A new translation manipulator

Abstract

This utility model discloses a novel translational manipulator, relating to the field of manipulators. It includes a horizontal plate, with a bidirectional lead screw, a vertical plate, a guide rail, and a sliding plate arranged on the inner side of the horizontal plate. The sliding plate has a drive motor, an upper gear, a toothed belt, a toothed groove, and a rotating rod arranged inside and at its top. A fixed shell is fixedly connected to the bottom of the sliding plate. The fixed shell has a sliding groove, a slider, a transmission block, a clamping block, a spring, and a traction rope inside. This utility model modifies the original cylinder that drives the manipulator's Y-axis movement into a cooperating structure consisting of a drive motor, an upper gear, a toothed belt, a toothed groove, a lower gear, a rotating rod, a fixed shell, a sliding groove, a slider, a transmission block, a clamping block, and a traction rope. The meshing transmission of the gears and toothed belt increases the stability and accuracy of the manipulator during downward movement and grasping, thereby avoiding damage to objects during grasping.

Description

Technical Field

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

[0002] A manipulator is a highly automated mechanical device that can imitate certain movements and functions of human hands and arms and is used to grab, move objects or operate tools according to a fixed procedure. It can replace heavy human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in assembly line mass production in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments to ensure efficient and orderly completion of each process.

[0003] In the prior art, the robot generally uses a cylinder to perform the Y-axis descending and grasping movement. However, the cylinder drive is relatively fast and urgent, so the stability and accuracy of the robot cannot be guaranteed. It is easy for the robot to touch and damage the object in the process of grasping the object. Based on the above situation, we propose a new translation robot. Utility Model Content

[0004] The utility model aims to provide a novel translation manipulator to solve the problem that the existing manipulator is driven by a cylinder and moves in the Y-axis quickly, resulting in insufficient stability and accuracy, which makes it easy to touch and damage objects during the grasping process.

[0005] The transmission mechanism is a kind of transmission mechanism, and the transmission mechanism is a kind of transmission mechanism, and the transmission mechanism is a kind of transmission mechanism, and the transmission mechanism is a kind of transmission mechanism, and the transmission mechanism is a kind of transmission mechanism.

[0006] The bottom end of the sliding plate is fixedly connected to a fixed shell, and sliding grooves are provided on the inner walls of both ends of the fixed shell. Slide blocks are slidably connected to the inner sides of the two slide grooves, and the outer sides of the slide blocks are rotatably connected to two transmission blocks. The other sides of the two transmission blocks are respectively rotatably connected to clamping blocks, and a spring is fixedly connected between the two clamping blocks. A traction rope is fixedly tied to the outer wall of the slider, and the other end of the traction rope is fixedly tied to the outer side of the rotating rod. Through the sequential transmission of the rotating rod, the traction rope, the slider and the transmission block, the two clamping blocks can move horizontally with the rotation of the toothed belt to achieve the effect of automatic clamping during descent.

[0007] As a further solution of the utility model: one end of the sliding plate is located on the inner side of the two guide rails and a receiving groove is provided, and the toothed belt, the lower gear, the rotating rod and the traction rope are all located inside the receiving long groove.

[0008] As a further solution of the utility model: the outer wall of the rotating rod is formed with symmetrically distributed annular protrusions on both sides of the toothed belt, and the two ends of the traction rope are respectively fixed to the side of the arc-shaped protrusion away from the toothed belt.

[0009] As a further solution of the utility model: the slide groove is opened at the center position of the end wall of the fixed shell, and the two transmission blocks and the clamping blocks are symmetrically distributed inside the fixed shell with the slide groove as the axis.

[0010] As a further solution of the utility model: the sliding block is composed of a thinner rod body in the middle and thicker rod bodies at both ends, and the thicker rod bodies at both ends of the sliding block slide inside the two sliding grooves respectively.

[0011] As a further solution of the utility model: the two clamping blocks pass through the bottom opening of the fixed shell to the outside of the bottom end of the fixed shell, the open end wall of the fixed shell is provided with a slender groove, and the end wall of the clamping block is formed with a limit block with the same height as the slender groove, and the limit block slides inside the slender groove.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] By converting the cylinder that originally drives the manipulator to perform Y-axis movement into a matching structure of a drive motor, upper gear, toothed belt, tooth groove, lower gear, rotating rod, fixed shell, slide groove, slider, transmission block, clamping block and traction rope, and utilizing the meshing transmission of gears and toothed belts, the stability and accuracy of the manipulator during downward movement and grasping can be increased, thereby avoiding the situation of touching and damaging objects during the grasping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of the utility model;

[0015] Figure 2It is a structural schematic diagram of another viewing angle of the utility model;

[0016] Figure 3 It is a cross-sectional view of the utility model;

[0017] Figure 4 It is a cross-sectional view from another perspective of the present invention.

[0018] In the figure: 1. horizontal plate; 2. bidirectional screw rod; 3. vertical plate; 4. guide rail; 5. sliding plate; 6. driving motor; 7. upper gear; 8. toothed belt; 9. tooth groove; 10. lower gear; 11. rotating rod; 12. fixed shell; 13. slide groove; 14. slider; 15. transmission block; 16. clamping block; 17. spring; 18. traction rope. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0020] See also Figures 1 to 4 In the embodiment of the utility model, a novel translation manipulator comprises a horizontal plate 1, a motor is installed on one side of the horizontal plate 1 and a bidirectional screw rod 2 is fixedly connected to the motor output shaft, a vertical plate 3 is slidably connected to the outer side of the bidirectional screw rod 2, and a symmetrically distributed guide rail 4 is fixedly connected to the end wall of the vertical plate 3, and a sliding plate 5 is slidably connected to the outer sides of the two guide rails 4, and a driving motor 6 is fixedly installed on one side of the top of the vertical plate 3, and an output shaft on one side of the driving motor 6 is fixedly connected to an upper gear 7 through a connecting rod, and a toothed belt 8 is meshed on the outer side of the upper gear 7, and a uniformly distributed tooth groove 9 is opened on the inner end wall of the sliding plate 5, and the toothed belt 8 runs through the inner side of the sliding plate 5 and meshes with the tooth groove 9, and a lower gear 10 is meshed on the inner bottom end of the toothed belt 8, and a rotating rod 11 is fixedly connected to the inner side of the lower gear 10, and both sides of the rotating rod 11 are rotatably connected to the inner side wall of the sliding plate 5, and the driving motor 6 can drive the sliding plate 5 to move up and down through the meshing transmission of the upper gear 7, the toothed belt 8, the tooth groove 9 and the lower gear 10;

[0021] The bottom end of the sliding plate 5 is fixedly connected to a fixed shell 12, and sliding grooves 13 are provided on the inner walls at both ends of the fixed shell 12. Slide blocks 14 are slidably connected to the inner sides of the two sliding grooves 13. Two transmission blocks 15 are rotatably connected to the outer side of the slide block 14. The other sides of the two transmission blocks 15 are respectively rotatably connected to clamping blocks 16. A spring 17 is fixedly connected between the two clamping blocks 16. A traction rope 18 is fixedly tied to the outer wall of the slide block 14, and the other end of the traction rope 18 is fixedly tied to the outer side of the rotating rod 11. Through the sequential transmission of the rotating rod 11, the traction rope 18, the slide block 14 and the transmission block 15, the two clamping blocks 16 can move horizontally with the rotation of the toothed belt 8 to achieve the effect of automatic clamping during descent.

[0022] In this embodiment: when the device is working, the motor on one side of the horizontal plate 1 drives the bidirectional screw 2 to rotate continuously, and the rotating bidirectional screw 2 drives the vertical plate 3 and the sliding plate 5 to move back and forth continuously along the X-axis. When it moves to the top of the object, the motor stops working, and then the driving motor 6 automatically starts to drive the upper gear 7 to start rotating through the connecting rod. The rotating upper gear 7 drives the toothed belt 8 meshing with it to start transmission. The toothed belt 8 drives the sliding plate 5 and the fixed shell 12 to move downward along the guide rail 4 of the Y-axis through the tooth groove 9 meshing with it. At the same time, the toothed belt 8 The belt 8 will also drive the meshed lower gear 10 on the inner side of the bottom end to start rotating in the opposite direction, and the rotating rod 11 fixed on the inner side of the lower gear 10 will rotate synchronously. During the rotation of the rotating rod 11, the traction rope 18 will be gradually rolled up on its outer side. The shortened length of the traction rope 18 will drive the slider 14 to move upward along the slide slot 13. The upwardly moving slider 14 will drive the connecting blocks 15 on both sides to rotate into an inverted V shape. The rotating connecting blocks 15 will continue to drive the clamping blocks 16 on both sides to move horizontally in a direction close to each other, and the spring 17 will be compressed to clamp the object.

[0023] After being firmly clamped, the motor is operated again to drive the bidirectional screw rod 2 to rotate, so as to drive the vertical plate 3, the sliding plate 5 and the clamped object to move to the designated area, and then the driving motor 6 is started again and drives the upper gear 7 to rotate in the opposite direction, and the toothed belt 8 meshing therewith is synchronously reversed, and the sliding plate 5 will rise with the reverse transmission of the toothed belt 8. At the same time, the lower gear 10 and the rotating rod 11 also start to rotate in the opposite direction with the toothed belt 8, and the traction rope 18 wound around the outer side of the rotating rod 11 is loosened. Under the gravity of the parts and the clamped object, the slider 14 automatically moves down with the loosening of the traction rope 18, and then through the rotation transmission of the connecting block 15 and the rebound of the spring 17, the two clamping blocks 16 will move away from each other, and the clamped object will be released and lowered;

[0024] This device drives the sliding plate 5 downward and realizes the automatic clamping of the clamping block 16 through the transmission of the toothed belt 8 and two gears, which can effectively improve the stability and accuracy of the robot in grasping objects, thereby avoiding the situation in which the cylinder drives the clamping part to descend rapidly and causes the object to be touched and damaged.

[0025] Please refer to Figures 3-4 One end of the sliding plate 5 is located on the inner side of the two guide rails 4 and has a receiving groove, and the toothed belt 8, the lower gear 10, the rotating rod 11 and the traction rope 18 are all located inside the receiving long groove.

[0026] In this embodiment, the receiving groove at one end of the sliding plate 5 can not only reduce the overall weight, but also leave space for the transmission of the toothed belt 8 and the two gears.

[0027] Please refer to Figure 3 The outer wall of the rotating rod 11 is formed with symmetrically distributed annular protrusions on both sides of the toothed belt 8, and the two ends of the traction rope 18 are respectively fixed to the side of the arc-shaped protrusion away from the toothed belt 8.

[0028] In this embodiment, the annular protrusions formed on both sides of the rotating rod 11 are used to separate the traction rope 18 from the toothed belt 8 to prevent the traction rope 18 from being stirred into the interior of the toothed belt 8 and affecting the meshing transmission between the traction rope 18 and the gear.

[0029] Please refer to Figures 3-4 The slide groove 13 is opened at the center position of the end wall of the fixed shell 12, and the two transmission blocks 15 and the clamping block 16 are symmetrically distributed inside the fixed shell 12 with the slide groove 13 as the axis.

[0030] In this embodiment, the symmetrical structure along the slide groove 13 inside the fixed shell 12 enables the vertically movable slider 14 to generate a pulling force with the same direction and strength on the two clamping blocks 16 through the transmission of the transmission block 15, thereby achieving a symmetrical and uniform clamping effect of the two clamping blocks 16.

[0031] Please refer to Figures 3-4 The slider 14 is composed of a thinner rod in the middle and thicker rods at both ends. The thicker rods at both ends of the slider 14 slide inside the two slide grooves 13 respectively.

[0032] In this embodiment, the special structure of the slider 14 and its relative position to the slide groove 13 can ensure the stability of the slider 14 when it slides vertically along the slide groove 13 .

[0033] Please refer to Figures 3-4 The two clamping blocks 16 pass through the bottom opening of the fixed shell 12 to the outside of the bottom end of the fixed shell 12. The open end wall of the fixed shell 12 is provided with a slender groove. The end wall of the clamping block 16 is formed with a limit block of the same height as the slender groove, and the limit block slides inside the slender groove.

[0034] In this embodiment, the elongated groove formed at the open end of the fixed shell 12 and the limit block formed on the end wall of the clamping block 16 are used to limit the clamping block 16 to horizontal movement to prevent the clamping block 16 from rotating and tilting to affect the clamping effect.

[0035] What is described above is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A novel translation manipulator, comprising a horizontal plate (1), a motor is mounted on one side of the horizontal plate (1) and a bidirectional screw rod (2) is fixedly connected to the motor output shaft, a vertical plate (3) is slidably connected to the outer side of the bidirectional screw rod (2), the end wall of the vertical plate (3) is fixedly connected to symmetrically distributed guide rails (4), and a sliding plate (5) is slidably connected to the outer sides of two guide rails (4), characterized in that: A driving motor (6) is fixedly mounted on one side of the top of the vertical plate (3); an output shaft on one side of the driving motor (6) is fixedly connected to an upper gear (7) via a connecting rod; a toothed belt (8) is meshed on the outer side of the upper gear (7); an inner end wall of the sliding plate (5) is provided with evenly distributed tooth grooves (9); the toothed belt (8) penetrates the inner side of the sliding plate (5) and meshes with the toothed grooves (9); a lower gear (10) is meshed on the inner bottom end of the toothed belt (8); a rotating rod (11) is fixedly connected to the inner side of the lower gear (10); both sides of the rotating rod (11) are rotatably connected to the inner side wall of the sliding plate (5); and the driving motor (6) can drive the sliding plate (5) to move up and down through the meshing transmission of the upper gear (7), the toothed belt (8), the toothed groove (9) and the lower gear (10); The bottom end of the sliding plate (5) is fixedly connected to a fixed shell (12), and the inner walls of both ends of the fixed shell (12) are provided with sliding grooves (13). The inner sides of the two sliding grooves (13) are slidably connected to sliders (14), and the outer sides of the sliders (14) are rotatably connected to two transmission blocks (15). The other sides of the two transmission blocks (15) are respectively rotatably connected to clamping blocks (16), and a spring (17) is fixedly connected between the two clamping blocks (16). The outer wall of the slider (14) is fixedly tied to a traction rope (18), and the other end of the traction rope (18) is fixedly tied to the outer side of the rotating rod (11). Through the sequential transmission of the rotating rod (11), the traction rope (18), the slider (14) and the transmission block (15), the two clamping blocks (16) can move horizontally with the rotation of the toothed belt (8) to achieve an automatic clamping effect when descending.

2. A novel translation manipulator according to claim 1, characterized in that: One end of the sliding plate (5) is provided with a receiving groove on the inner side of the two guide rails (4), and the toothed belt (8), the lower gear (10), the rotating rod (11) and the traction rope (18) are all located inside the receiving groove.

3. A novel translation manipulator according to claim 2, characterized in that: The outer wall of the rotating rod (11) is formed with symmetrically distributed annular protrusions on both sides of the toothed belt (8), and the two ends of the traction rope (18) are respectively fixed to the side of the arc-shaped protrusion away from the toothed belt (8).

4. A novel translation manipulator according to claim 1, characterized in that: The slide groove (13) is opened at the center position of the end wall of the fixed shell (12), and the two transmission blocks (15) and the clamping block (16) are symmetrically distributed inside the fixed shell (12) with the slide groove (13) as the axis.

5. A novel translation manipulator according to claim 4, characterized in that: The slider (14) is composed of a thinner rod body in the middle and thicker rod bodies at both ends, and the thicker rod bodies at both ends of the slider (14) slide inside the two slide grooves (13) respectively.

6. A novel translation manipulator according to claim 4, characterized in that: The two clamping blocks (16) pass through the bottom opening of the fixed shell (12) to the outside of the bottom end of the fixed shell (12); an elongated groove is formed on the end wall of the opening of the fixed shell (12); a limit block having the same height as the elongated groove is formed on the end wall of the clamping block (16); the limit block slides inside the elongated groove.

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