A handling robot and processing equipment including the handling robot

Abstract

The invention relates to a handling robot, comprising a frame, a first driving module mounted on the frame and a clamping assembly connected to the first driving module, and also comprising an arc guide rail assembly, through which the clamping assembly is movably connected to the first driving module, so that the clamping assembly can slide along a preset arc relative to the first driving module. Compared with the prior art, the invention provides an arc guide rail assembly so that the clamping assembly can slide along a preset arc relative to the first driving module, so that when the clamping assembly grabs a workpiece on a rotating disk, there is no need to stop the rotating disk. The clamping assembly can move along the rotation direction of the rotating disk to the same speed as the rotating disk, and the relative position of the clamping assembly and the corresponding workpiece to be grabbed remains unchanged, so that the action of the clamping assembly grabbing the workpiece can greatly shorten the moving time and improve the work efficiency. A processing equipment comprises the above-mentioned handling robot, which has a reasonable design and high work efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of processing equipment, and in particular to a handling robot and processing equipment comprising the handling robot. Background Art

[0002] Rotating discs and handling robots are often used in processing equipment. For example, Chinese invention patent application specification CN106000934A discloses a cleaning and appearance inspection machine, which includes a material belt, a loading and unloading material handling mechanism, a turntable, a loading and unloading station, a working station, a fixture rotation drive mechanism, a fixture clamping and limiting mechanism, a product cleaning mechanism, a product wiping mechanism and a product appearance inspection mechanism, wherein the material belt is arranged on the outer side of the frame, and at least two products are placed on the material belt at intervals; the turntable is arranged on the frame; the loading and unloading stations and the working station are arranged at intervals along the periphery of the turntable, and the loading and unloading Product jigs are provided on the workstations and the working stations; the loading and unloading transport mechanism is arranged on the outside of the loading and unloading station; the jig rotation drive mechanism and the jig clamping and limiting mechanism are arranged at the working station; the product cleaning mechanism, the product wiping mechanism and the product appearance inspection mechanism are respectively arranged at the working station. The above-mentioned processing equipment is provided with multiple processing stations around the rotating disc, and the rotating disc is rotated to drive the workpiece to move to the corresponding processing station in turn. When the workpiece is transferred to the loading and unloading station, the rotating disc needs to stop running so that the loading and unloading transport mechanism can load and unload the workpiece on the rotating disc, and the working efficiency is not high. Invention content

[0003] In order to solve the above problems, the present invention provides a transport robot which can move along the rotation direction of the rotating disk, thereby greatly shortening the transfer time and improving the work efficiency.

[0004] The invention also provides a processing device with reasonable design and high working efficiency.

[0005] To solve the above-mentioned purpose, the present invention creates the following technical solutions.

[0006] A handling robot comprises a frame, a first driving module mounted on the frame and a clamping assembly connected to the first driving module, and also comprises an arc guide rail assembly, through which the clamping assembly is movably connected to the first driving module so that the clamping assembly can slide along a preset arc relative to the first driving module.

[0007] Preferably, the arc guide rail assembly is provided with an arc guide rail and a sliding member, the sliding member is slidably connected to the arc guide rail, the first driving module is provided with a driving mounting seat, the clamping assembly is provided with a clamping mounting seat, and the arc guide rail and the sliding member are respectively correspondingly installed on the driving mounting seat and the clamping mounting seat.

[0008] Preferably, the sliding member is configured as two groups of rollers, which are respectively located on both sides of the arc guide rail. The roller ring is provided with a groove, and transverse convex strips are respectively provided on both sides of the arc guide rail. The transverse convex strips are clamped in the groove so that the rollers can roll along the arc guide rail.

[0009] Preferably, the sliding member is configured as a sliding block, and the sliding block can slide on the arc-shaped guide rail.

[0010] Preferably, the arc guide rail assembly is further provided with a second driving module, which is transmission-connected to the clamping mechanism to push the clamping mechanism to slide along a preset arc, and the second driving module is provided with a driving cylinder or a driving motor.

[0011] Preferably, the clamping assembly is provided with a clamping air claw for picking up the workpiece, a rotating mechanism is connected above the clamping air claw, and a lifting mechanism is connected above the rotating mechanism.

[0012] Preferably, the rotating mechanism is provided with a rotating cylinder, and the lifting mechanism is provided with a Z-axis cylinder.

[0013] Preferably, the first driving module is provided with an X-axis guide rail, an X-axis cylinder and a driving mounting seat, the driving mounting seat is connected to the X-axis cylinder, and the driving mounting seat is slidably connected to the X-axis guide rail.

[0014] A processing equipment comprises a handling robot as described in any one of the above items.

[0015] The beneficial effects of the present invention are as follows:

[0016] Compared with the prior art, the invention creates an arc guide rail assembly so that the clamping assembly can slide along a preset arc relative to the first driving module. Therefore, when the clamping assembly grabs the workpiece on the rotating disk, there is no need to stop the rotating disk. The clamping assembly can move along the rotation direction of the rotating disk to the same speed as the rotating disk. The relative position of the clamping assembly and the corresponding workpiece to be grabbed remains unchanged, and the action of the clamping assembly grabbing the workpiece can be realized, which can greatly shorten the moving time and improve the work efficiency. A processing equipment includes a handling robot as described above, which has a reasonable design and high work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the three-dimensional structure of the handling robot created by the present invention;

[0018] Figure 2 A schematic diagram of the three-dimensional structure of the handling robot created by the present invention from another perspective;

[0019] Figure 3 This is a schematic diagram of the structure of the handling robot implemented in the present invention.

[0020] Explanation of the accompanying drawings: 1. Frame, 2. First driving module, 21. X-axis guide rail, 22. X-axis cylinder, 23. Driving mounting seat, 3. Clamping assembly, 31. Clamping mounting seat, 32. Clamping claw, 33. Rotating mechanism, 34. Lifting mechanism, 4. Arc guide rail assembly, 41. Arc guide rail, 411. Horizontal ridge, 42. Sliding part, 421. Roller, 422. Groove, 43. Second driving module, 431. Driving cylinder, 5. Workpiece. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] refer to Figures 1 to 3 , a handling robot comprises a frame 1, a first driving module 2 mounted on the frame 1 and a clamping assembly 3 connected to the first driving module 2. The present embodiment also comprises an arc guide rail assembly 4, and the clamping assembly 3 is movably connected to the first driving module 2 through the arc guide rail assembly 4, so that the clamping assembly 3 can slide along a preset arc relative to the first driving module 2. Compared with the prior art, the invention creates an arc guide rail assembly 4 so that the clamping assembly 3 can slide along a preset arc relative to the first driving module 2, so that when the clamping assembly 3 grabs a workpiece 5 on a rotating disk, there is no need to stop the rotating disk. The clamping assembly 3 can move along the rotation direction of the rotating disk to the same speed as the rotating disk. The relative position of the clamping assembly 3 and the corresponding workpiece 5 to be grabbed remains unchanged, so that the action of the clamping assembly 3 grabbing the workpiece 5 can be realized, which can greatly shorten the moving time and improve the work efficiency.

[0023] Figure 1 As shown, the arc guide rail assembly 4 of this embodiment is provided with an arc guide rail 41 and a sliding member 42, the sliding member 42 is slidably connected to the arc guide rail 41, the first driving module 2 is provided with a driving mounting seat 23, the clamping assembly 3 is provided with a clamping mounting seat 31, the arc guide rail 41 and the sliding member 42 are respectively installed on the driving mounting seat 23 and the clamping mounting seat 31, wherein the sliding member 42 is provided with two groups of rollers 421, the two groups of rollers 421 are respectively located on both sides of the arc guide rail 41, the rollers 421 are ringed with grooves 422, and the arc guide rail 41 is respectively provided with transverse convex strips 411 on both sides, the transverse convex strips 411 are respectively provided on both sides of the arc guide rail 41, and the transverse convex strips 411 are respectively provided on both sides of the arc guide rail 41. The convex strip 411 is clamped in the groove 422 so that the roller 421 can roll along the arc guide rail 41. Each group of rollers 421 is provided with at least two rollers 421, and the rollers 421 are rotatably mounted above the clamping mounting seat 31, so that the clamping assembly 3 can slide along the arc guide rail 41, so that the clamping assembly 3 can clamp the workpiece 5 on the rotating disc without stopping the rotating disc. In other preferred embodiments, the sliding member 42 is configured as a slider, and the slider can slide on the arc guide rail 41, so that the clamping assembly 3 can slide along the arc guide rail 41 with stable performance.

[0024] Reference Figure 1 The arc guide assembly 4 of this embodiment is further provided with a second driving module 43, which is transmission-connected with the clamping mechanism to push the clamping mechanism to slide along a preset arc, and the second driving module 43 is provided with a driving cylinder 431. Figure 1 As shown, the driving cylinder 431 is installed on one side of the driving mounting seat 23, and the telescopic rod of the driving cylinder 431 is connected to one side of the clamping mounting seat 31. The driving cylinder 431 can drive the clamping assembly 3 to slide along the arc guide rail 41 and increase the clamping assembly 3 to a preset speed, so that the clamping assembly 3 can clamp the workpiece 5 on the rotating disc that does not stop rotating, thereby improving the handling efficiency. In other preferred embodiments, the driving cylinder 431 can also be replaced by a driving motor, and the driving motor drives the clamping assembly 3 to slide along the arc guide rail 41.

[0025] Figure 1 and Figure 2 It is shown that the clamping assembly 3 of this embodiment is provided with a clamping air claw 32 for picking up the workpiece 5, a rotating mechanism 33 is connected above the clamping air claw 32, a lifting mechanism 34 is connected above the rotating mechanism 33, the rotating mechanism 33 is provided with a rotating cylinder, and the lifting mechanism 34 is provided with a Z-axis cylinder, so as to realize the rotation of the clamping air claw 32 and the Z-axis lifting action, and the degree of automation is high. The first driving module 2 of this embodiment is also provided with an X-axis guide rail 21 and an X-axis cylinder 22, the driving mounting seat 23 is connected to the X-axis cylinder 22, and the driving mounting seat 23 is slidably connected to the X-axis guide rail 21, so as to realize the movement of the clamping assembly 3 along the X-axis direction.

[0026] A processing equipment comprises the above-mentioned handling robot, which has reasonable design and high working efficiency.

[0027] The above-described embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the attached claims.

Claims

1. A handling robot, comprising a frame, a rotating disc arranged on the frame, a first driving module mounted on the frame, and a clamping assembly connected to the first driving module, characterized in that: It also includes an arc guide rail assembly, through which the clamping assembly is movably connected to the first driving module, so that the clamping assembly can slide along a preset arc relative to the first driving module; by setting the arc guide rail assembly, the clamping assembly can slide along a preset arc relative to the first driving module, so that when the clamping assembly grabs the workpiece on the rotating disk, there is no need to stop the rotating disk, and the clamping assembly can move along the rotating direction of the rotating disk to the same speed as the rotating disk, and the relative position of the clamping assembly and the corresponding workpiece to be grabbed remains unchanged, so that the clamping assembly grabs the workpiece; a plurality of workpiece placement positions are arranged on the rotating disk, and the plurality of workpiece placement positions are evenly distributed on the rotating disk in a ring shape; the rotating disk is arranged horizontally relative to the ground; The arc guide rail assembly is provided with an arc guide rail and a sliding member, the sliding member is slidably connected to the arc guide rail, the first driving module is provided with a driving mounting seat, the clamping assembly is provided with a clamping mounting seat, and the arc guide rail and the sliding member are respectively correspondingly mounted on the driving mounting seat and the clamping mounting seat; The sliding member is configured as two groups of rollers, the two groups of rollers are respectively located on both sides of the arc-shaped guide rail, the roller ring is provided with a groove, and the two sides of the arc-shaped guide rail are respectively provided with transverse convex strips, the transverse convex strips are clamped in the groove so that the roller can roll along the arc-shaped guide rail; The arc guide rail assembly is also provided with a second driving module, which is transmission-connected with the clamping mechanism to push the clamping mechanism to slide along a preset arc, and the second driving module is provided with a driving cylinder or a driving motor.

2. A handling robot according to claim 1, characterized in that: The sliding member is configured as a sliding block, and the sliding block can slide on the arc-shaped guide rail.

3. A handling robot according to claim 1, characterized in that: The clamping assembly is provided with a clamping air claw for picking up the workpiece, a rotating mechanism is connected above the clamping air claw, and a lifting mechanism is connected above the rotating mechanism.

4. A handling robot according to claim 3, characterized in that: The rotating mechanism is provided with a rotating cylinder, and the lifting mechanism is provided with a Z-axis cylinder.

5. A handling robot according to claim 1, characterized in that: The first driving module is provided with an X-axis guide rail, an X-axis cylinder and a driving mounting seat. The driving mounting seat is connected to the X-axis cylinder, and the driving mounting seat is slidably connected to the X-axis guide rail.

6. A processing equipment, characterized in that: A handling robot comprising any one of claims 1-5.

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