A PPU robot

Abstract

This utility model relates to the field of robotic arm technology, and more particularly to a PPU robotic arm, including a base frame with a lifting structure and an adjustment structure. This PPU robotic arm, through the lifting structure and the coordinated action of a motor-driven gear train and chain transmission system, achieves precise vertical displacement control of the equipment. Its core advantage lies in using a composite transmission structure to convert rotational motion into linear lifting motion, ensuring the stability of power transmission while effectively avoiding the backlash problem common in traditional lead screw structures through the rigid meshing characteristics of the sprockets and chains. The linear guide system composed of guide rods and slides provides dual positioning protection for the lifting process, significantly improving the repeatability of height adjustment. The modular design of the entire transmission chain ensures both mechanical efficiency and smooth movement during height adjustment.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a PPU robotic arm. Background Technology

[0002] A PPU (Parallel Pick and Place Unit) is a high-speed, high-precision automated operating device based on a parallel mechanism design. It is mainly used for repetitive tasks such as picking, placing, sorting, and packaging on industrial production lines. Its core feature is the use of a parallel motion mechanism (such as a Delta structure), which synchronously controls the movement of the end effector through multiple branches to achieve rapid response and precise positioning.

[0003] Existing PPU robotic arms rely heavily on the fixed height of their stroke slots for spatial positioning, significantly limiting their vertical adjustability. When faced with work scenarios involving large height variations, it's often necessary to replace the stroke plates with different sizes to adapt to the new requirements. This solution not only increases equipment modification costs but also leads to prolonged production line downtime due to frequent mechanical disassembly and assembly, severely impacting production cycle time and equipment utilization. This technological bottleneck renders traditional PPU robotic arms significantly inadequate in handling multi-dimensional and complex working conditions, hindering the maximization of equipment efficiency and weakening their competitive advantage in flexible production systems. Utility Model Content

[0004] The purpose of this utility model is to provide a PPU robotic arm to solve the problem mentioned in the background art that existing PPU robotic arms often need to be adapted to new work requirements by replacing different specifications of travel plates when facing work scenarios with large height changes. This solution not only increases the cost of equipment modification, but also leads to extended production line downtime due to frequent mechanical disassembly and assembly, which seriously affects the production cycle and equipment utilization rate.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a PPU robotic arm, including a base frame, a lifting structure provided on the base frame, and an adjustment structure provided on the lifting structure;

[0006] The lifting structure includes a fixed frame, a slide groove, an adjusting plate, a guide rod, a sliding frame, a placement frame, a rotating shaft, a sprocket, a chain, a first toothed wheel, a motor, a second toothed wheel, and a toothed belt. The fixed frame is mounted on the base frame, the slide groove is located on the fixed frame, the adjusting plate is movably mounted on the slide groove, the guide rod is mounted on the fixed frame, the sliding frame is movably mounted on the guide rod, the placement frame is mounted on the fixed frame, the rotating shaft is movably mounted on the placement frame, the sprocket is mounted on the rotating shaft, the chain is movably connected to the sprocket with one end located on the sliding frame and the other end located on the adjusting plate, the first toothed wheel is mounted on the rotating shaft, the motor is mounted on the base frame, the second toothed wheel is mounted on the motor, and the toothed belt is located on the first toothed wheel and the second toothed wheel.

[0007] Preferably, the base frame is provided with reinforcing ribs, and the adjusting plate is adapted to the sliding groove.

[0008] Preferably, the motor is fixed to the base frame by bolts, and the base frame is provided with pads.

[0009] Preferably, the adjustment structure includes a fixed plate, a guide rail, a sliding block, a sliding plate, a cylinder, a guide groove, a rotating shaft, a connecting frame, a rotating plate, a movable wheel, a suction cup, and a baffle. The fixed plate is mounted on the sliding frame, the guide rail is mounted on the fixed plate, the sliding block is movably disposed on the guide rail, the sliding plate is mounted on the sliding block, the cylinder is mounted on the fixed plate, the guide groove is disposed on the fixed plate, the rotating shaft is movably disposed on the sliding plate, the connecting frame is mounted on the rotating shaft, the rotating plate is mounted on the end of the rotating shaft away from the connecting frame, the movable wheel is movably mounted on the rotating plate, the baffle is mounted on the sliding plate, and the suction cup is disposed on the connecting frame.

[0010] Preferably, the guide rail and the sliding block are provided in pairs, and the slide groove is provided in pairs.

[0011] Preferably, the cylinder is fixed to the fixed plate by bolts, and the guide rail is adapted to the sliding block.

[0012] Preferably, the movable wheel is adapted to the guide groove, and a pair of guide rods are provided.

[0013] Preferably, the rotating shaft is adapted to the placement frame, and the fixing frame is provided with reinforcing ribs.

[0014] Preferably, the baffle is provided with a protective layer, and both the sprocket and the chain are provided in pairs.

[0015] Preferably, the fixing plate is provided with reinforcing ribs, and the sliding frame is adapted to the guide rod.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] 1. This PPU robotic arm, through its lifting structure and the coordinated action of a motor-driven gear train and chain drive system, achieves precise vertical displacement control of the equipment. Its core advantage lies in its composite transmission structure, which transforms rotary motion into linear lifting motion. This ensures stable power transmission while effectively avoiding the backlash problem common in traditional lead screw structures due to the rigid meshing characteristics of the sprockets and chains. The linear guide system, composed of guide rods and slides, provides dual positioning protection for the lifting process, significantly improving the repeatability of height adjustment. The modular design of the entire transmission chain ensures both mechanical efficiency and smooth movement during height adjustment, while the high-load capacity of the chain drive system ensures durability under frequent lifting conditions. This integrated transmission solution maintains structural compactness while achieving stepless adjustment of the working range, effectively solving the downtime loss problem caused by traditional stroke plate replacement methods.

[0018] 2. This PPU robotic arm, through its adjustable structure and a cylinder-driven precision linkage system, achieves precise angle positioning and stable gripping of the end effector. Its innovation lies in converting the reciprocating motion of a linear cylinder into precise angular displacement of a rotary axis system. The coupling effect of the guide groove and the moving wheel ensures a smooth transition during rotation, effectively eliminating the angle drift that can occur with traditional rotary cylinders. The coordinated control of the baffle limiting mechanism and the guide rail enables the suction cup to achieve extremely high repeatability within a fixed angle range, while the rigid connection design of the entire transmission chain ensures reliable torque transmission. This pneumatic-mechanical hybrid drive scheme maintains system response speed while achieving sensorless precise angle control through mechanical limiting, significantly reducing system complexity and maintenance costs. The modular linkage structure design not only meets the needs of rapid production changeover, but its predictable motion trajectory also provides stable dynamic performance for high-speed gripping operations. The overall solution achieves an engineering balance between efficiency and precision. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of this utility model;

[0020] Figure 2 This is a schematic diagram of the structure of this utility model from another perspective;

[0021] Figure 3 This is a schematic diagram of the sliding frame structure of this utility model;

[0022] Figure 4This is a schematic diagram of the cooperation structure between the rotating shaft and the sliding plate of this utility model;

[0023] In the diagram: 1. Base frame; 2. Lifting structure; 201. Fixed frame; 202. Slide groove; 203. Adjusting plate; 204. Guide rod; 205. Sliding frame; 206. Placement frame; 207. Rotating shaft; 208. Sprocket; 209. Chain; 210. First toothed wheel; 211. Motor; 212. Second toothed wheel; 213. Toothed belt; 3. Adjusting structure; 301. Fixed plate; 302. Guide rail; 303. Sliding block; 304. Sliding plate; 305. Cylinder; 306. Guide groove; 307. Rotating shaft; 308. Connecting frame; 309. Rotating plate; 310. Moving wheel; 311. Baffle; 312. Suction cup. Detailed Implementation

[0024] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0025] Please see Figure 1-4 This utility model provides a technical solution: a PPU robotic arm, including a base frame 1, a lifting structure 2 on the base frame 1, and an adjustment structure 3 on the lifting structure 2;

[0026] The lifting structure 2 includes a fixed frame 201, a slide groove 202, an adjusting plate 203, a guide rod 204, a sliding frame 205, a placement frame 206, a rotating shaft 207, a sprocket 208, a chain 209, a first toothed wheel 210, a motor 211, a second toothed wheel 212, and a toothed belt 213. The fixed frame 201 is mounted on the base frame 1. The slide groove 202 is located on the fixed frame 201. The adjusting plate 203 is movably mounted on the slide groove 202. The guide rod 204 is mounted on the fixed frame 201. The sliding frame 205 is movably mounted on the guide rod 204. The placement frame 206 is mounted on the fixed frame 201. The rotating shaft 207 is movably mounted on the placement frame 206. The sprocket 208 is mounted on the rotating shaft 207. The chain 209 is movably connected to the sprocket 208, and one end of the chain 209 is located on the sliding frame 205. The other end of the chain 209 is mounted on the adjusting plate 203. The first toothed wheel 210 is mounted on the rotating shaft 207. The motor 211 is mounted on the base frame 1. The second toothed wheel 212 is mounted on the motor 211. The toothed belt 213 is mounted on the first toothed wheel 210 and the second toothed wheel 212. The adjusting plate 203 is relatively heavy. When the height needs to be adjusted, the motor 211 is driven. The motor 211 can drive the second toothed wheel 212 to rotate. Under the action of the second toothed wheel 212, the toothed belt 213 drives the first toothed wheel 210 to rotate. The first toothed wheel 210 can drive the rotating shaft 207 to rotate on the placement frame 206. The rotating shaft 207 can drive the sprocket 208 to rotate. Under the action of the sprocket 208, the chain 209 drives the adjusting plate 203 to move on the slide groove 202. At this time, the chain 209 can drive the sliding frame 205 to move on the guide rod 204, thereby adjusting the height.

[0027] Furthermore, the base frame 1 is provided with reinforcing ribs, and the adjusting plate 203 is adapted to the sliding groove 202. The reinforcing ribs increase the stability of the base frame 1, and the adapted adjusting plate 203 moves stably within the sliding groove 202.

[0028] Furthermore, the motor 211 is fixed to the base frame 1 by bolts. The base frame 1 is provided with pads. The motor 211 fixed by bolts is easy to install and remove on the base frame 1, and the pads can make the base frame 1 stable.

[0029] Furthermore, the adjustment structure 3 includes a fixed plate 301, a guide rail 302, a sliding block 303, a sliding plate 304, a cylinder 305, a guide groove 306, a rotating shaft 307, a connecting frame 308, a rotating plate 309, a moving wheel 310, a suction cup 312, and a baffle 311. The fixed plate 301 is mounted on the sliding frame 205, the guide rail 302 is mounted on the fixed plate 301, the sliding block 303 is movably mounted on the guide rail 302, the sliding plate 304 is mounted on the sliding block 303, the cylinder 305 is mounted on the fixed plate 301, the guide groove 306 is provided on the fixed plate 301, the rotating shaft 307 is movably mounted on the sliding plate 304, the connecting frame 308 is mounted on the rotating shaft 307, and the rotating plate 309 is mounted on the rotating shaft 304. The shaft 307 is located away from the end of the connecting frame 308. The movable wheel 310 is movably mounted on the rotating plate 309. The baffle 311 is mounted on the sliding plate 304. The suction cup 312 is located on the connecting frame 308. When it is necessary to grasp an item at a fixed 90-degree angle, the driving cylinder 305 is activated. The cylinder 305 can drive the sliding plate 304 to slide on the guide rail 302 through the sliding block 303. At this time, the movable wheel 310 moves in the guide groove 306. The movable wheel 310 can drive the rotating plate 309 to rotate. The rotating plate 309 can drive the rotating shaft 307 to rotate. The rotating shaft 307 can drive the connecting frame 308 to rotate. The connecting frame 308 can drive the suction cup 312 to rotate and pick up the item. By reciprocating the movement of the cylinder 305, the suction cup 312 can also rotate within a fixed angle to pick up the item. The baffle 311 limits the rotation plate 309.

[0030] Furthermore, the guide rail 302 and the sliding block 303 are each provided in pairs, the slide groove 202 is provided in pairs, and the pair of sliding blocks 303 are respectively provided on the pair of guide rails 302. The pair of sliding blocks 303 can make the sliding plate 304 move stably, and the pair of slide grooves 202 can make the adjusting plate 203 move stably.

[0031] Furthermore, the cylinder 305 is fixed to the fixed plate 301 by bolts, and the guide rail 302 is adapted to the sliding block 303. The cylinder 305, which is fixed by bolts, can be easily installed and removed on the fixed plate 301, and the adapted sliding block 303 moves stably on the guide rail 302.

[0032] Furthermore, the movable wheel 310 is adapted to the guide groove 306, and a pair of guide rods 204 are provided. The adapted movable wheel 310 moves stably in the guide groove 306, and the pair of guide rods 204 can limit the sliding frame 205, so that the sliding frame 205 moves stably.

[0033] Furthermore, the rotating shaft 207 is adapted to the placement frame 206, and the fixing frame 201 is provided with reinforcing ribs. The adapted rotating shaft 207 rotates stably on the placement frame 206, and the reinforcing ribs increase the stability of the fixing frame 201.

[0034] Furthermore, a protective layer is provided on the baffle 311, and a pair of sprockets 208 and chains 209 are provided. The protective layer is provided on the side wall of the baffle 311 near the rotating plate 309. The protective layer can protect the rotating plate 309 when the baffle 311 limits its movement, preventing the baffle 311 from damaging the surface of the rotating plate 309. A pair of sprockets 208 and a pair of chains 209 can make the adjusting plate 203 move stably.

[0035] Furthermore, the fixing plate 301 is provided with reinforcing ribs, and the sliding frame 205 is adapted to the guide rod 204. The reinforcing ribs increase the strength of the fixing plate 301, and the adapted sliding frame 205 can move stably on the guide rod 204.

[0036] Working principle: When height adjustment is required, the drive motor 211 drives the second toothed wheel 212 to rotate. The toothed belt 213, under the action of the second toothed wheel 212, drives the first toothed wheel 210 to rotate. The first toothed wheel 210 drives the rotating shaft 207 to rotate on the placement frame 206. The rotating shaft 207 drives the sprocket 208 to rotate. The chain 209, under the action of the sprocket 208, drives the adjusting plate 203 to move on the slide groove 202. At this time, the chain 209 drives the sliding frame 205 to move on the guide rod 204, thereby adjusting the height of the fixed plate 301. When the height needs to be adjusted, the following applies: When the item is grasped at a fixed 90-degree angle, the drive cylinder 305 drives the sliding plate 304 to slide on the guide rail 302 via the sliding block 303. At this time, the moving wheel 310 moves in the guide groove 306. The moving wheel 310 drives the rotating plate 309 to rotate. The rotating plate 309 drives the rotating shaft 307 to rotate. The rotating shaft 307 drives the connecting frame 308 to rotate. The connecting frame 308 drives the suction cup 312 to rotate and pick up the item. Through the reciprocating movement of the cylinder 305, the suction cup 312 can also rotate within a fixed angle to pick up the item. The baffle 311 limits the rotation plate 309.

[0037] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A PPU robotic arm, comprising a base frame (1), characterized in that: The base frame (1) is provided with a lifting structure (2), and the lifting structure (2) is provided with an adjustment structure (3). The lifting structure (2) includes a fixed frame (201), a slide groove (202), an adjusting plate (203), a guide rod (204), a sliding frame (205), a placement frame (206), a rotating shaft (207), a sprocket (208), a chain (209), a first toothed wheel (210), a motor (211), a second toothed wheel (212), and a toothed belt (213). The fixed frame (201) is mounted on the base frame (1). The slide groove (202) is located on the fixed frame (201). The adjusting plate (203) is movably mounted on the slide groove (202). The guide rod (204) is mounted on the fixed frame (201). The sliding frame (205) is movably mounted on the guide rod (204). The placement frame (206) is movably mounted on the guide rod (204). 06) Installed on the fixed frame (201), the rotating shaft (207) is movably disposed on the placement frame (206), the sprocket (208) is installed on the rotating shaft (207), the chain (209) is movably connected to the sprocket (208) and one end of the chain (209) is disposed on the sliding frame (205) and the other end of the chain (209) is disposed on the adjusting plate (203), the first toothed wheel (210) is installed on the rotating shaft (207), the motor (211) is installed on the base frame (1), the second toothed wheel (212) is installed on the motor (211), and the toothed belt (213) is disposed on the first toothed wheel (210) and the second toothed wheel (212).

2. The PPU robotic arm according to claim 1, characterized in that: The base frame (1) is provided with reinforcing ribs, and the adjusting plate (203) is adapted to the sliding groove (202).

3. The PPU robotic arm according to claim 1, characterized in that: The motor (211) is fixed to the base frame (1) by bolts, and the base frame (1) is provided with pads.

4. The PPU robotic arm according to claim 1, characterized in that: The adjustment structure (3) includes a fixed plate (301), a guide rail (302), a sliding block (303), a sliding plate (304), a cylinder (305), a guide groove (306), a rotating shaft (307), a connecting frame (308), a rotating plate (309), a moving wheel (310), a suction cup (312), and a baffle (311). The fixed plate (301) is mounted on the sliding frame (205), the guide rail (302) is mounted on the fixed plate (301), the sliding block (303) is movably mounted on the guide rail (302), and the sliding plate (304) is mounted on the sliding block (305). 3) The cylinder (305) is mounted on the fixed plate (301), the guide groove (306) is provided on the fixed plate (301), the rotating shaft (307) is movably provided on the sliding plate (304), the connecting frame (308) is mounted on the rotating shaft (307), the rotating plate (309) is mounted on the end of the rotating shaft (307) away from the connecting frame (308), the moving wheel (310) is movably mounted on the rotating plate (309), the baffle (311) is mounted on the sliding plate (304), and the suction cup (312) is provided on the connecting frame (308).

5. A PPU robotic arm according to claim 4, characterized in that: The guide rail (302) and the sliding block (303) are each provided in a pair, and the slide groove (202) is provided in a pair.

6. A PPU robotic arm according to claim 4, characterized in that: The cylinder (305) is fixed to the fixed plate (301) by bolts, and the guide rail (302) is adapted to the sliding block (303).

7. A PPU robotic arm according to claim 4, characterized in that: The movable wheel (310) is adapted to the guide groove (306), and a pair of guide rods (204) are provided.

8. A PPU robotic arm according to claim 1, characterized in that: The rotating shaft (207) is adapted to the placement frame (206), and the fixing frame (201) is provided with reinforcing ribs.

9. A PPU robotic arm according to claim 4, characterized in that: The baffle (311) is provided with a protective layer, and the sprocket (208) and the chain (209) are each provided with a pair.

10. A PPU robotic arm according to claim 4, characterized in that: The fixing plate (301) is provided with reinforcing ribs, and the sliding frame (205) is adapted to the guide rod (204).

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