Multi-degree-of-freedom yarn hanging manipulator system

Abstract

The invention provides a multi-degree-of-freedom yarn hanging manipulator system. The colloidal gold detection test paper strip comprises a bottom plate, the front surface of the bottom plate is fixedly connected with a first driving motor, the front end of the first driving motor is provided with a first lead screw, the outer surface of the first lead screw is in threaded connection with a first sliding block through a second threaded hole, and the upper surface of the first sliding block is fixedly connected with a first fixing piece; a driving motor placing groove is formed in the lower surface of the first fixing part, a second driving motor is fixedly connected to the inner wall of the driving motor placing groove, a rotating shaft is arranged at the upper end of the second driving motor, a second fixing part is fixedly connected to the upper surface of the rotating shaft, and a guide rail is fixedly connected to the upper surface of the second fixing part; and the front surface of the guide rail is fixedly connected with a third driving motor. According to the colloidal gold detection test paper strip, objects can be grabbed in a larger range through length movement and a rotating device.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a multi-degree-of-freedom yarn hanging robot system. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and has the advantages of both human and mechanical machines in structure and performance. The manipulator is the earliest industrial robot and also the earliest modern robot. It can replace heavy human labor to realize mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments. The manipulator system is mainly composed of a computer control device, a mechanical arm, a mechanical claw, a base plate, a drive motor, a guide rail and a screw rod.

[0003] Its working principle is to coordinate the first drive motor, the second drive motor, the third drive motor, the robotic arm, the console and the mechanical claw through a computer control device. The first drive motor drives the first screw rod to rotate, so that the threaded first slider drives the first fixing piece to move successively. In order to improve stability, a first slide groove is provided at the upper end of the base plate, which is slidably connected with the second slide groove provided at the lower end of the first fixing piece, and moves to a suitable position under the action of the computer control device. The second drive motor drives the rotating shaft to drive the second fixing piece whose upper end is fixedly connected to the guide rail to rotate. In order to improve stability, a fourth slider fixedly connected to the lower surface of the guide rail is slidably connected through the second slide groove provided at the upper end of the first fixing piece, and moves to a suitable position under the action of the computer control device. The third drive motor drives the second screw rod to make the threaded third slider move along the fourth slide groove inside the guide rail, and move to a suitable position under the action of the computer control device. At this time, the computer control device uses a connecting line in the form of an electrical signal to make the console, the robotic arm and the mechanical claw mechanically work to pick up the yarn tube. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a multi-degree-of-freedom yarn hanging robot system, which solves the problems of a small working range and insufficient degrees of freedom of the robot.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a multi-degree-of-freedom yarn hanging robot system, comprising: a base plate, a lower surface of the base plate is fixedly connected with a leg, the number of the legs is multiple and evenly distributed, a front surface of the base plate is fixedly connected with a first drive motor, a first screw rod is provided at the front end of the first drive motor, a first slider is threadedly connected to the outer surface of the first screw rod through a second threaded hole, a first fixing piece is fixedly connected to the upper surface of the first slider, a drive motor placement groove is provided on the lower surface of the first fixing piece, a second drive motor is fixedly connected to the inner wall of the drive motor placement groove, a rotating shaft is provided at the upper end of the second drive motor, a second fixing piece is fixedly connected to the upper surface of the rotating shaft, a guide rail is fixedly connected to the upper surface of the second fixing piece, and a third drive motor is fixedly connected to the front surface of the guide rail;

[0006] A second screw rod is provided at the front end of the third driving motor, and a third slider is threadedly connected to the outer surface of the second screw rod through a first threaded hole, a console is fixedly connected to the upper surface of the third slider, a mechanical arm is provided at the upper end of the console, a mechanical claw is provided at the end of the mechanical arm, a third fixing piece is fixedly connected to the side surface of the base plate, and a computer control device is provided at the upper end of the third fixing piece.

[0007] Preferably, a third sliding groove is provided on the upper surface of the bottom plate, and an inner wall of the third sliding groove is slidably connected to the first sliding block.

[0008] Preferably: a first slide groove is provided on the upper surface of the bottom plate, a second slider is slidably connected to the inner wall of the first slide groove, an upper surface of the second slider is fixedly connected to the first fixing member, and the number of the second sliders is multiple and symmetrically distributed.

[0009] Preferably, a groove is provided on the upper surface of the first fixing member, a second hole is provided at the bottom of the groove, an inner wall of the groove is rotatably connected to the second fixing member, and an inner wall of the second hole is rotatably connected to the rotating shaft.

[0010] Preferably: a second slide groove is provided on the upper surface of the first fixing member, a fourth slider is slidably connected to the inner wall of the second slide groove, an upper surface of the fourth slider is fixedly connected to the guide rail, and the number of the fourth sliders is multiple and symmetrically distributed.

[0011] Preferably, a fourth sliding groove is provided inside the guide rail, and an inner wall of the fourth sliding groove is slidably connected to the third sliding block.

[0012] Preferably: a third hole is provided on the front surface of the guide rail, an inner wall of the third hole is in contact with the second screw rod, and a first hole is provided on the front surface of the bottom plate, an inner wall of the first hole is in contact with the first screw rod.

[0013] Preferably: the input end of the first drive motor is electrically connected to the computer control device through a connecting line, the input end of the second drive motor is electrically connected to the computer control device through a connecting line, the input end of the third drive motor is electrically connected to the computer control device through a connecting line, and the input end of the console is electrically connected to the computer control device through a connecting line.

[0014] The present invention provides a multi-degree-of-freedom yarn hanging robot system. It has the following beneficial effects: compared with the traditional robot arm, the multi-degree-of-freedom yarn hanging robot system can only work at multiple angles in a fixed position. When the working radius is slightly exceeded, it cannot effectively grasp the material, and can only move the raw material to the working radius, or move the robot arm and the control console at the lower end to a certain position. The working scene is single, so it needs to be able to extend within a certain range, so that the working radius can be expanded in a limited fixed position to avoid being unable to grasp due to slightly exceeding the fixed range. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 It is a schematic diagram of the length extension function structure of the present invention.

[0017] Figure 3 It is a schematic diagram of the rotating structure of the present invention.

[0018] Figure 4 It is a schematic diagram of the rotation connection of the present invention.

[0019] Figure 5 It is a schematic diagram of the guide rail structure of the present invention.

[0020] Figure 6 It is a schematic diagram of the grabbing device of the present invention.

[0021] Among them, 1. bottom plate; 2. first driving motor; 3. first screw rod; 4. first slider; 5. second slider; 6. first hole; 7. first slide groove; 8. first fixing piece; 9. second slide groove; 10. fourth slider; 11. groove; 12. driving motor placement groove; 13. second hole; 14. second fixing piece; 15. guide rail; 16. second driving motor; 17. second screw rod; 18. third hole; 19. first threaded hole; 20. third slider; 21. control console; 22. robotic arm; 23. robotic claw; 24. third fixing piece; 25. computer control device; 26. support leg; 27. third slide groove; 28. second threaded hole; 29. ​​rotating shaft; 30. third driving motor; 31. fourth slide groove. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] like Figure 1-6 As shown, an embodiment of the present invention provides a multi-degree-of-freedom yarn hanging robot system, including a base plate 1, a lower surface of the base plate 1 is fixedly connected with a leg 26, the number of the legs 26 is multiple and evenly distributed, the front surface of the base plate 1 is fixedly connected with a first drive motor 2, the front end of the first drive motor 2 is provided with a first screw rod 3, the outer surface of the first screw rod 3 is threadedly connected with a first slider 4 through a second threaded hole 28, the upper surface of the first slider 4 is fixedly connected with a first fixing member 8, the lower surface of the first fixing member 8 is provided with a drive motor placement groove 12, the inner wall of the drive motor placement groove 12 is fixedly connected with a second drive motor 16, the upper end of the second drive motor 16 is provided with a rotating shaft 29, the upper surface of the rotating shaft 29 is fixedly connected with a second fixing member 14, the upper surface of the second fixing member 14 is fixedly connected with a guide rail 15, and the front surface of the guide rail 15 is fixedly connected with a third drive motor 30.

[0024] A second screw rod 17 is provided at the front end of the third driving motor 30, and a third slider 20 is threadedly connected to the outer surface of the second screw rod 17 through a first threaded hole 19, and a console 21 is fixedly connected to the upper surface of the third slider 20, and a mechanical arm 22 is provided at the upper end of the console 21, and a mechanical claw 23 is provided at the end of the mechanical arm 22, and a third fixing member 24 is fixedly connected to the side surface of the bottom plate 1, and a computer control device 25 is provided at the upper end of the third fixing member 24, and a third slide groove 27 is provided on the upper surface of the bottom plate 1, and the inner wall of the third slide groove 27 is slidably connected to the first slider 4, and a first slide groove 7 is provided on the upper surface of the bottom plate 1, and the inner wall of the first slide groove 7 is slidably connected to the second slider 5, and the upper surface of the second slider 5 is fixedly connected to the first fixing member 8, and the number of the second sliders 5 is multiple and symmetrically distributed, and a groove 11 is provided on the upper surface of the first fixing member 8, and a second hole 13 is provided at the bottom of the groove 11, and the inner wall of the groove 11 is rotatably connected to the second fixing member 14, and the second hole 13 is provided at the bottom of the groove 11. The inner wall is rotatably connected to the rotating shaft 29, a second slide groove 9 is provided on the upper surface of the first fixing member 8, and a fourth slider 10 is slidably connected to the inner wall of the second slide groove 9, and the upper surface of the fourth slider 10 is fixedly connected to the guide rail 15. The number of fourth sliders 10 is multiple and symmetrically distributed, a fourth slide groove 31 is provided inside the guide rail 15, and the inner wall of the fourth slide groove 31 is slidably connected to the third slider 20, a third hole 18 is provided on the front surface of the guide rail 15, and the inner wall of the third hole 18 contacts the second screw rod 17, a first hole 6 is provided on the front surface of the base plate 1, and the inner wall of the first hole 6 contacts the first screw rod 3, the input end of the first drive motor 2 is electrically connected to the computer control device 25 through a connecting line, the input end of the second drive motor 16 is electrically connected to the computer control device 25 through a connecting line, the input end of the third drive motor 30 is electrically connected to the computer control device 25 through a connecting line, and the input end of the console 21 is electrically connected to the computer control device 25 through a connecting line.

[0025] Working principle: The computer control device 25 cooperates with the first drive motor 2, the second drive motor 16, the third drive motor 30, the mechanical arm 22, the console 21 and the mechanical claw 23 to work. The first drive motor 2 drives the first screw rod 3 to rotate, so that the first slider 4 connected by thread drives the first fixing member 8 to move successively. In order to improve stability, the upper end of the base plate 1 is provided with a first slide groove 7 and is slidably connected with the second slider 5 provided at the lower end of the first fixing member 8, and moves to a suitable position under the action of the computer control device 25. The second drive motor 16 drives the rotating shaft 29 to drive the second slider 5 fixedly connected to the upper end of the guide rail 15. The fixing member 14 rotates. In order to improve stability, the fourth slider 10 fixedly connected to the lower surface of the guide rail 15 is slidably connected through the second slide groove 9 set at the upper end of the first fixing member 8, and is moved to a suitable position under the action of the computer control device 25. The third drive motor 30 drives the second screw rod 17 to make the threaded third slider 20 move along the fourth slide groove 31 inside the guide rail 15, and is moved to a suitable position under the action of the computer control device 25. At this time, the computer control device 25 uses the connecting line in the form of electrical signals to make the console 21, the mechanical arm 22 and the mechanical claw 23 work mechanically to pick up the yarn tube.

[0026] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Multi-degree-of-freedom yarn hanging robot system, characterized in that: include: A base plate (1), the lower surface of the base plate (1) is fixedly connected with a support leg (26), the number of the support legs (26) is multiple and evenly distributed, the front surface of the base plate (1) is fixedly connected with a first drive motor (2), the front end of the first drive motor (2) is provided with a first screw rod (3), the outer surface of the first screw rod (3) is threadedly connected with a first slider (4) through a second threaded hole (28), the upper surface of the first slider (4) is fixedly connected with a first fixing member (8), the lower surface of the first fixing member (8) is provided with a drive motor placement groove (12), the inner wall of the drive motor placement groove (12) is fixedly connected with a second drive motor (16), the upper end of the second drive motor (16) is provided with a rotating shaft (29), the upper surface of the rotating shaft (29) is fixedly connected with a second fixing member (14), the upper surface of the second fixing member (14) is fixedly connected with a guide rail (15), and the front surface of the guide rail (15) is fixedly connected with a third drive motor (30); A second screw rod (17) is arranged at the front end of the third drive motor (30); a third slider (20) is threadedly connected to the outer surface of the second screw rod (17) through a first threaded hole (19); a control console (21) is fixedly connected to the upper surface of the third slider (20); a mechanical arm (22) is arranged at the upper end of the control console (21); a mechanical claw (23) is arranged at the end of the mechanical arm (22); a third fixing member (24) is fixedly connected to the side surface of the bottom plate (1); and a computer control device (25) is arranged at the upper end of the third fixing member (24).

2. The multi-degree-of-freedom yarn hanging robot system according to claim 1 is characterized in that: A third sliding groove (27) is provided on the upper surface of the bottom plate (1), and the inner wall of the third sliding groove (27) is slidably connected to the first sliding block (4).

3. The multi-degree-of-freedom yarn hanging robot system according to claim 1 is characterized in that: The upper surface of the base plate (1) is provided with a first slide groove (7), the inner wall of the first slide groove (7) is slidably connected to a second slider (5), the upper surface of the second slider (5) is fixedly connected to a first fixing member (8), and the number of the second sliders (5) is multiple and symmetrically distributed.

4. The multi-degree-of-freedom yarn hanging robot system according to claim 1 is characterized in that: The upper surface of the first fixing member (8) is provided with a groove (11), the bottom of the groove (11) is provided with a second hole (13), the inner wall of the groove (11) is rotatably connected to the second fixing member (14), and the inner wall of the second hole (13) is rotatably connected to the rotating shaft (29).

5. The multi-degree-of-freedom yarn hanging robot system according to claim 1 is characterized in that: A second slide groove (9) is provided on the upper surface of the first fixing member (8); a fourth slider (10) is slidably connected to the inner wall of the second slide groove (9); the upper surface of the fourth slider (10) is fixedly connected to the guide rail (15); and the number of the fourth sliders (10) is multiple and symmetrically distributed.

6. The multi-degree-of-freedom yarn hanging robot system according to claim 1 is characterized in that: A fourth sliding groove (31) is provided inside the guide rail (15), and an inner wall of the fourth sliding groove (31) is slidably connected to the third sliding block (20).

7. The multi-degree-of-freedom yarn hanging robot system according to claim 1 is characterized in that: A third hole (18) is provided on the front surface of the guide rail (15), and the inner wall of the third hole (18) is in contact with the second screw rod (17); a first hole (6) is provided on the front surface of the base plate (1), and the inner wall of the first hole (6) is in contact with the first screw rod (3).

8. The multi-degree-of-freedom yarn hanging robot system according to claim 1 is characterized in that: The input end of the first drive motor (2) is electrically connected to the computer control device (25) through a connecting line, the input end of the second drive motor (16) is electrically connected to the computer control device (25) through a connecting line, the input end of the third drive motor (30) is electrically connected to the computer control device (25) through a connecting line, and the input end of the console (21) is electrically connected to the computer control device (25) through a connecting line.

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