Single-shaft manipulator with intelligent sensing recognition device

Abstract

The utility model relates to the technical field of single-shaft manipulators, and discloses a single-shaft manipulator with an intelligent sensing recognition device. Comprising a base, a lead screw and a motor, the motor is fixedly connected to the end of the base, the lead screw is rotationally connected to the inner wall of the base, an output shaft of the motor is fixedly connected with the end of the lead screw, a sliding base is in threaded connection with the rod wall of the lead screw, and the sliding base is arranged on the inner wall of the base in a sliding mode. The light-emitting elements provided by the utility model adopt LED linear light sources, are uniformly distributed along the bottom of the protective cover and emit infrared or visible light downwards, the photosensitive elements are mounted at the top of the connecting sliding block and comprise a plurality of photosensitive resistors or CCD sensors, and light intensity changes of the light-emitting elements are detected in real time; the controller collects light signals through the first wire and the second wire, the position of the sliding seat is judged according to a light intensity sudden change point, and the positioning error is small.

Description

Technical Field

[0001] This utility model relates to the field of single-axis manipulator technology, and in particular to a single-axis manipulator with an intelligent sensing and recognition device. Background Technology

[0002] In China, single-axis robots are also known as electric slides, linear modules, single-axis drivers, and single-axis robots. Single-axis robots can achieve multi-axis combinations through different configurations, realizing Cartesian coordinate robots. Single-axis robots generally use ball screws or synchronous toothed belts for transmission and precision linear guides as guiding mechanisms to achieve single-direction functions such as handling, positioning, transfer, picking, and detection.

[0003] In existing technologies, single-axis robotic arms lack intelligent sensing and recognition capabilities, preventing them from promptly predicting the slider's position during operation and affecting their accuracy. Therefore, this invention designs a single-axis robotic arm equipped with an intelligent sensing and recognition device. Utility Model Content

[0004] The purpose of this invention is to solve the problem that the lack of intelligent sensing and recognition in the use of single-axis manipulators in the prior art makes it impossible for the single-axis manipulator to make timely pre-judgments of the slider position during operation, which affects the accuracy of the use of the single-axis manipulator. Therefore, this invention proposes a single-axis manipulator with an intelligent sensing and recognition device.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A single-axis robotic arm with an intelligent sensing and recognition device includes a base, a lead screw, and a motor. The motor is fixedly connected to the end of the base, the lead screw is rotatably connected to the inner wall of the base, the output shaft of the motor is fixedly connected to the end of the lead screw, a slide is threaded onto the wall of the lead screw, the slide is slidably disposed on the inner wall of the base, a connecting slider is fixedly connected to the upper surface of the slide, a protective cover is fixedly connected to the upper surface of the base, a controller is fixedly connected to the side wall of the base, multiple light-emitting elements are fixedly connected to the bottom of the protective cover, a photosensitive element is fixedly connected to the inner wall of the connecting slider located below the protective cover, a first wire is electrically connected to the side wall of the light-emitting element, a second wire is electrically connected to the side wall of the photosensitive element, and the first wire and the second wire are respectively electrically connected to the controller.

[0007] Preferably, a protective sleeve is fixedly fitted onto the body of the second conductor, and the protective sleeve is spiral-shaped.

[0008] Preferably, the bottom inner wall of the connecting slider is provided with a spherical groove, and the connecting slider is provided with a ball bearing rolling on the inner wall of the spherical groove. The ball bearing is rolled at the bottom of the protective cover.

[0009] Preferably, a wear-resistant protective rubber pad is fixedly connected to the bottom of the protective cover.

[0010] Preferably, a protective plate is fixedly connected to the inner wall of the base, and an opening is provided on the inner wall of the slide, with the protective plate slidably disposed on the inner wall of the opening.

[0011] Preferably, a fixing sleeve is fixedly connected to the side wall of the controller, and the first wire and the second wire are respectively arranged to pass through the fixing sleeve.

[0012] Compared with the prior art, this utility model provides a single-axis manipulator with an intelligent sensing and recognition device, which has the following advantages:

[0013] 1. This single-axis robotic arm with an intelligent sensing and recognition device uses LED linear light sources, evenly distributed along the bottom of the protective cover, to emit infrared or visible light downwards. The photosensitive element is installed on the top of the connecting slider and includes multiple photoresistors or CCD sensors to detect changes in the light intensity of the light-emitting element in real time. When the connecting slider moves, the photosensitive element passes under the light-emitting element one by one. The controller collects light signals through the first and second wires and determines the position of the slide based on the point of sudden change in light intensity, resulting in a small positioning error.

[0014] 2. This single-axis robotic arm with an intelligent sensing and recognition device uses light-emitting elements with different codes preset on the bottom of the protective cover. When the photosensitive element carried by the connecting slider detects a specific light signal, the controller can identify the workpiece type or processing requirements of the current workstation and trigger the corresponding action. By continuously detecting the rate of change of light intensity, the controller can calculate the moving speed of the slide. When abnormal acceleration or deceleration is detected, a signal is immediately sent to the motor for emergency braking. The arm is attached to the bottom of the protective cover to buffer the impact of the connecting slider and reduce movement noise.

[0015] 3. This single-axis robotic arm with an intelligent sensing and recognition device can freely extend and retract with the slide by means of a spiral design of a protective sleeve, preventing the wires from breaking due to frequent pulling. At the same time, it provides electromagnetic shielding to ensure stable signal transmission. The ball bearings are embedded in the spherical groove at the bottom of the slider with a diameter of 3-5mm, making rolling contact with the bottom of the protective cover. This reduces the coefficient of friction, reduces movement resistance, and extends the mechanical life. The fit gap between the slide and the base is small, and together with the high-precision transmission of the lead screw, it ensures repeatability and positioning accuracy.

[0016] 4. This single-axis robotic arm with intelligent sensing and recognition device can organize the first and second wires through the fixed sleeve, avoiding wire tangling or wear, improving the aesthetics and safety of wiring. It is fixed to the inner wall of the base and embedded in the opening of the slide to prevent the slide from shifting laterally, while also blocking the lead screw to prevent dust from entering and affecting the transmission accuracy. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a single-axis manipulator with an intelligent sensing and recognition device proposed in this utility model.

[0018] Figure 2 for Figure 1 Enlarged structural diagram of part A in the middle section;

[0019] Figure 3 for Figure 2 A three-dimensional view of the structure of the connecting slider.

[0020] In the diagram: 1. Base, 2. Lead screw, 3. Motor, 4. Slide, 5. Connecting slider, 6. Protective cover, 7. Controller, 8. Light-emitting element, 9. Photosensitive element, 10. First wire, 11. Second wire, 12. Protective sleeve, 13. Ball bearing, 14. Wear-resistant protective rubber pad, 15. Protective plate, 16. Fixing sleeve. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0022] Example 1

[0023] Reference Figure 1-3 A single-axis manipulator with an intelligent sensing and recognition device includes a base 1, a lead screw 2, and a motor 3. The motor 3 is fixedly connected to the end of the base 1, the lead screw 2 is rotatably connected to the inner wall of the base 1, the output shaft of the motor 3 is fixedly connected to the end of the lead screw 2, a slide block 4 is threadedly connected to the wall of the lead screw 2, the slide block 4 is slidably disposed on the inner wall of the base 1, a connecting slider 5 is fixedly connected to the upper surface of the slide block 4, a protective cover 6 is fixedly connected to the upper surface of the base 1, a controller 7 is fixedly connected to the side wall of the base 1, multiple light-emitting elements 8 are fixedly connected to the bottom of the protective cover 6, a photosensitive element 9 is fixedly connected to the inner wall of the connecting slider 5 located below the protective cover 6, a first wire 10 is electrically connected to the side wall of the light-emitting element 8, a second wire 11 is electrically connected to the side wall of the photosensitive element 9, and the first wire 10 and the second wire 11 are respectively electrically connected to the controller 7.

[0024] A protective sleeve 12 is fixedly sleeved on the body of the second conductor 11. The protective sleeve 12 is spiral-shaped. A spherical groove is opened on the inner wall of the bottom end of the connecting slider 5. A ball bearing 13 is rolled on the inner wall of the spherical groove of the connecting slider 5. The ball bearing 13 is rolled on the bottom of the protective cover 6. A wear-resistant protective rubber pad 14 is fixedly connected to the bottom of the protective cover 6.

[0025] In use, the robotic arm is supported by the base 1. After the motor 3 starts, it drives the lead screw 2 to move the slide 4 linearly. The connecting slider 5 carries the end effector, which can ensure the effectiveness of the robotic arm. The light-emitting element 8 and the photosensitive element 9 under the protective cover 6 form a photoelectric sensing system. The controller 7 can realize the feedback and intelligent recognition of the position of the slide 4 and the connecting slider 5 by detecting changes in light signals. The light-emitting element 8 uses a linear LED light source, which is evenly distributed along the bottom of the protective cover 6 and emits infrared or visible light downwards. The photosensitive element 9 is installed on the top of the connecting slider 5 and contains multiple photoresistors or CCD sensors to detect changes in the light intensity of the light-emitting element 8 in real time. When the connecting slider 5 moves, the photosensitive element 9 passes under the light-emitting element 8 one by one. The controller 7 collects light signals through the first wire 10 and the second wire 11 and judges the position of the slide 4 based on the point of change in light intensity. The positioning error is small.

[0026] Different coded light-emitting elements 8 are preset at the bottom of the protective cover 6. When the photosensitive element 9 carried by the connecting slider 5 detects a specific light signal, the controller 7 can identify the workpiece type or processing requirements of the current workstation and trigger the corresponding action. By continuously detecting the rate of change of light intensity, the controller 7 can calculate the moving speed of the slide 4. When abnormal acceleration or deceleration is detected, a signal is immediately sent to the motor 3 for emergency braking. The slide 4 is attached to the bottom of the protective cover 6 to buffer the impact of the connecting slider 5 and reduce the moving noise.

[0027] The spiral design of the protective sleeve 12 allows it to move and extend freely with the slide 4, preventing the wires from breaking due to frequent pulling. It also provides electromagnetic shielding to ensure stable signal transmission. The ball bearing 13 is embedded in the spherical groove at the bottom of the slider 5. The ball bearing has a diameter of 3-5mm and rolls in contact with the bottom of the protective cover 6, reducing the coefficient of friction, reducing movement resistance, and extending mechanical life. The small gap between the slide 4 and the base 1, combined with the high-precision transmission of the lead screw, ensures repeatability and positioning accuracy.

[0028] Example 2

[0029] Reference Figure 1-3 A protective plate 15 is fixedly connected to the inner wall of the base 1. An opening is provided on the inner wall of the slide 4. The protective plate 15 is slidably disposed on the inner wall of the opening. A fixing sleeve 16 is fixedly connected to the side wall of the controller 7. The first wire 10 and the second wire 11 are respectively disposed through the fixing sleeve 16.

[0030] The fixed sleeve 16 can organize the routing of the first wire 10 and the second wire 11, avoid wire tangling or wear, improve the aesthetics and safety of wiring, and is fixed to the inner wall of the base 1 and embedded in the opening of the slide 4 to prevent the slide from shifting laterally. At the same time, it covers the lead screw 2 to prevent dust from entering and affecting the transmission accuracy.

[0031] The above are merely preferred embodiments of this utility model, but the scope of protection of this utility model is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this utility model, based on the technical solution and inventive concept of this utility model, should be included within the scope of protection of this utility model.

Claims

1. A single-axis robotic arm with an intelligent sensing and recognition device, comprising a base (1), a lead screw (2), and a motor (3), characterized in that: The motor (3) is fixedly connected to the end of the base (1), the lead screw (2) is rotatably connected to the inner wall of the base (1), the output shaft of the motor (3) is fixedly connected to the end of the lead screw (2), a slide (4) is threadedly connected to the wall of the lead screw (2), the slide (4) is slidably disposed on the inner wall of the base (1), a connecting slider (5) is fixedly connected to the upper surface of the slide (4), a protective cover (6) is fixedly connected to the upper surface of the base (1), a controller (7) is fixedly connected to the side wall of the base (1), a plurality of light-emitting elements (8) are fixedly connected to the bottom of the protective cover (6), a photosensitive element (9) is fixedly connected to the inner wall of the connecting slider (5) below the protective cover (6), a first wire (10) is electrically connected to the side wall of the light-emitting element (8), a second wire (11) is electrically connected to the side wall of the photosensitive element (9), and the first wire (10) and the second wire (11) are respectively electrically connected to the controller (7).

2. A single-axis robotic arm with an intelligent sensing and recognition device according to claim 1, characterized in that: A protective sleeve (12) is fixedly sleeved on the body of the second conductor (11), and the protective sleeve (12) is spiral-shaped.

3. A single-axis robotic arm with an intelligent sensing and recognition device according to claim 1, characterized in that: The bottom inner wall of the connecting slider (5) is provided with a spherical groove, and the connecting slider (5) is provided with a ball (13) rolling on the inner wall of the spherical groove. The ball (13) is rolled on the bottom of the protective cover (6).

4. A single-axis robotic arm with an intelligent sensing and recognition device according to claim 1, characterized in that: The bottom of the protective cover (6) is fixedly connected to a wear-resistant protective rubber pad (14).

5. A single-axis robotic arm with an intelligent sensing and recognition device according to claim 1, characterized in that: The inner wall of the base (1) is fixedly connected to a protective plate (15), and the inner wall of the slide (4) has an opening, and the protective plate (15) is slidably disposed on the inner wall of the opening.

6. A single-axis robotic arm with an intelligent sensing and recognition device according to claim 1, characterized in that: A fixing sleeve (16) is fixedly connected to the side wall of the controller (7), and the first wire (10) and the second wire (11) are respectively installed through the fixing sleeve (16).

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