Novel three-dimensional manipulator

Abstract

The utility model discloses a novel three-dimensional manipulator, which comprises an X-axis cross beam, a base, a guide seat, an X-axis translation driving mechanism, a Y-axis translation driving mechanism, a support and a moving frame, the X-axis translation driving mechanism is mounted between the base and the X-axis cross beam, and the Y-axis translation driving mechanism is mounted between the support and the Y-axis cross beam. The X-axis translation driving mechanism drives the base to translate along the surface X of the X-axis cross beam; a Z-axis translation driving mechanism is arranged on the support and comprises a Z-axis driving motor, a speed reducer, a Z-axis gear, a Z-axis rack, a synchronous wheel and a synchronous belt. The device is ingenious in structural design, movement on the three shafts is carried out in a gear and rack meshing mode, stability is good, and the service life is long; and in addition, a synchronous wheel and a synchronous belt structure are matched on the Z shaft, so that large-stroke translation of the movable frame on the Z shaft can be realized under the condition that the whole manipulator is compact in structure, and the requirements are met.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical equipment technology, and in particular relates to a novel three-dimensional robotic arm. Background Technology

[0002] A three-dimensional robotic arm (also known as a coordinate-based robotic arm or 3D robotic arm) is an automated device capable of precise positioning and manipulation in three-dimensional space. It typically consists of a robotic arm, a drive system, a control system, and an end effector (such as a gripper or suction cup), and is widely used in industrial automation, manufacturing, medical, and scientific research. Existing robotic arms mostly use motors with lead screw mechanisms or sprocket and chain structures to achieve three-axis movement; however, these robotic arms are generally large in size and have limited travel distance, which cannot meet the needs of more diverse applications and customer requirements.

[0003] Therefore, the purpose of this utility model is to provide a new type of three-dimensional robotic arm to overcome the above-mentioned shortcomings, and to achieve a large stroke movement while keeping the robotic arm structure compact and small. Utility Model Content

[0004] The main technical problem solved by this utility model is to provide a novel three-dimensional manipulator with an ingenious structural design. The movement on all three axes is achieved by gear and rack meshing, which has good stability and long service life. In addition, the synchronous pulley and synchronous belt structure on the Z-axis enable the manipulator to achieve a large stroke translation on the Z-axis while keeping the overall structure compact, thus meeting the requirements.

[0005] To solve the above-mentioned technical problems, the present invention adopts a technical solution as follows: a novel three-dimensional manipulator is provided, the manipulator includes an X-axis beam, a base, a guide seat, an X-axis translation drive mechanism, a Y-axis translation drive mechanism, a bracket, and a moving frame. The X-axis translation drive mechanism is installed between the base and the X-axis beam, and drives the base to translate along the surface of the X-axis beam X-axis.

[0006] The Y-axis translation drive mechanism is installed between the guide seat and the base, and drives the guide seat to translate along the Y-axis of the surface of the base.

[0007] The bracket is equipped with a Z-axis translation drive mechanism, which includes a Z-axis drive motor, a reducer, a Z-axis gear, a Z-axis rack, a synchronous pulley, and a synchronous belt. The synchronous pulleys are installed at both ends of the bracket, and the synchronous belt is fitted onto the synchronous pulleys. The power output end of the Z-axis drive motor is connected to the reducer, and the two power output ends of the reducer are respectively connected to one of the Z-axis gears. The Z-axis rack is fixedly installed along the length of the bracket, and the Z-axis gear meshes with the Z-axis rack. The guide seat is fixedly installed on the synchronous belt on the upper surface of the bracket, and the movable frame is fixedly installed on the synchronous belt on the lower surface of the bracket.

[0008] Furthermore, the bottom of the guide seat and the upper part of the movable frame are both provided with Z-axis sliders, and the length direction of the bracket is provided with a Z-axis slide rail. The Z-axis slider matches the Z-axis slide rail and the Z-axis slider can slide along the Z-axis slide rail.

[0009] Furthermore, the bottom of the guide seat is provided with an upper cover, which is fixed to the upper part of the timing belt; the upper part of the moving frame is provided with a lower cover, which is fixed to the lower part of the timing belt.

[0010] Furthermore, the mobile frame is equipped with a material-grabbing mechanism for gripping materials.

[0011] Furthermore, the X-axis translation drive mechanism includes an X-axis drive motor, an X-axis gear, and an X-axis rack. The X-axis gear is installed at the power output end of the X-axis drive motor, and the X-axis rack is fixedly installed on the X-axis crossbeam. The X-axis gear and the X-axis rack mesh with each other. An X-axis slider is provided on the back of the base, and an X-axis slide rail is provided on the surface of the X-axis crossbeam. The X-axis slider matches the X-axis slide rail, and the X-axis slider can slide along the X-axis slide rail.

[0012] Furthermore, the Y-axis translation drive mechanism includes a Y-axis drive motor, a Y-axis gear, and a Y-axis rack. The power output end of the Y-axis drive motor is equipped with the Y-axis gear, and the Y-axis rack is fixedly installed on the base. The Y-axis gear and the Y-axis rack mesh with each other. The back of the guide seat is provided with a Y-axis slider, and the surface of the guide seat is provided with a Y-axis slide rail. The Y-axis slider matches the Y-axis slide rail, and the Y-axis slider can slide along the Y-axis slide rail.

[0013] The beneficial effects of this utility model are:

[0014] This utility model includes an X-axis beam, a base, a guide seat, an X-axis translation drive mechanism, a Y-axis translation drive mechanism, a bracket, and a movable frame. The X-axis translation drive mechanism drives the base to translate along the surface of the X-axis beam (X-axis translation); the Y-axis translation drive mechanism drives the guide seat to translate along the surface of the base (Y-axis translation); the bracket is equipped with a Z-axis translation drive mechanism to drive the movable frame to translate along the Z-axis. This utility model is ingeniously designed, with all three axes of movement using gear and rack meshing, resulting in excellent stability and long service life. Furthermore, the addition of a synchronous pulley and synchronous belt structure on the Z-axis enables faster and larger-stroke translation of the movable frame along the Z-axis while maintaining a compact and space-saving overall robot structure. This doubles the movement stroke of the movable frame, broadens its application range, and makes the equipment more flexible in operation.

[0015] Furthermore, the translational drive method on the X-axis in this invention adopts a motor-driven gear and rack system, which, compared to the conventional structure of a motor and lead screw and nut drive, results in a longer travel distance on the X-axis, more stable operation, and stronger load-bearing capacity. In addition, the drive on the Y-axis is also a motor-driven gear and rack system, which greatly improves and ensures the smoothness and load-bearing capacity of the entire robot's movement process.

[0016] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings. Attached Figure Description

[0017] Figure 1 This is one of the structural schematic diagrams of this utility model (X-axis motor and Y-axis motor not installed);

[0018] Figure 2 This is the second structural schematic diagram of this utility model (some parts of the structure are not installed in order to see the internal structure clearly);

[0019] Figure 3 This is a side view of the present invention;

[0020] Figure 4 This is a top view of the present invention;

[0021] The labels for each figure are as follows:

[0022] X-axis beam 1, base 2, guide seat 3, Z-axis slider 31, upper cover 32, X-axis translation drive mechanism 4, X-axis drive motor 41, X-axis gear 42, X-axis rack 43, X-axis slider 44, X-axis slide rail 45, Y-axis translation drive mechanism 5, Y-axis drive motor 51, Y-axis gear 52, Y-axis rack 53, Y-axis slider 54, Y-axis slide rail 55, bracket 6, Z-axis slide rail 61, moving frame 7, lower cover 71, Z-axis translation drive mechanism 8, Z-axis drive motor 81, reducer 82, Z-axis gear 83, Z-axis rack 84, synchronous pulley 85, synchronous belt 86, material handling mechanism 9. Detailed Implementation

[0023] The following specific embodiments illustrate the detailed implementation of this utility model. Those skilled in the art can easily understand the advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented in other different ways, that is, different modifications and changes can be made without departing from the scope disclosed in this utility model.

[0024] The left, right, front, and rear directions in this embodiment are described according to the positions in the accompanying drawings and are not intended to limit the scope of protection of this utility model.

[0025] Example: A novel three-dimensional robotic arm, such as Figures 1 to 4 As shown, the robotic arm includes an X-axis beam 1, a base 2, a guide seat 3, an X-axis translation drive mechanism 4, a Y-axis translation drive mechanism 5, a bracket 6, and a moving frame 7. The X-axis translation drive mechanism is installed between the base and the X-axis beam, and drives the base to translate along the surface X of the X-axis beam.

[0026] The Y-axis translation drive mechanism is installed between the guide seat and the base, and drives the guide seat to translate along the Y-axis of the surface of the base.

[0027] The bracket is equipped with a Z-axis translation drive mechanism 8, which includes a Z-axis drive motor 81, a reducer 82, a Z-axis gear 83, a Z-axis rack 84, a synchronous pulley 85, and a synchronous belt 86. The synchronous pulleys are installed at both ends of the bracket, and the synchronous belt is fitted onto the synchronous pulleys. The power output end of the Z-axis drive motor is connected to the reducer, and the two power output ends of the reducer are respectively connected to one of the Z-axis gears. The Z-axis rack is fixedly installed along the length of the bracket, and the Z-axis gear meshes with the Z-axis rack. The guide seat is fixedly installed on the synchronous belt on the upper surface of the bracket, and the movable frame is fixedly installed on the synchronous belt on the lower surface of the bracket.

[0028] In this embodiment, the bottom of the guide seat and the upper part of the movable frame are both provided with Z-axis sliders 31, and the length direction of the bracket is provided with a Z-axis slide rail 61. The Z-axis slider matches the Z-axis slide rail and the Z-axis slider can slide along the Z-axis slide rail.

[0029] In this embodiment, the bottom of the guide seat is provided with an upper cover 32, which is fixed to the upper part of the timing belt; the upper part of the moving frame is provided with a lower cover 71, which is fixed to the lower part of the timing belt.

[0030] In this embodiment, the mobile frame is equipped with a material grabbing mechanism 9 for grabbing materials, and other necessary mechanisms can also be installed.

[0031] In this embodiment, the X-axis translation drive mechanism 4 includes an X-axis drive motor 41, an X-axis gear 42, and an X-axis rack 43. The X-axis gear is mounted on the power output end of the X-axis drive motor, and the X-axis rack is fixedly mounted on the X-axis crossbeam. The X-axis gear and the X-axis rack mesh with each other. An X-axis slider 44 is provided on the back of the base, and an X-axis slide rail 45 is provided on the surface of the X-axis crossbeam. The X-axis slider matches the X-axis slide rail, and the X-axis slider can slide along the X-axis slide rail. In this embodiment, the translation drive method on the X-axis adopts a motor-driven gear and rack method. Compared with the conventional structure of motor and lead screw and nut drive, this results in a longer travel distance on the X-axis, more stable operation, and stronger load-bearing capacity.

[0032] In this embodiment, the Y-axis translation drive mechanism 5 includes a Y-axis drive motor 51, a Y-axis gear 52, and a Y-axis rack 53. The Y-axis gear is mounted on the power output end of the Y-axis drive motor, and the Y-axis rack is fixedly mounted on the base. The Y-axis gear and the Y-axis rack mesh with each other. A Y-axis slider 54 is provided on the back of the guide seat, and a Y-axis slide rail 55 is provided on the surface of the guide seat. The Y-axis slider matches the Y-axis slide rail, and the Y-axis slider can slide along the Y-axis slide rail. In this embodiment, the translation drive method on the Y-axis adopts a motor-driven gear and rack method, which is more stable in operation and has a stronger load-bearing capacity compared to the conventional structure of motor and lead screw and nut drive.

[0033] The working process and working principle of this utility model are as follows:

[0034] The mechanism requiring drive is mounted on the moving frame, such as the material handling mechanism 9. Then, the X-axis motor drives the X-axis gear to rotate. Through the meshing of the X-axis gear and X-axis rack, and the cooperation of the X-axis slider and X-axis slide rail, the base is driven to translate along the X-axis. A similar working process and principle apply; the Y-axis translation drive mechanism drives the guide seat to translate along the Y-axis. The Z-axis motor and reducer drive the two Z-axis gears to rotate. Through the cooperation of the Z-axis gear and Z-axis rack, the Z-axis rack is moved. Since the guide seat is fixed to the synchronous belt by the upper cover, as shown... Figure 3 As shown, this will cause the timing belt to move to the left (or right). Since the moving frame is fixed to the timing belt at the bottom of the support, the moving frame will translate in the opposite direction. That is, when the guide seat translates to the left, the moving frame will translate to the right; when the guide seat translates to the right, the moving frame will translate to the left. Therefore, with the above structure, the travel distance of the moving frame in the Z direction can be doubled.

[0035] The above description is merely an embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structure made using the contents of the present utility model specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A novel three-dimensional robot, characterized by: The mechanical hand comprises an X-axis beam (1), a base (2), a guide seat (3), an X-axis translation driving mechanism (4), a Y-axis translation driving mechanism (5), a support (6) and a moving frame (7), the X-axis translation driving mechanism is installed between the base and the X-axis beam, the base is driven to translate along the surface X of the X-axis beam through the X-axis translation driving mechanism; The Y-axis translation driving mechanism is installed between the guide seat and the base, the guide seat is driven to translate along the surface Y of the base through the Y-axis translation driving mechanism; The support is provided with a Z-axis translation driving mechanism (8), the Z-axis translation driving mechanism (8) comprises a Z-axis driving motor (81), a speed reducer (82), a Z-axis gear (83), a Z-axis rack (84), a synchronous wheel (85) and a synchronous belt (86), the synchronous wheel is installed at both ends of the support, the synchronous belt is sleeved on the synchronous wheel, the power output end of the Z-axis driving motor is connected with the speed reducer, the two power output ends of the speed reducer are respectively connected with a Z-axis gear, the Z-axis rack is fixedly installed on the length direction of the support, the Z-axis gear is engaged with the Z-axis rack, the guide seat is fixedly installed on the upper synchronous belt of the upper surface of the support, and the moving frame is fixedly installed on the lower synchronous belt of the lower surface of the support.

2. The novel 3D robot according to claim 1, characterized in that: The bottom of the guide seat and the upper part of the moving frame are provided with Z-axis sliding blocks (31), and the length direction of the support is provided with Z-axis sliding rails (61), the Z-axis sliding blocks are matched with the Z-axis sliding rails and can slide along the Z-axis sliding rails.

3. The novel 3D robot according to claim 1, wherein: The bottom of the guide seat is provided with an upper clamping cover (32), and the upper clamping cover is fixed to the upper part of the synchronous belt; the upper part of the moving frame is provided with a lower clamping cover (71), and the lower clamping cover is fixed to the lower part of the synchronous belt.

4. The novel 3D robot according to claim 1, wherein: The moving frame is provided with a material taking mechanism (9) for grabbing materials.

5. The novel 3D robot according to claim 1, wherein: The X-axis translation driving mechanism (4) comprises an X-axis driving motor (41), an X-axis gear (42) and an X-axis rack (43), the power output end of the X-axis driving motor is installed with the X-axis gear, the X-axis rack is fixedly installed on the X-axis beam, the X-axis gear and the X-axis rack are engaged, the back surface of the base is provided with an X-axis sliding block (44), the surface of the X-axis beam is provided with an X-axis sliding rail (45), the X-axis sliding block is matched with the X-axis sliding rail and can slide along the X-axis sliding rail.

6. The novel 3-D robotic hand of claim 1, wherein: The Y-axis translation driving mechanism (5) comprises a Y-axis driving motor (51), a Y-axis gear (52) and a Y-axis rack (53), the power output end of the Y-axis driving motor is installed with the Y-axis gear, the Y-axis rack is fixedly installed on the base, the Y-axis gear and the Y-axis rack are engaged, the back surface of the guide seat is provided with a Y-axis sliding block (54), the surface of the guide seat is provided with a Y-axis sliding rail (55), the Y-axis sliding block is matched with the Y-axis sliding rail and can slide along the Y-axis sliding rail.

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