connected to the mounting frame 10; in this way, the linear motion of the third slider 13012 along the guide rail 13011 drives the mounting frame 10 to move along the X-axis and Z-axis through the conduction of the connecting rod 1302.

[0089] Specifically, the linear motion module also includes a third power element 13013 and a third screw rod 13014 fixedly connected to the output shaft of the third power element 13013, and the third slider 13012 is threadedly connected to the third screw rod 13014; in this way, the third power element 13013 can drive the third screw rod 13014 to rotate, and the rotation of the third screw rod 13014 drives the third slider 13012 to move linearly, that is, the third slider 13012 can be made to move linearly along the guide rail 13011.

[0090] As a specific embodiment of the present invention, the outer wall of the connecting shaft is provided with a bearing, and the second winding wheel 90 is sleeved and fixed on the outer ring of the bearing; in this way, the second winding wheel 90 can rotate, and the rotation of the first winding wheel 80 will not drive the second winding wheel 90 to rotate.

[0091] As an embodiment of the present invention, the robot module 1 also includes a first screw connector 601, the first screw connector 601 has a first threaded hole, the first screw rod 40 passes through the first threaded hole, and the first screw connector 601 is fixedly connected to the first slider 60; in this way, the rotation of the first screw rod 40 can drive the first slider 60 to move linearly.

[0092] Furthermore, the first screw connection member 601 has a first protrusion, the first slider 60 has a first through hole, and the first protrusion is embedded in the first through hole to achieve a fixed connection between the first screw connection member 601 and the first slider 60 .

[0093] As a specific embodiment of the present invention, the robot module 1 also includes a second screw connector 701, the second screw connector 701 has a second threaded hole, the second screw rod 50 passes through the second threaded hole, and the second screw connector 701 is fixedly connected to the second slider 70; in this way, the rotation of the second screw rod 50 can drive the second slider 70 to move linearly.

[0094] Furthermore, the second screw connection member 701 has a second protrusion, and the second slider 70 has a second through hole. The second protrusion is embedded in the second through hole to achieve a fixed connection between the second screw connection member 701 and the second slider 70 .

[0095] The blade robot provided in this application also includes a positioner for changing angles. The position of the positioner corresponds to the working accessory installed in the center of the fourth winding wheel 120. Through the setting of the positioner, a workpiece is set on the positioner to facilitate related operations of the working accessory.

[0096] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0097] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A blade robot, characterized in that: including at least one robot module; The robot module includes: Mounting rack; a first power element, the first power element being disposed on the mounting frame; a second power element, the second power element being disposed on the mounting frame; a first screw rod, the first screw rod being connected to the first power element; a second screw rod, the second screw rod being connected to the second power element; a first slider, the first slider being threadably connected to the first screw rod, and the first slider being provided with a first winding portion; a second slider, the second slider being threadably connected to the second screw rod, and the second slider being provided with a second winding portion; a rotatable first winding wheel, wherein a winding wire is wound around the first winding portion and the first winding wheel, so that movement of the first slider can drive the first winding wheel to rotate; a rotatable second winding wheel; the second winding wheel is coaxially arranged with the first winding wheel, and a winding wire is wound around the second winding portion and the second winding wheel, so that the movement of the second slider can drive the second winding wheel to rotate; a rotatable third winding wheel; the third winding wheel is coaxially arranged with the first winding wheel, and the third winding wheel is fixedly connected to the first winding wheel via a connecting shaft; a cantilever, one end of the cantilever being fixedly connected to the second winding wheel; A rotatable fourth winding wheel is fixedly connected to the other end of the cantilever, and the third winding wheel and the fourth winding wheel are sleeved with a winding line so that the rotation of the third winding wheel can drive the rotation of the fourth winding wheel, and the center of the fourth winding wheel is used to install working accessories.

2. The blade robot according to claim 1, characterized in that: The robot module further includes a moving mechanism capable of movement, the mounting frame is connected to the moving mechanism, and the moving mechanism can drive the mounting frame to move.

3. The blade robot according to claim 2, characterized in that: The motion mechanism can drive the mounting frame to move along the X-axis and the Z-axis.

4. The blade robot according to claim 3, characterized in that: The motion mechanism includes two relatively arranged linear motion modules, which are arranged longitudinally. The linear motion module includes a longitudinally arranged guide rail and a third slider slidingly connected to the guide rail. The third slider can move along the guide rail. Both sides of the third slider are rotatably connected to connecting rods, and the connecting rods are rotatably connected to the mounting frame.

5. The blade robot according to claim 4, characterized in that: The linear motion module further includes a third power element and a third screw rod fixedly connected to the output shaft of the third power element, and the third slider is threadedly connected to the third screw rod.

6. A blade robot according to any one of claims 1 to 5, characterized in that: A bearing is sleeved on the outer wall of the connecting shaft, and the second winding wheel is sleeved and fixed on the outer ring of the bearing.

7. A blade robot according to any one of claims 1 to 5, characterized in that: The robot module further includes a first screw connection member having a first threaded hole, the first screw rod passes through the first threaded hole, and the first screw connection member is fixedly connected to the first sliding block.

8. The blade robot according to claim 7, characterized in that: The first screw connection member has a first protrusion, the first slider has a first through hole, and the first protrusion is embedded in the first through hole to achieve a fixed connection between the first screw connection member and the first slider.

9. The blade robot according to any one of claims 1 to 5, characterized in that: The robot module further includes a second screw connection member having a second threaded hole, the second screw rod passes through the second threaded hole, and the second screw connection member is fixedly connected to the second sliding block.

10. The blade robot according to claim 9, characterized in that: The second screw connection member has a second protrusion, the second slider has a second through hole, and the second protrusion is embedded in the second through hole to achieve a fixed connection between the second screw connection member and the second slider.

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