Screw rod sliding table device of manipulator

Abstract

The invention discloses a lead screw sliding table device of a manipulator. The lead screw sliding table device comprises a mounting frame. A driving motor drives a lead screw and a second clamping column at the same time through a belt wheel and a transmission belt, so that an extending lead screw and the lead screw rotate at the same speed in the same direction, and a first moving sleeve and a second moving sleeve are in butt joint with the lead screw and the extending lead screw correspondingly in the later period; when the inserting plate moves, the U-shaped connecting plate is pushed and pulled through the inner concave plate, and the inserting plate is automatically clamped and separated from the inner concave plate under the action of the arc edge limiting piece and the triangular strip, so that the positions of the U-shaped connecting plate and the extending lead screw in the connecting inner groove are adjusted and changed, and after the extending lead screw extends out of the connecting inner groove, the U-shaped connecting plate is clamped and separated from the extending lead screw. The sliding distance of the sliding table is increased through butt joint movement of the second moving sleeve on the extending lead screw, the moving size of the sliding table can be flexibly adjusted within a certain range according to the processing requirement of the mechanical arm, and therefore the flexibility of the device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical hand lead screw slides, and particularly relates to a lead screw slide device for a mechanical hand. Background Art

[0002] A lead screw slide is a commonly used linear motion device, widely used in fields such as automation, machinery manufacturing, CNC machining, robots, etc. It converts the rotational motion of a lead screw into linear motion, has high precision and high load capacity, and its main components include a lead screw, a nut, a slide, a slide rail, and a bracket. The lead screw slide device of a mechanical hand is an important actuator, usually used in robots, automation equipment, and various mechanical devices to achieve high-precision linear motion.

[0003] In the existing lead screw slides, the moving distance of the slide is mainly determined by the length of the lead screw. Since the length of the lead screw in the lead screw slide is fixed and non-adjustable, the moving distance of the slide cannot be adjusted according to the processing requirements of the mechanical hand. The fixed moving range of the slide results in poor flexibility in the use of the lead screw slide. Summary of the Invention

[0004] The purpose of the present invention is to provide a lead screw slide device for a mechanical hand, which solves the problem that the moving distance of the slide in the traditional lead screw slide device is mainly determined by the length of the lead screw. Since the length of the lead screw in the lead screw slide is fixed and non-adjustable, the moving distance of the slide cannot be adjusted according to the processing requirements of the mechanical hand. The fixed moving range of the slide results in poor flexibility in the use of the lead screw slide.

[0005] The present invention solves the above technical problems through the following technical solutions. The present invention includes: A mounting frame, an inner connecting groove is opened inside the mounting frame, a driving motor is arranged on one side of the mounting frame, a lead screw is rotated on the other side of the mounting frame, and a first moving sleeve is threadedly connected to the outside of the lead screw; A slide, the slide is arranged above the mounting frame, the first moving sleeve is located inside the slide, and the slide is used to support other mechanical components and carry the working load; A path extension member, the path extension member is arranged inside the connecting inner groove, and the path extension member is used to increase the sliding path of the slide. The path extension member includes a support plate arranged on one side of the mounting frame and a second moving sleeve fixed below the first moving sleeve. Two U-shaped connecting plates are fixed on one side of the support plate, and both of the two U-shaped connecting plates slide inside the connecting inner groove. An extension lead screw is rotated on one side of the support plate.

[0006] Preferably, clamping grooves are formed inside both the extension lead screw and the lead screw. A first clamping post and a second clamping post are respectively slidably disposed inside the two clamping grooves. One end of the first clamping post extends to one side of the support plate, and one end of the second clamping post extends to one side of the mounting bracket. The second clamping post penetrates through the inside of the second moving sleeve.

[0007] Preferably, two opposite grooves are formed inside the connecting inner groove. A plurality of balls are movably connected to the outside of each of the two U-shaped connecting plates, and the plurality of balls are all movably connected inside the grooves.

[0008] Preferably, a path self-pushing and pulling member is disposed below the second moving sleeve. The path self-pushing and pulling member is used to help the path extending member automatically enter and exit the connecting inner groove to change its position.

[0009] Preferably, the path self-pushing and pulling member includes a hollow mounting block fixed below the second moving sleeve, an arc-edge limiting piece fixed inside the connecting inner groove, and a concave plate fixed to one side of each of the two U-shaped connecting plates. A sliding plate is slidably disposed inside the hollow mounting block. A plurality of springs are fixed above the sliding plate. Two plugging plates and a triangular bar are fixed below the sliding plate. The two plugging plates and the triangular bar all extend below the hollow mounting block. Two opposite limiting grooves are formed inside the connecting inner groove. The two U-shaped connecting plates respectively slide inside the two limiting grooves through sliders.

[0010] Preferably, two opposite initial positioning grooves and two opposite final positioning grooves are formed inside the connecting inner groove. Rubber strips are fixed to the outside of the two concave plates.

[0011] Preferably, a co-driving member is disposed on one side of the mounting bracket. The co-driving member is used to help the driving motor drive the lead screw and the extension lead screw to rotate simultaneously.

[0012] Preferably, the co-driving member includes two belt pulleys rotatably disposed on one side of the mounting bracket. A transmission belt is sleeved between the two belt pulleys. One end of the lead screw and one end of the second clamping post are respectively fixed to one side of the two belt pulleys. One end of the output shaft of the driving motor is fixed to one of the belt pulleys.

[0013] Preferably, two opposite vertical grooves are formed inside the inner side of the sliding table. Two connecting arms are fixed to the outside of the first moving sleeve. One end of each of the two connecting arms respectively slides inside the two vertical grooves.

[0014] Preferably, support grooves are formed above each of the two U-shaped connecting plates. Two horizontal grooves are formed above the mounting bracket. The two support grooves are respectively communicated with the two horizontal grooves. The lower part of the sliding table respectively slides inside the two support grooves through two connecting feet.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: By providing a pulley and a transmission belt, the driving motor can drive the lead screw and the second clamping post simultaneously, so that the extension lead screw and the lead screw rotate at the same speed and in the same direction, which facilitates the docking between the first moving sleeve and the second moving sleeve and the lead screw and the extension lead screw in the later stage. The lead screw drives the plugging plate and the triangular strip to move through the second moving sleeve. When the plugging plate moves, it pushes and pulls the U-shaped connecting plate through the concave plate. And the plugging plate is automatically clamped and disengaged from the concave plate under the action of the arc-edge limiting piece and the triangular strip, so as to adjust and change the positions of the U-shaped connecting plate and the extension lead screw in the connecting inner groove. After the extension lead screw extends out of the connecting inner groove, relying on the movement of the second moving sleeve docked on the extension lead screw, the sliding distance of the sliding table is increased. The moving dimension of the sliding table can be flexibly adjusted within a certain range according to the processing requirements of the manipulator, so as to improve the flexibility of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic diagram of the main structure of the present invention; Figure 2 is Figure 1 a partial split cross-sectional view of; Figure 3 is a schematic diagram of the structure after the path extension member of the present invention extends; Figure 4 is Figure 3 a split cross-sectional view of; Figure 5 is Figure 4 an enlarged schematic view of part A in; Figure 6 is Figure 4 an enlarged schematic view of part B in.

[0017] 1. Mounting frame; 2. Connecting inner groove; 3. Driving motor; 4. Lead screw; 5. First moving sleeve; 6. Sliding table; 7. Path extension member; 71. Support plate; 72. Second moving sleeve; 73. U-shaped connecting plate; 74. Extension lead screw; 75. Card slot; 76. First clamping post; 77. Second clamping post; 78. Ball; 79. Hollow mounting block; 710. Arc-edge limiting piece; 711. Concave plate; 712. Sliding plate; 713. Spring; 714. Plugging plate; 715. Triangular strip; 716. Rubber strip; 717. Pulley; 718. Transmission belt; 8. Groove body; 9. Limiting groove; 10. Initial positioning groove; 11. Final positioning groove; 12. Vertical groove; 13. Connecting arm; 14. Support groove; 15. Horizontal groove. DETAILED DESCRIPTION OF THE INVENTION

[0018] The following further describes in detail the above and other technical features and advantages of the present invention with reference to the accompanying drawings.

[0019] The present invention provides a technical solution: a raw material dissolving device for veterinary drug production, as Figures 1-6 shown, which includes a mounting frame 1, a sliding table 6, a path extension member 7, a path self-pushing and pulling member, and a co-driving member. A connecting inner groove 2 is opened inside the mounting frame 1. A driving motor 3 is arranged on one side of the mounting frame 1. The driving motor 3 is connected to an external control switch through the prior art. A lead screw 4 rotates on the other side of the mounting frame 1. A first moving sleeve 5 is threadedly connected to the outside of the lead screw 4. The sliding table 6 is arranged above the mounting frame 1. The first moving sleeve 5 is located inside the sliding table 6. The sliding table 6 is used to support other mechanical components and carry the working load. Two opposite vertical grooves 12 are opened inside the sliding table 6. Two connecting arms 13 are fixed to the outside of the first moving sleeve 5. One ends of the two connecting arms 13 slide inside the two vertical grooves 12 respectively. The weight of the component carried above the sliding table 6 will only be applied to the mounting frame 1 and the two U-shaped connecting plates 73, and will not directly press on the first moving sleeve 5 and the lead screw 4, slowing down the time when the lead screw 4 bends.

[0020] The path extension member 7 is arranged inside the connecting inner groove 2. The path extension member 7 is used to increase the sliding path of the sliding table 6. The maximum moving distance of the sliding table 6 increases, which enables the lead screw and sliding table device to process larger workpieces or complete more complex tasks, improving the application flexibility of the lead screw and sliding table device. The path extension member 7 includes a support plate 71 arranged on one side of the mounting frame 1 and a second moving sleeve 72 fixed below the first moving sleeve 5. A plurality of mounting holes are opened below the support plate 71. Round beads are movably installed in the mounting holes. When the two U-shaped connecting plates 73 enter and exit the connecting inner groove 2, the round beads below the support plate 71 roll, making it easier for the U-shaped connecting plates 73 to enter and exit. Two U-shaped connecting plates 73 are fixed to one side of the support plate 71. The openings of the two U-shaped connecting plates 73 are arranged opposite to each other. Both of the two U-shaped connecting plates 73 slide inside the connecting inner groove 2. An extension lead screw 74 rotates on one side of the support plate 71. The extension lead screw 74 is located directly below the lead screw 4. When the two U-shaped connecting plates 73 slide out of the connecting inner groove 2, the extension lead screw 74 extends towards one end of the lead screw 4. When the two U-shaped connecting plates 73 are in the connecting inner groove 2, the extension lead screw 74 and the lead screw 4 are vertically corresponding, and the extension lead screw 74 is shorter than the lead screw 4 by a certain length. Support grooves 14 are opened above both of the two U-shaped connecting plates 73. Two transverse grooves 15 are opened above the mounting frame 1. The two support grooves 14 are respectively communicated with the two transverse grooves 15. The lower part of the sliding table 6 slides inside the two support grooves 14 through two connecting feet respectively.

[0021] A clamping groove 75 is formed inside both the extending lead screw 74 and the lead screw 4. A first clamping post 76 and a second clamping post 77 are respectively slidably disposed inside the two clamping grooves 75. One end of the first clamping post 76 extends to one side of the support plate 71. When the support plate 71 moves away from the mounting bracket 1, the first clamping post 76 will move out of the lead screw 4, maintaining the rotational connection between one end of the lead screw 4 and the support plate 71 and maintaining the support point of the lead screw 4. One end of the second clamping post 77 extends to one side of the mounting bracket 1. Similarly, when the support plate 71 moves away from the mounting bracket 1, the second clamping post 77 will slide out of the extending lead screw 74, maintaining the rotational connection between one end of the extending lead screw 74 and the mounting bracket 1 and maintaining the support point of the extending lead screw 74. The second clamping post 77 is disposed inside the second moving sleeve 72. Since the second clamping post 77 is thinner than the extending lead screw 74, it will not obstruct or affect the second moving sleeve 72. Two opposite grooves 8 are formed inside the connecting inner groove 2. A plurality of balls 78 are movably connected to the outside of the two U-shaped connecting plates 73. The balls 78 mounted on the two U-shaped connecting plates 73 are arranged in a line, and the balls 78 on one U-shaped connecting plate 73 correspond to one groove 8. A plurality of balls 78 are movably connected inside the groove 8.

[0022] The path self-pushing and pulling member is arranged below the second moving sleeve 72. The path self-pushing and pulling member is used to help the path extension member 7 automatically enter and exit the connection inner groove 2 to change its position. When the lead screw 4 is driven, with the movement of the first moving sleeve 5 and the second moving sleeve 72, the pushing and pulling work of the two U-shaped connecting plates 73 is completed through the path self-pushing and pulling member. The path self-pushing and pulling member includes a hollow mounting block 79 fixed below the second moving sleeve 72, an arc-edge limiting piece 710 fixed inside the connection inner groove 2, and a concave plate 711 fixed on one side of the two U-shaped connecting plates 73. A groove is provided above the concave plate 711. The arc-edge limiting piece 710 is arranged at a position close to the opening of the connection inner groove 2, and the upper part is a smooth arc edge. A sliding plate 712 slides inside the hollow mounting block 79. A plurality of springs 713 are fixed above the sliding plate 712. One end of each of the plurality of springs 713 is fixed above the inner wall of the hollow mounting block 79. The springs 713 play a role in automatically resetting the sliding plate 712. When the springs 713 are in their original lengths, the lower part of the sliding plate 712 closely adheres to the bottom of the inner wall of the hollow mounting block 79. Two insertion plates 714 and a triangular strip 715 are fixed below the sliding plate 712. The triangular strip 715 is located between the two insertion plates 714. The two insertion plates 714 and the triangular strip 715 all extend below the hollow mounting block 79, and the positions of the two insertion plates 714 are respectively corresponding to the upper parts of the two concave plates 711. Two opposite limiting grooves 9 are provided inside the connection inner groove 2. The two U-shaped connecting plates 73 respectively slide inside the two limiting grooves 9 through sliders. The limiting grooves 9 are used to limit the sliding range of the U-shaped connecting plates 73 (i.e., the sliding path length and position). Two opposite initial positioning grooves 10 and two opposite final positioning grooves 11 are provided inside the connection inner groove 2. Rubber strips 716 are fixed outside the two concave plates 711. When the rubber strips 716 are stuck in the initial positioning grooves 10, the U-shaped connecting plates 73 are completely inside the connection inner groove 2. At this time, the support plate 71 closely adheres to one side of the mounting frame 1. When the sliders on the U-shaped connecting plates 73 move to one end of the limiting grooves 9 close to the support plate 71, the rubber strips 716 are then stuck in the final positioning grooves 11 to help position the U-shaped connecting plates 73 and prevent the U-shaped connecting plates 73 from easily sliding in the connection inner groove 2, resulting in a slight change in the position of the extension lead screw 74, thereby affecting the normal movement work of the slide table 6.

[0023] The common driving member is arranged on one side of the mounting frame 1. The common driving member is used to help the driving motor 3 drive the lead screw 4 and the extension lead screw 74 to rotate simultaneously. The common driving member includes two pulleys 717 rotatably arranged on one side of the mounting frame 1. A transmission belt 718 is sleeved between the two pulleys 717. One end of the lead screw 4 and one end of the second clamping column 77 are respectively fixed on one side of the two pulleys 717. One end of the output shaft of the driving motor 3 is fixedly connected to one of the pulleys 717. A hidden shell is arranged outside the two pulleys 717 to hide and block the pulleys 717 and the transmission belt 718. The driving motor 3 drives the pulley 717 connected thereto, and this pulley 717 drives the other pulley 717 to rotate together through the transmission belt 718, so as to drive the lead screw 4 and the second clamping column 77 to rotate in the same direction simultaneously. The second clamping column 77 then drives the extension lead screw 74 to rotate in the same direction as the lead screw 4 simultaneously.

[0024] During use, start the driving motor 3 to drive the pulley 717 connected thereto to rotate. This pulley 717 drives the lead screw 4 and the second clamping column 77 to rotate in the same direction simultaneously through the transmission belt 718 and the other pulley 717 respectively. The second clamping column 77 then drives the extension lead screw 74 to rotate in the same direction as the lead screw 4 simultaneously. When the lead screw 4 rotates, the first moving sleeve 5 and the second moving sleeve 72 move along the lead screw 4 simultaneously. The first moving sleeve 5 drives the sliding table 6 to move through two connecting arms 13. At the same time, the second moving sleeve 72 drives the hollow mounting block 79 to move. The hollow mounting block 79 then pushes the U-shaped connecting plate 73 to slide in the limiting groove 9 through the insertion plate 714 inserted into the concave plate 711, so as to push the extension lead screw 74 out of the connecting inner groove 2. When the triangular strip 715 moves to the position where the arc-edge limiting piece 710 is located, due to the pushing of the inclined surface of the triangular strip 715 by the arc-edge limiting piece 710, the triangular strip 715 gradually slides into the hollow mounting block 79, and pushes the sliding plate 712 to squeeze the spring 713 and gradually take the insertion plate 714 out of the concave plate 711. When the insertion plate 714 moves out of the concave plate 711, the rubber strip 716 is stuck into the corresponding final positioning groove 11 to limit the position of the U-shaped connecting plate 73 and prevent the U-shaped connecting plate 73 from moving easily. At this time, the position of the extension lead screw 74 is fixed. The second moving sleeve 72 continues to drive the hollow mounting block 79 to move as the first moving sleeve 5 moves on the lead screw 4. After the triangular strip 715 passes through the arc-edge limiting piece 710, the extrusion on the sliding plate 712 is released. Under the elastic force of the spring 713, the insertion plate 714 and the triangular strip 715 are reset. When the second moving sleeve 72 continues to move, it is correspondingly inserted at one end of the extension lead screw 74 that has stopped extending outwards. Under the condition that the extension lead screw 74 and the lead screw 4 rotate in the same direction and at the same speed, the second moving sleeve 72 will move along the extension lead screw 74, and the first moving sleeve 5 will disengage from the lead screw 4. The sliding table 6 is supported by the connecting feet and slides into the support groove 14 along the support.

[0025] When the drive motor 3 rotates in the reverse direction, the extension lead screw 74 and the lead screw 4 rotate in reverse. The second moving sleeve 72 will move on the extension lead screw 74 in the direction approaching the lead screw 4. When the first moving sleeve 5 touches one end of the lead screw 4, as the second moving sleeve 72 moves and the lead screw 4 and the extension lead screw 74 rotate at the same speed, it reconnects to the outside of the lead screw 4 again. Then the second moving sleeve 72 disengages from the extension lead screw 74. When the triangular strip 715 moves to the arc-edge limiting piece 710 accordingly, it is pushed back into the hollow mounting block 79 again, thereby lifting the plug-in board 714 upward above the concave board 711. When the triangular strip 715 passes the arc-edge limiting piece 710, the extrusion force on the sliding board 712 is released. When the plug-in board 714 moves to the corresponding groove above the concave board 711, it is pushed by the spring 713 to re-engage into the groove. At this time, the second moving sleeve 72 will drive the U-shaped connecting plate 73 to be pulled back into the connecting inner groove 2 under the drive of the first moving sleeve 5. The moving distance of the slide 6 can be adjusted to a certain extent, and when the slide 6 moves, it can automatically push the extension lead screw 74 located in the connecting inner groove 2 in and out. When the lead screw slide device is being carried, the slide 6 is adjusted to the side close to the drive motor 3 to minimize the volume and size of the device, preventing it from occupying a large space, and helping to increase the number of lead screw slides that can be carried.

[0026] The above are only the preferred embodiments of the present invention, which are illustrative rather than restrictive to the present invention. Those skilled in the art understand that many changes, modifications, and even equivalents can be made within the spirit and scope defined by the claims of the present invention, but all will fall within the protection scope of the present invention.

Claims

1. A screw slide device for a manipulator, characterized in that: include: A mounting frame (1), wherein a connecting inner groove (2) is provided inside the mounting frame (1), a driving motor (3) is provided on one side of the mounting frame (1), a screw rod (4) is rotatable on the other side of the mounting frame (1), and a first moving sleeve (5) is connected to the outer thread of the screw rod (4); A slide (6), the slide (6) being arranged above the mounting frame (1), the first movable sleeve (5) being located on the inner side of the slide (6), the slide (6) being used to support other mechanical components and bear a working load; A path extension member (7), the path extension member being arranged inside the connecting inner groove (2), the path extension member (7) being used to increase the sliding path of the slide table (6), the path extension member (7) comprising a support plate (71) arranged on one side of the mounting frame (1) and a second movable sleeve (72) fixed below the first movable sleeve (5), two U-shaped connecting plates (73) being fixed on one side of the support plate (71), both of the two U-shaped connecting plates (73) sliding inside the connecting inner groove (2), and an extension screw rod (74) being rotatable on one side of the support plate (71).

2. A screw slide device for a manipulator according to claim 1, characterized in that: A slot (75) is provided inside the extension screw rod (74) and inside the screw rod (4), and a first clamping column (76) and a second clamping column (77) are respectively slidably disposed inside the two clamping slots (75), one end of the first clamping column (76) extends to one side of the support plate (71), one end of the second clamping column (77) extends to one side of the mounting frame (1), and the second clamping column (77) is disposed inside the second movable sleeve (72).

3. The screw slide device of a robot according to claim 2, characterized in that: The connecting inner groove (2) has two opposing groove bodies (8) formed therein, and the exteriors of the two U-shaped connecting plates (73) are movably connected to a plurality of balls (78), and the plurality of balls (78) are movably connected to the interior of the groove bodies (8).

4. The screw slide device of a robot according to claim 3, characterized in that: A path self-pushing and pulling member is provided below the second movable sleeve (72), and the path self-pushing and pulling member is used to help the path extension member (7) automatically move in and out of the connecting inner groove (2) to change its position.

5. The screw slide device of a robot according to claim 4, characterized in that: The path self-pushing and pulling member comprises a hollow mounting block (79) fixed below the second moving sleeve (72), an arc edge limiting plate (710) fixed inside the connecting inner groove (2), and an inner concave plate (711) fixed on one side of two U-shaped connecting plates (73); a sliding plate (712) is slidably disposed inside the hollow mounting block (79); a plurality of springs (713) are fixed above the sliding plate (712); two plug-in plates (714) and a triangular bar (715) are fixed below the sliding plate (712); the two plug-in plates (714) and the triangular bar (715) both extend to the bottom of the hollow mounting block (79); two opposing limiting grooves (9) are provided inside the connecting inner groove (2); and the two U-shaped connecting plates (73) slide inside the two limiting grooves (9) respectively through sliders.

6. The screw slide device of a robot according to claim 5, characterized in that: Two opposing initial positioning grooves (10) and two opposing final positioning grooves (11) are provided inside the connecting inner groove (2), and rubber strips (716) are fixed to the outside of the two inner concave plates (711).

7. The screw slide device of a robot according to claim 2, characterized in that: A co-driving component is provided on one side of the mounting frame (1), and the co-driving component is used to help the driving motor (3) to simultaneously drive the lead screw (4) and the extension lead screw (74) to rotate.

8. The screw slide device of a robot according to claim 7, characterized in that: The co-drive component comprises two pulleys (717) rotating on one side of the mounting frame (1), a transmission belt (718) being sleeved between the two pulleys (717), one end of the screw rod (4) and one end of the second clamping column (77) being respectively fixed to one side of the two pulleys (717), and one end of the output shaft of the drive motor (3) being fixedly connected to one of the pulleys (717).

9. The screw slide device of a robot according to claim 1, characterized in that: Two opposite vertical grooves (12) are formed on the inner side of the slide table (6), and two connecting arms (13) are fixed on the outside of the first movable sleeve (5), with one end of the two connecting arms (13) sliding inside the two vertical grooves (12) respectively.

10. The screw slide device of a robot according to claim 9, characterized in that: A support groove (14) is provided on the top of the two U-shaped connecting plates (73), two transverse grooves (15) are provided on the top of the mounting frame (1), the two support grooves (14) are respectively connected to the two transverse grooves (15), and the bottom of the slide (6) slides inside the two support grooves (14) respectively via two connecting legs.

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