A loading and unloading robot

Abstract

The application provides a feeding and discharging manipulator, which comprises a translation mechanism, a lifting mechanism and a rotating mechanism, the lifting mechanism is arranged on the translation mechanism, and the rotating mechanism is arranged on the lifting mechanism; the rotating mechanism comprises a base, a transmission unit and a grabbing support, the base is arranged on the lifting mechanism, the transmission unit and the grabbing support are arranged on the base, and a suction disc assembly is arranged on the grabbing support; the transmission unit comprises a rotating drive motor, a driving wheel, a synchronous belt and a driven wheel, the rotating drive motor and the driven wheel are arranged at two ends of the base respectively, the driving wheel is sleeved on the shaft of the rotating drive motor, the synchronous belt is wound around the driving wheel and the driven wheel respectively, the grabbing support is fixedly connected with the shaft of the driven wheel, and the driven wheel is used for driving the grabbing support to rotate. Compared with the prior art, the motor and the grabbing support of the feeding and discharging manipulator are connected through the synchronous belt, the force applied by the grabbing support to the motor is more uniform, so that the influence of the eccentric structure of the grabbing support on the operation of the motor is reduced.

Description

Technical Field

[0001] This invention relates to the field of machining equipment, and in particular to a robotic arm structure. Background Technology

[0002] With the continuous development of machine tools, their automation level is also increasing. For example, in machine tools that process mobile phone glass covers, robotic arms are used to automatically load and unload the glass covers, saving labor costs and improving production efficiency. During the processing of mobile phone glass covers, the glass covers need to be flipped. In the technical solution CN201820830794.8, a motor directly drives the gripping bracket at the end of the robotic arm to achieve this flipping. However, in the CN201820830794.8 technical solution, because the structure of the gripping bracket and the glass cover picked up are eccentric, the force applied by the gripping bracket to the motor is uneven. This increases the motor load, and when the speed of the robotic arm's end effector is too high or the load is too large, it will affect the normal operation of the motor. Furthermore, long-term operation can easily cause wear and tear on the motor, affecting its service life. Summary of the Invention

[0003] Based on this, the purpose of the present invention is to provide a loading and unloading robot that realizes the transmission between the motor and the gripping bracket through a synchronous belt, so as to reduce the impact of the eccentric structure of the gripping bracket on the operation of the motor.

[0004] The loading and unloading robot of the present invention includes a translation mechanism, a lifting mechanism, and a rotation mechanism. The lifting mechanism is mounted on the translation mechanism, and the rotation mechanism is mounted on the lifting mechanism. The rotation mechanism includes a base, a transmission unit, and a gripping bracket. The base is mounted on the lifting mechanism, and the transmission unit and the gripping bracket are mounted on the base. A suction cup assembly is provided on the gripping bracket. The transmission unit includes a rotary drive motor, a drive wheel, a synchronous belt, and a driven wheel. The rotary drive motor and the driven wheel are respectively located at both ends of the base. The drive wheel is sleeved on the shaft of the rotary drive motor. The synchronous belt is respectively wound around the drive wheel and the driven wheel. The gripping bracket is fixedly connected to the shaft of the driven wheel, and the driven wheel is used to drive the gripping bracket to rotate.

[0005] Compared with the prior art, the motor and gripping bracket of the loading and unloading robot of the present invention are connected by a synchronous belt, which makes the force applied by the gripping bracket to the rotary drive motor more uniform, thereby reducing the impact of the eccentric structure of the gripping bracket on the operation of the rotary drive motor and increasing the service life of the rotary drive motor.

[0006] Furthermore, the rotating mechanism also includes a tensioning unit, which includes a tensioning bolt fixing seat, a motor mounting plate, and a tensioning bolt. The tensioning bolt fixing seat is fixedly mounted on the base and located on the side of the driving wheel away from the driven wheel. The motor mounting plate is disposed between the tensioning bolt fixing seat and the driven wheel. The tensioning bolt passes through the tensioning bolt fixing seat and connects to the motor mounting plate. The tensioning bolt is used to adjust the distance between the tensioning bolt fixing seat and the motor mounting plate. The rotating drive motor is mounted on the motor mounting plate.

[0007] Furthermore, the tensioning mechanism also includes guide bars whose extension direction is consistent with that of the tensioning bolt. There are two guide bars, which are located on both sides of the motor mounting plate and are fixedly connected to the base. The motor mounting plate can slide along the guide bars.

[0008] Furthermore, the motor mounting plate is also provided with a slot, the direction of which extends in the same direction as the tensioning bolt; the tensioning unit also includes a guide bolt, the guide bolt passes through the slot and is connected to the base, and the motor mounting plate can slide along the guide bolt in the direction of the slot.

[0009] Furthermore, the base includes a base plate, side walls, and a cover plate. The side walls are arranged along the edge of the base plate, and a semi-enclosed accommodating space is formed between the base plate and the side walls. The motor mounting plate covers the accommodating space at the end where the rotary drive motor is located. The shaft of the rotary drive motor passes through the motor mounting plate and enters the accommodating space. The driving wheel, driven wheel, and timing belt are arranged within the accommodating space. The cover plate covers the accommodating space at the end where the driven wheel is located.

[0010] Furthermore, it also includes a sealing plate, which covers the gap between the motor mounting plate and the cover plate and is fixedly connected to the motor mounting plate. A sealing gasket is provided on the side of the sealing plate facing the gap between the motor mounting plate and the cover plate.

[0011] Furthermore, the diameter of the driving wheel is smaller than the diameter of the driven wheel.

[0012] Furthermore, the driven wheel is connected to the base plate and the cover plate via bearings.

[0013] Furthermore, there are two gripping brackets, which are respectively arranged on both sides of the driven wheel.

[0014] Further, the translation mechanism includes a translation guide rail, a translation slide block, a translation drive motor, a translation telescopic protective cover, and a baffle; the translation guide rail is horizontally arranged, the translation slide block is disposed on the translation guide rail and can slide along the translation guide rail, the translation drive motor is disposed on the translation guide rail and can drive the translation slide block to slide; the translation telescopic protective cover is disposed below the translation guide rail along the extension direction of the translation guide rail, and both ends of the translation telescopic protective cover are respectively connected to the end of the translation guide rail and the baffle. The lower part of the sliding seat is connected; the baffle is vertically arranged on the side of the sliding guide rail; the lifting mechanism includes a lifting guide rail, a lifting shaft, a lifting drive motor, and a lifting telescopic protective cover; the lifting guide rail is arranged on the sliding seat, the lifting shaft is arranged on the lifting guide rail and can move up and down along the lifting guide rail, the lifting drive motor is arranged on the sliding seat and can drive the lifting shaft to move; the lifting telescopic protective cover is sleeved on the lifting shaft, and its two ends are respectively connected to the sliding seat and the base. Attached Figure Description

[0015] Figure 1 This is an overall structural diagram of the loading and unloading robot of the present invention;

[0016] Figure 2 This is an overall structural diagram of the loading and unloading robot of the present invention;

[0017] Figure 3 This is an overall structural diagram of the loading and unloading robot of the present invention;

[0018] Figure 4 This is an overall structural diagram of the rotating mechanism of the loading and unloading robot of the present invention;

[0019] Figure 5 This is an overall structural diagram of the rotating mechanism of the loading and unloading robot of the present invention;

[0020] Figure 6 This is an internal structural diagram of the rotating mechanism of the loading and unloading robot of the present invention;

[0021] Figure 7 This is an internal structural diagram of the rotating mechanism of the loading and unloading robot of the present invention;

[0022] Figure 8 This is a diagram showing the internal structure of the rotating mechanism of the loading / unloading robot of the present invention.

[0023] In the diagram: 10. Translation mechanism; 11. Translation guide rail; 12. Translation sliding seat; 14. Translation telescopic protective cover; 15. Baffle; 20. Lifting mechanism; 22. Lifting shaft; 24. Lifting telescopic protective cover; 30. Rotation mechanism; 31. Base; 311. Base plate; 312. Side wall; 313. Cover plate; 321. Rotation drive mechanism; 322. Drive wheel; 323. Synchronous belt; 324. Driven wheel; 3241. Bearing; 33. Tensioning unit; 331. Tensioning bolt fixing seat; 332. Motor mounting plate; 3322. Slot; 333. Tensioning bolt; 334. Guide bar; 335. Guide bolt; 336. Sealing plate; 34. Gripping bracket; 341. Suction cup assembly. Detailed Implementation

[0024] The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described in conjunction with the accompanying drawings. However, the present invention is not limited to these embodiments.

[0025] In the description of this invention, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0026] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0027] The loading and unloading robot of the present invention includes a translation mechanism 10, a lifting mechanism 20 and a rotation mechanism 30. The lifting mechanism 20 is disposed on the translation mechanism 10 and the rotation mechanism 30 is disposed on the lifting mechanism 20.

[0028] The translation mechanism 10 includes a translation guide rail 11, a translation slide seat 12, a translation drive motor, a translation telescopic protective cover 14, and a baffle 15. The translation guide rail 11 is horizontally arranged, the translation slide seat 12 is arranged on the translation guide rail 11 and can slide along the translation guide rail 11, and the translation drive motor is arranged on the translation guide rail 11 and can drive the translation slide seat 12 to slide along the direction of the translation guide rail 11.

[0029] The lifting mechanism 20 includes a lifting guide rail, a lifting shaft 22, a lifting drive motor, and a lifting telescopic protective cover 24. The lifting guide rail is mounted on the translational sliding seat 12, the lifting shaft 22 is mounted on the lifting guide rail and can move up and down along the lifting guide rail, and the lifting drive motor is mounted on the translational sliding seat 12 and can drive the lifting shaft 22 to move up and down.

[0030] The rotating mechanism 30 includes a base 31, a transmission unit, and a gripping bracket 34. The base 31 is mounted on the lifting mechanism 20, and the transmission unit and gripping bracket 34 are mounted on the base 31. The gripping bracket 34 is equipped with a suction cup assembly 341 for adsorbing the glass cover of a mobile phone. The transmission unit is used to drive the gripping bracket 34 to rotate. Specifically, the transmission unit includes a rotary drive motor 321, a drive wheel 322, a synchronous belt 323, and a driven wheel 324. The rotary drive motor 321 and the driven wheel 324 are respectively located at both ends of the base 31. The drive wheel 322 is sleeved on the shaft of the motor 321. The synchronous belt 323 is wound around the drive wheel 322 and the driven wheel 324 respectively. The gripping bracket 34 is fixedly connected to the shaft of the driven wheel 324, and the driven wheel 324 is used to drive the gripping bracket 34 to rotate.

[0031] In order to adjust the tension of the synchronous belt 323 and enable the transmission mechanism 32 to operate stably, in a preferred embodiment, the rotating mechanism 30 further includes a tensioning unit 33. The tensioning unit 33 includes a tensioning bolt fixing seat 331, a motor mounting plate 332, and a tensioning bolt 333. The tensioning bolt fixing seat 331 is fixedly mounted on the base 31 and is located on the side of the driving pulley 322 away from the driven pulley 324. The motor mounting plate 332 is disposed between the tensioning bolt fixing seat 331 and the driven pulley 324. The tensioning bolt 333 passes through the tensioning bolt fixing seat 331 and connects to the motor mounting plate 332. The tensioning bolt 333 is used to adjust the distance between the tensioning bolt fixing seat 331 and the motor mounting plate 332. The rotating drive motor 321 is mounted on the motor mounting plate 332, thereby realizing the tension adjustment of the synchronous belt 323.

[0032] To ensure smooth movement of the motor mounting plate 332 when adjusting the tension of the synchronous belt 323, in a preferred embodiment, the tensioning mechanism 33 further includes guide bars 334 extending in the same direction as the tensioning bolt 333. Two guide bars 334 are located on either side of the motor mounting plate 332 and are fixedly connected to the base 31. The motor mounting plate 332 can slide along the extension direction of the guide bars 334, which guide the movement of the motor mounting plate 332. In another embodiment, the motor mounting plate 332 is also provided with a slot 3322 extending in the same direction as the tensioning bolt 333. The tensioning unit 33 further includes a guide bolt 335 passing through the slot 3322 and connected to the base 31. The motor mounting plate 332 can slide along the guide bolt 335 in the direction of the extension of the slot 3322. The slot 3322 and the guide bolt 335 guide the movement of the motor mounting plate 332.

[0033] Dust and water mist are generated during the processing of mobile phone glass covers. In order to reduce the entry of dust and water mist into the transmission unit and affect its normal operation, in a preferred embodiment, the base 31 includes a base plate 311, a side wall 312, and a cover plate 313. The side wall 312 is arranged along the edge of the base plate 311, and a semi-enclosed accommodating space is formed between the base plate 311 and the side wall 312. The motor mounting plate 332 is covered above the accommodating space at one end where the rotary drive motor 321 is located. The shaft of the rotary drive motor 321 passes through the motor mounting plate 332 and enters the accommodating space. The driving wheel 322, the driven wheel 324, and the timing belt 323 are arranged in the accommodating space. The cover plate 313 is covered on the accommodating space at one end where the driven wheel 324 is located. The base plate 311, the side wall 312, the cover plate 313, and the motor mounting plate 332 block dust and water mist, reducing the entry of dust and water mist into the transmission unit.

[0034] A certain gap exists between the motor mounting plate 332 and the cover plate 313 to allow for the adjustment of the tensioning unit 33. However, this gap can cause dust and water mist generated during processing to enter the transmission unit. To further reduce the entry of dust and water mist into the transmission unit, in a preferred embodiment, a sealing plate 336 is also included. The sealing plate 336 covers the gap between the motor mounting plate 332 and the cover plate 313 and is fixedly connected to the motor mounting plate 332. A sealing gasket is provided on the side of the sealing plate 336 facing the gap between the motor mounting plate 332 and the cover plate 313 to further improve the sealing effect. Specifically, the sealing gasket can be a sponge gasket or a rubber gasket.

[0035] In order to reduce the load on the rotary drive motor 321 and make the rotation of the gripping bracket 34 more stable, in a preferred embodiment, the diameter of the drive wheel 322 is smaller than the diameter of the driven wheel 324.

[0036] In order to make the rotation of the driven wheel 324 smoother, in a preferred embodiment, the driven wheel 324 is connected to the base plate 311 and the cover plate 313 via a bearing 3421.

[0037] In order to improve the working efficiency of the gripping bracket 34 and make the operation of the driven wheel 324 more stable, in a preferred embodiment, there are two gripping brackets 34, which are respectively arranged on both sides of the driven wheel 324.

[0038] To prevent dust and water mist generated during the processing of mobile phone glass covers from entering the translation mechanism 10 and affecting its normal operation, in a preferred embodiment, the translation mechanism 10 further includes a translation telescopic protective cover 14 and a baffle 15. The translation telescopic protective cover 14 is located below the translation guide rail 11 along the direction of its extension. The two ends of the translation telescopic protective cover 14 are respectively connected to the end of the translation guide rail 11 and the lower part of the translation sliding seat 12. The baffle 15 is vertically arranged on the side of the translation guide rail 11.

[0039] In order to prevent dust and water mist generated during the processing from entering the lifting mechanism 20 and affecting the normal operation of the lifting mechanism 20, in a preferred embodiment, the lifting mechanism 20 further includes a lifting telescopic protective cover 24, which is sleeved on the lifting shaft 22 and connected at both ends to the translation sliding seat 12 and the base 31, respectively.

[0040] The working principle of this invention is as follows:

[0041] The translation drive motor drives the translation slide seat 12 to perform translational movement, thereby adjusting the horizontal position of the gripping bracket 34; the lifting drive motor drives the lifting shaft 22 to perform lifting movement, thereby adjusting the height of the gripping bracket 34; the rotation drive motor 321 drives the rotating bracket 34 to rotate through the driving wheel 322, the synchronous belt 323 and the driven wheel 324, thereby enabling the gripping bracket 34 to flip the mobile phone cover glass to be processed; the tension of the synchronous belt 323 of the transmission mechanism 32 can be adjusted by adjusting the tensioning bolt 333 of the tensioning unit 33, so that the transmission mechanism 32 can operate stably.

[0042] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0043] 1. The motor and gripping bracket of the loading and unloading robot are connected by a synchronous belt, which makes the force applied by the gripping bracket to the rotary drive motor more uniform, reduces the impact of the eccentric structure of the gripping bracket on the operation of the rotary drive motor, and increases the service life of the rotary drive motor.

[0044] 2. A tensioning unit is provided to make the tension of the synchronous belt adjustable, thereby making the operation of the transmission unit more stable.

[0045] 3. The translation mechanism is equipped with a telescopic protective cover and baffle, the lifting mechanism is equipped with a telescopic protective cover, and the rotating mechanism also adopts a closed structure design to prevent dust and water mist generated during processing from entering the translation mechanism, lifting mechanism and rotating mechanism, so that the equipment can operate stably.

[0046] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A loading / unloading robot, characterized in that: It includes a translation mechanism (10), a lifting mechanism (20) and a rotation mechanism (30), wherein the lifting mechanism (20) is mounted on the translation mechanism (10) and the rotation mechanism (30) is mounted on the lifting mechanism (20); The rotating mechanism (30) includes a base (31), a transmission unit and a gripping bracket (34). The base (31) is mounted on the lifting mechanism (20). The transmission unit and the gripping bracket (34) are mounted on the base (31). A suction cup assembly (341) is mounted on the gripping bracket (34). The transmission unit includes a rotary drive motor (321), a drive wheel (322), a timing belt (323), and a driven wheel (324). The rotary drive motor (321) and the driven wheel (324) are respectively located at both ends of the base (31). The drive wheel (322) is sleeved on the shaft of the rotary drive motor (321). The timing belt (323) is respectively wound around the drive wheel (322) and the driven wheel (324). The gripping bracket (34) is fixedly connected to the shaft of the driven wheel (324). The driven wheel (324) is used to drive the gripping bracket (34) to rotate. The rotating mechanism (30) further includes a tensioning unit (33), which includes a tensioning bolt fixing seat (331), a motor mounting plate (332), and a tensioning bolt (333); The tension bolt fixing seat (331) is fixedly mounted on the base (31) and located on the side of the driving wheel (322) away from the driven wheel (324). The motor mounting plate (332) is disposed between the tension bolt fixing seat (331) and the driven wheel (324). The tension bolt (333) passes through the tension bolt fixing seat (331) and is connected to the motor mounting plate (332). The tension bolt (333) is used to adjust the distance between the tension bolt fixing seat (331) and the motor mounting plate (332). The rotary drive motor (321) is mounted on the motor mounting plate (332). The base (31) includes a base plate (311), a side wall (312), a cover plate (313), and a sealing plate (336). The side wall (312) is arranged along the edge of the base plate (311), and a semi-enclosed accommodating space is formed between the base plate (311) and the side wall (312). The motor mounting plate (332) covers the accommodating space at one end of the rotary drive motor (321). The shaft of the rotary drive motor (321) passes through the motor mounting plate (332) and enters the accommodating space. The driving wheel (322), the driven wheel (324), and the timing belt (323) are arranged in the accommodating space. The cover plate (313) covers the accommodating space at one end where the driven wheel (324) is located; The sealing plate (336) is placed over the gap between the motor mounting plate (332) and the cover plate (313) and is fixedly connected to the motor mounting plate (332). A sealing gasket is provided on the side of the sealing plate (336) facing the gap between the motor mounting plate (332) and the cover plate (313).

2. The loading / unloading robot according to claim 1, characterized in that: The tensioning unit (33) also includes a guide strip (334) whose extension direction is consistent with that of the tensioning bolt (333). There are two guide strips (334), which are located on both sides of the motor mounting plate (332) and are fixedly connected to the base (31). The motor mounting plate (332) can slide along the guide strip (334).

3. The loading / unloading robot according to claim 1, characterized in that: The motor mounting plate (332) is also provided with a slot (3322), and the direction in which the slot (3322) extends is consistent with the direction of the tensioning bolt (333); The tensioning unit (33) also includes a guide bolt (335), which passes through the slot (3322) and is connected to the base (31). The motor mounting plate (332) can slide along the guide bolt (335) in the direction of the extension of the slot (3322).

4. The loading / unloading robot according to any one of claims 1-3, characterized in that: The diameter of the driving wheel (322) is smaller than the diameter of the driven wheel (324).

5. The loading / unloading robot according to any one of claims 1-3, characterized in that: The driven wheel (324) is connected to the base plate (311) and the cover plate (313) via a bearing (3241).

6. The loading / unloading robot according to any one of claims 1-3, characterized in that: There are two gripping brackets (34), which are respectively arranged on both sides of the driven wheel (324).

7. The loading / unloading robot according to any one of claims 1-3, characterized in that: The translation mechanism (10) includes a translation guide rail (11), a translation slide seat (12), a translation drive motor, a translation telescopic protective cover (14), and a baffle (15). The translation guide rail (11) is horizontally arranged, the translation slide seat (12) is arranged on the translation guide rail (11) and can slide along the translation guide rail (11), the translation drive motor is arranged on the translation guide rail (11) and can drive the translation slide seat (12) to slide. The translation telescopic protective cover (14) is arranged below the translation guide rail (11) along the extension direction of the translation guide rail (11), and the two ends of the translation telescopic protective cover (14) are respectively connected to the end of the translation guide rail (11) and the bottom of the translation slide seat (12). The baffle (15) is vertically arranged on the side of the translation guide rail (11). The lifting mechanism (20) includes a lifting guide rail, a lifting shaft (22), a lifting drive motor, and a lifting telescopic protective cover (24). The lifting guide rail is mounted on the translational sliding seat (12), the lifting shaft (22) is mounted on the lifting guide rail and can move up and down along the lifting guide rail, the lifting drive motor is mounted on the translational sliding seat (12) and can drive the lifting shaft (22) to move. The lifting telescopic protective cover (24) is sleeved on the lifting shaft (22) and its two ends are connected to the translational sliding seat (12) and the base (31) respectively.

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