Double-section feeding manipulator with flexible structure

Abstract

The utility model discloses a double-section feeding manipulator with a flexible structure. The double-section feeding manipulator comprises a lead screw linear module, the synchronous belt linear module is rotationally arranged on a movable sliding table of the screw rod linear module, a first motor for adjusting the included angle between the screw rod linear module and the synchronous belt linear module is fixedly connected to the movable sliding table of the screw rod linear module, and a concave frame is fixedly connected to the movable sliding table of the synchronous belt linear module; the lifting mechanism has the advantages that the synchronous belt linear module is controlled by the first motor to move and rotate along the lead screw linear module, complex space positioning and movement are achieved in combination with overturning of the first lifting rod, and accurate adjustment of the first lifting rod and the second lifting rod at different angles and positions is achieved; therefore, the working efficiency is optimized, and different working scenes are adapted; and when the lead screw linear module, the first lifting rod and the second lifting rod are aligned, the overall occupied space of the manipulator is reduced, and deployment and use in the environment with the limited space are facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a double-section feeding manipulator with flexible structure. Background Technique

[0002] The manipulator is the earliest industrial robot and also the earliest modern robot. It can complete various expected operations through programming and has the respective advantages of humans and mechanical robots in terms of structure and performance. The manipulator can replace heavy human labor to realize the mechanization and automation of production and can operate in harmful environments to protect personal safety. It is widely used in departments such as machinery manufacturing, metallurgy, electronics, light industry, and atomic energy.

[0003] When the existing manipulator is in use, it mostly moves along the horizontal or vertical angle, with low flexibility and unable to perform multi-angle movement and multi-layer telescoping as required. The manipulator with a larger extension stroke occupies a large space and cannot be stored and folded when not in use, which is not convenient for deployment and use in an environment with limited space. Content of the Utility Model

[0004] The purpose of the utility model is to provide a double-section feeding manipulator with flexible structure to solve the problems raised in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A double-section feeding manipulator with flexible structure, including:

[0006] A screw linear module;

[0007] A synchronous belt linear module, the synchronous belt linear module is rotatably placed on the moving slide of the screw linear module. A first motor for adjusting the angle between the screw linear module and the synchronous belt linear module is fixedly connected to the moving slide of the screw linear module, and a concave frame is fixedly connected to the moving slide of the synchronous belt linear module;

[0008] A telescopic part, the telescopic part is rotatably placed above the concave frame. The telescopic part includes a first lifting rod and a second lifting rod slidably placed on one side of the first lifting rod. A driving component for driving the first lifting rod to flip is arranged on the top of the concave frame to adjust the angle between the first lifting rod and the synchronous belt linear module.

[0009] Preferably, a moving box is fixedly connected to the moving slide of the screw linear module, and the first motor is fixedly connected inside the moving box.

[0010] Preferably, the driving component includes a rotating shaft rotatably arranged above the concave frame. A flipping frame is fixedly connected to the outside of the rotating shaft. The first lifting rod is slidably arranged on one side of the flipping frame. A second motor is fixedly connected to the top of the concave frame, and the second motor is fixedly connected to the rotating shaft.

[0011] Preferably, a third motor is fixedly connected to the outer side of the middle part of the flipping frame. The output end of the third motor is fixedly connected with a gear, and a rack is meshed with the outer side of the gear. The rack is fixedly connected with the first lifting rod.

[0012] Preferably, a synchronous belt assembly is installed on one side of the first lifting rod. The synchronous belt of the synchronous belt assembly is fixedly connected with the second lifting rod through a connecting plate, and a fourth motor for driving the synchronous belt assembly to rotate is fixedly connected to one side of the first lifting rod.

[0013] Preferably, the end of the second lifting rod is fixedly connected with a cylinder. The fixed end of the cylinder is fixedly connected with a support frame. The middle part of the support frame is rotatably connected with a fixture mounting plate. An angle adjustment gear is fixed in the middle of the fixture mounting plate. The output end of the cylinder is fixedly connected with a driving rack meshed with the angle adjustment gear.

[0014] Compared with the prior art, the beneficial effects of the present utility model are as follows: By controlling the synchronous belt linear module to move and rotate along the lead screw linear module by the first motor, combined with the flipping of the first lifting rod, complex spatial positioning and movement are realized, and precise adjustment of the first lifting rod and the second lifting rod at different angles and positions is achieved, thereby optimizing the working efficiency and adapting to different working scenarios; When the lead screw linear module, the first lifting rod and the second lifting rod are aligned, the overall floor space occupied by the manipulator is reduced, which is convenient for deployment and use in an environment with limited space. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present utility model;

[0016] Figure 2 is a schematic structural diagram of the present utility model when the lead screw linear module and the synchronous belt linear module are on the same straight line;

[0017] Figure 3 is a schematic structural diagram of the present utility model when the lead screw linear module and the synchronous belt linear module are perpendicular;

[0018] Figure 4 is a schematic structural diagram of the synchronous belt assembly of the present utility model;

[0019] Figure 5 is a schematic structural diagram of the rotating shaft of the present utility model;

[0020] Figure 6 is an enlarged view of part A of the present utility model.

[0021] In the figure: 1. Ball screw linear module; 2. Moving box; 3. First motor; 4. Synchronous belt linear module; 5. Concave frame; 6. Rotating shaft; 7. Flipping frame; 8. Second motor; 9. First lifting rod; 10. Rack; 11. Third motor; 12. Second lifting rod; 13. Fourth motor; 14. Cylinder; 15. Fixture mounting plate; 16. Synchronous belt assembly. Detailed implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to Figure 1 、 2 As shown in FIGS. 1, 2, 3, 4, 5, and 6, the present invention provides a technical solution: a double-section feeding manipulator with flexible structure, including: a ball screw linear module 1; a synchronous belt linear module 4 is rotatably placed on the moving slide of the ball screw linear module 1, and a first motor 3 for adjusting the angle between the ball screw linear module 1 and the synchronous belt linear module 4 is fixedly connected to the moving slide of the ball screw linear module 1, and a concave frame 5 is fixedly connected to the moving slide of the synchronous belt linear module 4; a telescopic part is rotatably placed above the concave frame 5, the telescopic part includes a first lifting rod 9 and a second lifting rod 12 slidably placed on one side of the first lifting rod 9, and a driving assembly for driving the first lifting rod 9 to flip is arranged on the top of the concave frame 5 for adjusting the angle between the first lifting rod 9 and the synchronous belt linear module 4.

[0024] It should be noted that in the present invention, the ball screw linear module 1 drives the synchronous belt linear module 4 to slide along the ball screw linear module 1 through the moving box 2, and drives the synchronous belt linear module 4 to rotate above the ball screw linear module 1 through the first motor 3. During operation, the ball screw linear module 1 is perpendicular to the synchronous belt linear module 4, and the first lifting rod 9 is perpendicular to the synchronous belt linear module 4, so as to realize three-axis movement. By driving the synchronous belt linear module 4 to adjust through the first motor 3, the first lifting rod 9 can slide along the ball screw linear module 1 and the synchronous belt linear module 4 and can rotate around the axis of the first motor 3. By the driving part, the first lifting rod 9 can be driven to rotate, so that the first lifting rod 9 can be parallel to the synchronous belt linear module 4 and the angle between the two can be adjusted at multiple angles. When the first lifting rod 9 and the synchronous belt linear module 4 are parallel, under the action of the first lifting rod 9 and the second lifting rod 12, the horizontal moving distance of the fixture mounting plate 15 in the direction of the synchronous belt linear module 4 can be extended. When the ball screw linear module 1, the first lifting rod 9 and the ball screw linear module 1 are parallel, the floor space range of the entire manipulator can be reduced.

[0025] Please refer to Figure 1 、 3 As shown, a moving box 2 is fixedly connected to the moving slide of the lead screw linear module 1, and a first motor 3 is fixedly connected inside the moving box 2.

[0026] It should be noted that corresponding heat dissipation holes are provided on the side of the moving box 2 of the present utility model to facilitate heat dissipation of the first motor 3. The lead screw linear module 1 drives the first motor 3 through the synchronous belt linear module 4. While the first motor 3 drives the synchronous belt linear module 4 to move along the lead screw linear module 1, it can drive the synchronous belt linear module 4 to rotate. The synchronous belt linear module 4 drives the first lifting rod 9 to rotate around the first motor 3 while moving linearly.

[0027] Please refer to Figure 5 、 6 As shown, the driving assembly includes a rotating shaft 6 rotatably arranged above the concave frame 5. A turning frame 7 is fixedly connected to the outside of the rotating shaft 6. The first lifting rod 9 is slidably arranged on one side of the turning frame 7. A second motor 8 is fixedly connected to the top of the concave frame 5, and the second motor 8 is fixedly connected to the rotating shaft 6.

[0028] It should be noted that the turning frame 7 of the present utility model is an L-shaped structure. The first lifting rod 9 is slidably connected to the turning frame 7 through a linear guide rail, so that the first lifting rod 9 can move in a direction perpendicular to the turning frame 7, or the turning frame 7 can be rotated by the second motor 8, and the turning frame 7 drives the first lifting rod 9 to rotate. When the bottom of the first lifting rod 9 moves to the bottom of the concave frame 5, the turning frame 7 is rotated by the second motor 8 and the rotating shaft 6, and the turning frame 7 drives the first lifting rod 9 to rotate, so that the first lifting rod 9 can be adjusted to be vertical, horizontal or at an inclined angle.

[0029] Please refer to Figure 3 As shown, a third motor 11 is fixedly connected to the outside of the middle part of the turning frame 7. The output end of the third motor 11 is fixedly connected with a gear, and a rack 10 is meshed with the outside of the gear. The rack 10 is fixedly connected to the first lifting rod 9. A synchronous belt assembly 16 is installed on one side of the first lifting rod 9. The synchronous belt of the synchronous belt assembly 16 is fixedly connected to the second lifting rod 12 through a connecting plate. A fourth motor 13 for driving the synchronous belt assembly 16 to rotate is fixedly connected to one side of the first lifting rod 9.

[0030] It should be noted that the timing belt assembly of the present utility model includes two timing belt pulleys and a timing belt sleeved outside the two timing belt pulleys for driving the two timing belt pulleys. The two timing belt pulleys are rotatably arranged on one side of the first lifting rod 9. The fourth motor 13 is fixedly connected to the timing belt pulley at the upper end of the first lifting rod 9. Since the flipping frame 7 is slidably connected to the first lifting rod 9 through a guide rail, the third motor 11 drives the rack 10 to move through a gear, and the rack 10 drives the first lifting rod 9 to move in a direction perpendicular to the flipping frame 7, thereby adjusting the lifting of the first lifting rod 9. During this period, the fourth motor 13 drives the second lifting rod 12 to slide on one side of the first lifting rod 9 through the timing belt, so that the double-section extension of the robotic arm can be realized.

[0031] Please refer to Figure 1 , 2 , Figures 3, 4, 5, and 6. A cylinder 14 is fixedly connected to the end of the second lifting rod 12. The fixed end of the cylinder 14 is fixedly connected to a support frame. The middle of the support frame is rotatably connected to a fixture mounting plate 15. An angle adjustment gear is fixed in the middle of the fixture mounting plate 15. The output end of the cylinder 14 is fixedly connected to a driving rack that meshes with the angle adjustment gear.

[0032] It should be noted that a vacuum suction cup is installed outside the fixture mounting plate 15 of the present utility model. The extension distance can be adjusted through the first lifting rod 9 and the second lifting rod 12. The driving rack at the output end of the cylinder 14 and the angle adjustment gear drive the fixture mounting plate 15 to rotate, so as to adjust the angle of the fixture mounting plate 15 to reach the clamping position.

[0033] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inner", "front", "center", "both ends", etc. is the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present utility model.

[0034] In addition, the terms "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third", and "fourth" may explicitly or implicitly include at least one of such features.

[0035] In the present utility model, unless otherwise clearly specified and defined, terms such as "installation", "setting", "connection", "fixation", "swivel connection" shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. Unless otherwise clearly defined, for those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0036] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A double-section feeding manipulator with flexible structure, characterized in that: Comprising: A lead screw linear module (1); A synchronous belt linear module (4), the synchronous belt linear module (4) is rotatably placed on the moving slide of the lead screw linear module (1). A first motor (3) for adjusting the angle between the lead screw linear module (1) and the synchronous belt linear module (4) is fixedly connected to the moving slide of the lead screw linear module (1). A concave frame (5) is fixedly connected to the moving slide of the synchronous belt linear module (4); A telescopic part, the telescopic part is rotatably placed above the concave frame (5). The telescopic part includes a first lifting rod (9) and a second lifting rod (12) slidably placed on one side of the first lifting rod (9). A driving component for driving the first lifting rod (9) to flip is provided at the top of the concave frame (5) for adjusting the angle between the first lifting rod (9) and the synchronous belt linear module (4).

2. The flexible double-section feeding manipulator according to claim 1, characterized in that: A moving box (2) is fixedly connected to the moving slide of the lead screw linear module (1), and the first motor (3) is fixedly connected inside the moving box (2).

3. The flexible double-section feeding manipulator according to claim 1, characterized in that: The driving component includes a rotating shaft (6) rotatably arranged above the concave frame (5). A flipping frame (7) is fixedly connected to the outer side of the rotating shaft (6). The first lifting rod (9) is slidably arranged on one side of the flipping frame (7). A second motor (8) is fixedly connected to the top of the concave frame (5), and the second motor (8) is fixedly connected to the rotating shaft (6).

4. The flexible double-section feeding manipulator according to claim 3, characterized in that: A third motor (11) is fixedly connected to the outer side of the middle part of the flipping frame (7). The output end of the third motor (11) is fixedly connected with a gear, and a rack (10) is meshed with the outer side of the gear. The rack (10) is fixedly connected to the first lifting rod (9).

5. The double-section feeding manipulator with flexible structure according to claim 4, characterized in that: A synchronous belt component (16) is installed on one side of the first lifting rod (9). The synchronous belt of the synchronous belt component (16) is fixedly connected to the second lifting rod (12) through a connecting plate. A fourth motor (13) for driving the synchronous belt component (16) to rotate is fixedly connected to one side of the first lifting rod (9).

6. The flexible double-section feeding manipulator according to claim 5, characterized in that: The end of the second lifting rod (12) is fixedly connected with a cylinder (14). The fixed end of the cylinder (14) is fixedly connected with a support frame. The middle part of the support frame is rotatably connected with a fixture mounting plate (15). An angle adjustment gear is fixed in the middle of the fixture mounting plate (15). The output end of the cylinder (14) is fixedly connected with a driving rack meshed with the angle adjustment gear.

Images