Cam slot variable distance robot

Abstract

The utility model provides a kind of cam groove type variable-pitch manipulator, comprising: power unit;Y direction displacement unit, drive moving plate under the guidance of Y direction guiding assembly along Y direction linear reciprocating displacement by the drive of power unit;Variable-pitch guiding unit, including the regular arrangement of multiple groups of sliding chute on the moving plate and multiple cams respectively configured for each group of sliding chute;X direction displacement unit, including X direction guiding assembly, multiple connecting plates;Through the guidance of variable-pitch guiding unit, simultaneously drive through each cam, realize the equal and synchronous adjustment of the interval between any two adjacent connecting plates along X direction;Grabbing unit is used for grabbing parts, and multiple groups are assembled on each connecting plate respectively.The utility model satisfies the demand of multiple specifications, variable-pitch, multiple quantity parts side clamping, helps to improve production efficiency, and guarantees the operation rhythm of overall production line.

Description

Technical Field

[0001] This utility model relates to a robotic arm, and more specifically, a cam-groove type variable pitch robotic arm. Background Technology

[0002] Simultaneous parallel machining of multiple parts has become one of the mainstream operating modes in modern machine tool processing, especially in batch production scenarios, where a large number of parts often need to be clamped and processed side by side. This type of machining process involves critical loading and unloading stages: precisely removing the finished parts from the machine tool's machining station and transferring them to a transfer station for temporary storage, while simultaneously transferring the parts to be processed from the loading platform to the machine tool's machining station for clamping. The efficiency and precision of the loading and unloading stages directly determine the overall operating rhythm of the production line.

[0003] In actual production, the spacing between parts at the machine tool processing station and between parts on the transfer table and loading table is often not fixed. Furthermore, the processing requirements for different batches and specifications of parts vary, which further leads to dynamic changes in the spacing parameters. This core contradiction makes it difficult for traditional fixed-spacing robots to meet production needs. The gripping and transfer spacing of fixed-spacing robots cannot be flexibly adjusted, and they can only adapt to a single spacing scenario. They are completely unsuitable for processing tasks with multiple specifications and variable spacing. Utility Model Content

[0004] To solve the above-mentioned technical problems, this utility model proposes a cam groove type variable pitch robot, which can meet the needs of parallel clamping of multiple parts with different specifications and variable pitch, and helps to improve production efficiency and ensure the operation rhythm of the overall production line.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A cam-groove type variable pitch manipulator, comprising: The power unit is used to provide power for the linear reciprocating displacement of the Y-direction displacement unit along the Y-direction; The Y-direction displacement unit includes a Y-direction guide component and a moving plate. Driven by the power unit, the moving plate moves linearly back and forth along the Y-direction under the guidance of the Y-direction guide component. The variable pitch guide unit includes multiple sets of slides arranged regularly on the moving plate and multiple cams configured for each set of slides. Each cam slides in a corresponding manner in the slide, and the outer wheel circumference and the slide wall maintain rolling contact. The multiple sets of slides are flush with each other along the X direction at both ends along the Y direction and are equally spaced along the X direction. The X-direction displacement unit includes an X-direction guide assembly and multiple connecting plates. The X-direction guide assembly includes at least one set of X-direction slide rails and multiple X-direction sliders that are linearly slidable along the X-direction slide rails. Each cam and each connecting plate is flush with each other along the X-direction and moves synchronously with each X-direction slider. Guided by the variable pitch guide unit and driven simultaneously by each cam, the distance between any two adjacent connecting plates along the X-direction is always equal and synchronously adjusted. The X-direction is perpendicular to the Y-direction. The gripping unit, used to grip parts, is provided in multiple sets and is respectively assembled on each connecting plate.

[0006] The structural features of this utility model also lie in: A robot arm unit is formed by combining a Y-axis displacement unit, a variable pitch guiding unit, an X-axis displacement unit, and a gripping unit. Multiple robot arm units are driven simultaneously by the same power unit.

[0007] In the variable pitch guide unit, each set of slide grooves is arranged parallel to the XY plane, and the movement trajectory of each cam in each set of slide grooves is linear. Between the two ends of two adjacent sets of slide grooves along the Y direction, the distance between one end along the X direction is greater than that between the other ends.

[0008] In the Y-direction displacement unit, there is a pair of Y-direction guide components. Each pair of Y-direction guide components includes a Y-direction slide rail and a Y-direction slider. The Y-direction slide rail is arranged along the Y-direction, and the Y-direction slider is linearly slidable on the Y-direction slide rail. The moving plate is arranged between the Y-direction sliders of the pair of Y-direction guide components, and together with the pair of Y-direction sliders, it forms a synchronous displacement component, which is driven to move by the Y-direction transmission component.

[0009] In the X-direction displacement unit, the X-direction slide rail is arranged between a pair of Y-direction slide rails.

[0010] The power unit includes a drive motor, a transmission device, and a Y-axis transmission assembly. The drive motor provides the driving force, and the motor output shaft is coaxially connected to the input shaft of the transmission device. The output shaft of the transmission device is coaxially connected to the lead screw of the Y-axis transmission assembly. The Y-axis transmission assembly includes the lead screw and a threaded bearing. The lead screw can rotate around a central axis arranged along the Y-axis. The threaded bearing is sleeved on the lead screw and, with the rotation of the lead screw, drives the moving plate to move back and forth along the Y-axis in a straight line.

[0011] The transmission device is a bevel gearbox.

[0012] The gripping unit is a suction cup.

[0013] The robotic arm is covered by a protective shell and is also equipped with a connecting flange for assembly with external equipment. The gripping unit and the connecting flange are exposed outside the protective shell.

[0014] Compared with existing technologies, the beneficial effects of this utility model are reflected in: This invention provides power to the Y-axis displacement unit to move back and forth along the Y-axis in a straight line through a power unit. This causes the moving plate of the Y-axis displacement unit to move under the guidance of the Y-axis guide component. The variable-pitch guide unit, which consists of multiple sets of sliding grooves and multiple cams on the moving plate, and the multiple connecting plates of the X-axis displacement unit driven by multiple cams to move synchronously under the guidance of the X-axis guide component, thereby achieving guidance by the variable-pitch guide unit with a specific structural form. This ensures that the distance between any two adjacent connecting plates and their attached gripping units along the X-axis is always equal and synchronously adjusted, adapting to processing tasks with multiple specifications and variable pitches. It is more versatile and can be adapted to different pitch scenarios. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of this utility model; Figure 2 This is a structural diagram of the present invention after the protective outer shell has been removed; Figure 3 This is a schematic diagram of the structure when the distance between two adjacent gripping units is adjusted to the maximum along the X direction; Figure 4 This is a schematic diagram of the structure when the distance between two adjacent gripping units is adjusted to the minimum along the X direction; Figure 5 yes Figure 4 A structural diagram from another perspective; Figure 6 Is Figure 4 A schematic diagram of the exploded structure of the movable plate and remaining components on the foundation; Figure 7 Is Figure 4 A schematic diagram of the structure after removing the movable plate.

[0016] In the picture: 11 Drive motor; 12 Coupling; 13 Transmission device; 14 Lead screw; 15 Threaded bearing; 16 Adapter plate; 21 Y-axis slide rail; 22 Y-axis slider; 23 moving plate; 31. Slide groove; 32. Cam; 41 X-axis slide rail; 42 X-axis slider; 43 connecting plate; 51. Grasping unit; 52. Connecting plate; 61 Mounting bracket; 62 Mounting base; 63 Connecting flange; 64 Protective enclosure. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0018] Please refer to Figures 1 to 7 The cam-groove type variable pitch manipulator of this embodiment includes: The power unit is used to provide power for the linear reciprocating displacement of the Y-direction displacement unit along the Y-direction; The Y-direction displacement unit includes a Y-direction guide component and a moving plate 23. Driven by the power unit, the moving plate 23 moves linearly back and forth along the Y-direction under the guidance of the Y-direction guide component. The variable pitch guide unit includes multiple sets of slide grooves 31 arranged regularly on the movable plate 23 and multiple cams 32 configured for each set of slide grooves 31. Each cam 32 slides in a corresponding manner in the slide groove 31, and the outer wheel circumference and the groove wall of the slide groove 31 maintain rolling contact. The multiple sets of slide grooves 31 are flush with each other along the X direction at both ends along the Y direction and are equally spaced along the X direction. The X-direction displacement unit includes an X-direction guide assembly and multiple connecting plates 43. The X-direction guide assembly includes at least one set of X-direction slide rails 41 and multiple X-direction sliders 42 that are linearly slidable on the X-direction slide rails 41. Each cam 32 and each connecting plate 43 are flush with each other along the X-direction and move synchronously with each X-direction slider 42. Guided by the variable pitch guide unit and driven by each cam 32 simultaneously, the distance between any two adjacent connecting plates 43 along the X-direction is always equal and synchronously adjusted. The X-direction is perpendicular to the Y-direction. The gripping unit 51 is used to grip parts, and multiple sets are provided and respectively assembled on each connecting plate 43.

[0019] In practical implementation, the corresponding structural settings of the cam-type variable pitch manipulator with 32 slots also include: The Y-axis displacement unit, the variable pitch guiding unit, the X-axis displacement unit, and the gripping unit 51 are collectively considered as a group of robotic arm units, and multiple groups of robotic arm units are driven simultaneously by the same group of power units.

[0020] In the variable-pitch guide unit, each set of slide grooves 31 is arranged parallel to the XY plane. The movement trajectory of each cam 32 within each set of slide grooves 31 is linear. Between the two ends of adjacent sets of slide grooves 31 along the Y direction, the distance between one end along the X direction is greater than that between the other ends. The width of each set of slide grooves 31 is equal, and the width of each set of slide grooves 31 remains equal from one end to the other along the Y direction. The two outermost sets of slide grooves 31 along the Y direction have four endpoints located at the four vertices of an isosceles trapezoid. The remaining sets of slide grooves 31 connect between the upper and lower bases of this isosceles trapezoid.

[0021] In the Y-direction displacement unit, there is a pair of Y-direction guide components. Each pair of Y-direction guide components includes a Y-direction slide rail 21 and a Y-direction slider 22. The Y-direction slide rail 21 is arranged along the Y-direction, and the Y-direction slider 22 is linearly slidable on the Y-direction slide rail 21 along the Y-direction. The moving plate 23 is arranged between the Y-direction sliders 22 of the pair of Y-direction guide components, and together with the pair of Y-direction sliders 22, it forms a synchronous displacement component, which is driven to move by the Y-direction transmission component.

[0022] In the X-direction displacement unit, the X-direction slide rail 41 is arranged between a pair of Y-direction slide rails 21.

[0023] The power unit includes a drive motor 11, a transmission device 13, and a Y-axis transmission assembly. The drive motor 11 provides driving force, and the output shaft of the motor is coaxially connected to the input shaft of the transmission device 13 through a coupling 12. The output shaft of the transmission device 13 is coaxially connected to the lead screw 14 of the Y-axis transmission assembly. The Y-axis transmission assembly includes a lead screw 14 and a threaded bearing 15. The lead screw 14 can rotate around a central axis arranged along the Y-axis, and the threaded bearing 15 is sleeved on the lead screw 14. As the lead screw 14 rotates, it drives the moving plate 23 to move back and forth along the Y-axis in a straight line.

[0024] The transmission device 13 is a bevel gearbox. The motor output shaft of the drive motor 11 is arranged parallel to the X-axis. The direction of power transmission is changed through the bevel gearbox, so that the threaded bearing 15 can be displaced parallel to the Y-axis.

[0025] The drive motor 11, each Y-axis slide rail 21, and each X-axis slide rail 41 are respectively assembled on the mounting frame 61. Along the X-axis, the Y-axis sliders 22 of each Y-axis slide rail 21 on the same side are detachably connected to the threaded bearings 15 via the same adapter plate 16 (such as by bolt connection or other common methods). The moving plate 23, the Y-axis slider 22, and the adapter plate 16 of each Y-axis displacement unit constitute a synchronous displacement component, which moves synchronously linearly with the drive of the threaded bearings 15. The lead screw 14 is rotatably mounted between a pair of mounting seats 62 on the mounting frame 61.

[0026] The gripping unit 51 is a suction cup. Each connecting plate 43 is equipped with a set of X-axis sliders 42, each set including at least one X-axis slider 42. Each connecting plate 43 is fastened to each X-axis slider 42 of its corresponding set using bolts. The cam 32 is bolted to the connecting plate 43, with its outer wheel circumferentially fitted into the corresponding groove 31. A connecting plate 52 is bolted to each connecting plate 43, and the gripping unit 51 is mounted on the connecting plate 52.

[0027] The robotic arm is enclosed by a protective housing 64 to protect its internal core components. It also includes a connecting flange 63 for assembly with external equipment (such as an external robotic arm). The gripping unit 51 and the connecting flange 63 are both exposed outside the protective housing 64. The connecting flange 63 is mounted on a mounting bracket 61.

[0028] Application examples: First, the entire cam 32 slot variable pitch manipulator is fixed to the end of the external manipulator via the connecting flange 63; When the cam 32 slotted variable pitch manipulator starts, the drive motor 11 outputs power to the bevel gearbox. After the bevel gearbox changes the direction of power transmission, it drives the lead screw 14 to rotate. The threaded bearing 15 on the lead screw 14 moves linearly along the axis of the lead screw 14 as the lead screw 14 rotates. This causes each moving plate 23 to move together under the precise guidance of the Y-direction guide assembly. Through the guidance of the variable pitch guide unit and its specific structural design, each cam 32 simultaneously drives each connecting plate 43 to move synchronously under the guidance of the X-direction guide assembly. This ensures that the distance between any two adjacent connecting plates 43 along the X-direction is always equal and synchronously adjusted. Finally, this drives each gripping unit 51 to complete the distance change, so that it matches the distance of the parts to be processed on the loading table. Next, each gripping unit 51 grips the part to be processed, and then the whole assembly is moved to the machine tool processing position by the external robot arm. Referring to the above working method, each gripping unit 51 of another set of robot arm units grips the processed part, and then the whole assembly is moved to the machine tool processing position by the external robot arm. Then, the external robot arm moves to the transfer table and places the processed part on the transfer table. After that, the spacing between each gripping unit 51 is readjusted, and the robot leaves the transfer table and returns to the loading table to prepare for the next gripping, realizing an automated loading and unloading cycle.

[0029] Although embodiments of the present invention have been shown and described, those skilled in the art will understand 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 claims and their equivalents.

Claims

1. A cam-groove type variable pitch manipulator, characterized in that: include: The power unit is used to provide power for the linear reciprocating displacement of the Y-direction displacement unit along the Y-direction; The Y-direction displacement unit includes a Y-direction guide component and a moving plate. Driven by the power unit, the moving plate moves linearly back and forth along the Y-direction under the guidance of the Y-direction guide component. The variable pitch guide unit includes multiple sets of slides arranged regularly on the moving plate and multiple cams configured for each set of slides. Each cam slides in a corresponding manner in the slide, and the outer wheel circumference and the slide wall maintain rolling contact. The multiple sets of slides are flush with each other along the X direction at both ends along the Y direction and are equally spaced along the X direction. The X-direction displacement unit includes an X-direction guide assembly and multiple connecting plates. The X-direction guide assembly includes at least one set of X-direction slide rails and multiple X-direction sliders that are linearly slidable along the X-direction slide rails. Each cam and each connecting plate is flush with each other along the X-direction and moves synchronously with each X-direction slider. Guided by the variable pitch guide unit and driven simultaneously by each cam, the distance between any two adjacent connecting plates along the X-direction is always equal and synchronously adjusted. The X-direction is perpendicular to the Y-direction. The gripping unit, used to grip parts, is provided in multiple sets and is respectively assembled on each connecting plate.

2. The cam-groove type variable pitch manipulator according to claim 1, characterized in that: A robot arm unit is formed by combining a Y-axis displacement unit, a variable pitch guiding unit, an X-axis displacement unit, and a gripping unit. Multiple robot arm units are driven simultaneously by the same power unit.

3. The cam-groove type variable pitch manipulator according to claim 1, characterized in that: In the variable pitch guide unit, each set of slide grooves is arranged parallel to the XY plane, and the movement trajectory of each cam in each set of slide grooves is linear. Between the two ends of two adjacent sets of slide grooves along the Y direction, the distance between one end along the X direction is greater than that between the other ends.

4. The cam-groove type variable pitch manipulator according to claim 1, characterized in that: In the Y-direction displacement unit, there is a pair of Y-direction guide components. Each pair of Y-direction guide components includes a Y-direction slide rail and a Y-direction slider. The Y-direction slide rail is arranged along the Y-direction, and the Y-direction slider is linearly slidable on the Y-direction slide rail. The moving plate is arranged between the Y-direction sliders of the pair of Y-direction guide components, and together with the pair of Y-direction sliders, it forms a synchronous displacement component, which is driven to move by the Y-direction transmission component.

5. The cam-groove type variable pitch manipulator according to claim 4, characterized in that: In the X-direction displacement unit, the X-direction slide rail is arranged between a pair of Y-direction slide rails.

6. The cam-groove type variable pitch manipulator according to claim 1 or 2, characterized in that: The power unit includes a drive motor, a transmission device, and a Y-axis transmission assembly. The drive motor provides the driving force, and the motor output shaft is coaxially connected to the input shaft of the transmission device. The output shaft of the transmission device is coaxially connected to the lead screw of the Y-axis transmission assembly. The Y-axis transmission assembly includes the lead screw and a threaded bearing. The lead screw can rotate around a central axis arranged along the Y-axis. The threaded bearing is sleeved on the lead screw and, with the rotation of the lead screw, drives the moving plate to move back and forth along the Y-axis in a straight line.

7. The cam-groove type variable pitch manipulator according to claim 6, characterized in that: The transmission device is a bevel gearbox.

8. The cam-groove type variable pitch manipulator according to claim 1, characterized in that: The gripping unit is a suction cup.

9. The cam-groove type variable pitch manipulator according to claim 1 or 8, characterized in that: the manipulator The entire outer protective shell is also provided with a connecting flange for assembly with external equipment. The gripping unit and the connecting flange are respectively exposed outside the protective shell.

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