An adsorbed flexible manipulator mechanism

Abstract

The utility model provides a kind of adsorption type flexible mechanical hand mechanism, including horizontal transfer module, for realizing the translation of X, Y axis direction;Material transport module is set on the horizontal transfer module by carrier frame, multiple lifting drive mechanisms and rotary drive mechanisms are arranged on the carrier frame, the material transport module includes multiple hollow shafts and suction nozzle arranged at the bottom of the hollow shaft, each the hollow shaft is connected with one lifting drive mechanism and rotary drive mechanism, and the suction nozzle is driven to carry out independent lifting, rotary motion, to realize the efficient, flexible handling of material.

Description

Technical Field

[0001] This utility model relates to the field of detection, and in particular to an adsorption-type flexible robotic arm mechanism. Background Technology

[0002] In modern industrial production, material handling and sorting are indispensable parts of automated production lines. Traditional material handling methods mostly use fixed-track conveyor belts or robotic arms, which have poor flexibility and adaptability, making it difficult to meet the needs of efficient handling and precise sorting of materials with different placement requirements under complex working conditions. In addition, the suction nozzles of existing robotic arms can usually only perform simple suction and release actions, and cannot achieve multi-angle gripping and adjustment of materials, resulting in poor flexibility and limiting further improvement in production efficiency. Utility Model Content

[0003] In view of the above, this utility model provides an adsorption-type flexible robotic arm mechanism to achieve efficient and flexible material handling.

[0004] The present invention specifically adopts the following technical solution: an adsorption-type flexible robotic arm mechanism, including a transverse module for realizing translation in the X and Y axis directions; a material conveying module, which is set on the transverse module via a carrier frame, and multiple lifting drive mechanisms and rotation drive mechanisms are arranged on the carrier frame. The material conveying module includes multiple hollow shafts and suction nozzles set at the bottom of the hollow shafts. Each hollow shaft is connected to one of the lifting drive mechanisms and one of the rotation drive mechanisms, driving each hollow shaft and the suction nozzle to perform independent lifting and rotation movements.

[0005] As a further improved technical solution, the hollow shaft is mounted on the lifting drive mechanism via a lifting clamping block. The hollow shaft passes through the middle of the lifting clamping block and is rotatably connected by a bearing. Locking rings are provided at the connection points between the hollow shaft and the upper and lower surfaces of the lifting clamping block to control the axial fixation of the hollow shaft.

[0006] As a further improved technical solution, an upper fixing plate and a lower fixing plate are provided parallel to each other on the frame. Through holes are opened on the upper fixing plate and the lower fixing plate. The hollow shaft is connected to the through holes through a splined bushing and passes through the through hole of the upper fixing plate to the through hole of the lower fixing plate. The lifting clamp is located between the upper fixing plate and the lower fixing plate.

[0007] As a further improved technical solution, an extension platform is provided on the outer side of the upper fixed plate, and the rotary drive mechanism is disposed on the extension platform.

[0008] As a further improved technical solution, the rotary drive mechanism includes a rotary motor, a rotary driving synchronous pulley, a rotary driven synchronous pulley, and a rotary synchronous belt. The rotary driving synchronous pulley is connected to the output shaft of the rotary motor, the rotary driven synchronous pulley is disposed on the outer ring of the hollow shaft, and the rotary synchronous belt is sleeved on the rotary driving synchronous pulley and the rotary driven synchronous pulley. The rotary motor drives the rotary driving synchronous pulley to rotate, and the rotary synchronous belt drives the rotary driven synchronous pulley to rotate, thereby rotating the hollow shaft.

[0009] As a further improved technical solution, the lifting drive mechanism includes a lifting motor, a lifting active synchronous pulley, a lifting driven synchronous pulley, and a lifting synchronous belt. The lifting motor is located on one side of the frame. The lifting active synchronous pulley is connected to the output shaft of the lifting motor. The lifting driven synchronous pulley is movably mounted on the frame and located directly below the lifting active synchronous pulley. The lifting synchronous belt is sleeved on the lifting active synchronous pulley and the lifting driven synchronous pulley. The lifting clamp is fixed on the lifting synchronous belt. The lifting motor drives the lifting active synchronous pulley to rotate, and the lifting synchronous belt drives the lifting driven synchronous pulley to rotate, thereby lifting the lifting clamp and the hollow shaft on it.

[0010] As a further improved technical solution, the suction nozzle is sleeved on the bottom end of the hollow shaft, and the top end of the hollow shaft is connected to the pneumatic control system through a rotary joint.

[0011] As a further improved technical solution, a positioning camera is provided on one side of the frame.

[0012] As a further improved technical solution, the transverse movement module includes an X-axis linear movement module and a Y-axis linear movement module. The X-axis linear movement module is supported by a bracket, the Y-axis linear movement module is disposed on the X-axis linear movement module, and the carrier frame is disposed on the Y-axis linear movement module.

[0013] As a further improved technical solution, a linear optical axis is provided through the upper fixed plate, the lower fixed plate, and the lifting clamping block, and the linear optical axis is connected to the upper fixed plate, the lower fixed plate, and the lifting clamping block through a sliding rotating bushing.

[0014] This utility model's adsorption-type flexible robotic arm mechanism achieves efficient material handling in multi-dimensional space through the coordinated work of the lateral movement module and the material handling module. The material handling module has multiple independently lifting and rotating adsorption functional components, which have a large carrying capacity and can adapt to the material gripping needs of different heights and angles. At the same time, through the linear motor module, synchronous belt drive and optical shaft guide design, high precision and stability of movement are ensured. The overall design performs well in terms of flexibility, adaptability, precision and efficiency, and is suitable for complex material handling tasks in automated production lines. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the adsorption-type flexible manipulator mechanism of this application.

[0016] Figure 2 This is a front view schematic diagram of the material handling module of this application.

[0017] Figure 3 for Figure 2 Central sectional view. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0019] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "set up" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood through the specific circumstances.

[0020] Reference Figures 1-2This embodiment of an adsorption-type flexible robotic arm mechanism includes a lateral movement module and a material handling module. The lateral movement module is used to realize the translation of the material handling module in the X and Y axis directions. The lateral movement module includes an X-axis linear movement module 1 and a Y-axis linear movement module 2. The X-axis linear movement module 1 is supported by a bracket 11. The Y-axis linear movement module 2 is mounted on the X-axis linear movement module 1 and is driven by the X-axis linear movement module 1 to perform translational movement along the X-axis direction. The material handling module is mounted on the Y-axis linear movement module 2 and is driven by the Y-axis linear movement module 2 to perform translational movement along the Y-axis direction, providing a large range of movement space for material handling. The X-axis linear movement module 1 and the Y-axis linear movement module 2 adopt linear screw modules. The material handling module is mounted on the Y-axis linear motion module 2 via a carrier frame 3. Multiple lifting and rotating drive mechanisms are regularly arranged on the carrier frame 3. The material handling module includes multiple hollow shafts 6 and suction nozzles 7 located at the bottom of the hollow shafts 6. Each hollow shaft 6 is connected to a lifting and rotating drive mechanism, driving each hollow shaft 6 and suction nozzle 7 to perform independent lifting and rotating movements. This allows it to adapt to material gripping needs at different heights and angles, offering high flexibility and adaptability. The lifting and rotating movements can be performed separately or simultaneously.

[0021] Specifically, the hollow shaft 6 is mounted on the lifting drive mechanism via the lifting clamp 8. The hollow shaft 6 passes through the middle of the lifting clamp 8 and is rotatably connected by a bearing. Locking rings 61 are provided at the connection points on the upper and lower sides of the hollow shaft 6 and the lifting clamp 8. The locking rings 61 are installed on the outer ring of the hollow shaft. Through the cooperation between the locking rings 61 and the lifting clamp 8, the axial fixation of the hollow shaft 6 is controlled. The installation of the bearings ensures the degree of freedom of rotation of the hollow shaft 6 within the lifting clamp 8.

[0022] Further integration Figure 3 The frame 3 is provided with an upper fixing plate 31 and a lower fixing plate 32 in parallel. The upper fixing plate 31 and the lower fixing plate 32 are provided with through holes. The hollow shaft 6 is connected to the through holes through a spline bushing 34 to ensure the axial lifting freedom of the hollow shaft 6. It passes through the through hole of the upper fixing plate 31 to the through hole of the lower fixing plate 32. The lifting clamp 8 is located between the upper fixing plate 31 and the lower fixing plate 32.

[0023] Additionally, an extension platform 33 is provided on the outer side of the upper fixed plate 31, and multiple rotary drive mechanisms are arranged on the extension platform 33. The rotary drive mechanism includes a rotary motor 51, a rotary driving synchronous pulley 52, a rotary driven synchronous pulley 53, and a rotary synchronous belt 54. The rotary motor 51 is arranged on the extension platform 33. The rotary driving synchronous pulley 52 is connected to the output shaft of the rotary motor 51. The rotary driven synchronous pulley 53 is located on the outer ring of the hollow shaft 6 and below the upper fixed plate 31. The rotary synchronous belt 54 is sleeved on the rotary driving synchronous pulley 52 and the rotary driven synchronous pulley 53. The rotary motor 51 drives the rotary driving synchronous pulley 52 to rotate, and the rotary synchronous belt 54 drives the rotary driven synchronous pulley 53 to rotate, thereby rotating the hollow shaft 6. This can drive the suction nozzle 7 to rotate and change the angle of the product 100 it adsorbs.

[0024] The lifting drive mechanism includes a lifting motor 41, a lifting active synchronous pulley 42, a lifting driven synchronous pulley 43, and a lifting synchronous belt 44. The lifting motor 41 is located on one side of the frame 3, and multiple lifting motors 41 are arranged in an alternating manner. The lifting active synchronous pulley 42 is connected to the output shaft of the lifting motor 41. The lifting driven synchronous pulley 43 is movably mounted on the frame 3 and located directly below the lifting active synchronous pulley 42. The lifting synchronous belt 44 is sleeved on the lifting active synchronous pulley 42 and the lifting driven synchronous pulley 43. The lifting clamp 8 is fixed on the lifting synchronous belt 44. The lifting motor 41 drives the lifting active synchronous pulley 42 to rotate, and the lifting synchronous belt 44 drives the lifting driven synchronous pulley 43 to rotate, thereby lifting the lifting clamp 8 and its hollow shaft 6 to move up and down.

[0025] Meanwhile, a linear optical axis 9 is provided through the upper fixed plate 31, the lower fixed plate 32, and the lifting clamping block 8. The linear optical axis 9 is connected to the upper fixed plate 31, the lower fixed plate 32, and the lifting clamping block 8 through a sliding rotating bushing 91. It plays a guiding and positioning role when the hollow shaft 6 performs linear and / or rotational movements, ensuring the stability and accuracy of the movement.

[0026] The suction nozzle 7 is located at the bottom end of the hollow shaft 6 via a suction nozzle sleeve 62. The top end of the hollow shaft 6 is connected to the pneumatic control system via a rotary joint 63. The function of the rotary joint 63 is to ensure that gas can be stably and continuously transferred from inside the hollow shaft 6 to the suction nozzle 7 without leakage or interruption when the hollow shaft 6 rotates. The pneumatic control system is existing technology, such as a gas supply system including an air compressor, air tank, pressure reducing valve, and throttle valve, etc., which will not be described in detail here and will not affect the understanding of this application.

[0027] Additionally, a positioning camera 10 is provided on one side of the carrier frame 3 to scan and position the movement of the suction nozzle 7.

[0028] Furthermore, the above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. The understanding of this specification should be based on those skilled in the art. Although the present utility model has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still make modifications or equivalent substitutions to the present utility model. All technical solutions and improvements that do not depart from the spirit and scope of the present utility model should be covered within the scope of the claims of the present utility model.

Claims

1. An adsorption-type flexible robotic arm mechanism, characterized in that: include The lateral translation module is used to achieve translation in the X and Y axis directions; The material conveying module is mounted on the transverse module via a carrier frame. Multiple lifting and rotating drive mechanisms are arranged on the carrier frame. The material conveying module includes multiple hollow shafts and suction nozzles disposed at the bottom of the hollow shafts. Each hollow shaft is connected to one of the lifting and rotating drive mechanisms, driving each hollow shaft and suction nozzle to perform independent lifting and rotating movements.

2. The adsorption-type flexible robotic arm mechanism according to claim 1, characterized in that: The hollow shaft is mounted on the lifting drive mechanism via a lifting clamp. The hollow shaft passes through the middle of the lifting clamp and is rotatably connected by a bearing. Locking rings are provided at the connection points between the hollow shaft and the upper and lower surfaces of the lifting clamp to control the axial fixation of the hollow shaft.

3. The adsorption-type flexible robotic arm mechanism according to claim 2, characterized in that: The frame is provided with an upper fixing plate and a lower fixing plate in parallel. The upper fixing plate and the lower fixing plate are provided with through holes. The hollow shaft is connected to the through holes through a splined bushing and passes through the through holes of the upper fixing plate to the through holes of the lower fixing plate. The lifting clamp is provided between the upper fixing plate and the lower fixing plate.

4. The adsorption-type flexible robotic arm mechanism according to claim 3, characterized in that: An extension platform is provided on the outer side of the upper fixed plate, and the rotary drive mechanism is disposed on the extension platform.

5. The adsorption-type flexible robotic arm mechanism according to claim 4, characterized in that: The rotary drive mechanism includes a rotary motor, a rotary driving synchronous pulley, a rotary driven synchronous pulley, and a rotary synchronous belt. The rotary driving synchronous pulley is connected to the output shaft of the rotary motor. The rotary driven synchronous pulley is located on the outer ring of the hollow shaft. The rotary synchronous belt is sleeved on the rotary driving synchronous pulley and the rotary driven synchronous pulley. The rotary motor drives the rotary driving synchronous pulley to rotate, and the rotary synchronous belt drives the rotary driven synchronous pulley to rotate, thereby rotating the hollow shaft.

6. The adsorption-type flexible robotic arm mechanism according to claim 2, characterized in that: The lifting drive mechanism includes a lifting motor, a lifting active synchronous pulley, a lifting driven synchronous pulley, and a lifting synchronous belt. The lifting motor is located on one side of the frame. The lifting active synchronous pulley is connected to the output shaft of the lifting motor. The lifting driven synchronous pulley is movably mounted on the frame and located directly below the lifting active synchronous pulley. The lifting synchronous belt is sleeved on the lifting active synchronous pulley and the lifting driven synchronous pulley. The lifting clamp is fixed on the lifting synchronous belt. The lifting motor drives the lifting active synchronous pulley to rotate, and the lifting synchronous belt drives the lifting driven synchronous pulley to rotate, thereby lifting the lifting clamp and the hollow shaft on it.

7. The adsorption-type flexible robotic arm mechanism according to claim 1, characterized in that: The suction nozzle is sleeved on the bottom end of the hollow shaft, and the top end of the hollow shaft is connected to the pneumatic control system via a rotary joint.

8. The adsorption-type flexible robotic arm mechanism according to claim 1, characterized in that: A positioning camera is installed on one side of the carrier frame.

9. The adsorption-type flexible robotic arm mechanism according to claim 1, characterized in that: The transverse module includes an X-axis linear motion module and a Y-axis linear motion module. The X-axis linear motion module is supported by a bracket, the Y-axis linear motion module is mounted on the X-axis linear motion module, and the carrier frame is mounted on the Y-axis linear motion module.

10. The adsorption-type flexible robotic arm mechanism according to claim 3, characterized in that: A linear optical axis is provided through the upper fixed plate, the lower fixed plate, and the lifting clamping block. The linear optical axis is connected to the upper fixed plate, the lower fixed plate, and the lifting clamping block through a sliding rotating bushing.

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