A spatial multi-directional conveying device

Abstract

The present invention discloses a spatial multi-directional conveying device, comprising: a machine base, a first movable base, a second movable base, a guide system and a power drive mechanism, wherein the first movable base is arranged on the machine base; the second movable base is arranged on the first movable base; the guide system comprises a first guide mechanism and a second guide mechanism, the first guide mechanism is connected between the machine base and the second movable base, and the second guide mechanism is connected between the first movable base and the second movable base; the power drive mechanism is used to drive the first movable base to move in the X-axis direction relative to the machine base, so that the first movable base drives the second movable base to move in at least one direction of the Y-axis and the Z-axis direction relative to the first movable base through the guide system. The conveying device only needs one power source to realize the multi-directional movement of the second movable base in space, and can accurately reach the position point, so that the conveying device has a simple structure, reliable operation and low manufacturing cost.

Description

Technical Field

[0001] The invention relates to the field of conveying equipment, and in particular to a spatial multi-directional conveying device. Background Art

[0002] With the development of intelligence, machines are used to replace manual operations in many industries. In some special occasions, such as unmanned smart kitchens, the transportation and docking of various foods are involved, and the handling work is relatively complicated. The handling equipment in the existing technology mostly uses manipulators with rectangular coordinate axes to save manpower. Since the existing manipulators use motors to drive each axis separately, there are problems such as complex control, high cost and low reliability. Summary of the invention

[0003] The purpose of the present invention is to provide a spatial multi-directional transport device to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The technical solutions adopted to solve the above technical problems are:

[0005] A spatial multi-directional conveying device, the spatial multi-directional conveying device has mutually orthogonal X-axis, Y-axis, and Z-axis directions, the spatial multi-directional conveying device comprises: a machine base, a first movable seat, a second movable seat, a guide system and a power drive mechanism, the first movable seat is arranged on the machine base; the second movable seat is arranged on the first movable seat; the guide system comprises a first guide mechanism and a second guide mechanism, the first guide mechanism is connected between the machine base and the second movable seat, and the second guide mechanism is connected between the first movable seat and the second movable seat; the power drive mechanism is used to drive the first movable seat to move in the X-axis direction relative to the machine base, so that the first movable seat drives the second movable seat to move in at least one direction of the Y-axis and the Z-axis direction relative to the first movable seat through the guide system.

[0006] It should be noted that the above mutually orthogonal X-axis, Y-axis, and Z-axis are virtual features, which are provided for the convenience of accurately describing the direction of movement.

[0007] The beneficial effect of the present invention is that when the power drive mechanism drives the first moving seat to move in the X-axis direction, the first moving seat can drive the second moving seat to move relative to the first moving seat in at least one direction of the Y-axis and the Z-axis through the guide system, so that the second moving seat can superimpose the movement of the first moving seat in the X-axis direction, so that the conveying device only needs one power source to realize the multi-directional movement of the second moving seat in space and can accurately reach the position point. At the same time, the power drive mechanism can use conventional linear drive elements to complete the functions of the existing multi-axis driven manipulator, so that the conveying device has a simple structure, reliable operation, and low manufacturing cost.

[0008] As a further improvement of the above technical solution, the first guiding mechanism includes a first guiding body, which is fixed on the machine base along the X-axis direction in the projection of the Z-axis direction, and the second movable seat is slidably matched with the first guiding body through the first slider body; the second movable seat is installed on the first movable seat through the second guiding mechanism, so that the second movable seat can slide in the Y-axis direction relative to the first movable seat.

[0009] When the second movable seat needs to move in the X-axis and Y-axis directions, in the process of the power drive mechanism driving the first movable seat to move in the X-axis direction, the second movable seat moves along with the tilting movement of the first guide body under the action of the sliding cooperation between the first slider body and the first guide body, that is, moves in the Y-axis direction, and then the second movable seat can superimpose the X-axis movement of the first movable seat with the Y-axis movement relative to the first movable seat.

[0010] As a further improvement of the above technical solution, the first guide mechanism includes a second guide body, and in the projection of the Y-axis direction, the second guide body is fixed on the machine base along the X-axis direction. The second movable seat is slidably matched with the second guide body through a second slider body, and the second movable seat is installed on the first movable seat through a second guide mechanism, so that the second movable seat can slide in the Z-axis direction relative to the first movable seat.

[0011] When the second movable seat needs to realize movement in the X-axis direction and the Z-axis direction, in the process of the power drive mechanism driving the first movable seat to move in the X-axis direction, the second movable seat moves in the Z-axis direction along with the tilting movement of the second guide body under the action of the sliding cooperation between the second slider body and the second guide body, and then the second movable seat can superimpose the movement of the first movable seat in the X-axis direction and the movement of the first movable seat in the Z-axis direction relative to the first movable seat.

[0012] As a further improvement of the above technical solution, the first guide mechanism includes a first guide body and a second guide body, the first guide body is fixed on the machine base along the X-axis direction in a projection along the Z-axis direction, and the second guide body is fixed on the machine base along the X-axis direction in a projection along the Y-axis direction; the second guide mechanism includes a third movable seat;

[0013] The third movable seat is arranged on the first movable seat, and the third movable seat can slide relative to the first movable seat in the Y-axis direction or in the Z-axis direction, and the third movable seat is slidably matched with the first guide body through the first slider body or is slidably matched with the second guide body through the second slider body;

[0014] The second movable seat is arranged on the third movable seat, and the second movable seat can slide in the Z-axis direction or the Y-axis direction relative to the third movable seat. The second movable seat slides with the second guide body through the second slider body or slides with the first guide body through the first slider body.

[0015] When the second movable seat needs to realize upward movement in the X-axis direction, the Z-axis direction and the Y-axis direction, in the process of the power driving mechanism driving the first movable seat to move in the X-axis direction, under the action of the sliding cooperation between the first slider body and the first guide body, and the sliding cooperation between the second slider body and the second guide body, the third movable seat can move in the Y-axis direction relative to the first movable seat along with the first guide body, and at the same time, the second movable seat can move in the Z-axis direction relative to the third movable seat along with the second guide body. Since the third movable seat and the first movable seat are relatively fixedly arranged in the X-axis direction at this time, the second movable seat also moves in the Z-axis direction relative to the first movable seat;

[0016] Alternatively, the third movable seat moves along the Z axis relative to the first movable seat along with the second guide body, and the second movable seat moves along the Y axis relative to the third movable seat along with the first guide body, so that the conveying device can realize movement in three directions with only one power.

[0017] The movement of the second movable seat is superimposed on the movement of the first movable seat in the X-axis direction, so that the second movable seat can move in the X-axis direction, the Z-axis direction and the Y-axis direction.

[0018] The first guide body and the second guide body may be inclined in a straight line, in a curved shape or in an irregular shape, and the motion trajectory of the second movable seat ultimately depends on the inclination, curvature or shape of the first guide body and the second guide body.

[0019] As a further improvement of the above technical solution, the first guide body is a slot body structure, and the first slider body is a guide wheel that slides with the slot body structure, and the movement of the second movable seat in the Y-axis direction is achieved through the sliding cooperation between the guide wheel and the slot body structure.

[0020] As a further improvement of the above technical solution, the second guide body is a ramp structure, and the second sliding block body is a universal ball that rolls and abuts against the ramp structure, wherein the universal ball is arranged at the bottom of the third moving seat or the second moving seat, and the movement of the second moving seat in the Z-axis direction is achieved through the sliding cooperation between the universal ball and the ramp structure and its own gravity.

[0021] As a further improvement of the above technical solution, a first guide shaft is arranged between the third moving seat and the first moving seat, and the third moving seat is slidably connected to the first moving seat through the first guide shaft; the first guide shaft can improve the stability and smoothness of the relative sliding between the third moving seat and the first moving seat, and the first guide shaft can be fixed on the third moving seat or the first moving seat, and correspondingly, a sliding hole slidably connected with the first guide shaft is arranged on the first moving seat or the third moving seat.

[0022] A second guide shaft is arranged between the third movable seat and the second movable seat, and the second movable seat is slidably connected to the third movable seat via the second guide shaft. The second guide shaft can improve the stability and smoothness of the relative sliding of the third movable seat and the second movable seat. The first guide shaft can be fixed on the third movable seat or the second movable seat, and a sliding hole slidably connected with the first guide shaft is correspondingly arranged on the second movable seat or the third movable seat.

[0023] The number of the first guide shaft and the second guide shaft can be set as needed.

[0024] As a further improvement of the above technical solution, a third guide shaft extending along the X-axis direction is provided between the first movable seat and the machine base, and the first movable seat is slidably connected to the machine base via the third guide shaft.

[0025] The first movable seat can slide left and right on the machine base along the third guide axis, thereby improving the stability and smoothness of the first movable seat moving along the X-axis. The number of the third guide axis can also be set as needed.

[0026] As a further improvement of the above technical solution, the power drive mechanism includes a driving pulley, a driven pulley, an annular synchronous belt connected to the driving pulley and the driven pulley, and a rotation drive unit for driving the driving pulley to rotate, the annular synchronous belt is provided with a driving section extending along the X-axis direction, and the driving section is fixedly connected to the first movable seat.

[0027] When the rotation driving unit drives the driving pulley to rotate, the driving section on the annular synchronous belt drives the first moving seat to move in the X-axis direction, and the transmission structure is simple.

[0028] As a further improvement of the above technical solution, a material placement table is provided on the second movable seat, and the transported material can be placed on the material placement table. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments;

[0030] Figure 1 The structure diagram of the spatial multi-directional conveying device provided by the present invention, in which the second movable seat of one embodiment can realize movement in three directions Figure 1 ;

[0031] Figure 2 yes Figure 1 A partial enlarged view in FIG.

[0032] Figure 3 The structure diagram of the spatial multi-directional conveying device provided by the present invention, in which the second movable seat of one embodiment can realize movement in three directions Figure 2 ;

[0033] Figure 4 yes Figure 3 A partial enlarged view of B;

[0034] Figure 5 The present invention provides a spatial multi-directional transport device, in which the second movable seat of one embodiment can realize movement in two directions. DETAILED DESCRIPTION

[0035] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0036] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0037] In the description of the present invention, if there are words such as "several", it means one or more, "more" means more than two, greater than, less than, exceed, etc. are understood as not including the number, and above, below, within, etc. are understood as including the number.

[0038] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0039] Reference Figures 1 to 4 The spatial multi-directional transport device of the present invention is implemented as follows:

[0040] The spatial multi-directional conveying device of this embodiment includes a machine base 100, a first movable base 200, a second movable base 300, a guide system and a power drive mechanism.

[0041] A third guide shaft 110 extending along the X-axis direction is fixed to the machine base 100, the first movable seat 200 can be slidably connected to the third guide shaft 110 along the X-axis direction, and two third guide shafts 110 are provided in this embodiment; the power drive mechanism includes a driving pulley, a driven pulley, an annular synchronous belt 700 connected to the driving pulley and the driven pulley, and a rotation drive unit 800 for driving the driving pulley to rotate, the driving pulley and the driven pulley are arranged on the machine base 100 at intervals along the X-axis direction, the annular synchronous belt 700 is provided with a driving section extending along the X-axis direction, and the driving section is fixedly connected to the first movable seat 200.

[0042] In order to facilitate the control of the conveying speed and accuracy, the rotation driving unit 800 in this embodiment adopts a servo motor. In some other implementations, the rotation driving unit 800 may be a rotation driving component such as a starter motor.

[0043] The guide system in this embodiment includes a first guide mechanism and a second guide mechanism.

[0044] The first guide mechanism includes a first guide body 400 and a second guide body 500, and the second guide mechanism includes a third movable seat 600. In the projection along the Z axis, the first guide body 400 is fixed on the base 100 along the X axis and tilted. In the projection along the Y axis, the second guide body 500 is fixed on the base 100 along the X axis and tilted.

[0045] The third movable seat 600 is disposed on the first movable seat 200. The third movable seat 600 can slide in the Y-axis direction relative to the first movable seat 200. Specifically, a first guide shaft 610 extending in the Y-axis direction is disposed between the third movable seat 600 and the first movable seat 200. The first guide shaft 610 is fixed to the third movable seat 600. Correspondingly, a sliding hole slidably engaged with the first guide shaft 610 is disposed on the first movable seat 200. The third movable seat 600 is slidably matched with the first guide body 400 through the first slider body 410. The first guide body 400 in this embodiment is a slot body structure, and the first slider body 410 is a guide wheel slidably matched with the slot body structure.

[0046] The second moving seat 300 is arranged on the third moving seat 600. The second moving seat 300 can be in the Z-axis direction relative to the third moving seat 600. Specifically, a second guide shaft 620 extending in the Z-axis direction is arranged between the third moving seat 600 and the second moving seat 300. The second guide shaft 620 is fixed on the third moving seat 600. Correspondingly, a sliding hole slidably sleeved with the first guide shaft 610 is arranged on the second moving seat 300. The second moving seat 300 is slidably matched with the second guide body 500 through the second slider body 510. The second guide body 500 in this embodiment is a ramp structure. The second slider body 510 is a universal ball rolling against the ramp structure. The universal ball is arranged at the bottom of the second moving seat 300. At the same time, a material placement table 310 is arranged on the second moving seat 300.

[0047] In some other embodiments, the inclined surface structure and the groove structure are combined together, and the universal ball is arranged on the bottom end of the guide wheel.

[0048] When the material is conveyed, the material is placed on the material placement table 310, and the rotation drive unit 800 drives the active pulley to rotate, so that the driving section on the annular synchronous belt 700 drives the first movable seat 200 to move in the X-axis direction. Under the action of the sliding cooperation between the first slider body 410 and the first guide body 400, the third movable seat 600 can move in the Y-axis direction relative to the first movable seat 200 along with the first guide body 400, and drive the second movable seat 300 to move in the Y-axis direction relative to the first movable seat 200. At the same time, the third movable seat 600 moves in the Y-axis direction relative to the first movable seat 200 on the second slider body. Under the action of the sliding cooperation between the guide 510 and the second guide body 500, the second movable seat 300 can move along the Z axis relative to the third movable seat 600 along with the second guide body 500. Since the third movable seat 600 and the first movable seat 200 are relatively fixedly arranged along the X axis at this time, the second movable seat 300 also moves along the Z axis relative to the first movable seat 200, so that the second movable seat 300 can superimpose the movement of the first movable seat 200 along the X axis, so that the second movable seat 300 can realize the movement along the X axis, the Z axis and the Y axis. Therefore, only one power source is needed to realize the movement of the material in three directions in space and can accurately reach the position point. The power drive mechanism can use conventional linear drive elements to complete the functions of the existing multi-axis driven manipulator, so that the conveying device has a simple structure, reliable operation and low manufacturing cost.

[0049] The first guide body 400 and the second guide body 500 may be inclined in a straight line, in a curved line or in an irregular line, and the movement trajectory of the second movable seat 300 ultimately depends on the inclination, curvature or shape of the first guide body 400 and the second guide body 500.

[0050] Furthermore, the first guide body 400 and the second guide body 500 may be guide rail structures, and the second slider body 510 and the first slider body 410 may be pulleys that are slidably matched with the guide rail structures.

[0051] In other embodiments, the third movable seat 600 can slide in the Z-axis direction relative to the first movable seat 200, and the third movable seat 600 is slidably matched with the second guide body 500 through the second slider body 510. The second movable seat 300 can slide in the Y-axis direction relative to the third movable seat 600, and the second movable seat 300 is slidably matched with the first guide body 400 through the first slider body 410.

[0052] In this embodiment, the number of the first guide shafts 610 and the number of the second guide shafts 620 are both two.

[0053] In other embodiments, the power drive mechanism may adopt a cylinder, an electric push rod, a hydraulic push rod, or a screw nut driving component.

[0054] Meanwhile, the material placement table 310 can be replaced by a clamp, and the material can be clamped by the clamp.

[0055] In some other implementations, such as Figure 5 As shown, when the second movable seat 300 only needs to realize movement in the X-axis and Y-axis directions, the third movable seat 600 is integrated with the second movable seat 300. In the process of the power drive mechanism driving the first movable seat 200 to move in the X-axis direction, the second movable seat 300 only needs to move along with the tilting movement of the first guide body 400 under the action of the sliding cooperation between the first slider body 410 and the first guide body 400, that is, it moves in the Y-axis direction. Then, the second movable seat 300 can superimpose the X-axis movement of the first movable seat 200 and the Y-axis movement relative to the first movable seat 200.

[0056] In other embodiments, when the second movable seat 300 needs to realize movement in the X-axis direction and the Z-axis direction, the third movable seat 600 is integrated with the first movable seat 200. In the process of the power drive mechanism driving the first movable seat 200 to move in the X-axis direction, the second movable seat 300 only needs to move in the Z-axis direction along with the tilting movement of the second guide body 500 under the action of the sliding cooperation between the second slider body 510 and the second guide body 500, and then the second movable seat 300 can superimpose the X-axis movement of the first movable seat 200 and the Z-axis movement relative to the first movable seat 200.

[0057] In some embodiments, the second moving base 300 , the first moving base 200 , the third moving base 600 and the base 100 may be slidably connected by a slide rail structure.

[0058] The preferred embodiments of the present invention are described in detail above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A spatial multi-directional transport device, characterized in that: The spatial multi-directional conveying device has mutually orthogonal X-axis, Y-axis, and Z-axis directions, and the spatial multi-directional conveying device comprises: a machine base (100); A first movable seat (200) is disposed on the machine base (100); A second movable seat (300) is disposed on the first movable seat (200); The guide system comprises a first guide mechanism and a second guide mechanism, wherein the first guide mechanism is connected between a machine base (100) and a second movable base (300), and the second guide mechanism is connected between the first movable base (200) and the second movable base (300); A power drive mechanism, used for driving the first movable seat (200) to move in the X-axis direction relative to the machine base (100), so that the first movable seat (200) drives the second movable seat (300) to move in the Y-axis direction and the Z-axis direction relative to the first movable seat (200) through the guide system; The first guide mechanism comprises a first guide body (400) and a second guide body (500); the first guide body (400) is fixed on the machine base (100) in an inclined manner along the X-axis direction in a projection along the Z-axis direction, and the second guide body (500) is fixed on the machine base (100) in an inclined manner along the X-axis direction in a projection along the Y-axis direction; The second guiding mechanism comprises a third movable seat (600); The third movable seat (600) is arranged on the first movable seat (200), and the third movable seat (600) can slide in the Y-axis direction relative to the first movable seat (200), and the third movable seat (600) is slidably matched with the first guide body (400) through the first slider body (410); The second movable seat (300) is arranged on the third movable seat (600), the second movable seat (300) can slide in the Z-axis direction relative to the third movable seat (600), and the second movable seat (300) is slidably matched with the second guide body (500) through the second slider body (510); The first guide body (400) is a slot body structure, and the first slider body (410) is a guide wheel that is slidably matched with the slot body structure; The second guide body (500) is a ramp structure, and the second slider body (510) is a universal ball bearing that rolls against the ramp structure. A first guide shaft (610) is provided between the third movable seat (600) and the first movable seat (200), and the third movable seat (600) is slidably connected to the first movable seat (200) via the first guide shaft (610); A second guide shaft (620) is provided between the third movable seat (600) and the second movable seat (300), and the second movable seat (300) is slidably connected to the third movable seat (600) via the second guide shaft (620); A third guide shaft (110) extending along the X-axis direction is provided between the first movable seat (200) and the machine base (100), and the first movable seat (200) is slidably connected to the machine base (100) via the third guide shaft (110); When the power drive mechanism drives the first movable seat (200) to move in the X-axis direction, under the action of the sliding cooperation between the first slider body (410) and the first guide body (400), the third movable seat (600) moves in the Y-axis direction relative to the first movable seat (200) along with the first guide body (400), and drives the second movable seat (300) to move in the Y-axis direction relative to the first movable seat (200). At the same time, under the action of the sliding cooperation between the second slider body (510) and the second guide body (500), the second movable seat ( As the second guide body (500) moves relative to the third movable seat (600) in the Z-axis direction, since the third movable seat (600) and the first movable seat (200) are relatively fixedly arranged in the X-axis direction at this time, the second movable seat (300) also moves relative to the first movable seat (200) in the Z-axis direction, so that the second movable seat (300) can superimpose the movement of the first movable seat (200) in the X-axis direction, so that the second movable seat (300) can realize movement in the X-axis direction, the Z-axis direction and the Y-axis direction.

2. A spatial multi-directional transport device according to claim 1, characterized in that: The power drive mechanism comprises a driving pulley, a driven pulley, an annular synchronous belt (700) connected to the driving pulley and the driven pulley, and a rotation drive unit (800) for driving the driving pulley to rotate, wherein the annular synchronous belt (700) is provided with a driving section extending along the X-axis direction, and the driving section is fixedly connected to the first movable seat (200).

3. A spatial multi-directional transport device according to claim 1, characterized in that: A material placement table (310) is arranged on the second movable seat (300).

Images