Long-stroke manipulator device

Abstract

The utility model provides a long-stroke manipulator device which is simple in structure, low in manufacturing cost and suitable for long-stroke driving. Comprising a three-axis module and a clamping mechanism, the three-axis module is used for driving the clamping mechanism to move along the X-axis, the Y-axis and the Z-axis, the three-axis module comprises an X-axis moving module, a Y-axis moving module and a Z-axis moving module, the X-axis moving module and the Y-axis moving module are synchronous belt modules, the Y-axis moving module is assembled on a synchronous belt of the X-axis moving module, the Z-axis moving module is assembled on a synchronous belt of the Y-axis moving module, and the Z-axis moving module is assembled on a synchronous belt of the Z-axis moving module. The clamping mechanism is mounted on the Z-axis moving module; the clamping mechanism comprises a clamping driving motor, a first clamping jaw assembly and a second clamping jaw assembly, the first clamping jaw assembly and the second clamping jaw assembly each comprise a clamping rod, and the first clamping jaw assembly and the second clamping jaw assembly are both in driving connection with the clamping driving motor; and the clamping rods on the first clamping jaw assembly and the second clamping jaw assembly are driven by the clamping driving motor to act so as to clamp materials.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a long-stroke robotic arm device. Background Technology

[0002] A robotic arm is a fully automated industrial device based on a Cartesian X, Y, Z coordinate system, which adjusts the workpiece position or realizes the trajectory movement of the workpiece. However, due to the limitations of its own structure, the existing robotic arm devices are not only expensive to manufacture, but also have limited operating length due to the weight of the robotic arm actuator and the workload. Therefore, the lateral and longitudinal strokes of the robotic arm are limited, and it cannot meet the requirements of long lateral and longitudinal strokes at the same time. Utility Model Content

[0003] To address the aforementioned problems, this utility model provides a long-stroke robotic arm device, which has a simple structure, low manufacturing cost, and is suitable for long-stroke drive.

[0004] This utility model adopts the following technical solution: a long-stroke robotic arm device, including a three-axis module and a gripping mechanism. The three-axis module is used to drive the gripping mechanism to move along the X, Y, and Z axes. The three-axis module includes an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The X-axis moving module and the Y-axis moving module are both synchronous belt modules. The Y-axis moving module is assembled on the synchronous belt of the X-axis moving module, and the Z-axis moving module is assembled on the synchronous belt of the Y-axis moving module. The gripping mechanism is mounted on the Z-axis moving module. The gripping mechanism includes a gripping drive motor, a first gripper assembly, and a second gripper assembly. The first gripper assembly and the second gripper assembly both include gripping rods. The first gripper assembly and the second gripper assembly are driven and connected to the gripping drive motor, and the gripping drive motor drives the gripping rods on the first gripper assembly and the second gripper assembly to move to grip materials.

[0005] Furthermore, the X-axis moving module includes an X-axis platform, an X-axis drive motor, an X-axis synchronous belt, an X-axis drive wheel, and an X-axis driven wheel. The X-axis drive wheel and the X-axis driven wheel are respectively installed at both ends of the X-axis platform. The X-axis synchronous belt is installed between the X-axis drive wheel and the X-axis driven wheel. The X-axis drive motor is connected to the X-axis drive wheel. The X-axis drive motor is mounted on the X-axis platform, and an X-axis guide rail is arranged on the X-axis platform. The moving seat is slidably mounted on the X-axis guide rail. The moving seat is fixedly connected to the X-axis synchronous belt through a fixing component. The Y-axis moving module is assembled on the moving seat.

[0006] Furthermore, the Y-axis moving module includes a Y-axis platform, a Y-axis drive motor, a Y-axis synchronous belt, a Y-axis drive wheel, and a Y-axis driven wheel. Two sets of Y-axis drive wheels and two sets of Y-axis driven wheels are provided. The Y-axis synchronous belt includes a first Y-axis synchronous belt and a second Y-axis synchronous belt, which are respectively installed between the two sets of Y-axis drive wheels and Y-axis driven wheels. The Y-axis platform and the Y-axis drive motor are both mounted on the moving base. The two sets of Y-axis driven wheels are coaxially assembled and then mounted on the upper part of the Y-axis platform via a connecting plate. The two sets of Y-axis drive wheels are coaxially assembled via a connecting shaft and then mounted on the moving base via a mounting plate. The Y-axis drive motor is drive-connected to the connecting shaft. The Z-axis moving module is fixedly connected to both the first Y-axis synchronous belt and the second Y-axis synchronous belt.

[0007] Furthermore, an auxiliary plate is mounted on the top of the Y-axis platform, and the auxiliary plate has openings at both ends. Guide wheels are mounted on the openings via rotating shafts, and symmetrically arranged lateral auxiliary wheels are mounted on the auxiliary plate between the two guide wheels.

[0008] Furthermore, the Z-axis moving module includes a Z-axis mounting base, a Z-axis drive motor, and a lead screw. A Y-axis guide rail is mounted on the Y-axis platform. The Z-axis mounting base is fixedly connected to both the first Y-axis synchronous belt and the second Y-axis synchronous belt, and the Z-axis mounting base is slidably connected to the Y-axis guide rail. The Z-axis platform is mounted on the Z-axis mounting base. The Z-axis drive motor and the lead screw are both mounted on the Z-axis platform. The output end of the Z-axis drive motor is connected to a first main synchronous pulley, and one end of the lead screw is connected to a first driven synchronous pulley. The first main synchronous pulley and the first driven synchronous pulley are connected by a first synchronous belt. The clamping mechanism is threaded and rotatably sleeved on the lead screw.

[0009] Furthermore, the clamping mechanism also includes a clamping base, a first rack, and a second rack. The clamping base is threadedly rotatably sleeved on the lead screw. A Z-axis guide rail is mounted on the Z-axis platform. The clamping base is slidably connected to the Z-axis guide rail. The clamping drive motor is mounted on the clamping base. The output end of the clamping drive motor is connected to a second main synchronous pulley. A second driven synchronous pulley and a gear are coaxially connected on the clamping base. The second main synchronous pulley and the second driven synchronous pulley are connected by a second synchronous belt. The first rack and the second rack are respectively meshed and connected to the two ends of the gear. Each of the first rack and the second rack is equipped with a clamping block. The two clamping blocks are respectively connected to the clamping rod.

[0010] The beneficial effects of this utility model are that it has a simple structure and low manufacturing cost. The X-axis moving module and the Y-axis moving module are both synchronous belt modules. The Z-axis moving module is assembled on the synchronous belt of the Y-axis moving module. The gripping mechanism is mounted on the Z-axis moving module. The gripping drive motor drives the gripping rods on the first gripper assembly and the second gripper assembly to grip materials. Thus, the robotic arm device can realize long-stroke picking and placing of items in the X-axis and Y-axis directions, which is suitable for long-stroke requirements and has good economic value. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall assembly structure of this utility model;

[0012] Figure 2 yes Figure 1 A magnified structural diagram at point A;

[0013] Figure 3 yes Figure 1 A magnified structural diagram at point B;

[0014] Figure 4 yes Figure 1 A magnified structural diagram at point C;

[0015] Figure 5 yes Figure 1 A magnified structural diagram at point D;

[0016] Figure 6 yes Figure 1 A magnified structural diagram at point E;

[0017] Figure 7 This is a partially enlarged structural diagram of the Y-axis moving module assembly in this utility model;

[0018] Figure 8 This is a schematic diagram of the Z-axis movement module in this utility model;

[0019] Figure 9 This is a partially enlarged structural diagram of the assembly at the top of the Y-axis moving module in this utility model;

[0020] Figure 10 This is a partially enlarged structural diagram of the Z-axis moving module assembly in this utility model. Detailed Implementation

[0021] like Figures 1-10As shown, this utility model discloses a long-stroke robotic arm device, comprising a three-axis module and a gripping mechanism. The three-axis module is used to drive the gripping mechanism to move along the X, Y, and Z axes. The three-axis module includes an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The X-axis moving module and the Y-axis moving module are both synchronous belt modules. The Y-axis moving module is assembled on the synchronous belt of the X-axis moving module, and the Z-axis moving module is assembled on the synchronous belt of the Y-axis moving module. The gripping mechanism is mounted on the Z-axis moving module. The gripping mechanism includes a gripping drive motor 1, a first gripper assembly, and a second gripper assembly. Both the first gripper assembly and the second gripper assembly include gripping rods 2. Both the first gripper assembly and the second gripper assembly are driven and connected to the gripping drive motor 1, and the gripping drive motor 1 drives the gripping rods 2 on the first gripper assembly and the second gripper assembly to move to grip materials.

[0022] The X-axis moving module includes an X-axis platform 3, an X-axis drive motor 4, an X-axis synchronous belt 5, an X-axis drive wheel 6, and an X-axis driven wheel 7. The X-axis drive wheel 6 and the X-axis driven wheel 7 are respectively installed at both ends of the X-axis platform 3. The X-axis synchronous belt 5 is installed between the X-axis drive wheel 6 and the X-axis driven wheel 7. The X-axis drive motor 4 is connected to the X-axis drive wheel 6 for transmission. The X-axis drive motor 4 is mounted on the X-axis platform 3, and an X-axis guide rail 8 is arranged on the X-axis platform 3. The moving seat 9 is slidably mounted on the X-axis guide rail 8. The moving seat 9 is fixedly connected to the X-axis synchronous belt 5 through a fixing member 10. The Y-axis moving module is assembled on the moving seat 9.

[0023] The Y-axis moving module includes a Y-axis platform 11, a Y-axis drive motor 12, a Y-axis synchronous belt, a Y-axis drive pulley 13, and a Y-axis driven pulley 14. Two sets of Y-axis drive pulleys 13 and 14 are provided. The Y-axis synchronous belt includes a first Y-axis synchronous belt 15 and a second Y-axis synchronous belt 16, which are respectively mounted between the two sets of Y-axis drive pulleys 13 and 14. The Y-axis platform 11 and Y-axis drive motor 12 are both mounted on a moving base 9, and the two sets of Y-axis driven pulleys 14 are coaxially assembled. The module is then mounted on the upper part of the Y-axis platform 11 via the connecting plate 17. The two sets of Y-axis drive wheels 13 are coaxially assembled via the connecting shaft 18 and then mounted on the movable seat 9 via the mounting plate 19. The Y-axis drive motor 12 is connected to the connecting shaft 18 for transmission. The Z-axis moving module is fixedly connected to the first Y-axis synchronous belt 15 and the second Y-axis synchronous belt 16. The Y-axis moving module is driven by the dual synchronous belts of the first Y-axis synchronous belt 15 and the second Y-axis synchronous belt 16. Therefore, even if one belt fails, the other belt can complete the action, preventing belt failure from affecting the work.

[0024] An auxiliary plate 20 is mounted at the top of the Y-axis platform 11. The auxiliary plate 20 has openings 21 at both ends, and guide wheels 22 are mounted on the openings 21 via rotating shafts. Symmetrically arranged lateral auxiliary wheels 23 are mounted on the auxiliary plate 20 between the guide wheels 22. Through the two sets of guide wheels 22 and four lateral auxiliary wheels 23 provided in this embodiment, auxiliary guidance in both left-right and front-back directions is provided, making the vertical operation more stable and facilitating high-speed operation. Figure 4 A guide profile 24 is provided between the two sets of guide wheels 22 and the four lateral auxiliary wheels 23. The guide profile 24 is fixedly installed on other main frames (not shown in the figure). Through the cooperation of the guide profile 24, the guide wheels 22, and the lateral auxiliary wheels 23, the lateral movement stability can be guaranteed.

[0025] The Z-axis moving module includes a Z-axis mounting base 25, a Z-axis drive motor 26, and a lead screw 27. A Y-axis guide rail 28 is mounted on the Y-axis platform 11. The Z-axis mounting base 25 is fixedly connected to the first Y-axis synchronous belt 15 and the second Y-axis synchronous belt 16, and the Z-axis mounting base 25 is slidably connected to the Y-axis guide rail 28. A Z-axis platform 29 is mounted on the Z-axis mounting base 25. The Z-axis drive motor 26 and the lead screw 27 are both mounted on the Z-axis platform 29. The output end of the Z-axis drive motor 26 is connected to a first main synchronous pulley 30, and one end of the lead screw 27 is connected to a first driven synchronous pulley 31. The first main synchronous pulley 30 and the first driven synchronous pulley 31 are connected by a first synchronous belt 32. The clamping mechanism is threadedly rotated and sleeved on the lead screw 27.

[0026] The clamping mechanism also includes a clamping base 33, a first rack 34, and a second rack 35. The clamping base 33 is threadedly mounted on the lead screw 27. A Z-axis guide rail 36 is mounted on the Z-axis platform 29. The clamping base 33 and the Z-axis guide rail 36 are slidably connected. The clamping drive motor 1 is mounted on the clamping base 33. The output end of the clamping drive motor 1 is connected to a second main synchronous pulley 37. The clamping base 33 is equipped with a second driven synchronous pulley 38 and a gear 40 that are coaxially connected. The second main synchronous pulley 37 and the second driven synchronous pulley 38 are connected by a second synchronous belt 39. The first rack 34 and the second rack 35 are respectively meshed and connected to the two ends of the gear 40. Each of the first rack 34 and the second rack 35 is equipped with a clamping block 41. The two clamping blocks 41 are respectively connected to the clamping rod 2.

[0027] The working principle of this utility model is as follows: the X-axis moving module and the Y-axis moving module are both synchronous belt modules. The Y-axis moving module, the Z-axis moving module, and the clamping mechanism can achieve long stroke movement in the X-axis direction as a whole through the X-axis moving module. The Z-axis moving module and the clamping mechanism can achieve long stroke movement in the Y-axis direction as a whole through the Y-axis moving module. The Z-axis drive motor 26 works in conjunction with the lead screw 27 to achieve the movement of the clamping mechanism as a whole in the Z-axis direction. That is, the two clamping rods 2 can extend forward or backward along the Z-axis direction, extending the stroke movement. At the same time, the clamping drive motor 1 can be activated to drive the corresponding first rack 34 and second rack 35 to move, so that the two clamping rods 2 can clamp or release, realizing the picking and placing of the workpiece 42.

[0028] For clarity, Figure 8 and Figure 10 The clamping base 33 is partially hidden.

[0029] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0030] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A long-stroke robotic arm device, characterized in that: The device includes a three-axis module and a gripping mechanism. The three-axis module drives the gripping mechanism to move along the X, Y, and Z axes. The three-axis module includes an X-axis moving module, a Y-axis moving module, and a Z-axis moving module. The X-axis and Y-axis moving modules are synchronous belt modules. The Y-axis moving module is mounted on the synchronous belt of the X-axis moving module, and the Z-axis moving module is mounted on the synchronous belt of the Y-axis moving module. The gripping mechanism is mounted on the Z-axis moving module. The gripping mechanism includes a gripping drive motor, a first gripper assembly, and a second gripper assembly. Both the first and second gripper assemblies include gripping rods. Both the first and second gripper assemblies are driven by the gripping drive motor, which drives the gripping rods on the first and second gripper assemblies to move and grip materials.

2. The long-stroke robotic arm device according to claim 1, characterized in that: The X-axis moving module includes an X-axis platform, an X-axis drive motor, an X-axis synchronous belt, an X-axis drive wheel, and an X-axis driven wheel. The X-axis drive wheel and the X-axis driven wheel are respectively installed at both ends of the X-axis platform. The X-axis synchronous belt is installed between the X-axis drive wheel and the X-axis driven wheel. The X-axis drive motor is connected to the X-axis drive wheel. The X-axis drive motor is mounted on the X-axis platform, and an X-axis guide rail is arranged on the X-axis platform. The moving seat is slidably mounted on the X-axis guide rail. The moving seat is fixedly connected to the X-axis synchronous belt through a fastener. The Y-axis moving module is assembled on the moving seat.

3. The long-stroke robotic arm device according to claim 2, characterized in that: The Y-axis moving module includes a Y-axis platform, a Y-axis drive motor, a Y-axis synchronous belt, a Y-axis drive wheel, and a Y-axis driven wheel. Two sets of each Y-axis drive wheel and driven wheel are provided. The Y-axis synchronous belt includes a first Y-axis synchronous belt and a second Y-axis synchronous belt, which are respectively mounted between the two sets of Y-axis drive wheels and driven wheels. The Y-axis platform and Y-axis drive motor are both mounted on the moving base. The two sets of Y-axis driven wheels are coaxially assembled and then mounted on the upper part of the Y-axis platform via a connecting plate. The two sets of Y-axis drive wheels are coaxially assembled via a connecting shaft and then mounted on the moving base via a mounting plate. The Y-axis drive motor is drive-connected to the connecting shaft. The Z-axis moving module is fixedly connected to both the first and second Y-axis synchronous belts.

4. A long-stroke robotic arm device according to claim 3, characterized in that: The top of the Y-axis platform is equipped with an auxiliary plate, which has openings at both ends. Guide wheels are mounted on the openings via rotating shafts, and symmetrically arranged lateral auxiliary wheels are mounted on the auxiliary plate between the two guide wheels.

5. A long-stroke robotic arm device according to claim 3, characterized in that: The Z-axis moving module includes a Z-axis mounting base, a Z-axis drive motor, and a lead screw. A Y-axis guide rail is mounted on the Y-axis platform. The Z-axis mounting base is fixedly connected to both the first and second Y-axis synchronous belts, and is slidably connected to the Y-axis guide rail. The Z-axis platform is mounted on the Z-axis mounting base. The Z-axis drive motor and the lead screw are both mounted on the Z-axis platform. The output end of the Z-axis drive motor is connected to a first master synchronous pulley, and one end of the lead screw is connected to a first slave synchronous pulley. The first master synchronous pulley and the first slave synchronous pulley are connected by a first synchronous belt. The clamping mechanism is threadedly rotatably sleeved on the lead screw.

6. A long-stroke robotic arm device according to claim 5, characterized in that: The clamping mechanism further includes a clamping base, a first rack, and a second rack. The clamping base is threadedly rotatably sleeved on the lead screw. A Z-axis guide rail is mounted on the Z-axis platform. The clamping base is slidably connected to the Z-axis guide rail. The clamping drive motor is mounted on the clamping base. The output end of the clamping drive motor is connected to a second main synchronous pulley. A second driven synchronous pulley and a gear are coaxially connected on the clamping base. The second main synchronous pulley and the second driven synchronous pulley are connected by a second synchronous belt. The first rack and the second rack are respectively meshed and connected to the two ends of the gear. Each of the first rack and the second rack is equipped with a clamping block. The two clamping blocks are respectively connected to the clamping rod.

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