Telescopic manipulator

Abstract

The utility model discloses a telescopic manipulator which comprises a fixed part, a movable part, a clamping part and a transmission unit, a first synchronous belt is arranged on the fixed part, a second synchronous belt is arranged on the movable part, the first synchronous belt is fixedly connected with the movable part through a first sliding seat, and the second synchronous belt is fixedly connected with the clamping part through a second sliding seat. The transmission unit comprises a third synchronous belt, a transmission wheel seat and a transmission wheel, the second synchronous belt and the third synchronous belt are respectively wound on the transmission wheel, and the third synchronous belt drives the transmission wheel to rotate clockwise / anticlockwise and drives the second synchronous belt to rotate. Compared with the prior art, the telescopic manipulator is high in telescopic performance, high in telescopic efficiency, high in space utilization rate, simple in structure, novel, reasonable and high in practicability.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a telescopic manipulator. Background Art

[0002] In modern production processes, manipulators are widely used in automatic production lines. The research and production of manipulators has become a rapidly developing emerging technology in the field of high technology, which has further promoted the development of manipulators and enabled them to better achieve an organic combination with mechanization and automation. Although the manipulator is not as flexible as a human hand, it has the characteristics of being able to repeat work and labor continuously, not being tired, not afraid of danger, and having greater power to lift heavy objects than a human hand.

[0003] Telescopic manipulators are a type of manipulator with a wide range of applications. Their advantages include: large load-bearing capacity; and long operating distance under the permitted load. However, the current technical problems of telescopic manipulators include: most of them are bulky, complex in structure, high in cost, and occupy space.

[0004] In view of this, the inventor of this case conducted in-depth research on the above-mentioned issues, which led to the birth of this case. Utility Model Content

[0005] The utility model aims to provide a telescopic manipulator with compact structure, low cost and strong practicality.

[0006] In order to achieve the above object, the utility model adopts the following technical solution:

[0007] A telescopic manipulator comprises a fixed part, a movable part and a clamping part, wherein the movable part performs linear motion relative to the fixed part, and the clamping part performs linear motion relative to the movable part, the fixed part is provided with a first synchronous belt device including a first synchronous belt, and the movable part is provided with a second synchronous belt device including a second synchronous belt, the first synchronous belt is fixedly connected to the movable part through a first sliding seat, and the second synchronous belt is fixedly connected to the clamping part through a second sliding seat, and the movement direction of the first synchronous belt is defined as a front-rear direction;

[0008] It also includes a transmission unit for driving the second synchronous belt to rotate, the transmission unit includes a third synchronous belt fixedly connected to both ends of the fixed part, a transmission wheel seat fixedly set on the first sliding seat, and a transmission wheel rotatably set on the transmission wheel seat, the second synchronous belt and the third synchronous belt are respectively wound around the transmission wheel, the third synchronous belt drives the transmission wheel to rotate clockwise / counterclockwise, and drives the second synchronous belt to rotate.

[0009] Preferably, the first synchronous belt device includes first synchronous pulleys respectively arranged at the front and rear ends of the fixing portion, the first synchronous belt wound around the two first synchronous pulleys, and a driving motor driving any of the first synchronous pulleys to rotate and drive the first synchronous belt to move in the front and rear directions.

[0010] Preferably, the second synchronous belt device includes second synchronous belt pulleys respectively arranged at the front and rear ends of the movable portion and the second synchronous belt wound around the two second synchronous belt pulleys.

[0011] Preferably, the first synchronous belt is a non-closed loop synchronous belt, and two ends of the first synchronous belt are respectively meshed and fixedly mounted on the front and rear ends of the first sliding seat;

[0012] And / or the second synchronous belt is a non-closed loop synchronous belt, the front end of the second synchronous belt is fixedly arranged on the second sliding seat, and the two ends of the second synchronous belt are respectively meshed and fixedly installed on the front and rear ends of the second sliding seat.

[0013] Preferably, there is at least one movable part. When there are more than one movable part, the more than one movable parts are arranged in sequence from top to bottom, and two adjacent movable parts are connected through a third sliding seat and a second transmission unit. The third sliding seat has the same structure as the first sliding seat, and the second transmission unit has the same structure as the transmission unit.

[0014] Preferably, a slider and a linear slide rail are used to cooperate between the fixed part and the first sliding seat, and the first sliding seat is fixedly arranged at the bottom of the movable part; a slider and a linear slide rail are used to cooperate between the movable part and the second sliding seat, and the second sliding seat is fixedly arranged at the bottom of the clamping part.

[0015] Preferably, a groove for placing the transmission wheel seat is provided in the middle of the first sliding seat, the opening of the groove faces upward, and part of the transmission wheel is arranged in the groove.

[0016] Preferably, both front and rear ends of the fixing portion are provided with fixing seats, both ends of the third synchronous belt are respectively fixed on the fixing seats, and the position of the third synchronous belt in the horizontal direction is higher than the upper surface of the first sliding seat.

[0017] Preferably, the first sliding seat is further provided with two auxiliary wheels for supporting the third synchronous belt, the two auxiliary wheels are arranged on the front and rear sides of the transmission wheel, and the axes of the two auxiliary wheels and the axis of the transmission wheel are in the same horizontal plane and parallel to each other.

[0018] Preferably, the second synchronous belt and the third synchronous belt are both engaged with the transmission wheel, and the second synchronous belt and the third synchronous belt are in the same horizontal plane and parallel to each other.

[0019] By adopting the above-mentioned design scheme, the beneficial effects of the utility model are as follows: the utility model breaks through the structural form of the traditional telescopic arm manipulator, and slides and overlaps the fixed part, the movable part and the clamping part together, and telescopes in the same direction, and the telescopic rate is gradually enhanced, and the movable part and the clamping part are driven by a transmission wheel and a driving motor, and have excellent maneuverability, stability and driving efficiency; compared with the prior art, the telescopic manipulator of the utility model has strong telescopic performance, high telescopic efficiency, high space utilization, simple structure, novel and reasonable, and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the utility model;

[0021] Figure 2 It is a structural schematic diagram of the utility model from another angle;

[0022] Figure 3 This is a schematic diagram of the structure of the utility model with the clamping part omitted;

[0023] Figure 4 This is a schematic diagram of the structure of the utility model with another angle of the clamping part omitted;

[0024] Figure 5 This is a schematic diagram of the structure of the utility model in which the movable part and the clamping part are omitted;

[0025] In the figure: a fixed part 1, a movable part 2, a clamping part 3, a transmission unit 4, a fixed seat 41, a third synchronous belt 42, a transmission wheel seat 43, a transmission wheel 44, an auxiliary wheel 45, a first synchronous belt device 51, a first synchronous belt 511, a first synchronous pulley 512, a second synchronous belt device 52, a second synchronous belt 521, a second synchronous pulley 522, a first sliding seat 61, a groove 611, a second sliding seat 62, a first slide rail 71, a first slide groove 72, a second slide rail 73, and a second slide groove 74. DETAILED DESCRIPTION

[0026] The following is a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the drawings 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.

[0027] Reference Figures 1 to 5

[0028] A telescopic manipulator comprises a fixed part 1, a movable part 2, a clamping part 3 and a transmission unit 4, wherein the movable part 2 performs linear motion relative to the fixed part 1, and the clamping part 3 performs linear motion relative to the movable part 2. The movable part 2 is slidably retracted on the basis of the fixed part 1, and the clamping part 3 is slidably retracted on the basis of the movable part 2. The three slide and overlap together, retract in the same direction, and the retraction rate is gradually enhanced, with excellent maneuverability, stability and driving efficiency. The utility model can be used in an injection molding machine for plastic boxes, as a telescopic manipulator for picking up and placing molded plastic boxes, with high picking and placing efficiency and strong flexibility. It is worth noting that the clamping part 3 in this embodiment can adopt a picking arm in a telescopic arm of a five-axis manipulator of a Chinese utility model patent (application number 202121405117.X), which is common knowledge and will not be repeated here.

[0029] Further, there is at least one movable part 2. When there are more than one movable part 2, the movable parts 2 that are more than one are sequentially arranged to slide and overlap from top to bottom, and two adjacent movable parts 2 are connected via the third sliding seat and the second transmission unit 4. Specifically, the third sliding seat has the same structure as the first sliding seat 61, and the second transmission unit has the same structure as the transmission unit 4, which will not be described in detail here.

[0030] For the convenience of description, the direction in which the movable part 2 or the clamping part 3 performs linear motion is defined as the front-to-back direction.

[0031] The fixing part 1 is provided with a first synchronous belt device 51, which includes first synchronous pulleys 512 respectively provided at the front and rear ends of the fixing part 1, a first synchronous belt 511 wound around the two first synchronous pulleys 512, and a driving motor (not shown in the figure) driving any of the first synchronous pulleys 512 to rotate and drive the first synchronous belt 511 to move in the front and rear directions, and the driving motor is provided on the fixing part 11. Specifically, the driving motor is a servo motor.

[0032] Furthermore, the first synchronous belt 511 is fixedly connected to the movable part 2 through the first sliding seat 61. When the first synchronous belt 511 is a non-closed-loop synchronous belt, the two ends of the first synchronous belt 511 are respectively meshed and fixedly installed at the front and rear ends of the first sliding seat 61, so as to drive the first synchronous belt 511 to move forward and backward through the servo motor and drive the movable part 2 fixed to the first sliding seat 61 to move forward and backward. It is worth noting that the first synchronous belt 511 can also be a closed-loop synchronous belt, that is, a section of the first synchronous belt 511 is fixedly connected to the first sliding seat 61. This embodiment uses the non-closed-loop first synchronous belt 511 to explain the utility model in detail.

[0033] The movable part 2 is provided with a second synchronous belt device 52, and the second synchronous belt device 52 includes second synchronous pulleys 522 respectively provided at the front and rear ends of the movable part 2 and a second synchronous belt 521 wound around the two second synchronous pulleys 522. Further, the second synchronous belt 521 is fixedly connected to the clamping part 3 through the second sliding seat 62. When the second synchronous belt 521 is a non-closed-loop synchronous belt, the two ends of the second synchronous belt 521 are respectively meshed and fixedly installed at the front and rear ends of the second sliding seat 62, and when the second synchronous belt 521 moves forward and backward, it drives the clamping part 3 fixedly connected to the second sliding seat 62 to move forward and backward. It is worth noting that the second synchronous belt 521 can also be a closed-loop synchronous belt, that is, a section of the synchronous belt on which the second synchronous belt 521 is provided is fixedly connected to the second sliding seat 62. This embodiment uses a closed-loop second synchronous belt 521 to explain the utility model in detail.

[0034] The transmission unit 4 is used to drive the second synchronous belt 521 to move forward and backward. The transmission unit 4 includes a fixed seat 41 mounted on both ends of the fixed part 1, a third synchronous belt 42 connecting the two fixed seats 41, a transmission wheel seat 43 fixedly mounted on the first sliding seat 61, a transmission wheel 44 rotatably mounted on the transmission wheel seat 43, and two auxiliary wheels 45 for supporting the third synchronous belt 42. The position of the third synchronous belt 42 in the horizontal direction is higher than the upper surface of the first sliding seat 61. The two auxiliary wheels 45 are arranged on the front and rear sides of the transmission wheel 44, and the axes of the two auxiliary wheels 45 and the axes of the transmission wheel 44 are in the same horizontal plane and parallel to each other. A groove 611 is arranged in the middle of the first sliding seat 61 for the transmission wheel seat 43 to be placed. The opening of the groove 611 faces upward, and parts of the transmission wheel 44 and the two auxiliary wheels 45 are arranged in the groove 611.

[0035] Further, the second synchronous belt 521 and the third synchronous belt 42 are respectively wound around the transmission wheel 44 and meshed with the transmission wheel 44, and the second synchronous belt 521 and the third synchronous belt 42 are in the same horizontal plane and parallel to each other, and the third synchronous belt 42 drives the transmission wheel 44 to rotate clockwise / counterclockwise, and drives the second synchronous belt 521 to rotate. It should be noted that in this embodiment, the first synchronous belt 511, the second synchronous belt 521, the third synchronous belt 43, the first synchronous belt pulley 512, the second synchronous belt pulley 522 and the transmission wheel 44 are well-known and commonly used equipment components in the field of synchronous belt transmission; the first synchronous belt 511, the second synchronous belt 521 and the third synchronous belt 43 are all provided with belt transmission teeth, and the first synchronous belt pulley 512, the second synchronous belt pulley 522 and the transmission wheel 44 are all provided with wheel transmission teeth, and the belt transmission teeth and the wheel transmission teeth can mesh with each other, which is common knowledge and will not be described one by one.

[0036] Further, a slider and a linear slide are used to cooperate between the fixed part 1 and the first sliding seat 61, and the first sliding seat 61 is fixedly set at the bottom of the movable part 2; a slider and a linear slide are used to cooperate between the movable part 2 and the second sliding seat 62, and the second sliding seat 62 is fixedly set at the bottom of the clamping part 3, that is, it includes a first slide rail 71 formed on the upper surface of the fixed part 1, a first slide groove 72 formed on the first sliding seat 61 and matching the first slide rail 71, a second slide rail 73 formed on the upper surface of the movable part 2, and a second slide groove 74 formed on the second sliding seat 62 and matching the second slide rail 73. The first slide groove 72 and the second slide groove 74 slide within the length range of the corresponding first slide rail 71 and the third slide rail 73, and the movable part 2 and the clamping part 3 slide within the length range of the first slide rail 71 and the third slide rail 73 by relying on the corresponding first slide groove 72 and the second slide groove 74, that is, in actual extension and retraction, the sum of the lengths of the fixed part 1 and the movable part 2 is the length of the entire telescopic arm of the manipulator, thereby making the entire telescopic arm structure more compact and firm; and the cooperation of the slider and the linear slide rail can effectively guide the clamping part 3, making the extension and retraction of the clamping part 3 more precise and stable, thereby improving the telescopic performance of the telescopic arm.

[0037] Working principle:

[0038] The servo motor drives any first synchronous belt wheel 512 to rotate to drive the first synchronous belt 511 (fixedly connected to the movable part 2) to move forward and backward. Since the second synchronous belt 521 and the third synchronous belt 42 (fixedly connected to the clamping part 3) are respectively in meshing relationship with the transmission wheel 44, the second synchronous belt 521 drives the transmission wheel 44 to rotate and drives the third synchronous belt 42 to move forward and backward. At this point, the entire motion transmission process is completed.

[0039] By adopting the above-mentioned design scheme, the beneficial effect of the utility model is: while the first synchronous belt 511 is driven to feed by a single servo motor, the feeding of the second synchronous belt 521 is controlled by the third synchronous belt 42 and the transmission wheel 44, so that the feeding speed and running stroke of the manipulator gripping claw are greatly improved. The utility model breaks through the structural form of the traditional telescopic arm manipulator. On the basis of the sliding and overlapping fixed part 1 and the clamping part 3, a movable part 2 is added. The three slide and overlap together, and extend and retract in the same direction, and the extension and retraction rate is gradually increased; compared with the prior art, the telescopic manipulator of the utility model has strong telescopic performance, high telescopic efficiency, high space utilization, simple structure, novel and reasonable, and strong practicality.

[0040] 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. A telescopic manipulator, comprising a fixed part, a movable part and a clamping part, wherein the movable part performs linear motion relative to the fixed part, and the clamping part performs linear motion relative to the movable part, the fixed part is provided with a first synchronous belt device including a first synchronous belt, and the movable part is provided with a second synchronous belt device including a second synchronous belt, the first synchronous belt is fixedly connected to the movable part through a first sliding seat, and the second synchronous belt is fixedly connected to the clamping part through a second sliding seat, and the movement direction of the first synchronous belt is defined as a front-to-back direction, characterized in that: It also includes a transmission unit for driving the second synchronous belt to rotate, the transmission unit includes a third synchronous belt fixedly connected to both ends of the fixed part, a transmission wheel seat fixedly set on the first sliding seat, and a transmission wheel rotatably set on the transmission wheel seat, the second synchronous belt and the third synchronous belt are respectively wound around the transmission wheel, the third synchronous belt drives the transmission wheel to rotate clockwise / counterclockwise, and drives the second synchronous belt to rotate.

2. A telescopic manipulator according to claim 1, characterized in that: The first synchronous belt device includes first synchronous pulleys respectively arranged at the front and rear ends of the fixing portion, the first synchronous belt wound around the two first synchronous pulleys, and a driving motor driving any of the first synchronous pulleys to rotate and drive the first synchronous belt to move along the front and rear directions.

3. A telescopic manipulator according to claim 1, characterized in that: The second synchronous belt device includes second synchronous belt pulleys respectively arranged at the front and rear ends of the movable part and the second synchronous belt wound around the two second synchronous belt pulleys.

4. A telescopic manipulator according to any one of claims 1 to 3, characterized in that: The first synchronous belt is a non-closed loop synchronous belt, and two ends of the first synchronous belt are respectively meshed and fixedly mounted on the front and rear ends of the first sliding seat; And / or the second synchronous belt is a non-closed loop synchronous belt, the front end of the second synchronous belt is fixedly arranged on the second sliding seat, and the two ends of the second synchronous belt are respectively meshed and fixedly installed on the front and rear ends of the second sliding seat.

5. A telescopic manipulator according to claim 1, characterized in that: There is at least one movable part. When there are more than one movable part, the movable parts are arranged in sequence from top to bottom, and two adjacent movable parts are connected through a third sliding seat and a second transmission unit. The third sliding seat has the same structure as the first sliding seat, and the second transmission unit has the same structure as the transmission unit.

6. A telescopic manipulator according to claim 1, characterized in that: A slider and a linear slide rail are used between the fixed part and the first sliding seat, and the first sliding seat is fixedly arranged at the bottom of the movable part; a slider and a linear slide rail are used between the movable part and the second sliding seat, and the second sliding seat is fixedly arranged at the bottom of the clamping part.

7. A telescopic manipulator according to claim 2, characterized in that: A groove for placing the transmission wheel seat is arranged in the middle of the first sliding seat, the opening of the groove faces upward, and part of the transmission wheel is arranged in the groove.

8. A telescopic manipulator according to claim 7, characterized in that: Fixed seats are provided at both the front and rear ends of the fixing portion, and both ends of the third synchronous belt are fixedly arranged on the fixed seats respectively. The position of the third synchronous belt along the horizontal direction is higher than the upper surface of the first sliding seat.

9. A telescopic manipulator according to claim 8, characterized in that: The first sliding seat is also provided with two auxiliary wheels for supporting the third synchronous belt, the two auxiliary wheels are arranged on the front and rear sides of the transmission wheel, and the axes of the two auxiliary wheels and the axis of the transmission wheel are in the same horizontal plane and parallel to each other.

10. A telescopic manipulator according to claim 9, characterized in that: The second synchronous belt and the third synchronous belt are both meshed with the transmission wheel, and the second synchronous belt and the third synchronous belt are in the same horizontal plane and parallel to each other.

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