CN211137211U - Flexible module and arm - Google Patents
Flexible module and arm Download PDFInfo
- Publication number
- CN211137211U CN211137211U CN201921368897.8U CN201921368897U CN211137211U CN 211137211 U CN211137211 U CN 211137211U CN 201921368897 U CN201921368897 U CN 201921368897U CN 211137211 U CN211137211 U CN 211137211U
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- fixing plate
- synchronous belt
- plate
- vehicle
- synchronous
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Abstract
The utility model discloses a flexible module and arm, it includes that bottom plate, an upper fixed plate and sliding connection are on-vehicle on the upper fixed plate, an upper fixed plate can slide on the bottom plate under drive arrangement's drive. And the upper fixing plate is provided with a synchronous belt wheel, and two sides of the synchronous belt wheel are respectively connected with the lower fixing plate and the upper vehicle. When the upper fixing plate is driven by the driving device to slide on the lower fixing plate, the synchronous belt wheel can drive the upper vehicle to slide on the upper fixing plate, and the upper vehicle moves at double speed relative to the upper fixing plate.
Description
Technical Field
The utility model relates to a nonstandard equipment field especially relates to a flexible module and arm.
Background
With the continuous development of the automation industry, mechanization is more and more integrated into the modern production. The modern production cannot be separated from the use of non-standard equipment, and the mechanical arm plays an irreplaceable role in the non-standard equipment. The mechanical arm used in the existing nonstandard equipment generally adopts a module with a single-layer structure, namely, the mechanical arm can only move on a fixed single-layer module track, and in order to improve the moving range and the moving speed of the mechanical arm, the size of a single-layer module guide rail can only be increased. And too big module guide rail can influence the overall arrangement of the inside other structures of nonstandard equipment, leads to nonstandard equipment volume increase, and structural design is complicated, and the cost of manufacture increases. Therefore, it is important to reduce the size of the robot module without affecting the range of motion of the robot.
Accordingly, the prior art is yet to be improved and developed.
SUMMERY OF THE UTILITY MODEL
In view of the not enough of above-mentioned prior art, the utility model aims at providing a flexible module and arm aims at solving current arm size oversize, has increased the design degree of difficulty of non-standard equipment and the problem of making into.
The utility model discloses the technical scheme who adopts does:
a telescopic module comprises a lower fixing plate, a driving assembly and an upper fixing plate, wherein the driving assembly is arranged on the lower fixing plate, the upper fixing plate is connected to the lower fixing plate in a sliding mode, and the upper fixing plate is connected with the driving assembly; a synchronous belt wheel is arranged on one surface of the upper fixing plate, which is opposite to the lower fixing plate, an upper vehicle-mounted assembly is connected onto the synchronous belt wheel, and the upper vehicle-mounted assembly is connected onto the upper fixing plate in a sliding manner; a synchronous belt fixing plate is arranged on the lower fixing plate, penetrates through the upper fixing plate and can slide relative to the upper fixing plate along the sliding direction of the upper fixing plate, and one end, far away from the lower fixing plate, of the synchronous belt fixing plate is connected with the synchronous belt pulley; the upper vehicle-mounted component and the synchronous belt fixing plate are connected to different sides of the synchronous belt wheel.
The telescopic module is characterized in that a lower linear guide rail is arranged on the lower fixing plate, a lower vehicle-mounted part is arranged on one surface of the upper fixing plate facing the lower fixing plate, and the lower vehicle-mounted part is connected to the lower linear guide rail in a sliding mode.
The telescopic module is characterized in that the driving assembly is connected with the lower vehicle and can drive the lower vehicle to slide along the lower linear guide rail.
The telescopic module is characterized in that an upper linear guide rail is arranged on one surface, back to the lower fixing plate, of the upper fixing plate, and the upper vehicle-mounted assembly is connected to the upper linear guide rail in a sliding mode.
The telescopic module, wherein, go up the mobile unit including last on-vehicle and connect in go up on-vehicle hold-in range clamp plate, hold-in range clamp plate not with the one end of going up the on-vehicle connection connect in on the synchronous pulley.
The telescopic module, wherein, be provided with on the upper fixed plate and follow the spout that upper fixed plate's slip direction extends, the hold-in range fixed plate passes the spout just can follow the spout slides.
The telescopic module is characterized in that the synchronous belt wheel comprises a synchronous belt and two synchronous wheels, and the two synchronous wheels are respectively fixed at two ends of the upper fixing plate; the synchronous belt surrounds the two synchronous wheels.
The telescopic module is characterized in that the synchronous belt fixing plate and the synchronous belt pressing plate are respectively connected to the synchronous belt, and the synchronous belt fixing plate and the synchronous belt pressing plate are located on two sides of a connecting line of the centers of the two synchronous wheels.
The telescopic module is characterized in that one end of the synchronous belt fixing plate, which is connected with the synchronous belt, is connected with a first clamping plate, and the synchronous belt is fixed between the synchronous belt fixing plate and the first clamping plate; the hold-in range clamp plate is connected the one end of hold-in range is connected with the second splint, the hold-in range is fixed in hold-in range clamp plate with between the second splint.
The telescopic module is characterized in that teeth meshed with the synchronous belt are arranged on the first clamping plate and the second clamping plate.
A robot arm, the robot arm includes the flexible module of above-mentioned arbitrary.
Has the advantages that: the utility model discloses a flexible module and arm, it includes that bottom plate, bottom plate and sliding connection are on-vehicle on the upper fixed plate, the upper fixed plate can slide on the bottom plate under drive arrangement's drive. The synchronous belt wheel is arranged on the upper fixing plate, and two sides of the synchronous belt wheel are respectively connected with the lower fixing plate and the upper vehicle. When the upper fixing plate is driven by the driving device to slide on the lower fixing plate, the synchronous belt wheel can drive the upper vehicle to slide on the upper fixing plate, and the upper vehicle moves at double speed relative to the upper fixing plate. This use novel well arm has used length telescopic module, has realized double displacement and moving speed in certain space. Therefore, the effect of saving space in the non-standard equipment is achieved, and the design difficulty and the manufacturing cost of the non-standard equipment are further reduced.
Drawings
Fig. 1 is a structural diagram of a retractable module according to the present invention.
Fig. 2 is the utility model provides a pair of structure diagram of hold-in range fixed plate of flexible module.
Fig. 3 is a structural diagram of a synchronous pulley of a telescopic module according to the present invention.
Fig. 4 is a structural diagram of an upper vehicle-mounted component of the telescopic module according to the present invention.
Detailed Description
An object of the utility model is to provide a flexible module and arm aims at solving the module that uses in the current nonstandard equipment and can not stretch out and draw back, leads to the nonstandard equipment design degree of difficulty increase and the problem that the cost of manufacture increases. In order to make the purpose, technical solution and effect of the present invention clearer and more clear, the following is a detailed description of the present invention. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The utility model provides a flexible module and arm, as shown in fig. 1, flexible module includes bottom plate 1, drive assembly 100 and an upper fixed plate 2, drive assembly 100 connect in on the bottom plate 1, 2 sliding connection of an upper fixed plate in on the bottom plate 1, and with drive assembly 100 is connected, drive assembly 100 drives an upper fixed plate 2 is in slide on the bottom plate 1 to realized 2 edges of an upper fixed plate 1 slides. The upper fixing plate 2 slides along the extending direction of the lower fixing plate 1, that is, the telescopic direction of the telescopic assembly is the extending direction of the lower fixing plate 1.
Further, as shown in fig. 1, the telescopic module further includes a synchronous pulley 300, an upper vehicle-mounted component 200 and a synchronous belt fixing plate 12, the synchronous pulley 300 is disposed on a surface of the upper fixing plate 2 facing away from the lower fixing plate 1, the upper vehicle-mounted component 200 is slidably connected to the upper fixing plate 2 and is connected to the synchronous pulley 300, so that the upper vehicle-mounted component 200 is driven by the synchronous pulley 300 to slide relative to the upper fixing plate 2. One end of the synchronous belt fixing plate 12 is connected to one side of the lower fixing plate 1 far away from the driving assembly 100, the other end of the synchronous belt fixing plate passes through the upper fixing plate 2 and is connected with the synchronous belt wheel 300, and the upper vehicle-mounted assembly 200 and the synchronous belt fixing plate 12 are connected to different sides of the synchronous belt wheel 300. The synchronous belt fixing plate 12 can slide relative to the upper fixing plate 2, and the sliding direction is opposite to that of the upper fixing plate; when the driving assembly 100 drives the upper fixing plate 2 to slide relative to the lower fixing plate 1, the synchronous belt fixing plate 12 slides relative to the upper fixing plate 2 in the direction opposite to the sliding direction of the upper fixing plate 2, and drives the synchronous belt pulley 300 to rotate in the direction opposite to the sliding direction of the upper fixing plate 2, so that the synchronous belt pulley 300 drives the upper vehicle-mounted assembly 200 to slide in the direction opposite to the sliding direction of the upper fixing plate 2, thereby achieving twice times, and improving the telescopic length and the telescopic speed of the telescopic assembly.
As shown in fig. 1, the lower fixing plate 1 is provided with two lower linear guide rails 3, the two lower linear guide rails 3 are arranged on the lower fixing plate 1 in parallel, and one end of the synchronous belt fixing plate 12 is fixed between the two lower linear guide rails 3 arranged on the lower fixing plate 1 in parallel. The upper fixing plate 2 is provided with a sliding groove, the sliding groove is arranged along the extending direction of the upper fixing plate 2, and one end of the synchronous belt fixing plate 12, which is not connected with the lower fixing plate 1, penetrates through the sliding groove and can slide in the sliding groove relative to the upper fixing plate 2. One side of the upper fixing plate 2 facing the lower fixing plate 1 is provided with a lower vehicle-mounted 4, the lower vehicle-mounted 4 is connected to the lower linear guide rail 3 through a plurality of first sliding blocks 10 in a sliding manner, one end of the lower vehicle-mounted 4 is connected with the driving assembly 100 and moves on the lower linear guide rail 3 under the driving of the driving assembly 100. One side of upper fixed plate 2 back to lower fixed plate 1 is provided with linear guide 18, the quantity of going up linear guide 18 is two, just linear guide 18 parallel arrangement is gone up on upper fixed plate 2 for two, hold-in range fixed plate 12 with the spout is located in the middle of two parallel arrangement's last linear guide 18. Preferably, the ends of the lower linear guide 3 and the upper linear guide 18 may be further provided with a stopper for preventing the upper vehicle-mounted assembly 200 and the lower vehicle-mounted assembly 4 from sliding beyond a limit position and being separated from the guide rails.
As shown in fig. 1 and 3, the timing pulley 300 is disposed between the two upper linear guides 18 disposed in parallel. Synchronous pulley 300 includes two synchronizing wheels 13, hold-in range 16, two synchronizing wheel bases, two synchronizing wheels 13 set up respectively in on two synchronizing wheel bases, hold-in range 16 is circular shape, and hold-in range 16 is around two on the synchronizing wheel 13 to make and to drive when synchronizing wheel 13 rotates hold-in range 16 synchronous motion. One of the two synchronizing wheel bases is located at one end of the upper fixing plate 2 closest to the driving assembly 100, and the other synchronizing wheel base is fixed at one end of the upper fixing plate 2 farthest from the driving assembly 100. In this embodiment, in order to facilitate the rotation of the synchronizing wheel 13, a rotating shaft is disposed on the timing belt base, the rotating shaft penetrates through the synchronizing wheel 13, and the synchronizing wheel 13 can rotate relative to the rotating shaft. Preferably, the synchronous belt 16 is provided with teeth, and the synchronous wheel 13 is provided with teeth meshed with the teeth on the synchronous belt 16; when the synchronous pulley 300 rotates, the teeth on the synchronous pulley 13 are meshed with the teeth on the synchronous belt 16 one by one, so that the synchronous movement of the synchronous belt 16 and the synchronous pulley 13 is ensured.
Further, the timing belt fixing plate 12 is connected to the timing belt 16, and a connection point of the timing belt fixing plate 12 and the timing belt 16 is located between the two timing wheels 13. In addition, the timing belt 16 is fixed for better. As shown in fig. 2, one end of the timing belt fixing plate 12 connected to the timing belt 16 is connected to a first clamping plate 19, a gap is formed between the first clamping plate 19 and the timing belt fixing plate 12, and the timing belt 16 passes through the gap and is clamped between the first clamping plate 19 and the timing belt fixing plate 12. Be provided with the tooth that meshes mutually with hold-in range 16 on the first splint 19, when hold-in range fixed plate 12 presss from both sides tightly with first splint 19, hold-in range 16 is located between hold-in range fixed plate 12 and the first splint 19, because the tooth on hold-in range 16 and the first splint 19 meshes mutually, has guaranteed hold-in range 16 and has fixed stably, can not produce gliding phenomenon.
In a preferred embodiment, the first clamping plate 19 is detachably connected to the timing belt fixing plate 12, for example, the first clamping plate 19 is connected to the timing belt fixing plate 12 by bolts, so that when the timing belt 16 is damaged, the first clamping plate 19 can be separated from the timing belt fixing plate 12 to replace the timing belt 16.
As shown in fig. 4, the upper vehicle-mounted assembly 200 includes an upper vehicle-mounted 14 and a timing belt pressing plate 15 connected to the upper vehicle-mounted 14, wherein one end of the timing belt pressing plate 15, which is not connected to the upper vehicle-mounted 14, is connected to a timing belt 16, and a connection point of the timing belt pressing plate 15 and the timing belt 16 is located between two timing wheels 13. Specifically, the upper vehicle-mounted component 200 and the synchronous belt fixing plate 12 are located at two sides of a connecting line of the centers of the synchronous wheels 13, so that the effects that the upper vehicle-mounted component 200 and the synchronous belt fixing plate 12 are opposite to the moving direction of the upper fixing plate 2 are achieved. The one end that hold-in range clamp plate 15 connects hold-in range 16 still is connected with second splint 20, second splint 20 with hold-in range clamp plate 15 between have the clearance, hold-in range 16 pass the clearance and with by second splint 20 and hold-in range clamp plate 15 centre gripping. The second splint 20 is provided with teeth meshed with the synchronous belt 16, when the synchronous belt pressing plate 15 is tightly clamped with the second splint 20, the synchronous belt 16 is positioned between the synchronous belt pressing plate 15 and the second splint 20, and the synchronous belt 16 is ensured to be fixed and stable without generating sliding phenomenon because the synchronous belt 16 is meshed with the teeth on the second splint 20. The upper vehicle-mounted assembly 200 spans the two upper linear guide rails 18, and the upper vehicle-mounted assembly 200 is slidably connected to the upper linear guide rails 18 through a plurality of second sliding blocks 11. As shown in fig. 4, the upper carriage 14 is "Jiong", a gap is formed between the upper carriage 14 and the upper fixing plate 2, the timing pulley 300 is located in the gap, and when the upper carriage 14 slides over the timing belt fixing plate 12, the timing belt fixing plate 12 can pass through the gap without interfering with the upper carriage 14.
In a preferred embodiment, the second clamping plate 20 is detachably connected to the timing belt pressing plate 15, for example, the second clamping plate 20 is connected to the timing belt pressing plate 15 by bolts, so that when the timing belt 16 is damaged, the second clamping plate 20 can be separated from the timing belt pressing plate 15 to replace the timing belt 16.
In this embodiment, the driving assembly 100 is disposed at one end of the lower fixing plate 1. The driving assembly 100 comprises a driving motor 6, a synchronous belt 7, a driving wheel 8, a driven wheel 9 and a ball screw 5. The driving motor 6 drives the driving wheel 8 to rotate, the driving wheel 8 drives the driven wheel 9 to rotate through the synchronous belt 7, and the driven wheel 9 drives the ball screw 5 to move; the ball screw 5 is connected with the lower vehicle-mounted device 4, and the ball screw 5 drives the lower vehicle-mounted device 4 to slide on the lower linear guide rail 3 when moving.
In order to achieve the object of the present invention, the operation principle and steps thereof will be described in detail below. In the present embodiment, as shown in fig. 1, the direction in which the upper fixing plate 2 moves away from the drive unit 100 is set to the forward direction. When the upper fixing plate 2 slides forward relative to the lower fixing plate 1 under the driving of the driving assembly 100, the synchronous pulley 300 fixed on the upper fixing plate 2 also moves forward relative to the lower fixing plate 1 along with the upper fixing plate 2. At this time, the timing belt fixing plate 12 is immovable relative to the lower fixing plate 1, and since one end of the timing belt fixing plate 12 is fixedly connected to the timing belt 16, the timing belt fixing plate 12 moves backward relative to the upper fixing plate 2 and the timing pulley 300, which is equivalent to the timing belt fixing plate 12 driving the timing belt 16 and the timing pulley 13 to move. When the upper side of the timing belt 16 moves backward with respect to the upper fixing plate 2, the lower side of the timing belt 16 moves forward with respect to the upper fixing plate 12. Thereby moving the timing belt pressing plate 15 connected to the lower side of the timing belt 16 and the upper vehicle-mounted assembly 200 forward with respect to the upper fixing plate 2. According to the properties of the timing pulley 300, the forward movement speed and displacement of the upper vehicle-mounted assembly 200 relative to the upper fixing plate 2 are equal to the forward movement speed and displacement of the upper fixing plate 2 relative to the lower fixing plate 1. That is, the upper vehicle-mounted assembly 200 moves forward relative to the lower fixing plate 1 at twice the speed and displacement of the forward movement of the upper fixing plate 2 relative to the lower fixing plate 1. The double-speed movement and double-displacement of the upper vehicle-mounted assembly 200 relative to the lower fixing plate 1 are realized, and the effect of telescopic module length is achieved.
The utility model also provides a mechanical arm, it includes as above arbitrary one flexible module.
To sum up, the utility model provides a scalable module and arm, it includes that bottom plate, upper fixed plate and sliding connection are on-vehicle on the upper fixed plate, the upper fixed plate can slide on the bottom plate under drive arrangement's drive. The upper fixing plate is provided with a synchronous belt wheel, two sides of the synchronous belt wheel are respectively connected with the lower fixing plate and the upper vehicle, when the upper fixing plate is driven by the driving device to slide on the lower fixing plate, the synchronous belt wheel can drive the upper vehicle to slide on the upper fixing plate, and the upper vehicle realizes speed doubling movement relative to the upper fixing plate. The utility model discloses well arm has used length telescopic module, has realized double displacement and moving speed in certain space. Therefore, the effect of saving space in the non-standard equipment is achieved, and the design difficulty and the manufacturing cost of the non-standard equipment are further reduced.
It is to be understood that the invention is not limited to the above-described embodiments, and that modifications and variations may be made by those skilled in the art in light of the above teachings, and all such modifications and variations are intended to be included within the scope of the invention as defined in the appended claims.
Claims (10)
1. A telescopic module comprises a lower fixing plate and a driving assembly arranged on the lower fixing plate, and is characterized by further comprising an upper fixing plate connected to the lower fixing plate in a sliding manner, wherein the upper fixing plate is connected with the driving assembly; a synchronous belt wheel is arranged on one surface of the upper fixing plate, which is opposite to the lower fixing plate, an upper vehicle-mounted assembly is connected onto the synchronous belt wheel, and the upper vehicle-mounted assembly is connected onto the upper fixing plate in a sliding manner; a synchronous belt fixing plate is arranged on the lower fixing plate, penetrates through the upper fixing plate and can slide relative to the upper fixing plate along the sliding direction of the upper fixing plate, and one end, far away from the lower fixing plate, of the synchronous belt fixing plate is connected with the synchronous belt pulley; the upper vehicle-mounted component and the synchronous belt fixing plate are connected to different sides of the synchronous belt wheel.
2. The telescopic module as claimed in claim 1, wherein the lower fixing plate is provided with a lower linear guide rail, and one surface of the upper fixing plate facing the lower fixing plate is provided with a lower vehicle, and the lower vehicle is slidably connected to the lower linear guide rail.
3. The telescoping module of claim 2 wherein the drive assembly is coupled to the lower vehicle and the drive assembly drives the lower vehicle to slide along the lower linear guide.
4. The telescoping module of claim 1 wherein the upper stationary plate has an upper linear guide disposed on a side thereof opposite the lower stationary plate, the upper vehicle module being slidably coupled to the upper linear guide.
5. The telescopic module as claimed in claim 1, wherein the upper fixing plate is provided with a sliding slot extending along a sliding direction of the upper fixing plate, and the timing belt fixing plate passes through the sliding slot and can slide along the sliding slot.
6. The telescoping module of claim 1 wherein the upper cart assembly comprises an upper cart and a timing belt hold-down plate attached to the upper cart, the timing belt hold-down plate attached to the timing pulley at an end not attached to the upper cart.
7. The telescopic module as claimed in claim 6, wherein the synchronous pulley comprises a synchronous belt and two synchronous wheels, and the two synchronous wheels are respectively fixed at two ends of the upper fixing plate; the synchronous belt surrounds the two synchronous wheels.
8. The expansion module of claim 7, wherein the timing belt fixing plate and the timing belt pressing plate are respectively connected to the timing belt, and the timing belt fixing plate and the timing belt pressing plate are located on two sides of a connecting line between centers of the two synchronizing wheels.
9. The telescopic module as claimed in claim 7, wherein one end of the synchronous belt fixing plate connected to the synchronous belt is connected to a first clamping plate, and the synchronous belt is fixed between the synchronous belt fixing plate and the first clamping plate; one end of the synchronous belt pressing plate, which is connected with the synchronous belt, is connected with a second clamping plate, and the synchronous belt is fixed between the synchronous belt pressing plate and the second clamping plate; the first clamping plate and the second clamping plate are provided with teeth meshed with the synchronous belt.
10. A robot arm comprising a telescopic module according to any of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921368897.8U CN211137211U (en) | 2019-08-21 | 2019-08-21 | Flexible module and arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921368897.8U CN211137211U (en) | 2019-08-21 | 2019-08-21 | Flexible module and arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211137211U true CN211137211U (en) | 2020-07-31 |
Family
ID=71743992
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921368897.8U Expired - Fee Related CN211137211U (en) | 2019-08-21 | 2019-08-21 | Flexible module and arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211137211U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116986293A (en) * | 2023-08-18 | 2023-11-03 | 大连顺诚自动化设备有限公司 | Positioning section taking mechanism for enlarging logistics sorting operation coverage area |
-
2019
- 2019-08-21 CN CN201921368897.8U patent/CN211137211U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116986293A (en) * | 2023-08-18 | 2023-11-03 | 大连顺诚自动化设备有限公司 | Positioning section taking mechanism for enlarging logistics sorting operation coverage area |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200731 |
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| CF01 | Termination of patent right due to non-payment of annual fee |