A bidirectional robot

Abstract

The utility model discloses a bidirectional mechanical arm, including frame, crossbeam, installable before and after on the frame, first drive mechanism, install on the frame and be used for driving crossbeam before and after sliding on the frame, two telescopic frames, installable before and after respectively on the both sides of crossbeam, two telescopic frames are equipped with respectively rotary belt and two first rotary wheels, two first rotary wheels rotatable installation are arranged on the telescopic frame, and rotary belt is around and is equipped with on two first rotary wheels, mechanical finger, set up between two telescopic frames and is connected with rotary belt, two fixed frame, set up in the one side of rotary belt and install on crossbeam each other away, and two fixed frame are connected with two rotary belts through the belt clamp respectively, second drive mechanism, install on crossbeam and be used for driving two telescopic frames before and after moving on crossbeam synchronously. The segmented movement of telescopic frame and rotary belt in the application can greatly shorten the moving distance of single component, thereby reducing the installation space required by the equipment.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, specifically to a bidirectional robotic arm. Background Technology

[0002] In modern industrial automation systems, transfer robots, as core equipment for efficiently moving workpieces between different workstations, have been widely used in many fields such as automobile manufacturing, electronic assembly, and logistics warehousing. Their core function is to accurately and quickly transfer workpieces from one processing, inspection, or storage station to another with different process requirements, thereby replacing manual labor in repetitive handling operations, significantly improving production efficiency and operational accuracy, while reducing manual labor intensity and safety hazards.

[0003] However, in actual production scenarios, due to the often spaced layouts of different workstations and the need to adapt to diverse production processes (such as the connection between processes, temporary storage and transfer of materials), transfer robots typically require a sufficiently large travel distance to meet the cross-station transfer needs of two or more workstations. This large travel distance design is a necessary condition to ensure that the workpiece can cover the complete transfer path from the starting workstation to the ending workstation, but it also raises significant practical problems: the overall structure of the robot needs to match its range of motion, resulting in a large space occupation for the equipment.

[0004] Specifically, in order to achieve long-distance workstation crossing, the guide rail length and extension range of the transfer robot need to be increased accordingly. This not only makes the equipment occupy too much space in the production workshop, but may also restrict the layout of surrounding equipment and the space utilization rate of the workshop, thus restricting the flexibility of the workshop production layout. Utility Model Content

[0005] This utility model aims to solve at least one of the technical problems existing in the prior art. To this end, this utility model proposes:

[0006] A bidirectional robotic arm includes: a frame,

[0007] A crossbeam is mounted on the frame and can slide back and forth.

[0008] A first drive mechanism is mounted on the frame and is used to drive the crossbeam to slide back and forth on the frame;

[0009] Two telescopic frames are installed on the left and right sides of the crossbeam respectively, and each of the two telescopic frames is equipped with a rotary belt and two first rotary wheels. The two first rotary wheels are installed vertically and rotatably on the telescopic frames, and the rotary belt is wound around the two first rotary wheels.

[0010] A mechanical finger is positioned between two telescopic frames and connected to the rotary belt via a belt clamp;

[0011] Two fixing frames are located on opposite sides of the rotary belt and installed on the crossbeam, and the two fixing frames are respectively connected to the two rotary belts through belt clamps;

[0012] The second drive mechanism is mounted on the crossbeam and is used to drive the two telescopic frames to move synchronously back and forth on the crossbeam.

[0013] The technical solution adopted by one embodiment of this utility model to solve its technical problem is as follows: the second drive mechanism includes a second drive component and two synchronous belts. The two synchronous belts are respectively installed on the two telescopic frames, and the two ends of the synchronous belts are respectively fixedly installed on the two ends of the corresponding telescopic frames. Each fixed frame is respectively equipped with a synchronous pulley, and the synchronous pulley meshes with the synchronous belt on the same side. The second drive component is installed on the crossbeam and is used to drive the synchronous pulley to rotate.

[0014] The technical solution adopted by one embodiment of this utility model to solve its technical problem is as follows: the second drive assembly includes a second drive motor, a transmission rod and two synchronous belt drive assemblies. The transmission rod is connected to two crossbeams respectively through rotating bearings. The two synchronous belt drive assemblies are respectively mounted on the two crossbeams and connected to the transmission rod and the synchronous pulley on the same side. The second drive motor is connected to the transmission rod and is used to drive the transmission rod to rotate, so that the transmission rod drives the synchronous pulley to rotate through the synchronous belt drive assemblies.

[0015] The technical solution adopted by one embodiment of this utility model to solve its technical problem is: multiple vacuum adsorption disks are installed at the lower end of the mechanical finger.

[0016] The technical solution adopted by one embodiment of this utility model to solve its technical problem is as follows: the frame includes a base frame, a movable frame and a lifting drive mechanism. The movable frame is slidably mounted on the base frame. The crossbeam is mounted on the movable frame. The lifting drive mechanism is mounted on the fixed frame and is used to drive the movable frame to rise and fall on the base frame.

[0017] The technical solution adopted by one embodiment of this utility model to solve its technical problem is as follows: four guide columns are provided on the base frame, and through holes matching the four guide columns are provided on the movable frame, with the four guide columns passing through the through holes respectively.

[0018] The technical solution adopted by one embodiment of this utility model to solve its technical problem is as follows: the lifting drive mechanism includes four lifting transmission components and a lifting drive assembly. The four lifting transmission components are slidably mounted on four guide columns and connected to the movable frame. The lifting drive assembly is connected to the four lifting transmission components.

[0019] The beneficial effects of this utility model are as follows: When the second drive mechanism drives the telescopic frame to move back and forth, since the fixed frame is fixedly connected to the mounting frame and connected to the rotary belt through the belt clamp, the movement of the telescopic frame will cause the rotary belt to slide relative to the fixed frame. At this time, the mechanical finger connected to the rotary belt will simultaneously obtain a superposition of two directions of motion: one is the forward movement stroke with the telescopic frame, and the other is the forward sliding stroke with the rotary belt relative to the telescopic frame, that is, the total movement stroke of the mechanical finger is the sum of the two.

[0020] Compared to traditional single-stroke robotic arms, the segmented movement of the telescopic frame and rotary belt in this application can significantly shorten the movement distance of individual components, thereby reducing the installation space required for the equipment. Under the premise of meeting the same workstation transfer distance, the movement stroke of the robotic fingers can be greatly increased. Attached Figure Description

[0021] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0022] Figure 1 This is a schematic diagram of the bidirectional manipulator described in this embodiment. Figure 1 ;

[0023] Figure 2 This is a schematic diagram of the bidirectional manipulator described in this embodiment. Figure 2 ;

[0024] Figure 3 This is a schematic diagram of the bidirectional manipulator described in this embodiment. Figure 3 ;

[0025] Figure 4 for Figure 3 Schematic diagram of the structure at point A in the diagram;

[0026] Figure 5 This is a cross-sectional view of the bidirectional manipulator described in this embodiment;

[0027] Figure 6 This is a schematic diagram of the mounting mechanism of the fixing frame described in this embodiment. Detailed Implementation

[0028] This section will describe in detail the specific embodiments of the present utility model. The preferred embodiments of the present utility model are shown in the accompanying drawings. The purpose of the drawings is to supplement the textual description with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present utility model, but they should not be construed as limiting the scope of protection of the present utility model.

[0029] In the description of this utility model, "multiple" means two or more; "greater than," "less than," and "exceeding" are understood to exclude the stated number; "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly specifying the number of indicated technical features or their sequential relationship.

[0030] In the description of this utility model, it should be understood that the directional descriptions, such as up, down, front, back, left, right, etc., indicate the directional or positional relationship based on the directional or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0031] In this utility model, unless otherwise explicitly defined, the terms "setting," "installing," and "connecting" should be interpreted broadly. For example, they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to a fixed connection, a detachable connection, or an integral molding; they can refer to a mechanical connection; they can refer to the internal connection of two components or the interaction between two components. Those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0032] Reference Figure 1-6 This application presents an embodiment of a bidirectional robotic arm, comprising: a frame 10.

[0033] The crossbeam 20 is slidably mounted on the frame 10;

[0034] The first drive mechanism 30 is mounted on the frame 10 and is used to drive the crossbeam 20 to slide back and forth on the frame 10.

[0035] Two telescopic frames 40 are respectively installed on the left and right sides of the crossbeam 20, which can slide back and forth. Each of the two telescopic frames 40 is provided with a rotary belt 50 and two first rotary wheels 60. The two first rotary wheels 60 are respectively installed vertically and rotatably on the telescopic frame 40, and the rotary belt 50 is wound around the two first rotary wheels 60.

[0036] A mechanical finger 70 is positioned between two telescopic frames 40 and connected to the rotary belt 50 via a belt clamp;

[0037] Two fixing brackets 80 are located on opposite sides of the rotary belt 50 and installed on the crossbeam 20, and the two fixing brackets 80 are respectively connected to the two rotary belts 50 through belt clamps;

[0038] The second drive mechanism 90 is mounted on the crossbeam 20 and is used to drive the two telescopic frames 40 to move synchronously back and forth on the crossbeam 20.

[0039] The first drive mechanism 30 can drive the crossbeam 20 to simultaneously extend and retract the telescopic frame 40, the mechanical finger 70, the fixed frame 80, and the second drive mechanism 90.

[0040] When the second drive mechanism 90 drives the telescopic frame 40 to move back and forth, since the fixed frame 80 is fixedly connected to the mounting frame and connected to the rotary belt 50 via a belt clamp, the movement of the telescopic frame 40 will cause the rotary belt 50 to rotate relative to the fixed frame 80. At this time, the mechanical finger 70 connected to the rotary belt 50 will simultaneously obtain a superposition of two directions of motion: one is the forward movement stroke with the telescopic frame 40, and the other is the forward sliding stroke with the rotary belt 50 relative to the telescopic frame 40. That is, the total movement stroke of the mechanical finger 70 is the sum of the two.

[0041] Compared to traditional single-stroke robotic arms, the segmented movement of the telescopic frame 40 and the rotary belt 50 in this application can significantly shorten the movement distance of individual components, thereby reducing the installation space required for the equipment. Under the premise of meeting the same workstation transfer distance, the movement stroke of the robotic finger 70 can be greatly increased.

[0042] Meanwhile, two telescopic frames 40 are symmetrically distributed on both sides of the mounting frame. With the linkage design of the rotary belt 50 and the mechanical finger 70, it can not only ensure the flexibility of bidirectional transfer, but also reduce the overall space occupied by the equipment through the compact layout of the structure, thus solving the problem of low space utilization caused by the large stroke requirement of traditional transfer robots.

[0043] Specifically, the second drive mechanism 90 includes a second drive assembly 91 and two synchronous belts 92. The two synchronous belts 92 are respectively mounted on the two telescopic frames 40, and the two ends of the synchronous belts 92 are respectively fixedly mounted on the two ends of the corresponding telescopic frames 40. Each fixed frame 80 is respectively equipped with a synchronous pulley 93, and the synchronous pulley 93 meshes with the synchronous belt 92 on the same side. The second drive assembly 91 is mounted on the crossbeam 20 and is used to drive the synchronous pulley 93 to rotate.

[0044] The use of a meshing transmission structure between a synchronous belt 92 and a synchronous pulley 93 enables the second drive mechanism 90 to efficiently drive the telescopic frames 40 on both sides to move forward and backward in strict synchronization. This transmission method not only has high transmission efficiency and fast response speed, but also ensures the consistency of movement of the telescopic frames 40 on both sides through the tension of the synchronous belt 92, avoiding positioning errors of the mechanical fingers 70 caused by deviations in movement on both sides.

[0045] Furthermore, the second drive assembly 91 includes a second drive motor 911, a transmission rod 912, and two synchronous belt drive assemblies 913. The transmission rod 912 is connected to two crossbeams 20 via rotating bearings. The two synchronous belt drive assemblies 913 are respectively mounted on the two crossbeams 20 and connected to the transmission rod 912 and the synchronous pulley 93 on the same side. The second drive motor 911 is connected to the transmission rod 912 and is used to drive the transmission rod 912 to rotate, so that the transmission rod 912 drives the synchronous pulley 93 to rotate through the synchronous belt drive assemblies 913.

[0046] The second drive assembly 91, through the combination of the transmission rod 912 and the synchronous belt drive assembly 913, realizes the synchronous drive of the synchronous pulleys 93 on both sides by a single power source, which simplifies the structure of the drive system and reduces the complexity of multi-power source coordinated control.

[0047] In this application, the lower end of the mechanical finger 70 is equipped with multiple vacuum adsorption plates 100. The design of these vacuum adsorption plates 100 at the lower end of the mechanical finger 70 enables stable gripping of workpieces via negative pressure adsorption, making it particularly suitable for workpieces with flat surfaces such as thin plates and precision electronic components. This avoids workpiece deformation or surface damage that may occur with traditional mechanical clamping. The distributed layout of the multiple adsorption plates allows for flexible adjustment of the adsorption range according to the workpiece size, improving adaptability to workpieces of different specifications.

[0048] Based on the above, the frame 10 includes a base frame 11, a movable frame 12, and a lifting drive mechanism 13. The movable frame 12 is slidably mounted on the base frame 11. The crossbeam 20 is mounted on the movable frame 12. The lifting drive mechanism 13 is mounted on the base frame 11 and is used to drive the movable frame 12 to move up and down on the base frame 11.

[0049] The frame 10 adopts a lifting structure consisting of a base frame 11, a movable frame 12, and a lifting drive mechanism 13, which enables the robot to have the freedom of movement in the vertical direction, expands its workpiece transfer capability in three-dimensional space, can adapt to the transfer needs between different height workstations, and enhances the versatility of the equipment.

[0050] The base frame 11 is provided with four guide posts 14, and the movable frame 12 is provided with through holes that match the four guide posts 14. The four guide posts 14 pass through the through holes respectively. The sliding fit between the four guide posts 14 and the through holes of the movable frame 12 provides rigid guiding constraints for the lifting and lowering movement of the movable frame 12, ensuring that the movable frame 12 maintains stable verticality and horizontality during the up and down movement, and avoiding positioning deviation of the mechanical finger 70 or workpiece collision due to skew.

[0051] The lifting drive mechanism 13 includes four lifting transmission components 131 and a lifting drive assembly 132. The four lifting transmission components 131 are slidably mounted on four guide columns 14 and connected to the movable frame 12. The lifting drive assembly 132 is connected to the four lifting transmission components 131. The sliding connection design between the lifting transmission components 131 and the guide columns 14 evenly distributes the lifting driving force of the movable frame 12 to the four guide columns 14, avoiding structural deformation caused by excessive local stress and enhancing the overall load-bearing capacity of the frame 10. Referring to the accompanying drawings, the lifting drive assembly 132 adopts a synchronous wheel transmission system to achieve synchronous lifting and lowering of the four lifting transmission components 131 on the guide columns 14. The synchronous wheel transmission system is a conventional design in this field, and its specific structure and working principle are not described in detail here.

[0052] Of course, this utility model is not limited to the above-described embodiments. Those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of this utility model. All such equivalent modifications and substitutions are included within the scope defined by the claims of this application.

Claims

1. A bidirectional robotic arm, characterized in that, include: Rack (10) A crossbeam (20) is slidably mounted on the frame (10); A first drive mechanism (30) is mounted on the frame (10) and is used to drive the crossbeam (20) to slide back and forth on the frame (10); Two telescopic frames (40) are installed on the left and right sides of the crossbeam (20) respectively, and the two telescopic frames (40) are respectively provided with a rotary belt (50) and two first rotary wheels (60). The two first rotary wheels (60) are respectively installed vertically and rotatably on the telescopic frames (40), and the rotary belt (50) is wound around the two first rotary wheels (60). A mechanical finger (70) is disposed between two telescopic frames (40) and connected to the rotary belt (50); Two fixed brackets (80) are set on opposite sides of the rotary belt (50) and connected to the crossbeam (20), and the two fixed brackets (80) are respectively connected to the two rotary belts (50); The second drive mechanism (90) is mounted on the crossbeam (20) and is used to drive the two telescopic frames (40) to move synchronously back and forth on the crossbeam (20).

2. The bidirectional manipulator according to claim 1, characterized in that, The second drive mechanism (90) includes a second drive assembly (91) and two synchronous belts (92). The two synchronous belts (92) are respectively mounted on the two telescopic frames (40), and the two ends of the synchronous belts (92) are respectively fixedly mounted on the two ends of the corresponding telescopic frames (40). Each fixed frame (80) is equipped with a synchronous pulley (93), and the synchronous pulley (93) meshes with the synchronous belt (92) on the same side. The second drive assembly (91) is mounted on the crossbeam (20) and is used to drive the synchronous pulley (93) to rotate.

3. The bidirectional manipulator according to claim 2, characterized in that, The second drive assembly (91) includes a second drive motor (911), a transmission rod (912), and two synchronous belt drive assemblies (913). The transmission rod (912) is connected to two crossbeams (20) through rotating bearings. The two synchronous belt drive assemblies (913) are mounted on the two crossbeams (20) and connected to the transmission rod (912) and the synchronous pulley (93) on the same side. The second drive motor (911) is connected to the transmission rod (912) and is used to drive the transmission rod (912) to rotate, so that the transmission rod (912) drives the synchronous pulley (93) to rotate through the synchronous belt drive assembly (913).

4. The bidirectional manipulator according to claim 1, characterized in that, The lower end of the mechanical finger (70) is equipped with multiple vacuum adsorption disks (100).

5. The bidirectional manipulator according to any one of claims 1-4, characterized in that, The frame (10) includes a base frame (11), a movable frame (12), and a lifting drive mechanism (13). The movable frame (12) is slidably mounted on the base frame (11). The crossbeam (20) is mounted on the movable frame (12). The lifting drive mechanism (13) is mounted on the fixed frame (80) and is used to drive the movable frame (12) to move up and down on the base frame (11).

6. The bidirectional manipulator according to claim 5, characterized in that, The base frame (11) is provided with four guide posts (14), and the movable frame (12) is provided with through holes that match the four guide posts (14), and the four guide posts (14) pass through the through holes respectively.

7. The bidirectional manipulator according to claim 6, characterized in that, The lifting drive mechanism (13) includes four lifting transmission components (131) and a lifting drive assembly (132). The four lifting transmission components (131) are slidably mounted on four guide columns (14) and connected to the movable frame (12). The lifting drive assembly (132) is connected to the four lifting transmission components (131).

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