Two-coordinate picking and placing manipulator structure

Abstract

The utility model belongs to the technical field of general machinery, and particularly relates to a two-coordinate picking and placing manipulator structure which comprises a support serving as a connecting base frame, an X-axis translation component connected with the support and providing power to enable equipment to move horizontally in the X-axis direction, and a Z-axis translation component synchronously acting with the X-axis translation component and providing power to enable the equipment to move horizontally in the X-axis direction. A driving motor drives a linkage piece composed of a driving belt wheel, a transmission belt and a driven belt wheel to rotate, so that a connecting base moves horizontally along the outer side of a connecting frame along with the transmission belt, the position of a mechanical claw in the X-axis direction is driven to be changed, a servo motor drives a lead screw to rotate, and a connecting plate drives the position of the mechanical claw in the Z-axis direction to be changed. And the X-axis translation component is matched to realize two-coordinate action, so that the working range is enlarged.

Description

Technical Field

[0001] The utility model relates to the technical field of general machinery, in particular to a two-coordinate pick-and-place manipulator structure. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms, and is used to grasp, move objects, or operate tools according to fixed procedures. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect human safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, and atomic energy sectors.

[0003] A manipulator consists of three main parts: the hand, the motion mechanism, and the control system. The hand is used to grasp the workpiece (or tool) and has various structural forms, such as clamping, holding, and adsorption, depending on the shape, size, weight, material, and operation requirements of the grasped object. The motion mechanism enables the hand to perform various rotations (swings), movements, or combined movements to achieve the specified action and change the position and posture of the grasped object.

[0004] The common robot arm ends on the market currently generally adopt a side-posture mechanism, which uses a cylinder and a connecting rod to convert the linear push of the cylinder into the rotational motion of the rotating plate, achieving a 90-degree rotation of the rotating plate, and ultimately driving the fixture and the clamping part to rotate at the same angle. However, this method has a small working range, and the impact force when the cylinder pushes will be transmitted to the side-posture fixed frame. Over time, the impacted part is prone to fatigue damage, and even causes accidents. For this reason, a two-coordinate pick-and-place robot structure is provided. Utility Model Content

[0005] The purpose of this section is to summarize some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and in the abstract and title of the utility model to avoid obscuring the purpose of this section, the abstract and the title of the utility model, and such simplifications or omissions shall not be used to limit the scope of the present invention.

[0006] Therefore, the purpose of the present invention is to provide a two-coordinate pick-and-place robot structure, in which the driving motor drives the linkage composed of the active pulley, the transmission belt and the driven pulley to rotate, so that the connecting seat follows the transmission belt to move horizontally along the outer side of the connecting frame, driving the X-axis position of the mechanical claw to change, and the servo motor drives the lead screw to rotate, so that the connecting plate drives the Z-axis position of the mechanical claw to change, and cooperates with the X-axis translation component to realize two-coordinate movement and increase the working range.

[0007] In order to solve the above technical problems, according to one aspect of the present invention, the present invention provides the following technical solutions:

[0008] A two-coordinate pick-and-place robot structure comprising:

[0009] As a bracket for connecting the base frame;

[0010] The X-axis translation component is connected to the bracket and provides power to enable the device to move horizontally in the X-axis direction;

[0011] The Z-axis translation component moves synchronously with and follows the X-axis translation component, providing power to enable the device to move horizontally in the Z direction.

[0012] As a preferred solution of a two-coordinate pick-and-place robot structure described in the utility model, the X-axis translation component includes a connecting frame connected to the top of the bracket and arranged in a T-shape with the bracket, two sets of guide rails are symmetrically connected to the front side of the connecting frame, and a drive motor is connected to the rear side of the connecting frame.

[0013] As an optimal solution of a two-coordinate pick-and-place robot structure described in the utility model, wherein: the output end of the driving motor extends to the front side of the connecting frame, the output end of the driving motor is connected to the active pulley, the active pulley is sleeved with a transmission belt, the other end of the transmission belt is sleeved with a driven pulley, the driven pulley is rotatably connected to the front side of the connecting frame, the transmission belt is connected to a connecting seat, the connecting seat moves synchronously with the transmission belt, and the outer side of the connecting seat is connected to a guide seat that slides with the guide rail.

[0014] As an optimal solution of a two-coordinate pick-and-place robot structure described in the utility model, the Z-axis translation component includes a mounting frame connected to a connecting seat, two sets of guide rails are symmetrically connected to the front side of the mounting frame, and a servo motor is connected to the top of the mounting frame.

[0015] As an optimal solution for a two-coordinate pick-and-place robot structure described in the utility model, wherein: the output end of the servo motor is connected to a screw rod, the screw rod extends to the outside of the mounting frame, a threaded seat is threadedly connected to the screw rod, a connecting plate is integrally formed on the outside of the threaded seat, a mechanical claw is installed on the front side of the connecting plate, and a sliding seat that slides with the guide rail is connected to the inside of the connecting plate.

[0016] As a preferred solution of a two-coordinate pick-and-place robot structure described in the utility model, wherein: a mounting plate is connected to the outer side of the connecting frame, a negative ion component is connected to the mounting plate, the negative ion component includes a driving gear connected to the driving pulley, and a driven gear meshing with the driving gear, and the driven gear is rotatably connected to the mounting plate through a connecting rod.

[0017] As an optimal solution of a two-coordinate pick-and-place robot structure described in the utility model, wherein: a gearbox is connected to the outside of the mounting plate, the input end of the gearbox is connected to the connecting rod, the output end of the gearbox is connected to the shaft, and multiple groups of fan blades are connected to the outside of the shaft.

[0018] As an optimal solution of a two-coordinate pick-and-place robot structure described in the utility model, wherein: a bellows is connected to the outer side of the mounting plate corresponding to the fan blade position, the bellows is covered on the outer side of the fan blade, the air outlet of the bellows is connected to a connecting pipe, the end of the connecting pipe is connected to an air outlet hood, the air outlet hood corresponds to the position of the mechanical claw, and a negative ion generator is connected inside the bellows.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The drive motor drives the linkage consisting of the active pulley, transmission belt, and driven pulley to rotate, causing the connecting seat to move horizontally along the outer side of the connecting frame following the transmission belt, driving the X-axis position of the mechanical claw to change;

[0021] 2. The servo motor drives the lead screw to rotate, causing the connecting plate to drive the mechanical claw to change its Z-axis position, cooperating with the X-axis translation component to achieve two-axis motion and increase the working range;

[0022] 3. When the driving pulley rotates, it drives the linkage gear set composed of the driving gear and the driven gear to rotate, and drives the fan blades to rotate through the gearbox, so that the fan blades generate wind from the bellows. The wind acts on the air outlet hood through the connecting pipe, and then blows out the negative ions generated by the negative ion generator to assist in sterilizing the working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and detailed embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive labor. Among them:

[0024] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 This is a schematic diagram of the explosion structure of the utility model;

[0026] Figure 3 For this utility model Figure 1 Look at the structural diagram;

[0027] Figure 4 For this utility model Figure 1 Schematic diagram of some structures.

[0028] In the figure: 100 bracket, 200 X-axis translation component, 210 connecting frame, 211 guide rail, 212 mounting plate, 220 drive motor, 221 active pulley, 222 transmission belt, 223 driven pulley, 230 connecting seat, 231 guide seat, 300 Z-axis translation component, 310 mounting frame, 311 guide rail, 320 servo motor, 321 lead screw, 330 threaded seat, 331 connecting plate, 332 slide, 340 mechanical claw, 400 negative ion component, 410 driving gear, 411 driven gear, 412 connecting rod, 420 gearbox, 421 shaft, 422 fan blade, 430 bellows, 431 connecting pipe, 432 air outlet cover, 440 negative ion generator. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0030] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0031] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0032] In order to make the purpose, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0033] The utility model provides a two-coordinate pick-and-place robot structure. Figure 1-4 , including a bracket 100, an X-axis translation component 200, a Z-axis translation component 300 and a negative ion component 400;

[0034] Please continue reading Figure 1 and Figure 4 , as a bracket 100 for connecting the base frame;

[0035] Please continue reading Figure 1 、 Figure 3 and Figure 4 , the X-axis translation component 200 is connected to the bracket 100 and provides power to enable the device to move in the X-axis direction;

[0036] The X-axis translation component 200 includes a connecting frame 210 that is threadedly connected to the top of the bracket 100 and is T-shaped with the bracket 100. The front side of the connecting frame 210 is symmetrically threaded with two sets of guide rails 211, and the rear side of the connecting frame 210 is threadedly connected to a driving motor 220. The output end of the driving motor 220 extends to the front side of the connecting frame 210. The output end of the driving motor 220 is connected to a driving pulley 221. The driving pulley 221 is sleeved with a transmission belt 222. The other end of the transmission belt 222 is sleeved with a driven pulley 223. The driven pulley 223 is rotatably connected to the front side of the connecting frame 210. The transmission belt 222 is connected to a connecting seat 230. The connecting seat 230 moves synchronously with the transmission belt 222. The outer side of the connecting seat 230 is connected to a guide seat 231 that slides with the guide rail 211.

[0037] action:

[0038] The drive motor 220 rotates, driving the linkage consisting of the driving pulley 221, the transmission belt 222, and the driven pulley 223. This causes the connecting seat 230 to move horizontally along the outer side of the connecting frame 210 following the transmission belt 222, thereby driving the mechanical claw 340 to change its position in the X-axis direction.

[0039] Please continue reading Figure 1-3 , the Z-axis translation component 300 moves synchronously with the X-axis translation component 200 and follows the X-axis translation component 200 to provide power so that the device moves horizontally in the Z direction;

[0040] The Z-axis translation component 300 includes a mounting frame 310 threadedly connected to the connecting seat 230. Two sets of guide rails 311 are symmetrically screwed to the front side of the mounting frame 310. The top of the mounting frame 310 is connected to the servo motor 320 via a positioning bolt. The output end of the servo motor 320 is connected to a screw rod 321. The screw rod 321 extends to the outside of the mounting frame 310. A threaded seat 330 is threadedly connected to the screw rod 321. The outer side of the threaded seat 330 is integrally connected to a connecting plate 331. The front side of the connecting plate 331 is threadedly connected to a mechanical claw 340. The inner side of the connecting plate 331 is clamped with a slide seat 332 that slidably cooperates with the guide rails 311.

[0041] action:

[0042] The servo motor 320 drives the screw rod 321 to rotate. Since the threaded seat 330 is threadedly engaged with the screw rod 321 and guided by the guide rail 311 and the slide seat 332, when the screw rod 321 rotates, the connecting plate 331 drives the mechanical claw 340 to change its position in the Z-axis direction.

[0043] Please continue reading Figure 1-3 The outer side of the connecting frame 210 is connected to a mounting plate 212, and the mounting plate 212 is connected to a negative ion component 400;

[0044] The negative ion component 400 includes a driving gear 410 connected to the driving pulley 221, and a driven gear 411 meshing with the driving gear 410. The driven gear 411 is rotatably connected to the mounting plate 212 through a connecting rod 412. The outer side of the mounting plate 212 is threadedly connected to a gearbox 420. The input end of the gearbox 420 is keyed to the connecting rod 412. The output end of the gearbox 420 is connected to a shaft 421. The outer side of the shaft 421 is connected to multiple groups of fan blades 422. The outer side of the mounting plate 212 is threadedly connected to a bellows 430 corresponding to the position of the fan blades 422. The bellows 430 is covered on the outer side of the fan blades 422. The air outlet of the bellows 430 is connected to a connecting pipe 431. The end of the connecting pipe 431 is connected to an air outlet cover 432. The air outlet cover 432 corresponds to the position of the mechanical claw 340, and a negative ion generator 440 is screwed into the bellows 430.

[0045] action:

[0046] When the driving pulley 221 rotates, it drives the interlocking gear set consisting of the driving gear 410 and the driven gear 411 to rotate, thereby providing power to the gearbox 420. The gearbox 420 drives the fan blades 422 to rotate, so that the fan blades 422 generate wind from the bellows 430. The wind acts on the air outlet hood 432 through the connecting pipe 431, and then blows out the negative ions generated by the negative ion generator 440 to assist in sterilizing the working environment.

[0047] Working principle: When the utility model is in use, the driving motor 220 works, driving the linkage composed of the active pulley 221, the transmission belt 222 and the driven pulley 223 to rotate, so that the connecting seat 230 follows the transmission belt 222 to move horizontally along the outside of the connecting frame 210, driving the X-axis position of the mechanical claw 340 to change, and the servo motor 320 drives the screw rod 321 to rotate. Since the threaded seat 330 is screwed with the screw rod 321 and guided by the guide rail 311 and the slide seat 332, when the screw rod 321 rotates, The connecting plate 331 drives the mechanical claw 340 to change its position in the Z-axis direction. At the same time, when the driving pulley 221 rotates, it drives the linkage gear set composed of the driving gear 410 and the driven gear 411 to rotate, thereby providing power to the gearbox 420. The gearbox 420 drives the fan blades 422 to rotate, so that the fan blades 422 generate wind from the bellows 430. The wind acts on the air outlet hood 432 through the connecting pipe 431, and then blows out the negative ions generated by the negative ion generator 440 to assist in sterilizing the working environment.

[0048] While the present invention has been described above with reference to specific embodiments, various modifications may be made and equivalent components may be substituted without departing from the scope of the present invention. In particular, as long as no structural conflicts exist, the various features of the embodiments disclosed herein may be combined with one another in any manner, and the omission of an exhaustive description of these combinations in this specification is solely for the sake of space and resource conservation. Therefore, the present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A two-coordinate pick-and-place robot structure, characterized in that: include: A bracket (100) for connecting to the base frame; An X-axis translation component (200) is connected to the bracket (100) and provides power to enable the device to move in a translational manner in the X-axis direction; The Z-axis translation component (300) moves synchronously with the X-axis translation component (200) and follows the X-axis translation component (200), providing power to enable the device to move in a Z-direction translation.

2. A two-coordinate pick-and-place robot structure according to claim 1, characterized in that: The X-axis translation component (200) comprises a connecting frame (210) connected to the top of the bracket (100) and arranged in a T-shape with the bracket (100); the front side of the connecting frame (210) is symmetrically connected to two groups of guide rails (211); and the rear side of the connecting frame (210) is connected to a driving motor (220).

3. A two-coordinate pick-and-place robot structure according to claim 2, characterized in that: The output end of the driving motor (220) extends to the front side of the connecting frame (210), the output end of the driving motor (220) is connected to a driving pulley (221), a transmission belt (222) is sleeved on the driving pulley (221), the other end of the transmission belt (222) is sleeved on a driven pulley (223), the driven pulley (223) is rotatably connected to the front side of the connecting frame (210), a connecting seat (230) is connected to the transmission belt (222), the connecting seat (230) moves synchronously with the transmission belt (222), and the outer side of the connecting seat (230) is connected to a guide seat (231) that is slidably matched with the guide rail (211).

4. A two-coordinate pick-and-place robot structure according to claim 3, characterized in that: The Z-axis translation component (300) comprises a mounting frame (310) connected to the connecting seat (230), two sets of guide rails (311) are symmetrically connected to the front side of the mounting frame (310), and a servo motor (320) is connected to the top of the mounting frame (310).

5. A two-coordinate pick-and-place robot structure according to claim 4, characterized in that: The output end of the servo motor (320) is connected to a screw rod (321), the screw rod (321) extends to the outside of the mounting frame (310), a threaded seat (330) is threadedly connected to the screw rod (321), and a connecting plate (331) is integrally formed on the outside of the threaded seat (330), a mechanical claw (340) is installed on the front side of the connecting plate (331), and a sliding seat (332) that slidably cooperates with the guide rail (311) is connected to the inside of the connecting plate (331).

6. A two-coordinate pick-and-place robot structure according to claim 5, characterized in that: The outer side of the connecting frame (210) is connected to a mounting plate (212), and the mounting plate (212) is connected to a negative ion component (400). The negative ion component (400) includes a driving gear (410) connected to a driving pulley (221), and a driven gear (411) meshing with the driving gear (410). The driven gear (411) is rotatably connected to the mounting plate (212) via a connecting rod (412).

7. A two-coordinate pick-and-place robot structure according to claim 6, characterized in that: The outer side of the mounting plate (212) is connected to a gearbox (420), the input end of the gearbox (420) is connected to the connecting rod (412), the output end of the gearbox (420) is connected to a shaft (421), and the outer side of the shaft (421) is connected to multiple groups of fan blades (422).

8. The two-coordinate pick-and-place robot structure according to claim 7, characterized in that: The outer side of the mounting plate (212) is connected to a position corresponding to the fan blade (422), and the bellows (430) is covered on the outer side of the fan blade (422). The air outlet of the bellows (430) is connected to a connecting pipe (431), and the end of the connecting pipe (431) is connected to an air outlet cover (432). The air outlet cover (432) corresponds to the position of the mechanical claw (340), and a negative ion generator (440) is connected inside the bellows (430).

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