Belt-driven robotic arm

Abstract

This utility model relates to a belt-driven robotic arm, comprising a horizontal moving component, a lateral moving component, a lifting component, and a material handling component connected in sequence. The horizontal moving component, lateral moving component, and lifting component all employ a synchronous belt drive structure. The horizontal moving component, lateral moving component, and lifting component are respectively used to adjust the position of the material handling component in the X-axis, Y-axis, and Z-axis directions. The material handling component includes multiple grippers driven by cylinders, which simultaneously pick up and place stators from multiple motors. This utility model replaces the lead screw pair with a synchronous belt, reducing the length required for installing the lead screw pair and motors, thus reducing the overall size and making it suitable for relatively narrow installation spaces. The synchronous belt requires no lubrication, reducing manufacturing and maintenance costs. Through synchronous handling by four grippers, four stators can be picked up and placed at a time, improving loading and unloading efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, and in particular to a belt-driven robotic arm. Background Technology

[0002] During the stator machining process, the stator is wound by a winding machine. The winding machine can wind multiple stators simultaneously. Before and after the stator winding, a robot can quickly load and unload the stator to improve production efficiency. Traditional robot moving modules mostly use a combination of a motor and a lead screw pair. This method requires a large space. The lead screw pair needs to be matched with a long-stroke guide rail and support structure, resulting in a large overall size of the robot, which is difficult to adapt to the space layout of compact machines. Moreover, the lead screw pair has high installation accuracy requirements and requires regular lubrication and calibration, which increases manufacturing and maintenance costs. Utility Model Content

[0003] To address the shortcomings of existing technologies, this invention provides a belt-driven robotic arm that replaces the traditional lead screw pair with a synchronous belt, optimizes the transmission structure, achieves a compact design, and improves transmission efficiency.

[0004] This utility model provides a belt-driven robotic arm, comprising a horizontal movement component, a transverse movement component, a lifting component, and a material handling component connected in sequence.

[0005] The horizontal moving component, the lateral moving component, and the lifting component all adopt a synchronous belt drive structure; the horizontal moving component, the lateral moving component, and the lifting component are respectively used to adjust the position of the material picking component in the X-axis, Y-axis, and Z-axis directions;

[0006] The material handling assembly includes multiple grippers driven by cylinders, which simultaneously pick up and place the stators of multiple motors.

[0007] In some embodiments, the horizontal movement assembly includes a first synchronous belt, a first motor, and a first guide rail. The first synchronous belt and the first guide rail are arranged on a fixed base along the X-axis. The two ends of the first synchronous belt are fixedly connected to the fixed base by two first fixing blocks. The first motor and the horizontal movement assembly are mounted on a first movable base. The first synchronous pulley at the drive end of the first motor meshes with the tooth surface of the first synchronous belt. The first movable base is provided with two sets of first bearings. The first bearings slide in contact with the smooth surface of the first synchronous belt. The first synchronous belt winds around the first synchronous pulley under the guidance of the two sets of first bearings. The first motor drives the first movable base to slide along the first guide rail through the first synchronous belt.

[0008] In some embodiments, the traversing assembly includes a second synchronous belt, a second motor, and a second guide rail. The first movable seat has a second synchronous pulley and a third synchronous pulley respectively at both ends in the Y-axis direction. The second synchronous belt is sleeved between the second synchronous pulley and the third synchronous pulley. The second synchronous belt is fixed to the second movable seat on which the lifting assembly is installed by a second fixing block. The second guide rail is arranged on the first movable seat along the Y-axis direction. The second motor drives the second movable seat to slide along the second guide rail through the second synchronous belt.

[0009] In some embodiments, the lifting assembly includes a lifting seat, a third synchronous belt, a third motor, and a third guide rail. A material-picking assembly is installed at the lower end of the lifting seat. The third synchronous belt and the third guide rail are arranged on the lifting seat along the Z-axis. The second movable seat is slidably connected to the third guide rail. Both ends of the third synchronous belt are fixed to the lifting seat by two third fixing blocks. The third motor is mounted on the second movable seat. The drive end of the third motor is provided with a fourth synchronous pulley that meshes with the tooth surface of the third synchronous belt. Two sets of second bearings are provided on the second movable seat. The second bearings are in contact with the smooth slide rail of the third synchronous belt. The third synchronous belt winds around the third synchronous pulley under the guidance of the two sets of second bearings. The third motor drives the lifting seat to move along the Z-axis through the third synchronous belt.

[0010] In some embodiments, the first fixing block, the second fixing block, and the third fixing block are all provided with fixing grooves that match the shape of the synchronous belt.

[0011] In some embodiments, the teeth of the first, second, and third synchronous belts are all circular arc teeth.

[0012] In some embodiments, the first movable seat has a hollow cavity, through which the second synchronous belt passes to be looped between the second and third synchronous pulleys.

[0013] In some embodiments, the material handling assembly includes a material handling plate fixed to the lower end of the lifting seat, and a plurality of grippers fixed to the lower end of the material handling plate. The inner side of the gripper plate of the gripper is provided with mounting holes for installing anti-slip pads.

[0014] Compared with the prior art, the advantages of this utility model are: by replacing the lead screw pair with a synchronous belt, the length required for installing the lead screw pair and motor is reduced, the overall volume is reduced, and it is suitable for relatively narrow installation spaces. The synchronous belt does not require lubrication, which reduces manufacturing and maintenance costs. By using four grippers for synchronous handling, four stators can be picked up and placed at a time, improving loading and unloading efficiency. Attached Figure Description

[0015] Figure 1This is one of the three-dimensional structural schematic diagrams of the belt-driven manipulator according to an embodiment of this application.

[0016] Figure 2 This is the second three-dimensional structural schematic diagram of the belt-driven manipulator according to an embodiment of this application.

[0017] Figure 3 This is a top view of the belt-driven robotic arm according to an embodiment of this application.

[0018] Reference numerals: 1. Horizontal moving assembly; 11. First synchronous belt; 12. First motor; 13. First guide rail; 14. First moving seat; 15. First fixing block; 16. First synchronous pulley; 17. First bearing; 18. First rotating shaft; 19. First through hole;

[0019] 2. Transverse moving assembly; 21. Second synchronous belt; 22. Second motor; 23. Second guide rail; 24. Second moving seat; 25. Second fixed block; 26. Second synchronous pulley; 27. Third synchronous pulley;

[0020] 3. Lifting assembly; 31. Lifting seat; 32. Third synchronous belt; 33. Third motor; 34. Third guide rail; 35. Fourth synchronous pulley; 36. Second bearing; 37. Second rotating shaft; 38. Third fixing block; 39. Second through hole;

[0021] 4. Material handling assembly; 41. Material handling plate; 42. Gripper; 43. Cylinder; 44. Clamping plate; 45. Mounting hole;

[0022] 5. Fixture;

[0023] 61. Loading station; 62. Connecting station; 63. Unloading station. Detailed Implementation

[0024] The specific embodiments of this utility model are described with reference to the accompanying drawings.

[0025] refer to Figure 1 The figure shows a three-dimensional structural diagram of a belt-driven robotic arm. As you can see, the entire robotic arm is a three-axis robotic arm based on synchronous belt drive, which is well-suited for rapid loading and unloading of motor stators before and after winding. From right to left, they are horizontal movement component 1, transverse movement component 2, lifting component 3, and picking component 4. Each component is driven by synchronous belt drive, which drives the picking component 4 to move in the X, Y, and Z axes. The X axis is horizontal, the Y axis is horizontal perpendicular to the X axis, and the Z axis is vertical.

[0026] refer to Figures 1 to 3A belt-driven robotic arm includes a horizontal moving component 1, a transverse moving component 2, a lifting component 3, and a material handling component 4 connected in sequence. The horizontal moving component 1, the transverse moving component 2, and the lifting component 3 all adopt a synchronous belt drive structure. The horizontal moving component 1, the transverse moving component 2, and the lifting component 3 are respectively used to adjust the position of the material handling component 4 in the X-axis, Y-axis, and Z-axis directions. The material handling component 4 includes multiple grippers 42 driven by cylinders 43, and the multiple grippers 42 simultaneously pick up and place the stators of multiple motors.

[0027] The belt-driven robotic arm of this application replaces the lead screw pair with a synchronous belt, reducing the length required for installing the guide rail and motor, and reducing the overall size. It is suitable for relatively narrow installation spaces. The material handling component 4 is moved in three-dimensional space by the horizontal moving component 1, the transverse moving component 2 and the lifting component 3. The material handling component 4 is transported synchronously by four grippers 42. Four stators can be picked up and placed at a time, improving the efficiency of loading and unloading.

[0028] To achieve movement along the X-axis, in this embodiment, reference is used. Figure 1 The horizontal moving component 1 includes a first synchronous belt 11, a first motor 12, and a first guide rail 13. The first synchronous belt 11 and the first guide rail 13 are arranged on the fixed base 5 along the X-axis. The two ends of the first synchronous belt 11 are fixedly connected to the fixed base 5 through two first fixing blocks 15. The first motor 12 and the horizontal moving component 2 are mounted on the first moving base 14. The first synchronous pulley 16 at the drive end of the first motor 12 meshes with the tooth surface of the first synchronous belt 11. The first moving base 14 is provided with two sets of first bearings 17. The first bearings 17 slide in contact with the smooth surface of the first synchronous belt 11. The first synchronous belt 11 is guided by the two sets of first bearings 17 to wrap around the first synchronous pulley 16. The first motor 12 drives the first moving base 14 to slide along the first guide rail 13 through the first synchronous belt 11.

[0029] It should be further explained that each of the two sets of first bearings 17 consists of three first bearings 17 coaxially mounted on the first rotating shaft 18. The first rotating shaft 18 is fixed in the first through hole 19 of the first movable seat 14. The first synchronous belt 11 passes through the first through hole 19 guided by the first bearings 17 and winds around to the first synchronous pulley 16 directly above the through hole.

[0030] Understandably, the first guide rail 13 guides the first movable seat 14 to move along the X-axis, the two ends of the first synchronous belt 11 are locked to the fixed seat 5 by the first fixing block 15, the first motor 12 is mounted on the first movable seat 14, and the first synchronous pulley 16 of the first motor 12 interacts with the tooth surface of the first synchronous belt 11 to drive the first movable seat 14 to move relative to the fixed seat 5. The first bearing 17 makes smooth sliding contact with the smooth surface of the first synchronous belt 11 to prevent the first synchronous belt 11 from slipping, replacing the traditional tensioner structure, simplifying the installation of the transmission structure and improving the transmission stability.

[0031] To achieve movement in the Y-axis direction, in this embodiment, reference is made to... Figure 1 The transverse component 2 includes a second synchronous belt 21, a second motor 22, and a second guide rail 23. The first moving seat 14 is provided with a second synchronous pulley 26 and a third synchronous pulley 27 at both ends in the Y-axis direction. The second synchronous belt 21 is sleeved between the second synchronous pulley 26 and the third synchronous pulley 27. The second synchronous belt 21 is fixed to the second moving seat 24 on which the lifting component 3 is installed through the second fixing block 25. The second guide rail 23 is arranged on the first moving seat 14 along the Y-axis direction. The second motor 22 drives the second moving seat 24 to slide along the second guide rail 23 through the second synchronous belt 21.

[0032] Understandably, the second synchronous pulley 26 and the third synchronous pulley 27 are respectively installed at both ends of the first moving seat 14 in the Y-axis direction. The second synchronous belt 21 is sleeved between the second synchronous pulley 26 and the third synchronous pulley 27 and is fixed to the second moving seat 24 by the second fixing block 25. The second motor 22 drives the synchronous pulley to drive the second synchronous belt 21 to circulate. The second fixing block 25 pulls the second moving seat 24 to move along the second guide rail 23 of the Y-axis, thereby driving the material picking component 4 to move laterally along the Y-axis.

[0033] To achieve movement in the Z-axis direction, in this embodiment, reference is used. Figure 2 The lifting assembly 3 includes a lifting seat 31, a third synchronous belt 32, a third motor 33, and a third guide rail 34. The material handling assembly 4 is installed at the lower end of the lifting seat 31. The third synchronous belt 32 and the third guide rail 34 are arranged on the lifting seat 31 along the Z-axis. The second movable seat 24 is slidably connected to the third guide rail 34. The two ends of the third synchronous belt 32 are fixed to the lifting seat 31 by two third fixing blocks 38. The third motor 33 is installed on the second movable seat 24. The drive end of the third motor 33 is provided with a fourth synchronous pulley 35 that meshes with the tooth surface of the third synchronous belt 32. The second movable seat 24 is provided with two sets of second bearings 36. Each set consists of three coaxially arranged second bearings 36. The second bearings 36 are in contact with the smooth slide of the third synchronous belt 32. The third synchronous belt 32 is guided by the two sets of second bearings 36 to wind around the third synchronous pulley 27. The third motor 33 drives the lifting seat 31 to move along the Z-axis through the third synchronous belt 32.

[0034] It should be further explained that each of the two sets of second bearings 36 consists of three second bearings 36 coaxially mounted on the second rotating shaft 37. The second rotating shaft 37 is fixed in the second through hole 39 of the second movable seat 24. The third synchronous belt 32 passes through the second through hole 39 guided by the second bearings 36 and winds around to the fourth synchronous pulley 35 diagonally above the through hole.

[0035] Understandably, the material handling component 4 is installed below the lifting seat 31. The lifting seat 31 is relatively slender and its width is slightly larger than that of the third guide rail 34. The two ends of the lifting seat 31 are fixed to the two ends of the third synchronous belt 32 by the third fixing block 38. The entire lifting seat 31 has a compact structure. The third motor 33 drives the lifting seat 31 to move up and down relative to the second moving seat 24 through the meshing transmission between the tooth surface of the third synchronous belt 32 and the fourth synchronous pulley 35, thereby driving the material handling component 4 to move along the Z-axis.

[0036] It should be further explained that, compared with the transmission method of the first motor 12 and the first synchronous belt 11, the first synchronous belt 11 is locked on the fixed seat 5, and the fixed seat 5 bears the weight of the horizontal component, the lifting component 3 and the material picking component 4, so that the horizontal component and the lifting component 3 can operate stably. The third motor 33 is installed on the second moving seat 24, and the third synchronous belt 32 is locked on the lifting seat 31 and moves together with the lifting seat 31 and the third guide rail 34. This simplifies the lifting structure, reduces the weight on one side of the lifting seat 31, reduces the load on the third motor 33, and also allows the lifting seat 31 to be made of lighter materials, reducing costs.

[0037] In order to lock the timing belt, in this embodiment, reference is made to... Figure 1 and Figure 2 The first fixing block 15, the second fixing block 25 and the third fixing block 38 are all provided with fixing grooves that match the shape of the synchronous belt.

[0038] It is understandable that the first, second and third fixing blocks are all equipped with fixing grooves that match the tooth shape of the synchronous belt. The fixing grooves match the arc teeth, and the length of the fixing grooves reaches 5 to 6 teeth, thereby completely locking the synchronous belt and preventing the synchronous belt from slipping.

[0039] To reduce wear on the timing belt, in this embodiment, reference is made to... Figure 1 and Figure 2 The teeth of the first synchronous belt 11, the second synchronous belt 21 and the third synchronous belt 32 are all circular arc teeth.

[0040] It is understandable that the first synchronous belt 11, the second synchronous belt 21 and the third synchronous belt 32 are all arc teeth. When the arc teeth contact and separate from the synchronous pulley, they can be smoother, reducing the friction between the two and thus reducing the wear of the synchronous belt. In addition to arc teeth, the first synchronous belt 11, the second synchronous belt 21 and the third synchronous belt 32 can also adopt other tooth shapes such as trapezoidal teeth and triangular teeth.

[0041] To reduce the size of the horizontal components, in this embodiment, reference is made to... Figure 1The first movable seat 14 has a hollow cavity, and the second synchronous belt 21 passes through the hollow cavity to be circulated between the second synchronous pulley 26 and the third synchronous pulley 27.

[0042] Understandably, the hollow cavity design of the first movable seat 14 provides a circulation path for the second synchronous belt 21, thereby reducing the thickness of the transverse component in the X-axis direction, protecting the second synchronous belt 21 from interference, and improving the compactness of the structure.

[0043] To ensure stable stator placement and removal, in this embodiment, reference is made... Figure 2 The material handling component 4 includes a material handling plate 41, which is fixed to the lower end of the lifting seat 31. Multiple grippers 42 are fixed to the lower end of the material handling plate 41. The inner side of the clamping plate 44 of the grippers 42 is provided with mounting holes 45 for installing anti-slip pads.

[0044] Understandably, the gripper 42 is driven by the cylinder 43, and the clamping plate 44 of the gripper 42 is set downward. The anti-slip pad can be installed on the inner side of the clamping plate 44 through the mounting hole 45. The gripper 42 can stably clamp the stator through the anti-slip pad, while avoiding the clamping plate 44 from damaging the stator.

[0045] For the specific working process of the embodiments of this application, please refer to... Figure 3 The material handling component 4 moves between the loading station 61, the connecting station 62, and the unloading station 63 via a three-axis linkage. After the four stators are placed at the loading station 61, the robot waits for the winding machine's instructions. When the winding machine completes the winding operation of the four stators, it moves the four wound stators to the connecting station 62. The material handling component 4 picks up these four wound stators and transports them to the unloading station 63 on the other side of the winding machine. Then it returns to the loading station 61, picks up four empty stators, and transports them to the connecting station 62. The winding machine moves the four empty stators from the connecting station 62 to the winding station for winding operations.

[0046] The above does not limit the technical scope of this utility model. Any modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of this utility model shall still fall within the scope of the technical solution of this utility model.

Claims

1. A belt-driven robotic arm, characterized in that, It includes a horizontal moving component, a transverse moving component, a lifting component, and a material picking component connected in sequence; The horizontal moving component, the lateral moving component, and the lifting component all adopt a synchronous belt drive structure; the horizontal moving component, the lateral moving component, and the lifting component are respectively used to adjust the position of the material picking component in the X-axis, Y-axis, and Z-axis directions; The material handling assembly includes multiple grippers driven by cylinders, which simultaneously pick up and place the stators of multiple motors. The horizontal movement assembly includes a first synchronous belt, a first motor, and a first guide rail. The first synchronous belt and the first guide rail are arranged on a fixed base along the X-axis. The two ends of the first synchronous belt are fixedly connected to the fixed base by two first fixing blocks. The first motor and the horizontal movement assembly are mounted on a first moving base. The first synchronous pulley at the drive end of the first motor meshes with the tooth surface of the first synchronous belt. The first moving base is provided with two sets of first bearings. The first bearings slide in contact with the smooth surface of the first synchronous belt. The first synchronous belt winds around the first synchronous pulley under the guidance of the two sets of first bearings. The first motor drives the first moving base to slide along the first guide rail through the first synchronous belt.

2. The belt-driven robotic arm according to claim 1, characterized in that, The lateral movement assembly includes a second synchronous belt, a second motor, and a second guide rail. The first movable seat has a second synchronous pulley and a third synchronous pulley respectively at both ends in the Y-axis direction. The second synchronous belt is sleeved between the second synchronous pulley and the third synchronous pulley. The second synchronous belt is fixed to the second movable seat on which the lifting assembly is installed by a second fixing block. The second guide rail is set on the first movable seat along the Y-axis direction. The second motor drives the second movable seat to slide along the second guide rail through the second synchronous belt.

3. The belt-driven robotic arm according to claim 2, characterized in that, The lifting assembly includes a lifting base, a third synchronous belt, a third motor, and a third guide rail. A material-picking component is installed at the lower end of the lifting base. The third synchronous belt and the third guide rail are arranged on the lifting base along the Z-axis. The second movable base is slidably connected to the third guide rail. Both ends of the third synchronous belt are fixed to the lifting base by two third fixing blocks. The third motor is installed on the second movable base. The drive end of the third motor is provided with a fourth synchronous pulley that meshes with the tooth surface of the third synchronous belt. Two sets of second bearings are provided on the second movable base. The second bearings are in contact with the smooth slide rail of the third synchronous belt. The third synchronous belt winds around the third synchronous pulley under the guidance of the two sets of second bearings. The third motor drives the lifting base to move along the Z-axis through the third synchronous belt.

4. The belt-driven robotic arm according to claim 2, characterized in that, The first fixing block, the second fixing block, and the third fixing block are all provided with fixing grooves that match the shape of the synchronous belt.

5. The belt-driven robotic arm according to claim 2, characterized in that, The teeth of the first, second, and third synchronous belts are all circular arc teeth.

6. The belt-driven robotic arm according to claim 2, characterized in that, The first movable seat has a hollow cavity, and the second synchronous belt passes through the hollow cavity to be cyclically sleeved between the second synchronous pulley and the third synchronous pulley.

7. The belt-driven robotic arm according to claim 2, characterized in that, The material handling assembly includes a material handling plate, which is fixed to the lower end of the lifting seat. Multiple grippers are fixed to the lower end of the material handling plate, and the inner side of the gripper plate is provided with mounting holes for installing anti-slip pads.

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