Speed multiplication mechanism for manipulator

Abstract

The utility model relates to the technical field of manipulators, and provides a speed multiplication mechanism for a manipulator, which comprises a box body, a motor seat is arranged in the box body, the outer wall of the top of the motor seat is fixedly connected with a first driving motor through a screw, an output shaft of the first driving motor is fixedly connected with a gear, and the outer wall of the gear is meshed with a rack. A first moving frame is fixedly connected to the outer wall of the bottom of the rack through screws, a second driving motor is installed on the outer wall of the top of the first moving frame, a second moving frame is arranged at the bottom of the first moving frame, and a synchronous belt is installed between the second moving frame and the second driving motor. The first driving motor drives the gear and the rack to drive the first moving frame to move, the second driving motor drives the second moving frame to move in the same direction through the synchronous belt, speed multiplication is achieved through superposition of the first driving motor and the second driving motor, the moving time is greatly shortened, invalid strokes are reduced through dual-drive cooperative control, the transmission efficiency of the synchronous belt is high, and comprehensive energy consumption can be effectively reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a speed-multiplying mechanism for robotic arms. Background Technology

[0002] Engraving machines are widely used in precision machining, primarily for engraving patterns and precision grinding on workpiece surfaces. Inside the engraving machine, a robotic arm serves as the core actuator, responsible for material gripping, positioning, and transfer; its performance directly impacts processing efficiency and precision. Traditional engraving machines often employ a single-drive structure, achieving unidirectional movement through linear modules or cylinders. However, with the increasing demands for high efficiency and precision in industrial automation, the limitations of existing robotic arms are becoming increasingly apparent.

[0003] 1. Insufficient speed: Traditional robotic arms rely on a single drive source, which limits their movement speed and cannot meet the needs of rapid loading and unloading and high-speed processing;

[0004] 2. Low exercise efficiency: Reciprocating motion requires multiple starts and stops, resulting in high energy consumption and a long cycle;

[0005] 3. Poor positioning accuracy: The sliding parts are prone to wear, and gaps are easily generated after long-term use, affecting the positioning stability.

[0006] Therefore, there is an urgent need for a robotic arm mechanism that can achieve double-speed movement, has a compact structure, and is precisely positioned to improve the overall performance of the stencil machine. Utility Model Content

[0007] The purpose of this invention is to provide a speed-multiplying mechanism for robotic arms, which achieves double-speed movement of the robotic arm through dual-drive coordinated control and synchronous belt transmission. At the same time, it combines a high-precision slide rail and a pneumatic adsorption device to significantly improve material transfer efficiency and positioning accuracy.

[0008] This utility model is achieved through the following technical solution:

[0009] This utility model proposes a speed-multiplying mechanism for a robotic arm, comprising a housing, inside which a motor base is provided, and a first drive motor is fixedly connected to the top outer wall of the motor base by screws. The output shaft of the first drive motor is fixedly connected to a gear, and a rack meshes on the outer wall of the gear. A first movable frame is fixedly connected to the bottom outer wall of the rack by screws, and a second drive motor is installed on the top outer wall of the first movable frame. A second movable frame is provided at the bottom of the first movable frame, and a synchronous belt is installed between the second movable frame and the second drive motor.

[0010] Furthermore, a slider is fixedly connected to the bottom outer wall of the motor base, and a slide rail is fixedly connected to the top outer wall of the first movable frame by bolts. The slider is slidably connected to the inner wall of the slide rail, and the slider and the slide rail constitute a linear guide structure for the first movable frame.

[0011] Furthermore, a slide rail 2 is fixedly connected to one side of the bottom outer wall of the first movable frame, and a slider 2 is fixedly connected to the top outer wall of the second movable frame by bolts. The slider 2 is slidably connected to the inner wall of the slide rail 2, and the slide rail 2 and the slider 2 constitute a linear guide structure for the second movable frame.

[0012] Furthermore, a lifting cylinder is fixedly connected to one side of the outer wall of the second movable frame by screws, and the piston rod of the lifting cylinder is fixedly connected to a connecting frame.

[0013] Furthermore, the bottom of the outer walls at both ends of the connecting frame are fixedly connected to support plates by screws, and the bottom outer walls of the support plates are equipped with arrayed pneumatic suction cups. The lifting cylinder and the pneumatic suction cups form a material gripping unit.

[0014] Furthermore, a gantry frame is provided inside the housing, and a translation component is provided on one outer wall of the gantry frame. An installation plate is installed on the outer wall of the translation component, and the gantry frame and the translation component realize the modular installation of the overall mechanism.

[0015] Furthermore, the motor base is fixedly connected to the bottom outer wall of the mounting plate.

[0016] Furthermore, adjacent material placement racks are provided on one side of the gantry frame, and a material placement platform is placed on the top outer wall of the material placement rack, forming a standardized material storage unit with the material placement rack and the placement platform.

[0017] The beneficial effects of this utility model are:

[0018] This utility model proposes a speed-multiplying mechanism for robotic arms.

[0019] 1. Double-speed motion: The first drive motor drives the gear and rack to move the first moving frame, while the second drive motor drives the second moving frame to move in the same direction through the synchronous belt. The combination of the two achieves double speed, which greatly shortens the movement time.

[0020] 2. High-precision guidance: The double-layer sliding structure of slider and slide rail, and slider two and slide rail two, reduces motion friction and offset, and ensures the straightness and stability of the movement path;

[0021] 3. High-efficiency gripping: The lifting cylinder can quickly adjust the height of the connecting frame, and together with the array of pneumatic suction cups, it can achieve rapid adsorption and release of materials at multiple workstations;

[0022] 4. Energy saving and consumption reduction: Dual drive coordinated control reduces ineffective stroke, and synchronous belt drive has high efficiency, which can effectively reduce overall energy consumption. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0024] Figure 2 This is a schematic diagram of the internal structure of the box of this utility model;

[0025] Figure 3 This is an enlarged schematic diagram of part A of the present invention. Figure 1 ;

[0026] Figure 4 This is an enlarged schematic diagram of part A of the present invention. Figure 2 ;

[0027] Figure 5 This is an enlarged schematic diagram of part A of the present invention. Figure 3 .

[0028] The attached figures are labeled as follows:

[0029] In the diagram: 1. Housing; 2. Motor base; 3. First drive motor; 4. Gear; 5. Rack; 6. First moving frame; 7. Second drive motor; 8. Synchronous belt; 9. Second moving frame; 10. Slider; 11. Slide rail; 12. Lifting cylinder; 13. Connecting frame; 14. Support plate; 15. Pneumatic suction cup; 16. Gantry frame; 17. Translation component; 18. Mounting plate; 19. Material placement rack. Detailed Implementation

[0030] To more clearly and completely illustrate the technical solution of this utility model, the following description, in conjunction with the accompanying drawings, will further explain this utility model.

[0031] Please refer to Figures 1-5 This utility model proposes a speed-multiplying mechanism for a robotic arm, comprising a housing 1, a motor base 2 disposed inside the housing 1, and a first drive motor 3 fixedly connected to the top outer wall of the motor base 2 by screws, a gear 4 fixedly connected to the output shaft of the first drive motor 3, and a rack 5 meshing on the outer wall of the gear 4, a first moving frame 6 fixedly connected to the bottom outer wall of the rack 5 by screws, and a second drive motor 7 mounted on the top outer wall of the first moving frame 6.

[0032] Housing 1 and drive assembly: Housing 1 is an integral support structure with a fixed gantry frame 16 inside. Motor base 2 is fixed to translation component 17 by mounting plate 18. The first drive motor 3 is fixed to the top of motor base 2 by screws. Its output shaft is connected to gear 4. Gear 4 meshes with rack 5. The bottom of rack 5 is fixed to the first moving frame 6 by screws.

[0033] A second moving frame 9 is provided at the bottom of the first moving frame 6, and a synchronous belt 8 is installed between the second moving frame 9 and the second drive motor 7.

[0034] Moving frame and synchronous transmission: A second drive motor 7 is installed on the top of the first moving frame 6, and its output shaft is connected to the second moving frame 9 through a synchronous belt 8. A second slide rail is provided at the bottom of the first moving frame 6, and the top of the second moving frame 9 is slidably connected to it through a second slider, forming a double-layer guide structure.

[0035] A slider 10 is fixedly connected to the bottom outer wall of the motor base 2, and a slide rail 11 is fixedly connected to the top outer wall of the first movable frame 6 by bolts. The slider 10 is slidably connected to the inner wall of the slide rail 11. A slide rail 2 is fixedly connected to one side of the bottom outer wall of the first movable frame 6, and a slider 2 is fixedly connected to the top outer wall of the second movable frame 9 by bolts. The slider 2 is slidably connected to the inner wall of the slide rail 2. The slider 10 and the slide rail 11 form a linear guide structure for the first movable frame 6, and the slide rail 2 and the slider 2 form a linear guide structure for the second movable frame 9.

[0036] Guiding and limiting: The bottom of the motor base 2 is equipped with a slider 10, which cooperates with the slide rail 11 on the top of the first moving frame 6 to ensure the linearity of the transmission of gear 4 and rack 5; the cooperation between the slide rail 2 and the slider 2 further limits the offset of the second moving frame 9.

[0037] A lifting cylinder 12 is fixedly connected to one side of the outer wall of the second movable frame 9 by screws, and the piston rod of the lifting cylinder 12 is fixedly connected to a connecting frame 13. The bottom of the outer walls at both ends of the connecting frame 13 is fixedly connected to a support plate 14 by screws, and an array of pneumatic suction cups 15 are installed on the bottom outer wall of the support plate 14. The lifting cylinder 12 and the pneumatic suction cups 15 form a material gripping unit.

[0038] Lifting and gripping mechanism: The lifting cylinder 12 is fixed to the side wall of the second moving frame 9, and its piston rod is connected to the connecting frame 123. Multiple sets of pneumatic suction cups 15 are installed at both ends of the connecting frame 123 through the support plate 14. The suction cup array layout is adapted to materials of different sizes.

[0039] The box 1 is equipped with a gantry frame 16 inside, and a translation component 17 is provided on one outer wall of the gantry frame 16. An installation plate 18 is installed on the outer wall of the translation component 17. The motor base 2 is fixedly connected to the bottom outer wall of the installation plate 18. The gantry frame 16 and the translation component 17 realize the modular installation of the whole mechanism.

[0040] The gantry frame 16 has adjacent material placement racks 19 on one side, and a material placement platform is placed on the top outer wall of the material placement rack 19. The material placement rack 19 and the placement platform form a standardized material storage unit.

[0041] Material storage unit: A material placement rack 19 is set on one side of the gantry frame 16, and a standardized material platform is placed on the top to facilitate precise positioning and grasping by the robotic arm.

[0042] In this embodiment, the first drive motor 3 drives the gear 4 and rack 5 to move the first moving frame 6, while the second drive motor 7 drives the second moving frame 9 to move in the same direction via the synchronous belt 8. The two combined achieve a speed of 2 times, which greatly shortens the movement time. The double-layer sliding structure of slider 10 and slide rail 11, and slider 2 and slide rail 2 reduces motion friction and offset, ensuring the straightness and stability of the movement path. The lifting cylinder 12 can quickly adjust the height of the connecting frame 13. With the array of pneumatic suction cups 15, the rapid adsorption and release of materials at multiple workstations can be achieved. The gantry frame 16 and translation component 17 are integrated inside the box 1, which facilitates overall installation and maintenance. The material placement rack 19 and the placement platform form a standardized material storage unit, which improves compatibility.

[0043] Assembly process:

[0044] Weld the gantry frame 16 into the housing 1, install the translation component 17 and the mounting plate 18; fix the motor base 2, the first drive motor 3 and the gear 4 in sequence, and adjust the meshing gap between the rack 5 and the gear 4; assemble the first moving frame 6 and the second moving frame 9, install the synchronous belt 8 and tension it; connect the lifting cylinder 12 and the pneumatic suction cup 15, and adjust the adsorption pressure and lifting stroke.

[0045] When using this device,

[0046] During the double-speed movement phase: the first drive motor 3 starts, and the gear 4 drives the rack 5 to move the first moving frame 6 along the slide rail 11; at the same time, the second drive motor 7 drives the second moving frame 9 to move in the same direction through the synchronous belt 8. The speeds of the two are superimposed, and the robot arm moves to the target position at twice the speed.

[0047] Material grabbing stage: The lifting cylinder 12 pushes the connecting frame 13 down, and the pneumatic suction cup 15 picks up the material and then resets.

[0048] Material transfer stage: Dual-drive reverse motion, the robot arm moves the material to the designated position of the material placement rack 19 at double speed, and the suction cup releases the material to complete the transfer.

[0049] Cyclic operation: The PLC controls the coordinated action of dual motors and cylinders to achieve continuous high-speed loading and unloading.

[0050] Of course, there may be other implementations of this utility model. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of this utility model.

Claims

1. A speed-multiplying mechanism for a robotic arm, characterized in that, The device includes a housing, inside which a motor base is provided. A first drive motor is fixedly connected to the top outer wall of the motor base by screws. A gear is fixedly connected to the output shaft of the first drive motor, and a rack meshes on the outer wall of the gear. A first movable frame is fixedly connected to the bottom outer wall of the rack by screws. A second drive motor is installed on the top outer wall of the first movable frame. A second movable frame is provided at the bottom of the first movable frame, and a synchronous belt is installed between the second movable frame and the second drive motor.

2. The speed-multiplying mechanism for a robotic arm according to claim 1, characterized in that, A slider is fixedly connected to the bottom outer wall of the motor base, and a slide rail is fixedly connected to the top outer wall of the first movable frame by bolts. The slider is slidably connected to the inner wall of the slide rail, and the slider and the slide rail constitute a linear guide structure for the first movable frame.

3. The speed-multiplying mechanism for a robotic arm according to claim 1, characterized in that, A slide rail 2 is fixedly connected to one side of the bottom outer wall of the first movable frame, and a slider 2 is fixedly connected to the top outer wall of the second movable frame by bolts. The slider 2 is slidably connected to the inner wall of the slide rail 2. The slide rail 2 and the slider 2 constitute a linear guide structure for the second movable frame.

4. The speed-multiplying mechanism for a robotic arm according to claim 1, characterized in that, A lifting cylinder is fixedly connected to one side of the outer wall of the second movable frame by screws, and the piston rod of the lifting cylinder is fixedly connected to a connecting frame.

5. The speed-multiplying mechanism for a robotic arm according to claim 4, characterized in that, The bottom of the outer walls at both ends of the connecting frame are fixedly connected to support plates by screws, and the bottom outer walls of the support plates are equipped with arrayed pneumatic suction cups. The lifting cylinder and the pneumatic suction cups form a material gripping unit.

6. The speed-multiplying mechanism for a robotic arm according to claim 1, characterized in that, The box is equipped with a gantry frame inside, and a translation component is provided on one side of the outer wall of the gantry frame. An installation plate is installed on the outer wall of the translation component. The gantry frame and the translation component realize the modular installation of the whole mechanism.

7. The speed-multiplying mechanism for a robotic arm according to claim 1, characterized in that, The motor mount is fixedly connected to the bottom outer wall of the mounting plate.

8. The speed-multiplying mechanism for a robotic arm according to claim 6, characterized in that, The gantry is provided with adjacent material placement racks on one side, and a material placement platform is placed on the top outer wall of the material placement rack. The material placement rack and the placement platform form a standardized material storage unit.

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