Multi-angle torsion mechanism for an intelligent handling robot

Abstract

The present invention discloses a multi-angle torsion mechanism of an intelligent handling robot in the technical field of torsion mechanisms, including a mounting base. A support column is arranged at the center of the top of the mounting base. The top of the support column is connected to an operation board through a bearing. An annular activity groove is arranged on the outer wall around the operation board, and an external gear ring is clamped in the annular activity groove. When in use, the rotation motor can be started, and the operation board rotates to translate the fixture to a specified position. Then, the lifting motor is started, and the U-shaped mounting frame moves up and down to lower the fixture to the position of the workpiece to pick up and place the workpiece. At this time, the electric telescopic rod can be started to drive the torsion assembly to move left and right by the electric telescopic rod, increasing the movement range of the fixture. The electric push rod can also be started to tilt the column, and the tilting of the column further increases the movement range of the fixture. Moreover, when the column tilts, it drives the reinforcement block to slide in the arc-shaped chute on the front side of the vertical plate, improving the stability of the column during movement.

Description

Technical Field

[0001] The present invention relates to the technical field of torsion mechanisms, and particularly to a multi-angle torsion mechanism for an intelligent handling robot. Background Art

[0002] When the existing handling robots pick and place workpieces, the torsion mechanism can only perform simple translation and flipping actions, resulting in a small movement range of the fixture, and it cannot pick and place workpieces on an inclined surface (a conveyor belt with a certain angle to the ground). Moreover, when picking and placing heavier workpieces, the movement of the torsion mechanism is unstable, causing the fixture to shake, and the shaking of the fixture may cause the workpiece to fall and be damaged. Therefore, we propose a multi-angle torsion mechanism for an intelligent handling robot. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-angle torsion mechanism for an intelligent handling robot to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A multi-angle torsion mechanism for an intelligent handling robot, including a mounting base. A support column is provided at the center of the top of the mounting base. The top of the support column is connected to an operation board through a bearing. An annular activity groove is provided on the outer wall of the periphery of the operation board, and an external gear ring is clamped in the annular activity groove. A rotary motor is provided on the right side of the top of the mounting base. The output end of the top of the rotary motor is provided with a gear through a coupling. The left side of the gear meshes with the right side of the external gear ring. A fixed base is provided on the right side of the top of the operation board. The output end of the top of the fixed base is provided with an electric push rod. Connecting blocks are provided on the front and rear sides of the center of the outer wall of the top of the operation board. An activity groove penetrating through the front and back is provided on the outer wall of the opposite side of the two connecting blocks, and a connecting rod is connected to the two activity grooves through bearings. A column is fixedly provided at the top of the connecting rod. An activity groove is provided on the outer wall of the right side of the column, and a slider is slidably connected in the activity groove. The right end of the slider is hinged to the electric push rod. A lifting motor is provided on the inner wall of the bottom of the column. The output end of the top of the lifting motor is provided with a screw rod through a coupling. The top of the screw rod is connected to the inner wall of the top of the column through a bearing. An activity block is sleeved on the outer wall of the screw rod. The left end of the activity block extends to the outer wall of the left side of the column and is provided with a U-shaped mounting bracket. A slot matching the movement of the activity block is provided on the outer wall of the left side of the column. Sliding grooves are symmetrically provided on the inner walls of the opposite sides of the two extending ends of the U-shaped mounting bracket, and mounting blocks are slidably connected in the activity grooves. A torsion assembly is fixedly provided at the opposite ends of the two mounting blocks. A fixed block is provided on the inner wall of the left side of the U-shaped mounting bracket. The output end of the left side of the fixed block is provided with an electric telescopic rod. The left end of the electric telescopic rod is fixedly connected to the right side of the torsion assembly.

[0005] Further, the torsion assembly includes a housing fixedly connected to the mounting block. A motor is provided on the front end face of the housing. The rear output end of the motor is provided with a rotating rod through a coupling. A circular groove is provided on the rear end face of the housing. A connecting plate is slidably connected in the circular groove. The front end face of the connecting plate is fixedly connected to the rear end of the rotating rod. The outer wall of the rotating rod is sequentially provided with a planetary carrier and a sun gear from front to back. The planetary carrier is connected to the rotating rod through a bearing. The inner walls of the four surrounding sides of the housing are provided with circular movable grooves, and an internal gear ring is clamped in the circular movable grooves. Three planetary gears are annularly arranged on the inner side of the internal gear ring. One side of the three planetary gears opposite to each other meshes with the sun gear, and the three planetary gears are connected to the planetary carrier through bearings. The rear end face of the connecting plate is provided with a mounting plate, and a clamp is fixedly provided at the rear end of the mounting plate.

[0006] Further, the clamp includes a connecting column fixedly connected to the mounting plate at the top. A reverse U-shaped bracket is provided at the bottom of the connecting column. An activity groove is provided on the inner wall of the top of the reverse U-shaped bracket. Two clamping plates are slidably connected in the activity groove. A clamp motor is provided on the outer wall of the left side of the reverse U-shaped bracket. The right output end of the clamp motor is provided with a bidirectional lead screw through a coupling. The right end of the bidirectional lead screw extends into the inner cavity of the reverse U-shaped bracket, and the right end of the bidirectional lead screw penetrates through the two clamping plates and is connected to the inner wall of the right side of the reverse U-shaped bracket through a bearing.

[0007] Further, a vertical plate is provided on the outer wall at the rear side of the top of the operation plate, and the vertical plate is located behind the connecting block at the rear end. An arc-shaped sliding groove is provided on the outer wall at the front side of the vertical plate, and a reinforcing block is slidably connected in the arc-shaped sliding groove. The front end of the reinforcing block is fixedly connected to the rear side wall of the column.

[0008] Further, a circular movable groove is provided at the bottom of the operation plate, and the circular movable groove is located outside the support column. Four balls are slidably connected in the circular movable groove. The bottom of the ball is connected to a connecting block through a rotating connecting piece, and the bottom of the connecting block is welded to the outer wall of the top of the mounting seat.

[0009] Compared with the prior art, the beneficial effects of the present invention are as follows: during use, the rotation motor can be activated. The rotation motor drives the gear to rotate, and the rotation of the gear drives the outer gear ring and the operation plate to rotate. The rotation of the operation plate translates the fixture to the designated position. Then, the lifting motor is started. The lifting motor drives the screw rod to rotate, and the rotation of the screw rod causes the movable block to drive the U-shaped mounting bracket to move up and down under the restriction of the column. The up and down movement of the U-shaped mounting bracket lowers the fixture to the position of the workpiece to pick up and place the workpiece. At this time, the electric telescopic rod can be activated to drive the torsion assembly to move left and right, increasing the movement range of the fixture. The electric push rod can also be activated to tilt the column, and the tilting of the column further increases the movement range of the fixture. When the column tilts, it drives the reinforcement block to slide in the arc-shaped chute on the front side of the vertical plate, improving the stability of the column during movement and preventing the column from shaking when the fixture picks up and places heavy workpieces. The torsion assembly can drive the fixture to rotate, picking up and placing workpieces on different inclined surfaces, further increasing the operation range of the fixture for picking up and placing workpieces. When using the torsion assembly to adjust the angle of the fixture, the motor drives the rotating rod and the sun gear to rotate. The rotation of the sun gear drives the planet gear to rotate and travel within the internal gear ring. The rotation and travel of the planet gear within the internal gear ring drive the planet carrier to rotate, maintaining the stability when the rotating rod drives the connecting plate to rotate, thereby improving the stability of the fixture during rotation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic structural diagram of the present invention;

[0011] Figure 2 is a schematic connection diagram of the housing and the internal gear ring of the present invention;

[0012] Figure 3 is a schematic connection diagram of the housing and the connecting plate of the present invention.

[0013] In the figure: 1, mounting base; 2, support column; 3, operation plate; 4, outer gear ring; 5, rotation motor; 6, gear; 7, fixed seat; 8, electric push rod; 9, vertical plate; 10, connecting block; 11, column; 12, slider; 13, lifting motor; 14, screw rod; 15, movable block; 16, U-shaped mounting bracket; 17, fixed block; 18, electric telescopic rod; 19, mounting block; 20, torsion assembly; 21, motor; 22, rotating rod; 23, planet carrier; 24, sun gear; 25, planet gear; 26, internal gear ring; 27, annular groove; 28, housing; 29, mounting plate; 30, fixture; 31, connecting plate. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0015] Please refer to Figures 1-3 , the present invention provides a technical solution: a multi-angle torsion mechanism for an intelligent handling robot, including a mounting base 1. A support column 2 is provided at the center of the top of the mounting base 1. The top of the support column 2 is connected to an operation board 3 through a bearing. A circular activity groove is provided on the outer wall around the operation board 3, and an external gear ring 4 is clamped in the circular activity groove. A rotary motor 5 is provided on the right side of the top of the mounting base 1. The output end of the top of the rotary motor 5 is provided with a gear 6 through a coupling. The left side of the gear 6 meshes with the right side of the external gear ring 4. A fixed seat 7 is provided on the right side of the top of the operation board 3. The output end of the top of the fixed seat 7 is provided with an electric push rod 8. On the front and back sides of the center of the outer wall of the top of the operation board 3, connection blocks 10 are provided. An activity groove penetrating through the front and back is provided on the outer wall of the opposite side of the two connection blocks 10, and a connecting rod is connected to the two activity grooves through bearings. A column 11 is fixedly provided at the top of the connecting rod. An activity groove is provided on the outer wall of the right side of the column 11, and a slider 12 is slidably connected in the activity groove. The right end of the slider 12 is hinged to the electric push rod 8. A lifting motor 13 is provided on the inner wall of the bottom of the column 11. The output end of the top of the lifting motor 13 is provided with a screw rod 14 through a coupling. The top of the screw rod 14 is connected to the inner wall of the top of the column 11 through a bearing. An activity block 15 is sleeved on the outer wall of the screw rod 14. The left end of the activity block 15 extends to the left outer wall of the column 11 to be provided with a U-shaped mounting bracket 16. A slot is provided on the left outer wall of the column 11 to cooperate with the movement of the activity block 15. Sliding grooves are symmetrically provided on the inner walls of the opposite sides of the two extending ends of the U-shaped mounting bracket 16, and mounting blocks 19 are slidably connected in the activity grooves. A torsion assembly 20 is fixedly provided at the opposite ends of the two mounting blocks 19. A fixed block 17 is provided on the inner wall of the left side of the U-shaped mounting bracket 16. The output end of the left side of the fixed block 17 is provided with an electric telescopic rod 18. The left end of the electric telescopic rod 18 is fixedly connected to the right side of the torsion assembly 20. When in use, the rotary motor 5 can be activated. The rotary motor 5 drives the gear 6 to rotate. The rotation of the gear 6 drives the external gear ring 4 and the operation board 3 to rotate. The rotation of the operation board 3 translates the fixture 30 to a specified position. Then, the lifting motor 13 is started. The lifting motor 13 drives the screw rod 14 to rotate. The rotation of the screw rod 14 enables the activity block 15 to drive the U-shaped mounting bracket 16 to move up and down under the restriction of the column 11. The up and down movement of the U-shaped mounting bracket 16 lowers the fixture 30 to the position of the workpiece to pick up and place the workpiece. At this time, the electric telescopic rod 18 can be activated to drive the torsion assembly 20 to move left and right, increasing the movement range of the fixture 30. The electric push rod 8 can also be activated to tilt the column 11, and the tilt of the column 11 further increases the movement range of the fixture 30.

[0016] As shown Figure 2 in the figure, the torsion assembly 20 includes a housing 28 fixedly connected to the mounting block 19. A motor 21 is provided on the front end face of the housing 28. A rotating rod 22 is provided at the rear output end of the motor 21 through a coupling. A circular groove 27 is provided on the rear end face of the housing 28. A connecting plate 31 is slidably connected in the circular groove 27. To maintain the stability of the connecting plate 31 during rotation, the front end face of the connecting plate 31 is fixedly connected to the rear end of the rotating rod 22. A planet carrier 23 and a sun gear 24 are sequentially arranged on the outer wall of the rotating rod 22 from front to back. And the planet carrier 23 is connected to the rotating rod 22 through a bearing. Annular movable grooves are provided on the inner walls around the housing 28. And an internal gear ring 26 is clamped in the annular movable grooves. Three planet gears 25 are annularly arranged on the inner side of the internal gear ring 26. One side of the three planet gears 25 opposite to each other meshes with the sun gear 24. And the three planet gears 25 are connected to the planet carrier 23 through bearings. An installation plate 29 is provided on the rear end face of the connecting plate 31. And a fixture 30 is fixedly provided at the rear end of the installation plate 29. When using the torsion assembly 20 to adjust the angle of the fixture 30, the motor 21 drives the rotating rod 22 and the sun gear 24 to rotate. The rotation of the sun gear 24 drives the planet gears 25 to rotate and move within the internal gear ring 26. The rotation and movement of the planet gears 25 within the internal gear ring 26 drive the planet carrier 23 to rotate. To maintain the stability of the rotating rod 22 driving the connecting plate 31 to rotate, thereby improving the stability of the fixture 30 during rotation;

[0017] As shown Figure 3 in the figure, the fixture 30 includes a connecting column with the top fixedly connected to the installation plate 29. And an inverted U-shaped bracket is provided at the bottom of the connecting column. A movable groove is provided on the inner wall of the top of the inverted U-shaped bracket. And two clamping plates are slidably connected in the movable groove. A fixture motor is provided on the outer wall of the left side of the inverted U-shaped bracket. A bidirectional lead screw is provided at the right output end of the fixture motor through a coupling. The right end of the bidirectional lead screw extends into the inner cavity of the inverted U-shaped bracket. And the right end of the bidirectional lead screw penetrates through the two clamping plates and is connected to the inner wall of the right side of the inverted U-shaped bracket through a bearing. When using the fixture 30 to pick up and place the workpiece, start the fixture motor. At this time, the bidirectional lead screw drives the two clamping plates to approach or move away from each other in the movable groove, clamping or releasing the workpiece;

[0018] As shown Figure 1 in the figure, a vertical plate 9 is provided on the rear side of the outer wall of the top of the operation panel 3. And the vertical plate 9 is located behind the connecting block 10 at the rear end. An arc-shaped sliding groove is provided on the front side outer wall of the vertical plate 9. And a reinforcing block is slidably connected in the arc-shaped sliding groove. The rear side outer wall of the column 11 is fixedly connected to the front end of the reinforcing block. To maintain the stability of the column 11 during tilting, and avoid the column 11 shaking during the handling of the fixture 30 due to the heavy workpiece;

[0019] As shown Figure 1As shown in the figure, a circular movable groove is provided at the bottom of the operation panel 3, and the circular movable groove is located outside the support column 2. Four groups of ball bearings are slidably connected in the circular movable groove, and the bottom of the ball bearings is connected to a connecting block through a rotating connecting piece, and the bottom of the connecting block is welded to the top outer wall of the mounting seat 1, avoiding the shaking of the operation panel 3 during rotation and improving the smoothness of the movement of the operation panel 3.

[0020] Embodiment: When in use, the rotation motor 5 can be started. The rotation motor 5 drives the gear 6 to rotate. The rotation of the gear 6 drives the external gear ring 4 and the operation panel 3 to rotate. The rotation of the operation panel 3 translates the fixture 30 to a specified position. Then, the lifting motor 13 is started. The lifting motor 13 drives the screw rod 14 to rotate. The rotation of the screw rod 14 causes the movable block 15 to drive the U-shaped mounting bracket 16 to move up and down under the restriction of the column 11. The up and down movement of the U-shaped mounting bracket 16 lowers the fixture 30 to the workpiece position to pick up and place the workpiece. At this time, the electric telescopic rod 18 can be started to drive the torsion assembly 20 to move left and right by the electric telescopic rod 18, increasing the movement range of the fixture 30. The electric push rod 8 can also be started to tilt the column 11, and the tilting of the column 11 further increases the movement range of the fixture 30. The torsion assembly 20 can drive the fixture 30 to rotate to pick up and place workpieces on different inclined surfaces, further improving the operation range of the fixture 30 for picking up and placing workpieces.

[0021] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent handling robot multi-angle torsion mechanism, comprising a mounting base (1), characterized in that: A support column (2) is provided at the center of the top of the mounting base (1). The top of the support column (2) is connected to an operation board (3) through a bearing. An annular activity groove is provided on the outer wall around the operation board (3), and an external gear ring (4) is clamped in the annular activity groove. A rotary motor (5) is provided on the right side of the top of the mounting base (1). A gear (6) is provided at the output end of the top of the rotary motor (5) through a coupling. The left side of the gear (6) meshes with the right side of the external gear ring (4). A fixed base (7) is provided on the right side of the top of the operation board (3). An electric push rod (8) is provided at the output end of the top of the fixed base (7). Connecting blocks (10) are provided on both the front and rear sides of the center of the outer wall of the top of the operation board (3). Activity grooves that penetrate through the front and rear are provided on the outer walls of the opposite sides of the two groups of connecting blocks (10), and a connecting rod is connected to the two activity grooves through bearings. A vertical column (11) is fixedly provided at the top of the connecting rod. An activity groove is provided on the outer wall of the right side of the vertical column (11), and a slider (12) is slidably connected in the activity groove. The right end of the slider (12) is hinged to the electric push rod (8). A lifting motor (13) is provided on the inner wall of the bottom of the vertical column (11). A screw rod (14) is provided at the output end of the top of the lifting motor (13) through a coupling. The top of the screw rod (14) is connected to the inner wall of the top of the vertical column (11) through a bearing. An activity block (15) is sleeved on the outer wall of the screw rod (14). The left end of the activity block (15) extends to the left outer wall of the vertical column (11) and is provided with a U-shaped mounting bracket (16). A slot that matches the movement of the activity block (15) is provided on the left outer wall of the vertical column (11). Sliding grooves are symmetrically provided on the inner walls of the opposite sides of the two extending ends of the U-shaped mounting bracket (16), and a mounting block (19) is slidably connected in the activity groove. A torsion assembly (20) is fixedly provided at the opposite ends of the two groups of mounting blocks (19). A fixed block (17) is provided on the inner wall of the left side of the U-shaped mounting bracket (16). An electric telescopic rod (18) is provided at the output end of the left side of the fixed block (17). The left end of the electric telescopic rod (18) is fixedly connected to the right side of the torsion assembly (20); The torsion assembly (20) includes a housing (28) fixedly connected to the mounting block (19). A motor (21) is provided on the front end face of the housing (28). A rotating rod (22) is provided at the rear output end of the motor (21) through a coupling. A circular groove (27) is provided on the rear end face of the housing (28). A connecting plate (31) is slidably connected in the circular groove (27). The front end face of the connecting plate (31) is fixedly connected to the rear end of the rotating rod (22). A planet carrier (23) and a sun gear (24) are sequentially provided on the outer wall of the rotating rod (22) from front to back. The planet carrier (23) is connected to the rotating rod (22) through a bearing. Annular moving grooves are provided on the inner walls around the housing (28), and an internal gear ring (26) is clamped in the annular moving grooves. Three planet gears (25) are annularly arranged on the inner side of the internal gear ring (26). The opposite sides of the three planet gears (25) are meshed with the sun gear (24). The three planet gears (25) are connected to the planet carrier (23) through bearings. An installation plate (29) is provided on the rear end face of the connecting plate (31), and a fixture (30) is fixedly provided at the rear end of the installation plate (29). A vertical plate (9) is provided on the rear side of the top outer wall of the operation plate (3), and the vertical plate (9) is located behind the connecting block (10) at the rear end. An arc-shaped sliding groove is provided on the front side outer wall of the vertical plate (9), and a reinforcing block is slidably connected in the arc-shaped sliding groove. The rear side outer wall of the column (11) is fixedly connected to the front end of the reinforcing block.

2. The multi-angle torsion mechanism of an intelligent handling robot according to claim 1, characterized in that: The fixture (30) includes a connecting column fixedly connected to the top of the installation plate (29). A reverse U-shaped bracket is provided at the bottom of the connecting column. An activity groove is provided on the inner wall of the top of the reverse U-shaped bracket, and two clamping plates are slidably connected in the activity groove. A fixture motor is provided on the left outer wall of the reverse U-shaped bracket. A bidirectional lead screw is provided at the right output end of the fixture motor through a coupling. The right end of the bidirectional lead screw extends into the inner cavity of the reverse U-shaped bracket, and the right end of the bidirectional lead screw penetrates through the two clamping plates and is connected to the right inner wall of the reverse U-shaped bracket through a bearing.

3. The multi-angle torsion mechanism of an intelligent handling robot according to claim 1, characterized in that: An annular moving groove is provided at the bottom of the operation plate (3), and the annular moving groove is located outside the support column (2). Four groups of balls are slidably connected in the annular moving groove, and the bottoms of the balls are connected to a connecting block through a rotating connecting piece. The bottom of the connecting block is welded to the top outer wall of the mounting seat (1).

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