Synchronous belt connecting rod manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses a synchronous belt connecting rod manipulator. Comprising a mounting plate, a driving wheel and a linkage wheel are arranged on the central axis of the front face of the mounting plate at intervals, and a synchronous belt is arranged between the driving wheel and the linkage wheel; the connecting rod assembly is arranged on the driving wheel and the linkage wheel and is in linkage connection with the driving wheel and the linkage wheel; the driving assembly comprises a motor and a speed reducer connected to the output end of the motor, the output end of the speed reducer is installed on the back face of the installation plate in a vertically movable mode, an output shaft of the speed reducer penetrates through the installation plate and is connected with the driving wheel, and the driving assembly is used for driving the connecting rod assembly to reciprocate. The mechanical arm with the synchronous belt and the connecting rod is simple in overall structure, small in occupied space and capable of being more widely applied to various working scenes, the mechanical arm has higher rigidity and stability due to the overall simple structure, and meanwhile the manufacturing cost of the mechanical arm is reduced.

Description

Technical Field

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

[0002] A manipulator is an automatic operating device that can imitate certain movements of human hands and arms. It can replace humans to perform heavy labor and thus realize the mechanization and automation of production. It is mostly used in mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other fields. The PPU manipulator is a pick-and-place unit transfer manipulator. It uses a cam structure and cooperates with a drive to make the actuator move along a predetermined trajectory. It has the characteristics of high efficiency, stable movement and high precision. It is mainly used for automatic transmission, feeding and removal of parts in a cramped space.

[0003] The robot requires a structure with strong rigidity to support the torque and inertia caused by its high-speed operation. In the existing technology, most PPU robots drive the robot arm to swing through a motor connected to a reducer and a coupling. On the one hand, its complex structure leads to insufficient rigidity of the overall structure of the robot. On the other hand, the robot occupies too much space, resulting in poor adaptability.

[0004] Therefore, there is an urgent need for a synchronous belt connecting rod robot to solve the above problems. Utility Model Content

[0005] Based on the above, the purpose of the utility model is to provide a synchronous belt connecting rod manipulator to solve the problem of insufficient rigidity and poor adaptability caused by the complex structure of the PPU manipulator in the prior art.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0007] The utility model provides a synchronous belt connecting rod manipulator comprising:

[0008] A mounting plate, a driving wheel and a linkage wheel are arranged on the central axis of the front side of the mounting plate, and a synchronous belt is arranged between the driving wheel and the linkage wheel;

[0009] A connecting rod assembly is mounted on the driving wheel and the linkage wheel, and is linked to the driving wheel and the linkage wheel;

[0010] The driving assembly includes a motor and a reducer connected to the output end of the motor. The output end of the reducer is mounted on the back of the mounting plate so as to be movable up and down. The output shaft of the reducer passes through the mounting plate and is connected to the driving wheel. The driving assembly is used to drive the connecting rod assembly to move back and forth.

[0011] As an optional technical solution for a synchronous belt-link manipulator, the connecting rod assembly includes two main connecting rods and one secondary connecting rod, one end of the two main connecting rods is respectively installed on the driving wheel and the interlocking wheel, and the secondary connecting rod is installed on the other end of the two main connecting rods away from the driving wheel and the interlocking wheel. A plurality of mounting holes for mounting a jig or a clamp are provided at the lower end of the secondary connecting rod.

[0012] As an optional technical solution for a synchronous belt-link manipulator, mounting grooves are provided on the end faces of the driving wheel and the linkage wheel, and one end of the two main connecting rods are respectively installed in the mounting grooves.

[0013] As an optional technical solution for a synchronous belt-link manipulator, a cavity is provided on the back of the mounting plate, a plurality of slide grooves are provided on the back of the cavity, each of the slide grooves is provided with a square nut that can move up and down, and the reducer is installed in the cavity so as to be movable up and down.

[0014] As an optional technical solution for a synchronous belt-link manipulator, a linkage shaft is rotatably provided between the linkage wheel and the mounting plate, one end of the linkage shaft is arranged in the axial hole of the linkage wheel and fixedly connected to the linkage wheel, and the other end of the linkage shaft passes through the mounting plate and extends to the back side of the mounting plate.

[0015] As an optional technical solution for a synchronous belt-link manipulator, a "U"-shaped stopper is provided on one end of the linkage shaft extending from the back side of the mounting plate, and a limiting assembly for limiting the connecting rod assembly is provided below the "U"-shaped stopper.

[0016] As an optional technical solution for a synchronous belt-link manipulator, the limit assembly includes a limit block fixed on the mounting plate and two buffer pads arranged on both sides of the upper end of the limit block.

[0017] As an optional technical solution for a synchronous belt-link manipulator, the buffer pad is a rubber pad.

[0018] As an optional technical solution for a synchronous belt-link manipulator, three limit sensors are provided on the back of the mounting plate, and the three limit sensors are respectively arranged around the linkage shaft at the nine o'clock, twelve o'clock and three o'clock positions. An induction plate is also provided on one end of the linkage shaft extending out of the back of the mounting plate.

[0019] As an optional technical solution for a synchronous belt-link manipulator, a protective cover is installed on the mounting plate, and the driving wheel, the linkage wheel and the synchronous belt are all arranged in the protective cover.

[0020] The beneficial effects of the utility model are:

[0021] The utility model provides a synchronous belt-connecting rod manipulator, which includes a mounting plate, a driving wheel and a linkage wheel are arranged on the mounting plate, and a synchronous belt is arranged between the driving wheel and the linkage wheel; a connecting rod assembly is installed on the driving wheel and the linkage wheel; a driving assembly includes a motor and a reducer, the output end of the reducer is installed on the back of the mounting plate so as to be movable up and down, the output shaft of the reducer passes through the mounting plate and is connected to the driving wheel, and the driving assembly is used to drive the connecting rod assembly to move back and forth. Under the above structure, the driving assembly composed of the motor and the reducer is installed on the mounting plate to directly drive the driving wheel to drive the connecting rod assembly to move. Therefore, the overall structure of the synchronous belt-connecting rod manipulator is simple, and the space occupied is small. It can be widely used in various working scenes. The overall simple structure makes the manipulator have stronger rigidity and stability, while reducing the manufacturing cost of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is an overall schematic diagram of a synchronous belt connecting rod manipulator in an embodiment of the utility model;

[0023] Figure 2 It is a structural schematic diagram of the synchronous belt connecting rod manipulator in the embodiment of the utility model at a first viewing angle;

[0024] Figure 3 It is a structural schematic diagram of the synchronous belt connecting rod manipulator in the embodiment of the utility model at a second viewing angle;

[0025] Figure 4 This is a schematic structural diagram of the back side of the mounting plate in the embodiment of the utility model;

[0026] Figure 5 This is a structural schematic diagram of the front side of the mounting plate in the embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the structural decomposition of the connecting rod assembly in the embodiment of the utility model;

[0028] In the figure:

[0029] 1. Mounting plate; 101. Receptacle; 102. Slideway; 103. Square nut; 11. Protective cover; 12. Driving wheel; 121. Mounting groove; 13. Linkage wheel; 14. Synchronous belt; 15. Linkage shaft;

[0030] 2. Driving assembly; 21. Motor; 22. Reducer;

[0031] 3. Connecting rod assembly; 31. Auxiliary connecting rod; 32. Main connecting rod;

[0032] 4. Limiting assembly; 41. Limiting block; 42. Buffer pad;

[0033] 5. "U" shaped stopper; 51. Induction sheet;

[0034] 6. Limit sensor. DETAILED DESCRIPTION

[0035] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0036] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0037] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0038] In the description of this embodiment, terms such as "up", "down", "left", and "right" and other orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present utility model.

[0039] In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more than two. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0040] like Figure 1-6As shown, the utility model provides a synchronous belt-linkage manipulator, which includes a mounting plate 1, a driving wheel 12 and a linkage wheel 13 are arranged on the central axis of the front side of the mounting plate 1, and a synchronous belt 14 is arranged between the driving wheel 12 and the linkage wheel 13; a connecting rod assembly 3 is mounted on the driving wheel 12 and the linkage wheel 13, and can be linked with the driving wheel 12 and the linkage wheel 13; a driving assembly 2 includes a motor 21 and a reducer 22 connected to the output end of the motor 21, the output end of the reducer 22 is mounted on the back side of the mounting plate 1 so as to be movable up and down, the output shaft of the reducer 22 passes through the mounting plate 1 and is connected to the driving wheel 12, and the driving assembly 2 is used to drive the connecting rod assembly 3 to move back and forth.

[0041] The utility model provides a synchronous belt-connecting rod manipulator, which is installed on a mounting plate 1 through a driving assembly 2 consisting of a motor 21 and a reducer 22, and can directly drive a driving wheel 12 to drive a connecting rod assembly 3 to move. Therefore, the overall structure of the synchronous belt-connecting rod manipulator is simple and occupies little space, and can be widely used in various working scenarios. At the same time, the overall simple structure enables the manipulator to have stronger rigidity and stability.

[0042] Specifically, Figure 6 As shown, the connecting rod assembly 3 includes two main connecting rods 32 and a secondary connecting rod 31, one end of the two main connecting rods 32 is respectively installed on the driving wheel 12 and the linkage wheel 13, and the length of the main connecting rod 32 is less than the distance between the driving wheel 12 and the linkage wheel 13; the secondary connecting rod 31 is installed on the other end of the two main connecting rods 32 away from the driving wheel 12 and the linkage wheel 13, and the secondary connecting rod 31 and the two main connecting rods 32 are linked by a rotating shaft. Therefore, when the motor 21 drives the two main connecting rods 32 to rotate, the secondary connecting rod 31 always maintains a vertical posture, and the lower end of the secondary connecting rod 31 A plurality of mounting holes for mounting jigs or fixtures are provided at the position, so that the jigs or fixtures used to carry materials can always maintain a horizontal posture during the movement of the connecting rod assembly 3; in addition, in order to enhance the stability of the connection between the main connecting rod 32 and the driving wheel 12 and the interlocking wheel 13, a mounting groove 121 with a width matching the main connecting rod 32 is provided on the end surface of the driving wheel 12 and the interlocking wheel 13, respectively. One end of the two main connecting rods 32 is respectively installed in the mounting groove 121, and the main connecting rods 32 are locked and fixed to the driving wheel 12 and the interlocking wheel 13 by screws.

[0043] In this embodiment, if Figure 4 and Figure 5As shown, a cavity 101 is provided on the back of the mounting plate 1 for the speed reducer 22 to move up and down, and a vertical elliptical shaft hole is provided in the cavity 101. A plurality of slide grooves 102 are provided on the back of the cavity 101 (i.e., the front of the mounting plate 1), preferably four slide grooves 102, and the four slide grooves 102 are respectively provided at the four corner positions corresponding to the cavity 101, and each slide groove 102 is provided with a square nut 103 that can move up and down, and the output shaft of the speed reducer 22 is installed in the cavity 101 through the elliptical shaft hole on the back of the mounting plate 1, and a screw is respectively provided at the four corners of the end face of the speed reducer 22 and the screw and the square nut 103 are locked, so that the drive assembly 2 is fixedly installed on the mounting plate 1. Under the above mechanism, when the screw is loosened, the drive assembly 2 and the driving wheel 12 can be moved up and down in the cavity 101. That is to say, this structure can adjust the distance between the driving wheel 12 and the interlocking wheel 13. Therefore, the tension of the synchronous belt 14 can be adjusted by adjusting the distance between the driving wheel 12 and the interlocking wheel 13. This structure replaces the structure of the traditional manipulator using a tensioning wheel to tension the belt. On the one hand, it reduces the space occupied by the entire manipulator. On the other hand, the belt tensioning structure is integrated with the mounting plate 1, which makes the overall structure simpler and brings stronger rigidity.

[0044] Further, such as Figure 4 and Figure 5 As shown, an axial hole is provided on the central axis of the mounting plate 1 and below the elliptical axial hole, in which a bearing and a linkage shaft 15 are installed, one end of the linkage shaft 15 is fixedly connected to the linkage wheel 13, and the other end extends to the back of the mounting plate 1, and a "U"-shaped stopper 5 and an induction sheet 51 are installed at its end; a limit assembly 4 for limiting the connecting rod assembly 3 is provided below the "U"-shaped stopper 5, the limit assembly 4 includes a limit block 41 fixedly arranged on the mounting plate 1 and two buffer pads 42 arranged on both sides of the upper end of the limit block 41, the buffer pads 42 are made of rubber pads or materials that can play a buffering role, when the connecting rod assembly 3 swings to the left or right to the lowest position, the two sides of the "U"-shaped stopper 5 will also be in a horizontal posture, at this time, the buffer pads 42 can prevent the "U"-shaped stopper 5 from continuing to swing downward, and the buffer pads 42 are provided to prevent the connecting rod assembly 3 from continuing to swing downward when the manipulator is powered off and damaging the jig or fixture on the secondary connecting rod 31.

[0045] Specifically, Figure 3 and Figure 4 As shown, three limit sensors 6 are provided on the back side of the mounting plate 1, and the three limit sensors 6 are respectively arranged around the linkage shaft 15 at the nine o'clock, twelve o'clock and three o'clock positions. The limit sensor 6 at the twelve o'clock position is used to reset the connecting rod assembly 3 to the initial position, and the limit sensors 6 at the nine o'clock and three o'clock positions are used for the maximum swing position of the connecting rod assembly 3 to the left and right.

[0046] In this embodiment, if Figure 1 and Figure 2 As shown, a protective cover 11 is installed on the mounting plate 1, and the driving wheel 12, the linkage wheel 13 and the synchronous belt 14 are all arranged in the protective cover 11, which can prevent the safety hazards caused by the manipulator during operation; the overall structure of the synchronous belt-link manipulator is simple and occupies a small space, and can be more widely used in various work scenarios; the overall simple structure makes the manipulator have stronger rigidity and stability, while reducing the manufacturing cost of the manipulator.

[0047] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form. Although the utility model is disclosed as a preferred embodiment as above, it is not used to limit the utility model. Any technician familiar with this profession can make some changes or modifications to equivalent embodiments of equivalent changes by using the technical content disclosed above without departing from the scope of the technical solution of the utility model. However, any simple modification, equivalent change and modification made to the above embodiments according to the technology of the utility model, which does not depart from the content of the technical solution of the utility model, belongs to the scope of the technical solution of the utility model.

Claims

1. A synchronous belt connecting rod manipulator, characterized in that: include: A mounting plate, a driving wheel and a linkage wheel are arranged on the central axis of the front side of the mounting plate, and a synchronous belt is arranged between the driving wheel and the linkage wheel; A connecting rod assembly is mounted on the driving wheel and the linkage wheel, and is linked to the driving wheel and the linkage wheel; The driving assembly includes a motor and a reducer connected to the output end of the motor. The output end of the reducer is mounted on the back of the mounting plate so as to be movable up and down. The output shaft of the reducer passes through the mounting plate and is connected to the driving wheel. The driving assembly is used to drive the connecting rod assembly to move back and forth.

2. A synchronous belt connecting rod manipulator according to claim 1, characterized in that: The connecting rod assembly includes two main connecting rods and one secondary connecting rod, one end of the two main connecting rods is respectively installed on the driving wheel and the linkage wheel, and the secondary connecting rod is installed on the other end of the two main connecting rods away from the driving wheel and the linkage wheel. A plurality of mounting holes for mounting a jig or a clamp are provided at the lower end of the secondary connecting rod.

3. A synchronous belt connecting rod manipulator according to claim 2, characterized in that: The end surfaces of the driving wheel and the linkage wheel are both provided with mounting grooves, and one ends of the two main connecting rods are respectively installed in the mounting grooves.

4. The synchronous belt connecting rod manipulator according to claim 1, characterized in that: A cavity is provided on the back of the mounting plate, and a plurality of slide grooves are provided on the back of the cavity. A square nut that can move up and down is provided in each of the slide grooves, and the reducer is installed in the cavity so as to be movable up and down.

5. The synchronous belt connecting rod manipulator according to claim 1, characterized in that: A linkage shaft is rotatably provided between the linkage wheel and the mounting plate, one end of the linkage shaft is arranged in the shaft hole of the linkage wheel and fixedly connected to the linkage wheel, and the other end of the linkage shaft passes through the mounting plate and extends to the back side of the mounting plate.

6. A synchronous belt connecting rod manipulator according to claim 5, characterized in that: A "U"-shaped stopper is provided on one end of the linkage shaft extending out of the back side of the mounting plate, and a limiting assembly for limiting the connecting rod assembly is provided below the "U"-shaped stopper.

7. A synchronous belt connecting rod manipulator according to claim 6, characterized in that: The limiting assembly comprises a limiting block fixed on the mounting plate and two buffer pads arranged at both sides of the upper end of the limiting block.

8. The synchronous belt connecting rod manipulator according to claim 7, characterized in that: The buffer pad is a rubber pad.

9. The synchronous belt connecting rod manipulator according to claim 8, characterized in that: Three limit sensors are arranged on the back side of the mounting plate, and the three limit sensors are respectively arranged around the linkage shaft at the nine o'clock, twelve o'clock and three o'clock positions. An induction sheet is also arranged on one end of the linkage shaft extending out of the back side of the mounting plate.

10. A synchronous belt connecting rod manipulator according to any one of claims 1 to 9, characterized in that: A protective cover is arranged on the mounting plate, and the driving wheel, the linkage wheel and the synchronous belt are all arranged in the protective cover.

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