A PPU combined manipulator

Abstract

A PPU combined mechanical hand is characterized in that motors of X-axis movement modules, Y-axis movement modules and C-axis movement modules are all installed on a base and transmission connection is realized through light telescopic rods. Its advantages are that X-axis movement modules, Y-axis movement modules and C-axis movement modules are additionally arranged on X-axis guide rails of a PPU driving module, the limitation that a conventional PPU mechanical hand can only move for two-point grabbing is solved, and the PPU mechanical hand can meet automatic picking operation in a larger range; meanwhile, all motors for driving X-Y-C movement modules are installed on a machine base, and transmission connection is realized through light telescopic rods, the moving weight borne by the PPU driving module is greatly reduced, and thus the PPU driving module can move faster and the overall operation speed is improved.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, specifically to a PPU combined robotic arm. Background Technology

[0002] A robotic arm is an automated device that mimics certain movements of a human hand and arm to grasp, move objects, or operate tools according to a fixed program. PPU cam-type robotic arms are a common type of high-speed pick-and-place robotic arm, such as the PPU high-speed pick-and-place robotic arm disclosed in Chinese invention patent application CN112296980A, and another robotic arm disclosed in the applicant's earlier invention patent application CN116810807A. Both of these PPU robotic arms utilize a PPU drive module paired with a cross-shaped guide rail to achieve overall lifting and translational movements. After grasping the corresponding product, the robotic arm can move the product along a gantry-shaped trajectory, thereby achieving product transfer and handling.

[0003] However, conventional PPU robotic arms can only grasp and transport between two points, and their motion stroke is fixed and cannot be adjusted. In order to meet the automatic feeding of flexible products, the usual practice is to add an additional XYC three-axis motion module on the basis of the PPU robotic arm.

[0004] One approach is to mount the entire PPU robot on an XY-axis motion module. The XY-axis motion module then drives the PPU robot to move along the XY-axis, thereby increasing the range of motion. Simultaneously, a C-axis motion module is mounted on the guide rail end of the PPU robot to achieve angular rotation, thus meeting the needs of gripping and loading various products. However, this approach places the entire PPU robot on the XY-axis motion module, which bears all the weight. To avoid excessive motion inertia and ensure stable movement, the XY-axis motion speed will be limited, making it difficult to achieve ultra-high-speed movements.

[0005] Alternatively, the entire XYC motion module can be mounted on the guide rails of the PPU robot, using multiple motors and belt drives to achieve XYC three-axis motion, thus meeting the gripping and loading needs of various products. However, in this approach, the PPU robot bears all the weight. To avoid excessive motion inertia and ensure stable movement, the PPU robot's movement speed will be limited, making it difficult to achieve ultra-high-speed movements.

[0006] Therefore, regardless of the method used, the overall moving weight is very large, which greatly affects the overall operating speed and makes it difficult to achieve ultra-high speed movements. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, the present invention provides a PPU combined robotic arm.

[0008] The technical solution adopted in this invention is: a PPU combined robotic arm, comprising:

[0009] Base;

[0010] The PPU drive module is fixedly mounted on the base;

[0011] The Z-axis guide rail is fixedly mounted on the back plate of the PPU drive module.

[0012] The X-axis guide rail is connected to the PPU drive module and is movably connected to the Z-axis guide rail via a cross slider. The X-axis guide rail can move along the XZ axis direction.

[0013] The X-axis motion module includes a first motor, a first telescopic shaft, two first synchronous pulleys, and a first slider. The first motor is fixedly mounted on the base. The two first synchronous pulleys are respectively located at both ends of the X-axis guide rail and connected by a first synchronous belt. The first slider is slidably mounted on the X-axis guide rail and fixedly connected to the first synchronous belt. The first telescopic shaft is made of lightweight material, with one end universally connected to the first motor and the other end universally connected to one of the first synchronous pulleys.

[0014] The Y-axis guide rail has one end fixedly connected to the first slider.

[0015] The Y-axis motion module includes a second motor, a second telescopic shaft, two second synchronous pulleys, and a second slider. The second motor is fixedly mounted on the base. The two second synchronous pulleys are respectively located at both ends of the X-axis guide rail and connected by a second synchronous belt. The second slider is slidably mounted on the X-axis guide rail and is fixedly connected to the second synchronous belt. The second telescopic shaft is made of lightweight material, with one end universally connected to the second motor and the other end universally connected to one of the second synchronous pulleys.

[0016] The C-axis motion module includes a third motor, a third telescopic shaft, and a rotary connector. The third motor is fixedly mounted on the base, and the rotary connector is rotatably mounted on the second slider. The third telescopic shaft is made of lightweight material, with one end universally connected to the third motor and the other end universally connected to the rotary connector.

[0017] The first telescopic shaft includes a connecting pipe, a connecting seat, and a telescopic guide rail. One end of the connecting pipe is universally connected to the first synchronous pulley, and the other end is fitted with the connecting seat. One end of the telescopic guide rail is universally connected to the first motor, and the other end passes through the connecting seat and extends into the connecting pipe, and slides with the connecting seat.

[0018] The connecting pipe is made of carbon fiber.

[0019] The structures of the second and third telescopic shafts are the same as those of the first telescopic shaft.

[0020] The first synchronous pulley is mounted on the X-axis guide rail via a first mounting base, wherein one of the first mounting bases is movably engaged with the X-axis guide rail and is used to tension the tensioning assembly of the first synchronous belt.

[0021] The second synchronous pulley is mounted on the Y-axis guide rail via a second mounting base, one of which is movably engaged with the Y-axis guide rail and is used to tension the tensioning assembly of the second synchronous belt.

[0022] The beneficial effects of this invention are as follows: By adopting the above solution, an X-axis motion module, a Y-axis motion module, and a C-axis motion module are additionally set on the X-axis guide rail of the PPU drive module, which solves the limitation of conventional PPU robotic arms that can only grasp and move at two points, enabling them to meet a wider range of automatic picking and moving operations; at the same time, all the motors driving the XYC motion modules are mounted on the base, and the transmission connection is achieved using a lighter telescopic shaft, which greatly reduces the moving weight that the PPU drive module needs to bear, thereby enabling the PPU drive module to move faster and improving the overall operating speed. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the PPU combined robot arm according to an embodiment of the present invention.

[0024] Figure 2 This is a partial structural schematic diagram of the PPU combined robotic arm according to an embodiment of the present invention.

[0025] Figure 3 for Figure 2 Enlarged diagram of point A in the middle.

[0026] Figure 4 This is a schematic diagram of the structure of the first telescopic shaft in an embodiment of the present invention.

[0027] Figure 5 This is a schematic diagram of the application structure of the PPU combined robot arm in an embodiment of the present invention. Detailed Implementation

[0028] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0029] like Figure 1-4 As shown, a PPU combined robot includes a base 1, a PPU drive module 2, a Z-axis guide rail 3, an X-axis guide rail 4, an X-axis motion module 6, a Y-axis guide rail 7, a Y-axis motion module 8, and a C-axis motion module 9.

[0030] The PPU drive module 2 is fixedly mounted on the base 1. The PPU drive module 2 can directly adopt existing technology, and its structural principle can refer to the robot disclosed in the invention patent application (CN116810807A), including a fixed back plate 21, a drive motor, a main shaft, a cycloidal wheel, a cycloidal frame, and a linkage shaft. The fixed back plate 21 of the PPU drive module 2 is fixedly connected to the base 1. The drive motor is mounted on the back of the fixed back plate and can drive the main shaft to rotate back and forth. The main shaft can drive the cycloidal wheel to swing back and forth along the cycloidal frame, thereby driving the linkage shaft to move back and forth along a U-shaped trajectory.

[0031] The Z-axis guide rail 3 is fixedly installed on the fixed back plate 21 of the PPU drive module 2 and arranged along the Z-axis direction.

[0032] The X-axis guide rail 4 is arranged along the X-axis direction and is movably connected to the Z-axis guide rail 3 through the cross slider 5. The PPU drive module 2 is connected to the X-axis guide rail 4 through the linkage shaft, which can drive the X-axis guide rail 4 to move along the XZ axis direction and reciprocate along the U-shaped trajectory with the linkage shaft.

[0033] The X-axis motion module 6 includes a first motor 61, a first telescopic shaft 62, two first synchronous pulleys 63, and a first slider 64. The first motor 61 is fixedly mounted on the base 1. The two first synchronous pulleys 63 are respectively disposed at both ends of the X-axis guide rail 4 and connected by a first synchronous belt. The first slider 64 is slidably disposed on the X-axis guide rail 4 and fixedly connected to the first synchronous belt. One end of the first telescopic shaft 62 is universally connected to the first motor 61, and the other end is universally connected to one of the first synchronous pulleys 63.

[0034] The first telescopic shaft 62 includes a connecting pipe 621, a connecting seat 622, and a telescopic guide rail 623. The connecting pipe 621 is made of carbon fiber and one end is universally connected to the first synchronous pulley 63 via a universal coupling, while the other end is fixedly installed with the connecting seat 622. One end of the telescopic guide rail 623 is universally connected to the first motor 61 via a universal coupling, and the other end extends through the connecting seat 622 into the connecting pipe 621 and slides with the connecting seat 622.

[0035] By utilizing the telescopic adjustment of the first telescopic shaft 62 and the universal adjustment of the universal coupling, the first telescopic shaft 62 can adapt to the movement of the X-axis guide rail 4 itself, realizing the normal operation of the X-axis motion module 6. When the X-axis motion module 6 operates, the rotation of the first motor 61 can drive the first telescopic shaft 62 to rotate, thereby driving the first synchronous pulley 63. The first synchronous pulley 63 can then drive the first slider 64 to slide linearly along the X-axis guide rail via the synchronous belt.

[0036] Since the first motor 61 is fixedly mounted on the base 1, the X-axis guide rail 4 no longer needs to move synchronously with the first motor 61. It only needs to move with the universal coupling and the carbon fiber tube. In other words, for the X-axis motion module 6, the PPU drive module 2 only needs to bear the weight of a set of universal couplings and carbon fiber tubes. According to the actual weighing, the total weight of the universal coupling and carbon fiber tube is less than 1 / 3 of the weight of the first motor and its motor base. The weight is very light, which greatly reduces the moving weight borne by the PPU drive module 2.

[0037] The Y-axis guide rail 7 is arranged along the Y-axis direction, and one end of it is fixedly connected to the first slider 64.

[0038] The Y-axis motion module 8 includes a second motor 81, a second telescopic shaft 82, two second synchronous pulleys 83, and a second slider 84. The second motor 81 is fixedly mounted on the base 1. The two second synchronous pulleys 83 are respectively located at both ends of the X-axis guide rail 4 and connected by a second synchronous belt. The second slider 84 is slidably mounted on the X-axis guide rail 4 and fixedly connected to the second synchronous belt. One end of the second telescopic shaft 82 is universally connected to the second motor 81, and the other end is universally connected to one of the second synchronous pulleys 83.

[0039] The second telescopic shaft 82 has the same structure as the first telescopic shaft 62, so it will not be described again here. The Y-axis motion module 8 also utilizes the telescopic adjustment of the second telescopic shaft 82 and the universal adjustment of the universal coupling to enable the second telescopic shaft 82 to adapt to the movement of the Y-axis guide rail 7 itself, so as to realize the normal operation of the Y-axis motion module 8. When the Y-axis motion module 8 is in motion, the rotation of the second motor 81 can drive the second telescopic shaft 82 to rotate, thereby driving the second synchronous pulley 83. The second synchronous pulley 83 can then drive the second slider 84 to slide linearly along the Y-axis guide rail through the second synchronous belt.

[0040] Since the second motor 81 is fixedly mounted on the base 1, the Y-axis guide rail 7 no longer needs to move synchronously with the second motor 81. Similarly, the X-axis guide rail 4 no longer needs to move synchronously with the second motor 81. It only needs to move with the universal coupling and the carbon fiber tube. In other words, for the Y-axis motion module 8, the PPU drive module 2 only needs to bear the weight of a set of universal couplings and carbon fiber tubes, which greatly reduces the moving weight borne by the PPU drive module 2.

[0041] The C-axis motion module 9 includes a third motor 91, a third telescopic shaft 92, and a rotary connector 93. The third motor 91 is fixedly mounted on the base 1, and the rotary connector 93 is rotatably mounted on the second slider 84. One end of the third telescopic shaft 92 is universally connected to the third motor 91, and the other end is universally connected to the rotary connector 93. The rotary connector 93 forms a vacuum channel that can be connected to a vacuum pump to achieve vacuum adsorption.

[0042] The third telescopic shaft 92 has the same structure as the first telescopic shaft 62, so it will not be described again here. The C-axis motion module 9 also utilizes the telescopic adjustment of the third telescopic shaft 92 and the universal adjustment of the universal coupling to enable the third telescopic shaft 92 to adapt to the movement of the second slider 84 itself, so as to realize the normal operation of the C-axis motion module 9. When the C-axis motion module 9 is in motion, the rotation of the third motor 91 can drive the third telescopic shaft 92 to rotate, thereby driving the rotary connector 93 to rotate synchronously.

[0043] Since the third motor 91 is fixedly mounted on the base 1, the second slider 84, Y-axis guide rail 7, and X-axis guide rail 4 no longer need to move synchronously with the third motor 91. They only need to move with the universal coupling and carbon fiber tube. In other words, for the C-axis motion module 9, the PPU drive module 2 only needs to bear the weight of a set of universal couplings and carbon fiber tubes, which greatly reduces the moving weight borne by the PPU drive module 2.

[0044] Furthermore, the first synchronous pulley 63 is mounted on the X-axis guide rail 4 via a first mounting base 65, one of which is movably engaged with the X-axis guide rail 4, and the first mounting base 65 is provided with a tensioning component for tensioning the first synchronous belt. Similarly, the second synchronous pulley 83 is mounted on the Y-axis guide rail 7 via a second mounting base 85, one of which is movably engaged with the Y-axis guide rail 7, and the second mounting base 85 is provided with a tensioning component for tensioning the second synchronous belt.

[0045] The tensioning assembly allows for adjustment of the tension of the timing belt on the timing pulley, ensuring the timing belt is taut and further improving the stability of the operation.

[0046] like Figure 3As shown, the second mounting base 85 has two elongated holes 851 along the Y-axis. The second mounting base 85 can be connected to the Y-axis guide rail 7 by bolts passing through these elongated holes 851, allowing the second mounting base 85 to float along the Y-axis. An extension boss 852 extends from the end of the second mounting base 85 corresponding to the end of the Y-axis guide rail 7. The extension boss 852 has mounting holes 853 corresponding to the end of the Y-axis guide rail 7. The tensioning component, using adjusting bolts or elastic elements, is disposed within the mounting holes 853, enabling active or passive adjustment of the second mounting base 85 to maintain the tension of the synchronous pulley. Similarly, the first mounting base 65 adopts a similar structure, which will not be described again here.

[0047] like Figure 5 As shown, the PPU combined robotic arm can be equipped with a vibratory feeder 11 and a camera 12 to achieve automatic feeding of flexible materials.

[0048] The above-mentioned PPU combined robot arm has additional X-axis motion modules, Y-axis motion modules, and C-axis motion modules set on the X-axis guide rail of the PPU drive module. This solves the limitation of conventional PPU robot arms that can only grasp and move at two points, enabling them to meet a wider range of automatic picking and moving operations.

[0049] Simultaneously, all motors driving the XYC motion module are mounted on the base, and a lighter telescopic shaft is used for transmission connection. Actual weighing tests show that the PPU drive module in this solution only needs to bear about 30% of the moving weight of the conventional solution. Because the weight is lighter, the X-axis guide rail 4 and Y-axis guide rail 7 can be further adjusted, using smaller and lighter X-axis and Y-axis guide rails, thereby further reducing the moving weight. Due to the significant reduction in the moving weight required by the PPU drive module, the PPU drive module can operate faster and more smoothly, thus further improving the overall operating speed.

[0050] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0051] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0052] Please note to all technical personnel: Although the present invention has been described according to the specific embodiments above, the inventive concept of the present invention is not limited to this invention. Any modifications that utilize the inventive concept will be included within the scope of protection of this patent.

Claims

1. A PPU combined mechanical arm, comprising: a base (1) ; a PPU driving module (2) fixedly installed on the base (1) ; a Z-axis guide rail (3) fixedly installed on a fixed back plate (21) of the PPU driving module (2) ; an X-axis guide rail (4) connected with the PPU driving module (2) and movably connected with the Z-axis guide rail (3) through a cross slider (5), the X-axis guide rail (4) being movable along an X-Z axis direction; characterized in that further comprising: an X-axis movement module (6) comprising a first motor (61), a first telescopic shaft (62), two first synchronous wheels (63), a first slider (64), the first motor (61) being fixedly installed on the base (1), the two first synchronous wheels (63) being respectively arranged at two ends of the X-axis guide rail (4) and connected through a first synchronous belt, the first slider (64) being slidably arranged on the X-axis guide rail (4) and fixedly connected with the first synchronous belt, the first telescopic shaft (62) being made of light material, one end of the first telescopic shaft (62) being universally connected with the first motor (61), and the other end being universally connected with one of the first synchronous wheels (63) ; a Y-axis guide rail (7) one end of which is fixedly connected with the first slider (64) ; a Y-axis movement module (8) comprising a second motor (81), a second telescopic shaft (82), two second synchronous wheels (83), a second slider (84), the second motor (81) being fixedly installed on the base (1), the two second synchronous wheels (83) being respectively arranged at two ends of the X-axis guide rail (4) and connected through a second synchronous belt, the second slider (84) being slidably arranged on the X-axis guide rail (4) and fixedly connected with the second synchronous belt, the second telescopic shaft (82) being made of light material, one end of the second telescopic shaft (82) being universally connected with the second motor (81), and the other end being universally connected with one of the second synchronous wheels (83) ; a C-axis movement module (9) comprising a third motor (91), a third telescopic shaft (92), a rotary connecting head (93), the third motor (91) being fixedly installed on the base (1), the rotary connecting head (93) being rotatably installed on the second slider (84), the third telescopic shaft (92) being made of light material, one end of the third telescopic shaft (92) being universally connected with the third motor (91), and the other end being universally connected with the rotary connecting head (93).

2. The PPU assembly robot according to claim 1, wherein: The first telescopic shaft (62) comprises a connecting pipe (621), a connecting seat (622), and a telescopic guide rail (623), one end of the connecting pipe (621) being universally connected with the first synchronous wheel (63), the other end being installed with the connecting seat (622), one end of the telescopic guide rail (623) being universally connected with the first motor (61), the other end penetrating the connecting seat (622) and extending into the connecting pipe (621) and being in sliding fit with the connecting seat (622).

3. The PPU assembly robot according to claim 2, wherein: The connecting pipe (621) is made of carbon fiber pipe.

4. The PPU assembly robot according to claim 3, wherein: The second telescopic shaft (82) and the third telescopic shaft (92) have the same structure as the first telescopic shaft (62).

5. The PPU assembly robot of claim 1, wherein: The first synchronous pulley (63) is mounted on the X-axis guide rail (4) via a first mounting base (65), wherein the first mounting base (65) is movably engaged with the X-axis guide rail (4) and is provided with a tensioning component for tensioning the first synchronous belt.

6. The PPU assembly robot of claim 1, wherein: The second synchronous pulley (83) is mounted on the Y-axis guide rail (7) via a second mounting base (85), one of which is movably engaged with the Y-axis guide rail (7) and is provided with a tensioning assembly for tensioning the second synchronous belt.

Images