Gear and rack type single-shaft manipulator capable of being in butt joint and infinitely extending stroke

Abstract

The utility model discloses a pinion-and-rack type single-shaft manipulator capable of butt joint and infinitely extending stroke, and relates to the technical field of single-shaft manipulators, the pinion-and-rack type single-shaft manipulator comprises a stroke frame, insertion holes are formed in the front side and the rear side of the right end of the stroke frame, and springs are fixedly installed on the front surface and the rear surface of the right side of the outer surface of the stroke frame; lock pins are fixedly arranged at the ends, away from the stroke frame, of the springs, the opposite ends of the lock pins slidably penetrate through the stroke frame to be located in the inserting holes, the surfaces of the right sides of the lock pins are inclined planes, inserting blocks are fixedly installed on the front side and the rear side of the left end of the stroke frame, and positioning grooves are formed in the opposite sides of the surfaces of the inserting blocks. Compared with an existing common single-shaft mechanical arm, the gear and rack type single-shaft mechanical arm capable of being in butt joint and extending the stroke infinitely has the advantages that the stroke frame can be spliced infinitely in length according to the rail length requirement, so that the requirements of different working transportation stroke lengths can be flexibly met, use is more flexible, and installation is quite easy, convenient and rapid.

Description

TECHNICAL FIELD

[0001] The utility model relates to single -shaft manipulator technical field, concretely is a gear and rack type single -shaft manipulator of butt joint infinite extension stroke. BACKGROUND

[0002] In the field of automation equipment, the most common linear motion assembly is single -shaft manipulator, single -shaft manipulator is also called linear module, single -shaft robot. Single -shaft manipulator generally through ball screw or synchronous toothed belt drive, with precision linear guide as the guide mechanism, to realize single -direction handling, positioning, shift, pick and place, detection and other functions.

[0003] But the maximum working range and maximum stroke distance of the existing single -shaft manipulator are completely determined by the slide rail length, and the fixed length track limits the work of the manipulator, which is difficult to adapt to different working environments, thereby affecting the working performance of the manipulator.

[0004] Therefore, in view of the above, the existing structure is improved, and a gear and rack type single -shaft manipulator with butt joint infinite extension stroke is provided. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a gear and rack type single -shaft manipulator with butt joint infinite extension stroke to solve the problems in the background art.

[0006] To achieve the above object, the utility model provides the following technical scheme: a gear and rack type single -shaft manipulator with butt joint infinite extension stroke, comprising a stroke frame, the right end of the stroke frame is provided with a jack on the front and back sides, the outer surface of the stroke frame is fixedly installed with a spring on the front and back surfaces of the right side, the end of the spring away from the stroke frame is fixedly provided with a lock pin, the opposite end of the lock pin is slidably penetrated through the stroke frame and located in the jack, and the right surface of the lock pin is provided as an inclined surface, the left end of the stroke frame is fixedly installed with a plug on the front and back sides, and the opposite side of the surface of the plug is provided with a positioning groove.

[0007] Preferably, the inner surface of the stroke frame is fixedly installed with a rack plate at the bottom, the inner surface of the stroke frame is provided with a sliding groove on the front and back sides above, the inner surface of the sliding groove is slidably provided with a sliding block, and the opposite side of the sliding block is fixedly installed with a same moving seat.

[0008] Preferably, the inner surface of the moving seat is rotatably installed with a driving gear, the lower surface of the driving gear is meshed with the rack plate, the outer surface of the moving seat is fixedly installed with a driving motor on the back side, and the front end shaft of the driving motor penetrates through the moving seat and is connected with the driving gear.

[0009] Preferably, the outer surface of the moving seat is fixedly provided with a connecting rod, the front end of the connecting rod is fixedly installed with a fixed frame, the rear surface of the fixed frame is fixedly installed with a hydraulic telescopic rod, and the hydraulic telescopic rod is arranged in the inner wall cavity of the connecting rod.

[0010] Preferably, the front end of the hydraulic telescopic rod penetrates the fixed frame and is fixedly installed with a movable block, the movable block is shaped as a trapezoid, and the left and right surfaces of the movable block are fixedly provided with T-shaped blocks.

[0011] Preferably, the inner front surface of the fixed frame is provided with a limiting groove, the left and right surfaces of the limiting groove are slidably provided with sliding plates, and the middle portions of the upper and lower corresponding sliding plates are fixedly installed with the same wedge-shaped block.

[0012] Preferably, the surface of the wedge-shaped block near the movable block is provided with a T-shaped groove, the T-shaped block is slidably arranged in the T-shaped groove, and the front end of the wedge-shaped block is fixedly installed with a clamping plate.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] 1. The utility model discloses a plug hole, a spring, a locking pin, a plug and a positioning groove are arranged, the plug of one stroke frame is inserted into the plug hole of another stroke frame, the plug can push the locking pin to move outward by the slope, when the plug is completely inserted into the plug hole, the locking pin is aligned with the positioning groove, under the action of the spring, the locking pin is inserted into the positioning groove, so that the plug is fixed, one stroke frame and another stroke frame are fixedly spliced, the stroke frame can be assembled in unlimited length according to the length requirement of the track, so that the requirement of different working transportation length can be flexibly adapted, the use is more flexible, and the installation is very simple and fast.

[0015] 2. The utility model discloses a rack plate, a sliding groove, a sliding block, a moving seat, a driving gear and a driving motor are arranged, the driving motor is used to drive the rotation of the driving gear, the driving gear is engaged with the rack plate when rotating, since the rack plate is fixed, the meshing thrust generated when the driving gear rotates will make the moving seat move along the stroke frame, the driving gear is equivalent to the wheel of the moving seat at this time, so that the moving seat can be flexibly adjusted, the position of the mechanical hand is adjusted to transport the workpiece, the sliding groove is used for limiting the sliding block up and down, and the sliding block is fixed with the moving seat, that is, when the moving seat moves, the sliding block can slide along the sliding groove, so that the stability of the moving seat is ensured, and the offset and shaking are prevented.

[0016] 3. The utility model discloses a set of hydraulic telescopic rod, movable block, T -shaped block, limit groove, slip board, wedge, T -shaped groove and the clamping plate of setting, hydraulic telescopic rod promotes movable block to extend forward, utilize T -shaped block in T -shaped groove stable forward sliding, and utilize movable block's slope to push and squeeze wedge to move to two sides, and further open the clamping plate of mechanical hand, when clamping, hydraulic telescopic rod pulls back movable block, with movable block both sides slope, the rear shift of inclined end point, further make the slope position of opposite side of wedge through T -shaped block and the pull of T -shaped groove, move to the middle, further drive the clamping plate opposite movement, further complete clamping work, whole mechanical hand can carry out effective clamping work, and simple and practical structure design, the manufacturing cost is extremely low, and it is convenient to dismantle maintenance to part, and limit groove and slip board can be limited to wedge, prevent movable block from moving, and wedge utilizes the synchronous movement of the friction between T -shaped block and T -shaped groove along with movable block, can ensure that wedge drives the clamping plate to carry out left and right opening and closing movement stably. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is whole overhead sectional structure schematic diagram of the utility model;

[0018] Figure 2 It is whole side sectional structure schematic diagram of the utility model;

[0019] Figure 3 It is fixed frame structure schematic diagram of the utility model;

[0020] Figure 4 It is clamping plate removal and fixed frame part sectional structure schematic diagram of the utility model;

[0021] Figure 5 It is wedge and movable block split structure schematic diagram of the utility model.

[0022] In the drawing: 1, stroke frame;2, jack;3, spring;4, lock pin;5, plug;6, positioning groove;7, rack plate;8, sliding groove;9, sliding block;10, moving seat;11, driving gear;12, driving motor;13, connecting rod;14, fixed frame;15, hydraulic telescopic rod;16, movable block;17, T -shaped block;18, limit groove;19, slip board;20, wedge;21, T -shaped groove;22, clamping plate. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiments of the utility model will be apparently and completely described below with the drawings in the embodiments of the utility model, and obviously, the described embodiments are only a part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the range of protection of the utility model.

[0024] As Figures 1-2 shown, a gear rack type single-axis robot with a butt joint infinite extension stroke comprises a stroke frame 1, the right end of the stroke frame 1 is provided with a jack 2 on the front and back sides, the outer surface of the stroke frame 1 is fixedly installed with a spring 3 on the right side of the front and back surfaces, the end of the spring 3 away from the stroke frame 1 is fixedly provided with a locking pin 4, the opposite end of the locking pin 4 is slidably penetrated into the stroke frame 1 inside the jack 2, and the right surface of the locking pin 4 is provided as an inclined surface, the left end of the stroke frame 1 is fixedly installed with a plug 5 on the front and back sides, and the opposite side of the surface of the plug 5 is provided with a positioning groove 6.

[0025] Through the above technical scheme, the plug 5 of one stroke frame 1 is inserted into the jack 2 of another stroke frame 1, the plug 5 can push the locking pin 4 to move outward by using the inclined surface, when the plug 5 is completely inserted into the jack 2, the locking pin 4 is aligned with the positioning groove 6, under the action of the spring 3, the locking pin 4 is pulled to insert into the positioning groove 6, so as to fix the plug 5, that is, one stroke frame 1 and another stroke frame 1 can be fixedly spliced.

[0026] Further, the inner surface of the stroke frame 1 is fixedly installed with a rack plate 7 at the bottom, the inner surface of the stroke frame 1 is provided with a sliding groove 8 on the front and back sides above, the sliding groove 8 is slidably provided with a sliding block 9, and the opposite side of the sliding block 9 is fixedly installed with the same moving seat 10.

[0027] Through the above technical scheme, the sliding groove 8 limits the sliding block 9 up and down, and the sliding block 9 is fixed with the moving seat 10, that is, when the moving seat 10 moves, it can drive the sliding block 9 to slide along the sliding groove 8, so as to ensure the stability of the moving seat 10 and prevent the moving seat 10 from deviating and shaking.

[0028] Further, the inner surface of the moving seat 10 is rotatably installed with a driving gear 11, the lower surface of the driving gear 11 is engaged with the rack plate 7, the outer surface of the moving seat 10 is fixedly installed with a driving motor 12 on the back side, and the front end shaft of the driving motor 12 penetrates the moving seat 10 and is connected with the driving gear 11.

[0029] Through the above technical scheme, the driving motor 12 drives the driving gear 11 to rotate, the driving gear 11 rotates and engages the rack plate 7, since the rack plate 7 is fixed, the engagement thrust generated when the driving gear 11 rotates will make the moving seat 10 move along the stroke frame 1, and the driving gear 11 at this time is equivalent to the wheel of the moving seat 10, so as to be able to flexibly adjust the sliding of the moving seat 10.

[0030] As Figures 2-5 shown, the outer surface of the moving seat 10 is fixedly provided with a connecting rod 13 on the upper side, the front end of the connecting rod 13 is fixedly installed with a fixed frame 14, the surface of the fixed frame 14 is fixedly installed with a hydraulic telescopic rod 15 on the back side, and the hydraulic telescopic rod 15 is arranged in the inner wall cavity of the connecting rod 13.

[0031] By adopting the above technical scheme, the fixed frame 14 is used to assemble the components of the whole manipulator, and the hydraulic telescopic rod 15 provides a power source for the manipulator.

[0032] Further, the front end of the hydraulic telescopic rod 15 is fixedly provided with a movable block 16 penetrating through the fixed frame 14. The movable block 16 is trapezoidal in shape, and T-shaped blocks 17 are fixedly arranged on the left and right sides of the surface of the movable block 16.

[0033] Further, the front upper and lower sides of the inner surface of the fixed frame 14 are provided with limiting grooves 18, the left and right sides of the inner surface of the limiting grooves 18 are slidably provided with sliding plates 19, and the middle portions of the upper and lower corresponding sliding plates 19 are fixedly provided with the same wedge-shaped block 20; the surface of the wedge-shaped block 20 near the movable block 16 is provided with a T-shaped groove 21, the T-shaped block 17 is slidably arranged in the T-shaped groove 21, and the front end of the wedge-shaped block 20 is fixedly provided with a clamping plate 22.

[0034] By adopting the above technical scheme, the hydraulic telescopic rod 15 pushes the movable block 16 to extend forward, the T-shaped block 17 stably slides forward in the T-shaped groove 21, and the inclined surfaces of the movable block 16 push the wedge-shaped block 20 to move to both sides, thereby opening the clamping plate 22 of the manipulator;

[0035] The hydraulic telescopic rod 15 pulls the movable block 16 backward, and with the backward movement of the inclined surfaces on both sides of the movable block 16 and the inclined end points, the wedge-shaped block 20 moves to the middle part through the pulling of the T-shaped block 17 and the T-shaped groove 21 on the opposite side of the inclined surface position, thereby moving the clamping plate 22 to the opposite side, thereby completing the clamping work;

[0036] The limiting groove 18 and the sliding plate 19 can limit the wedge-shaped block 20, prevent the wedge-shaped block 20 from moving synchronously with the movable block 16 by using the friction between the T-shaped block 17 and the T-shaped groove 21 when the movable block 16 moves, and ensure that the wedge-shaped block 20 stably opens and closes the clamping plate 22 left and right.

[0037] Working principle: when using the gear rack type single axle manipulator with the butt joint infinite extension stroke, first, the driving motor 12 drives the driving gear 11 to rotate, the driving gear 11 rotates and engages with the rack plate 7, because the rack plate 7 is fixed, the meshing thrust generated by the rotation of the driving gear 11 will make the moving seat 10 move along the stroke frame 1, the driving gear 11 at this time is equivalent to the wheel of the moving seat 10, so as to flexibly adjust the sliding of the moving seat 10 to make the manipulator move with the moving seat 10, after moving to the specified position, the hydraulic telescopic rod 15 pushes the movable block 16 to extend forward, the T-shaped block 17 is stable in the T-shaped groove 21, and the inclined surface of the movable block 16 pushes the wedge-shaped block 20 to move to both sides, and then the clamping plate 22 of the manipulator is opened, when clamping, the hydraulic telescopic rod 15 pulls the movable block 16 backward, with the movement of the inclined surface on both sides of the movable block 16 and the backward movement of the inclined end point, the wedge-shaped block 20 moves to the middle part through the pulling of the T-shaped block 17 and the T-shaped groove 21, and then the clamping plate 22 is moved to the opposite side, and then the clamping work is completed, after clamping, the above moving mode is used to move and transport again, according to the length requirement of the track and the requirement of different working and transporting stroke length, the plug 5 of one stroke frame 1 is inserted into the insertion hole 2 of another stroke frame 1, the plug 5 can push the lock pin 4 to move outward by using the inclined surface, when the plug 5 is completely inserted into the insertion hole 2, the lock pin 4 is aligned with the positioning groove 6, under the action of the spring 3, the lock pin 4 is pulled and inserted into the positioning groove 6, so as to fix the plug 5, that is, one stroke frame 1 and another stroke frame 1 can be fixed and spliced, the track is lengthened, which is the working principle of the gear rack type single axle manipulator with the butt joint infinite extension stroke.

Claims

1. A gear and rack type single axis robot with a butt joint infinite extension stroke, comprising a stroke frame (1), characterized in that, The right end of the stroke frame (1) is provided with a jack (2), and the right side of the outer surface of the stroke frame (1) is fixedly provided with a spring (3), and the end of the spring (3) away from the stroke frame (1) is fixedly provided with a locking pin (4), and the opposite end of the locking pin (4) is slidably penetrated into the jack (2) inside the stroke frame (1), and the right surface of the locking pin (4) is provided as an inclined surface, and the left end of the stroke frame (1) is fixedly provided with a plug (5), and the opposite side of the surface of the plug (5) is provided with a positioning groove (6).

2. The gear and rack type single axis robot according to claim 1, wherein, The inner surface of the stroke frame (1) is fixedly provided with a rack plate (7), and the inner surface of the stroke frame (1) is provided with a sliding groove (8) on the upper side, and the inner surface of the sliding groove (8) is slidably provided with a sliding block (9), and the opposite side of the sliding block (9) is fixedly provided with a same moving seat (10).

3. The gear and rack type single axis robot of claim 2, wherein, The inner surface of the moving seat (10) is rotatably provided with a driving gear (11), and the lower surface of the driving gear (11) is engaged with the rack plate (7), and the outer surface of the moving seat (10) is fixedly provided with a driving motor (12) on the rear side, and the front end rotating shaft of the driving motor (12) penetrates the moving seat (10) and is connected with the driving gear (11).

4. The gear and rack type single axis robot of claim 2, wherein, The outer surface of the moving seat (10) is fixedly provided with a connecting rod (13) on the upper side, the front end of the connecting rod (13) is fixedly provided with a fixed frame (14), the rear side of the surface of the fixed frame (14) is fixedly provided with a hydraulic telescopic rod (15), and the hydraulic telescopic rod (15) is arranged in the inner wall cavity of the connecting rod (13).

5. The gear and rack type single axis robot according to claim 4, wherein, The front end of the hydraulic telescopic rod (15) penetrates the fixed frame (14) and is fixedly provided with a movable block (16), the shape of the movable block (16) is provided as a trapezoidal shape, and the left and right sides of the surface of the movable block (16) are fixedly provided with a T-shaped block (17).

6. The gear and rack type single axis robot of claim 4, wherein, The inner surface of the fixed frame (14) is provided with a limiting groove (18) on the front side, and the left and right sides of the inside of the limiting groove (18) are slidably provided with a sliding plate (19), and the middle of the upper and lower corresponding sliding plates (19) is fixedly provided with a same wedge-shaped block (20).

7. The gear and rack type single axis robot of claim 6, wherein, The surface of the wedge-shaped block (20) is provided with a T-shaped groove (21) on the side close to the movable block (16), and the T-shaped block (17) is slidably arranged in the T-shaped groove (21), and the front end of the wedge-shaped block (20) is fixedly provided with a clamping plate (22).

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