Synchronous belt swing arm manipulator

Abstract

The utility model relates to the technical field of manipulators, and discloses a synchronous belt swing arm manipulator. Comprising a support, a swing arm, a limiting assembly and a driving assembly, the support comprises a base, a first supporting vertical plate and a second supporting vertical plate, and a fixed wheel is fixedly arranged on the inner side face of the first supporting vertical plate; the swing arm consists of a main rocker arm and an auxiliary rocker arm, the end part of the main rocker arm is sleeved and fixed on the driving shaft, the end part of the auxiliary rocker arm is provided with a driven wheel, and the fixed wheel is connected with the driven wheel through a synchronous belt; the limiting assembly comprises a limiting block and a limiting screw rod, the limiting block is arranged on the inner side face of the main rocker arm, and the limiting screw rod is in threaded connection with the limiting block; the driving assembly is arranged on the outer side face of the first supporting vertical plate and connected with the driving shaft. The synchronous belt of the synchronous belt swing arm manipulator can be stably and firmly encircled between the fixed wheel and the driven wheel, and cannot loosen and slip due to torsion and inertia generated when the swing arm swings, so that the stability of the manipulator is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a synchronous belt swing arm 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] Since the torque and inertia generated by the robot during operation are relatively large, its synchronous belt needs to be tensioned and adjusted frequently. The traditional adjustment method is generally to set a tensioning wheel above the synchronous belt to adjust the tension of the synchronous belt; however, the adjustment method of this structure has poor stability. Under the strong torque and inertia of the robot, the synchronous belt will still loosen in a short time, thereby affecting its production efficiency.

[0004] Therefore, there is an urgent need for a synchronous belt swing arm manipulator 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 swing arm manipulator to solve the problem that the synchronous belt of the manipulator is loosened under strong torque and inertia.

[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 swing arm manipulator, comprising:

[0008] A bracket, the bracket comprising a base, a first support plate and a second support plate, the first support plate and the second support plate are vertically symmetrically arranged on the base, a driving shaft is rotatably installed between the first support plate and the second support plate, and a fixed wheel is fixed on the inner side surface of the first support plate;

[0009] The swing arm is composed of a main rocker arm and an auxiliary rocker arm, wherein the end of the main rocker arm is sleeved and fixed on the driving shaft, and the end of the auxiliary rocker arm is rotatably provided with a driven wheel, and the fixed wheel and the driven wheel are connected by a synchronous belt;

[0010] A limit assembly, comprising a limit block and a limit screw, wherein the limit block is arranged on the inner side of the main rocker arm, and the limit screw passes through the limit block and is threadedly connected with the limit block; the limit assembly is used to adjust the length between the main rocker arm and the auxiliary rocker arm so as to adjust the tension of the synchronous belt;

[0011] A driving assembly is mounted on the outer side surface of the first supporting vertical plate and is drivingly connected to the driving shaft. The driving assembly is used to drive the swing arm to swing.

[0012] As an optional technical solution for a synchronous belt swing arm robot, a shaft sleeve is provided at one end of the auxiliary rocker arm close to the driven wheel, and the shaft sleeve is arranged to protrude from the inner side surface of the auxiliary rocker arm. A linkage shaft is provided in the shaft sleeve, and the driven wheel is fixed to one end of the linkage shaft, and the other end of the linkage shaft extends to the outer side surface of the auxiliary rocker arm, so as to cooperate with a jig or fixture for picking up and placing materials.

[0013] As an optional technical solution for a synchronous belt swing arm manipulator, a slide groove is provided on the inner side surface of the end of the auxiliary rocker arm away from the sleeve, a plurality of threaded holes are opened in the slide groove, and an abutment portion for abutting a limiting screw is provided on the outer diameter of the sleeve close to one end of the slide groove.

[0014] As an optional technical solution for a synchronous belt swing arm robot, a protrusion matching the slide groove is provided on the outer surface of the main rocker arm close to one end of the auxiliary rocker arm, and a plurality of long strip through holes matching the threaded holes are provided on the protrusion. The main rocker arm and the auxiliary rocker arm are connected in a relatively telescopic and adjustable manner through the slide groove and the protrusion.

[0015] As an optional technical solution for a synchronous belt swing arm manipulator, the driving assembly includes a motor and a reducer, the input end of the reducer is connected to the output end of the motor, the other end of the reducer is installed on the outer surface of the first supporting vertical plate, and the output end of the reducer is connected to the driving shaft.

[0016] As an optional technical solution for a synchronous belt swing arm robot, three limit sensors are provided on the outer surface of the second supporting plate, and the three limit sensors are respectively arranged around the driving shaft at the nine o'clock, twelve o'clock and three o'clock positions. An induction plate is installed on the end of the driving shaft close to the second supporting plate.

[0017] As an optional technical solution for a synchronous belt swing arm manipulator, two cross bars are connected between the first supporting upright plate and the second supporting upright plate, and a buffer pad is provided on each of the two cross bars.

[0018] As an optional technical solution for a synchronous belt swing arm manipulator, the buffer pad is a rubber pad.

[0019] As an optional technical solution for a synchronous belt swing arm manipulator, a protective cover is installed on the swing arm.

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

[0021] The utility model provides a synchronous belt swing arm manipulator, which comprises: a bracket, a swing arm, a limit assembly and a driving assembly, wherein the bracket comprises a base, a first supporting upright plate and a second supporting upright plate, a fixed wheel is fixedly arranged on the inner side surface of the first supporting upright plate; the swing arm consists of a main rocker arm and an auxiliary rocker arm, the end of the main rocker arm is sleeved and fixed on the driving shaft, the end of the auxiliary rocker arm is rotatably provided with a driven wheel, and the fixed wheel and the driven wheel are connected by a synchronous belt; the limit assembly comprises a limit block and a limit screw, the limit block is arranged on the inner side surface of the main rocker arm, the limit screw passes through the limit block and is threadedly connected with the limit block; the driving assembly is installed on the outer side surface of the first supporting upright plate, and is drivingly connected to the driving shaft. Under the above structure, when the tension of the synchronous belt needs to be adjusted, first loosen the multiple screws fixed in the long through hole to make the main rocker arm and the auxiliary rocker arm in a movable and adjustable state, then rotate the limit screw to adjust the telescopic length between the main rocker arm and the auxiliary rocker arm to tighten the synchronous belt. When adjusted to a suitable position, the end of the limit screw abuts against the abutment on the sleeve, thereby preventing the auxiliary rocker arm from retracting toward the main rocker arm. Finally, rotate and tighten the multiple screws in the long through hole to fix the main rocker arm and the auxiliary rocker arm. Since the setting of the limit assembly can prevent the driven wheel from moving toward the fixed wheel, the synchronous belt of the synchronous belt swing arm manipulator can be stably and tightly embraced between the fixed wheel and the driven wheel, and will not loosen and slip due to the torque and inertia generated by the swing arm when it swings, thereby improving the stability of the manipulator. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0023] Figure 2 This is a schematic diagram of the overall structure of the synchronous belt swing arm manipulator in the embodiment of the utility model from the first perspective;

[0024] Figure 3 It is a schematic diagram of the overall structure of the synchronous belt swing arm manipulator in the embodiment of the utility model from a second viewing angle;

[0025] Figure 4 This is a schematic diagram of the structure of the bracket in the embodiment of the utility model;

[0026] Figure 5 This is a schematic diagram of the structure of the swing arm and the limit assembly in the embodiment of the utility model;

[0027] Figure 6 This is a schematic diagram of the structure of the auxiliary rocker arm in the embodiment of the utility model;

[0028] Figure 7 It is a schematic structural diagram of the main rocker arm in an embodiment of the utility model.

[0029] In the figure:

[0030] 1. Bracket; 11. Base; 12. First support plate; 121. Second support plate; 13. Limit sensor; 131. Induction sheet; 14. Fixed wheel; 15. Crossbar; 105. Buffer pad;

[0031] 2. Driving assembly; 21. Motor; 22. Reducer;

[0032] 3. Swing arm; 30. Protective cover; 31. Main rocker arm; 301. Bump; 32. Auxiliary rocker arm; 302. Slide; 303. Bushing; 304. Abutment; 33. Linkage shaft; 34. Driven wheel; 35. Synchronous belt;

[0033] 4. Limiting assembly; 41. Limiting block; 42. Limiting screw. DETAILED DESCRIPTION

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] like Figure 1-7 As shown, the utility model provides a synchronous belt swing arm manipulator, which includes a bracket 1, the bracket 1 includes a base 11, a first support upright plate 12 and a second support upright plate 121, the first support upright plate 12 and the second support upright plate 121 are vertically symmetrically arranged on the base 11, a driving shaft is rotatably installed between the first support upright plate 12 and the second support upright plate 121, and a fixed wheel 14 is fixed on the inner side surface of the first support upright plate 12; a swing arm 3, composed of a main rocker arm 31 and an auxiliary rocker arm 32, the end of the main rocker arm 31 is sleeved and fixed on the driving shaft, and the auxiliary rocker arm A driven wheel 34 is rotatably provided at the end of 32, and the fixed wheel 14 and the driven wheel 34 are connected by a synchronous belt 35; a limit assembly 4, including a limit block 41 and a limit screw 42, the limit block 41 is arranged on the inner side of the main rocker arm 31, and the limit screw 42 passes through the limit block 41 and is threadedly connected with the limit block 41; the limit assembly 4 is used to adjust the length between the main rocker arm 31 and the auxiliary rocker arm 32, thereby adjusting the tension of the synchronous belt 35; a driving assembly 2, which is installed on the outer side of the first supporting vertical plate 12 and is connected to the driving shaft, and the driving assembly 2 is used to drive the swing arm 3 to swing.

[0040] The utility model provides a synchronous belt swing arm manipulator through the setting of a limit assembly 4 and an adjustable swing arm 3. When it is necessary to adjust the tension of the synchronous belt 35, firstly loosen a plurality of screws fixed in the elongated through hole so that the main rocker arm 31 and the auxiliary rocker arm 32 are in a movable and adjustable state, and then rotate the limit screw 42 to adjust the telescopic length between the main rocker arm 31 and the auxiliary rocker arm 32 to tension the synchronous belt 35. When adjusted to a suitable position, the end of the limit screw 42 abuts against the abutment portion 304 on the sleeve 303, thereby preventing the auxiliary rocker arm 32 from retracting toward the main rocker arm 31. Finally, rotate and tighten the plurality of screws in the elongated through hole to fix the main rocker arm 31 and the auxiliary rocker arm 32. Since the setting of the limit assembly 4 can prevent the driven wheel 34 from moving toward the fixed wheel 14, the synchronous belt 35 of the synchronous belt swing arm manipulator can be stably and tightly embraced between the fixed wheel 14 and the driven wheel 34, and will not loosen and slip due to the torque and inertia generated when the swing arm 3 swings, thereby improving the stability of the manipulator.

[0041] In this embodiment, if Figure 1-4 As shown, the drive assembly 2 includes a motor 21 and a reducer 22, the input end of the reducer 22 is connected to the output end of the motor 21, the other end of the reducer 22 is installed on the outer side of the first supporting plate 12, and the output end of the reducer 22 is connected to the driving shaft. The driving shaft is directly driven to rotate by the reducer 22, thereby driving the swing arm 3 to swing. Compared with the traditional PPU manipulator, it not only saves the coupling and reduces the manufacturing cost, but also improves the rigidity of the entire manipulator, making the manipulator more stable. In addition, the swing arm 3 is directly driven to move by the driving shaft, so that the operation speed of the manipulator is faster.

[0042] Specifically, Figure 5-7 As shown, one end of the main rocker arm 31 is provided with an axial hole, and a plurality of through holes for screws to pass through are opened in the circumference of the axial hole. The main rocker arm 31 passes through the driving shaft and is fixed on the driving shaft by screws. The other end of the main rocker arm 31 is provided with a sinking end connected to the auxiliary rocker arm 32, and the sinking end protrudes upward to form a convex block 301, and a plurality of long strip through holes are opened on the convex block 301; a slide groove 302 is opened on the connecting end where the auxiliary rocker arm 32 is connected to the main rocker arm 31, and a plurality of threaded holes matching the long strip through holes are arranged in the slide groove 302, the convex block 301 on the main rocker arm 31 and the slide groove 302 on the auxiliary rocker arm 32 are superimposed and connected, and screws are set in the long strip through holes The main rocker arm 31 and the auxiliary rocker arm 32 are fixedly combined into the rocker arm 3. Since the protrusion 301 is provided with a long strip through hole, the length of the entire rocker arm 3 can be adjusted by loosening or tightening the screw in the long strip through hole; a shaft sleeve 303 is provided on the other end of the auxiliary rocker arm 32 away from the main rocker arm 31, and the shaft sleeve 303 is protruding from the inner side surface of the auxiliary rocker arm 32. A bearing and a linkage shaft 33 are provided in the shaft sleeve 303. The linkage shaft 33 is penetrated by the bearing, and the driven wheel 34 is fixedly provided at one end of the linkage shaft 33. The other end of the linkage shaft 33 extends to the outer side surface of the auxiliary rocker arm 32, which is used to cooperate with the jig or fixture for taking and releasing materials; the shaft sleeve 303 and the auxiliary rocker arm 32 are an integrally formed structure.

[0043] In this embodiment, if Figure 5 and Figure 6As shown, the limit block 41 is fixedly arranged at one end of the main rocker arm 31 by means of screws, the limit block 41 is provided with a threaded through hole penetrating the limit block 41, the limit screw 42 is threadedly connected with the limit block 41, and a planar abutment portion 304 is provided at the position where the end of the limit screw 42 abuts against the shaft sleeve 303, and the abutment portion 304 can be arranged to be larger than the abutment area of ​​the limit screw 42, and when the screw in the long strip through hole is loosened, the limit screw 42 can be rotated to adjust the length of the swing arm 3, and the setting of the limit assembly 4 The arrangement can fix the adjusted length of the swing arm 3, so the synchronous belt 35 will not become loose and slip due to excessive torque and inertia of the swing arm 3. When the synchronous belt 35 runs for a long time and causes the synchronous belt 35 body to be stretched and extended, the length of the swing arm 3 can be adjusted by the limit component 4 to tension the synchronous belt 35. Compared with the traditional structure of using a tensioning wheel to press the belt to adjust the belt tension, the adjustment method of this structure has stronger stability and will not cause the synchronous belt 35 to loosen due to the torque and inertia generated by the swing arm 3.

[0044] In this embodiment, if Figure 4 As shown, two cross bars 15 are arranged between the first supporting upright plate 12 and the second supporting upright plate 121. The two cross bars 15 are respectively arranged on both sides close to the first supporting upright plate 12 and the second supporting upright plate 121. The arrangement of the cross bars 15 can enhance the stability between the first supporting upright plate 12 and the second supporting upright plate 121. At the same time, two buffer pads 105 are respectively installed on the two cross bars 15. The buffer pads 105 are made of rubber pads or materials that can play a buffering role. When the swing arm 3 swings to the left or right to the lowest position, the buffer pads 105 can stop the swing arm 3 from continuing to swing downward. The buffer pads 105 are arranged to prevent the swing arm 3 from continuing to swing downward when the manipulator is powered off to damage the jig or fixture on the driven shaft.

[0045] Further, such as Figure 2 As shown, three limit sensors 13 are provided on the outer side surface of the second supporting plate 121, and the three limit sensors 13 are respectively arranged around the driving shaft at the nine o'clock, twelve o'clock and three o'clock positions. A sensing plate 131 is installed on one end of the driving shaft close to the second supporting plate 121. The limit sensor at the twelve o'clock position is used to control the swing arm 3 to reset to the initial position, and the limit sensors at the nine o'clock and three o'clock positions are used to control the maximum swing amplitude position of the swing arm 3 to the left and right.

[0046] In this embodiment, if Figure 1As shown, a protective cover 30 is also installed on the swing arm 3 to prevent safety hazards caused by the manipulator during operation. In addition, since the fixed wheel 14 is stationary and fixed on the bracket 1, and the driven wheel 34 can rotate relative to the swing arm 3 through the linkage shaft 33, when the swing arm 3 swings left and right, under the tensioning force of the synchronous belt 35, the jig or fixture connected to one end of the linkage shaft 33 always moves in a horizontal position, thereby increasing the applicability of the synchronous belt swing arm 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 swing arm manipulator, characterized in that: include: A bracket, the bracket comprising a base, a first support plate and a second support plate, the first support plate and the second support plate are vertically symmetrically arranged on the base, a driving shaft is rotatably installed between the first support plate and the second support plate, and a fixed wheel is fixed on the inner side surface of the first support plate; The swing arm is composed of a main rocker arm and an auxiliary rocker arm, wherein the end of the main rocker arm is sleeved and fixed on the driving shaft, and the end of the auxiliary rocker arm is rotatably provided with a driven wheel, and the fixed wheel and the driven wheel are connected by a synchronous belt; A limit assembly, comprising a limit block and a limit screw, wherein the limit block is arranged on the inner side of the main rocker arm, and the limit screw passes through the limit block and is threadedly connected with the limit block; the limit assembly is used to adjust the length between the main rocker arm and the auxiliary rocker arm so as to adjust the tension of the synchronous belt; A driving assembly is mounted on the outer side surface of the first supporting vertical plate and is drivingly connected to the driving shaft. The driving assembly is used to drive the swing arm to swing.

2. A synchronous belt swing arm manipulator according to claim 1, characterized in that: The auxiliary rocker arm is provided with a shaft sleeve at one end close to the driven wheel, and the shaft sleeve is arranged to protrude from the inner side surface of the auxiliary rocker arm. A linkage shaft is provided in the shaft sleeve, and the driven wheel is fixed to one end of the linkage shaft, and the other end of the linkage shaft extends to the outer side surface of the auxiliary rocker arm, for cooperating with a jig or fixture for picking up and placing materials.

3. A synchronous belt swing arm manipulator according to claim 2, characterized in that: A slide groove is provided on the inner side surface of one end of the auxiliary rocker arm away from the sleeve, a plurality of threaded holes are opened in the slide groove, and an abutment portion for abutting a limiting screw is provided on the outer diameter of one end of the sleeve close to the slide groove.

4. A synchronous belt swing arm manipulator according to claim 3, characterized in that: A protrusion matching the slide groove is provided on the outer surface of the main rocker arm near one end of the auxiliary rocker arm, and a plurality of long strip through holes matching the threaded holes are opened on the protrusion. The main rocker arm and the auxiliary rocker arm can be relatively telescopically adjusted and connected through the slide groove and the protrusion.

5. The synchronous belt swing arm manipulator according to claim 1, characterized in that: The driving assembly includes a motor and a reducer, wherein the input end of the reducer is connected to the output end of the motor, the other end of the reducer is mounted on the outer surface of the first supporting vertical plate, and the output end of the reducer is connected to the driving shaft.

6. The synchronous belt swing arm manipulator according to claim 1, characterized in that: Three limit sensors are arranged on the outer side surface of the second supporting plate. The three limit sensors are respectively arranged around the driving shaft at the nine o'clock, twelve o'clock and three o'clock positions. A sensing sheet is installed on one end of the driving shaft close to the second supporting plate.

7. The synchronous belt swing arm manipulator according to claim 1, characterized in that: Two cross bars are connected between the first supporting upright plate and the second supporting upright plate, and a buffer pad is provided on each of the two cross bars.

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

9. A synchronous belt swing arm manipulator according to any one of claims 1 to 8, characterized in that: A protective cover is arranged on the swing arm.

Images