A rectangular coordinate robot

Abstract

The present application discloses a rectangular coordinate robot, which belongs to the field of robot control technology, and includes a base, an X-mounting axis, a Y-mounting axis, a Z-mounting axis, a control structure, a sliding seat, and a grasping structure. The X-mounting axis, the Y-mounting axis, and the Z-mounting axis form a three-dimensional rectangular coordinate system, which is used to drive the control structure to move in space. The control structure mounting seat, the X-rotating seat, the Y-rotating seat, and the Z-rotating seat, the control structure is used to adjust the spatial direction of the second contact component. The sliding seat is used to drive the first basic component to move for loading and unloading. The rectangular coordinate robot disclosed in the present invention is provided with a control structure for adjusting the spatial angle of the first basic component. When the first basic component or the second basic component is tilted due to grasping, the control structure can be used to ensure that each first basic component is adjusted to the correct installation angle to cooperate with the second basic component.

Description

Technical Field

[0001] The present invention relates to the field of robot control technology, in particular to a rectangular coordinate robot. Background Art

[0002] Generally speaking, the X-axis frame of a rectangular coordinate robot is installed on a support frame fixedly installed on the bottom surface, and can slide along the right-angle horizontal direction from the X-axis direction. In addition, on this X-axis frame, the Y-axis frame is installed and driven along the right-angle vertical direction to the Z-axis direction, and a sliding component with an industrial robot arm is installed on one side of this Y-axis frame to enable vertical movement along the Y-axis direction.

[0003] The frames are connected by means of a drive device that enables linear motion between them, so that linear motion is performed along the XYZ axes.

[0004] Most of the existing rectangular coordinate robots can only drive materials to move in space, but during the material picking process, it is inevitable that the materials will tilt, which may cause the angle of the workpiece after installation to deviate, resulting in waste. Summary of the invention

[0005] The invention discloses a rectangular coordinate robot to improve the above problems.

[0006] The technical solution adopted by the present invention to solve the above technical problems is:

[0007] Based on the above purpose, the present invention discloses a rectangular coordinate robot, comprising:

[0008] Pedestal;

[0009] An X-mounting shaft, the X-mounting shaft being mounted on the base;

[0010] A Y mounting axis, wherein the Y mounting axis is slidably arranged with the X mounting axis, and the Y mounting axis is vertically arranged with the X mounting axis;

[0011] A Z mounting axis, wherein the Z mounting axis is slidably arranged with the Y mounting axis, the Z mounting axis is vertically arranged with the Y mounting axis, and the Z mounting axis is vertically arranged with the X mounting axis;

[0012] A control structure, the control structure comprising a mounting seat, an X rotating seat, a Y rotating seat and a Z rotating seat, the mounting seat is slidably connected to the Z mounting shaft, the X rotating seat is rotationally connected to the mounting seat, the Y rotating seat is rotationally connected to the X rotating seat, and the Z rotating seat is rotationally connected to the Y rotating seat;

[0013] a sliding seat, the sliding seat being slidably connected to the base and used for mounting a first foundation component; and

[0014] A gripping structure is mounted on the Z rotating seat, and the gripping structure is used to connect the second basic component and mount the second basic component on the first basic component.

[0015] Optionally, a pre-locking component is also included, and the pre-locking component includes:

[0016] a first sliding bar, wherein a first end of the first sliding bar is slidably connected to the sliding seat, and a second end of the first sliding bar is provided with a card slot;

[0017] a first elastic member, wherein two ends of the first elastic member are respectively connected to the sliding seat and the first sliding bar, and the first elastic member enables the first sliding bar to have a tendency to move toward the top of the sliding seat;

[0018] A pre-locking member, wherein the pre-locking member is provided with a first clamping strip and a second clamping strip, wherein the first clamping strip is located below the second clamping strip, the first clamping strip is used to cooperate with the clamping slot, and the second clamping strip is used to cooperate with the first basic component;

[0019] a second elastic member, wherein two ends of the second elastic member are respectively connected to the sliding seat and the pre-locking member, and the second elastic member enables the pre-locking member to have a tendency to move toward the first sliding bar, and when the first sliding bar moves toward the bottom of the sliding seat, the first clamping bar can be clamped into the clamping slot, and the second clamping bar can be clamped into the first basic matching component; and

[0020] An unlocking structure is installed in the sliding seat, and when the second basic component is connected to the first basic component, the second basic component can push the second clamping strip to leave the range of the first basic component through the unlocking structure.

[0021] Optionally: the unlocking structure includes:

[0022] a second sliding bar, the second sliding bar being slidably connected to the sliding seat, and a sliding direction of the second sliding bar being parallel to a sliding direction of the pre-locking member; and

[0023] An unlocking bar is slidably connected to the sliding seat. When the unlocking bar moves toward the bottom of the sliding seat, the unlocking bar can push the second sliding bar to move toward the pre-locking member.

[0024] Optionally: the sliding seat includes:

[0025] A seat body, the seat body is slidably connected to the base, and the seat body has a mounting cavity; and

[0026] A partition is installed on the base body, and the partition divides the installation cavity into a first cavity and a second cavity along the height direction of the base body, the first basic component is located in the first cavity, and the pre-locking structure is located in the second cavity.

[0027] Optionally: a through hole is provided on the partition, the first cavity and the second cavity are connected through the through hole, the first sliding bar is located in the through hole, a positioning block is provided on the first sliding bar, the positioning block is located in the second cavity, and the cross-section of the positioning block is larger than the cross-section of the through hole.

[0028] Optionally: a first slope is provided on the end of the second sliding bar facing away from the pre-locking piece, and a second slope is provided on the unlocking bar, and the second slope cooperates with the first slope so that when the unlocking bar moves toward the bottom of the sliding seat, it can push the second sliding bar to move toward the pre-locking piece.

[0029] Optionally: a groove is provided on a side of the unlocking bar facing the second sliding bar, the second sliding bar can be engaged with the groove, a first shifting block is provided on the first sliding bar, and the second sliding bar is fixedly connected to the pre-locking member;

[0030] The pre-locking member is provided with a second dial block and a torsion spring, the second dial block is rotatably connected to the pre-locking member, the rotation axis of the second dial block is parallel to the Y mounting axis, the pre-locking member is provided with a yield groove, the second dial block and the torsion spring are both located in the yield groove, the two ends of the torsion spring are respectively connected to the pre-locking member and the second dial block, the torsion spring makes the second dial block have a tendency to rotate toward the outside of the yield groove, when the first sliding bar moves toward the bottom of the sliding seat, the first dial block cooperates with the second dial block and makes the pre-lock move in the direction away from the first sliding bar so that the second sliding bar leaves the groove, and when the first sliding bar moves from the bottom of the sliding seat to the top of the sliding seat, the first dial block can drive the second dial block back into the yield groove.

[0031] Optionally: the pre-locking structure further includes a third elastic member, both ends of which are respectively connected to the sliding seat and the unlocking bar, and the third elastic member enables the unlocking bar to have a tendency to move toward the top of the sliding seat.

[0032] Optionally: a third inclined surface is provided at one end of the first shift block facing the pre-locking piece, and a fourth inclined surface is provided at one end of the second shift block facing the first sliding bar, and the third inclined surface cooperates with the fourth inclined surface so that when the first sliding bar moves toward the bottom of the sliding seat, the pre-locking piece can be pushed to move in a direction away from the first sliding bar.

[0033] Optionally, two of the second sliding bars and two of the unlocking bars are provided, the two second sliding bars are respectively located on both sides of the first sliding bar, and the two unlocking bars and the two second sliding bars are provided in one-to-one correspondence.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] The rectangular coordinate robot disclosed in the present invention is provided with a control structure for adjusting the spatial angle of the first base component. When the first base component or the second base component is tilted due to grasping, the control structure can ensure that each first base component is adjusted to the correct installation angle to cooperate with the second base component. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 A schematic diagram of a rectangular coordinate robot disclosed in an embodiment of the present invention is shown;

[0037] Figure 2 An exploded schematic diagram of a control structure disclosed in an embodiment of the present invention is shown;

[0038] Figure 3 A schematic diagram of assembling a sliding seat and a pre-locking assembly disclosed in an embodiment of the present invention is shown;

[0039] Figure 4 A cross-sectional view of a sliding seat disclosed in an embodiment of the present invention is shown;

[0040] Figure 5 A schematic diagram of a partition disclosed in an embodiment of the present invention is shown;

[0041] Figure 6 An exploded schematic diagram of a pre-locking assembly disclosed in an embodiment of the present invention is shown;

[0042] Figure 7 A cross-sectional view showing the cooperation between the first sliding bar and the pre-locking member disclosed in an embodiment of the present invention is shown;

[0043] Figure 8 A cross-sectional view of a first sliding bar disclosed in an embodiment of the present invention is shown;

[0044] Fig. 9 A cross-sectional view of a pre-locking member disclosed in an embodiment of the present invention is shown;

[0045] Fig.10 A schematic diagram showing a pre-locking assembly disclosed in an embodiment of the present invention in a first state is shown;

[0046] Fig.11 A schematic diagram of the pre-locking assembly disclosed in an embodiment of the present invention in the second state is shown.

[0047] In the figure:

[0048] 100-base, 200-X mounting axis, 300-Y mounting axis, 400-Z mounting axis, 500-control structure, 510-mounting seat, 520-X rotating seat, 530-Y rotating seat, 540-Z rotating seat, 600-grasping structure, 700-sliding seat, 710-seat body, 720-partition plate, 721-through hole, 730-mounting cavity, 731-first cavity, 732-second cavity, 800-pre-locking group Parts, 810-first sliding bar, 811-card slot, 812-positioning block, 813-first dial block, 814-third inclined surface, 820-first elastic part, 830-pre-locking part, 831-first card strip, 832-second card strip, 833-giving groove, 834-second dial block, 835-fourth inclined surface, 840-second sliding bar, 841-first inclined surface, 850-unlocking bar, 851-second inclined surface, 852-groove. DETAILED DESCRIPTION

[0049] The present invention is further described in detail below through specific implementation examples in conjunction with the accompanying drawings.

[0050] Example:

[0051] See also Figure 1 and Figure 2 The embodiment of the present invention discloses a rectangular coordinate robot, which includes a base 100, an X-mounting axis 200, a Y-mounting axis 300, a Z-mounting axis 400, a control structure 500, a sliding seat 700 and a grasping structure 600. The X-mounting axis 200, the Y-mounting axis 300 and the Z-mounting axis 400 form a three-dimensional rectangular coordinate system, which is used to drive the control structure 500 to move in space so as to move the second basic component to a suitable position. The control structure 500 includes a mounting seat 510, an X-rotating seat 520, a Y-rotating seat 530 and a Z-rotating seat 540, and the control structure 500 is used to adjust the spatial direction of the second contact component. The sliding seat 700 is used to drive the first basic component to move for loading and unloading.

[0052] The rectangular coordinate robot disclosed in this embodiment is provided with a control structure 500 for adjusting the spatial angle of the first base component. When the first base component or the second base component is tilted due to grasping, the control structure 500 can ensure that each first base component is adjusted to the correct installation angle to cooperate with the second base component.

[0053] See also Figure 1 and Figure 2The X-mounting shaft 200 is installed on the base 100, and the X-mounting shaft 200 is arranged along the length direction of the base 100, and the X-mounting shaft 200 is fixedly connected to the base 100. The Y-mounting shaft 300 is arranged along the width direction of the base 100, and the Y-mounting shaft 300 is slidably connected to the X-mounting shaft 200. The Y-mounting seat 510 can move relative to the X-mounting shaft 200 along the length direction of the base 100, and the Y-mounting shaft 300 is installed above the X-mounting shaft 200. The Z-mounting shaft 400 is arranged along the height direction of the base 100, and the Z-mounting shaft 400 is slidably connected to the Y-mounting shaft 300, and the Z-mounting shaft 400 can move relative to the Y-mounting shaft 300 along the width direction of the base 100. The control structure 500 is slidably connected to the Z-mounting shaft 400, and the control structure 500 can move relative to the Z-mounting shaft 400 in the height direction of the base 100.

[0054] In this embodiment, see Figure 1 , the length direction of the base 100 is the X direction, the width direction of the base 100 is the Y direction, and the height direction of the base 100 is the Z direction.

[0055] See also Figure 2 The control structure 500 includes a mounting seat 510, an X rotating seat 520, a Y rotating seat 530 and a Z rotating seat 540. The mounting seat 510 is slidably connected to the Z mounting shaft 400, and the mounting seat 510 can move relative to the Z mounting shaft 400 along the Z direction. The X rotating seat 520 is rotatably connected to the mounting seat 510, and the rotation axis of the X rotating shaft is set along the X direction. The Y rotating seat 530 is rotatably connected to the X rotating seat 520, and the rotation axis of the Y rotating shaft is set along the Y direction. The Z rotating seat 540 is rotatably connected to the Y rotating seat 530, and the rotation axis of the Z rotating shaft is set along the Z direction. Through the cooperation of the X rotating seat 520, the Y rotating seat 530 and the Z rotating seat 540, the spatial direction of the first basic component can be adjusted.

[0056] The grabbing structure 600 is installed on the Z rotating seat 540 . The grabbing structure 600 is mainly used to grab the first basic component. When the first basic component is installed on the second basic component, the grabbing structure 600 releases the fixation of the first basic component.

[0057] In order to ensure that the first basic component can be more stable when connecting the first basic component to the second basic component, the rectangular coordinate robot disclosed in this embodiment is also provided with a pre-locking structure. The pre-locking structure includes a first sliding bar 810, a first elastic member 820, a pre-locking member 830, a second elastic member (not shown in the figure) and an unlocking structure.

[0058] See also Figures 3 to 5The sliding seat 700 includes a seat body 710 and a partition 720. The seat body 710 has an installation cavity 730. The partition 720 is installed on the seat body 710, and the partition 720 divides the installation cavity 730 into a first cavity 731 and a second cavity 732 along the Z direction. The first cavity 731 is used to fix the first basic component, and the second cavity 732 is used to install the pre-locking structure.

[0059] See also Figure 3 and Figure 6, the first end of the first sliding bar 810 is slidably connected to the partition 720, and the first sliding bar 810 can move relative to the partition 720 along the Z direction. The first end of the first sliding bar 810 is located in the first cavity 731, and the second end of the first sliding bar 810 is located in the second cavity 732, and when the first sliding bar 810 moves downward along the Z direction, the top of the first sliding bar 810 can be flush with the partition 720 or slightly lower than the top surface of the partition 720. A slot 811 is provided at the second end of the first sliding bar 810, and the slot 811 penetrates the first sliding bar 810 along the X direction. The first elastic member 820 is located in the second cavity 732, and the two ends of the first elastic member 820 are respectively connected to the sliding seat 700 and the first sliding bar 810, and the first elastic member 820 makes the first sliding bar 810 have a tendency to move toward the top of the sliding seat 700. The pre-locking member 830 is provided with a first clamping strip 831 and a second clamping strip 832. The first clamping strip 831 is located below the second clamping strip 832. The first clamping strip 831 is used to cooperate with the clamping slot 811, and the second clamping strip 832 is used to cooperate with the first basic component. The pre-locking member 830 is slidably connected with the base body 710. The pre-locking member 830 can move relative to the base body 710 along the X direction. When the pre-locking member 830 moves toward the first sliding bar 810, the first clamping strip 831 on the pre-locking member 830 will be clamped into the clamping slot 811. At this time, the first sliding bar 810 is fixed, and the second clamping strip 832 on the pre-locking member 830 will be clamped with the first basic component located in the first cavity 731 to achieve positioning and fixing of the first basic component. The second elastic member is also located in the second cavity 732. The two ends of the second elastic member are connected to the sliding seat 700 and the pre-locking member 830 respectively. The second elastic member makes the pre-locking member 830 have a tendency to move toward the first sliding bar 810. Generally, the first clamping strip 831 abuts against the portion of the first sliding bar 810 where the clamping slot 811 is not provided. When the first sliding bar 810 moves toward the bottom of the sliding seat 700, the clamping slot 811 on the first sliding bar 810 will drop to the same height as the first clamping strip 831. At this time, the first clamping strip 831 can be clamped into the clamping slot 811, and the second clamping strip 832 can be clamped into the first basic matching component. The unlocking structure is installed in the sliding seat 700, and when the second basic component is connected to the first basic component, the second basic component can push the second clamping strip 832 out of the range of the first basic component through the unlocking structure, so as to facilitate the subsequent removal of the first basic component and the second basic component from the sliding seat 700.

[0060] Specifically, see Figure 6The unlocking structure includes a second sliding bar 840 and an unlocking bar 850. The second sliding bar 840 is slidably connected to the sliding seat 700, and the sliding direction of the second sliding bar 840 is parallel to the sliding direction of the pre-locking member 830, and the pre-locking member 830 is located on the sliding path of the second sliding bar 840. When the second sliding bar 840 moves toward the pre-locking member 830, it can push the pre-locking member 830 to move in a direction away from the first sliding bar 810, and make the first clamping bar 831 leave the range of the clamping slot 811, and at the same time make the second clamping bar 832 leave the range of the first base component. The unlocking bar 850 is slidably connected to the sliding seat 700, and the unlocking bar 850 can slide relative to the seat body 710 along the Z direction. When the unlocking bar 850 moves toward the bottom of the sliding seat 700, the unlocking bar 850 can push the second sliding bar 840 to move toward the pre-locking member 830.

[0061] See also Figure 6 A first inclined surface 841 is provided at one end of the second sliding bar 840 away from the pre-locking member 830, and a second inclined surface 851 is provided on the unlocking bar 850. The second inclined surface 851 cooperates with the first inclined surface 841 so that when the unlocking bar 850 moves toward the bottom of the sliding seat 700, it can push the second sliding bar 840 to move toward the pre-locking member 830. Of course, the cooperation of the first inclined surface 841 and the second inclined surface 851 is only one implementation method in this embodiment. In other implementation methods, it is also possible to use other transmission methods such as gears to make the unlocking bar 850 and the second sliding bar 840 form a cooperation.

[0062] This embodiment is also provided with a structure for limiting the unlocking bar 850, so as to prevent the second basic component from loosening from the first basic component or directly falling off from the first basic component under the thrust of the unlocking bar 850 when the first basic component is removed from the sliding seat 700.

[0063] See also Fig.10 and Fig.11 In this embodiment, the second sliding bar 840 is fixedly connected to the pre-locking member 830, that is, when the pre-locking member 830 moves along the X direction, the second sliding bar 840 will move with the pre-locking member 830. A groove 852 is provided at the top of the unlocking bar 850, and the groove 852 is located on the side of the unlocking bar 850 facing the second sliding bar 840. When the unlocking bar 850 moves downward along the Z direction, it will first push the second sliding bar 840 and the pre-locking member 830 to move in a direction away from the first sliding bar 810, and then the second sliding bar 840 will be stuck in the groove 852 under the elastic force of the second elastic member. At this time, when the first basic component and the second basic component are removed from the sliding seat 700, the unlocking bar 850 will not apply a thrust to the second basic component, thereby avoiding affecting the connection stability between the second basic component and the first basic component.

[0064] See also Figures 7 to 9 , a first shift block 813 is arranged on the first sliding bar 810, and a second shift block 834 and a torsion spring (not shown in the figure) are arranged on the pre-locking member 830. By means of the cooperation between the first shift block 813 and the second shift block 834, when a new first basic component is installed, the second sliding bar 840 can be withdrawn from the range of the groove 852, so as to facilitate the next installation. Specifically, a first shift block 813 is arranged on the side of the first sliding bar 810 facing the pre-locking member 830, and a third inclined surface 814 is arranged on the first shift block 813. A clearance groove 833 is also arranged on the pre-locking member 830, and the second shift block 834 and the torsion spring are both located in the clearance groove 833, and the second shift block 834 abuts against the bottom wall of the clearance groove 833, so that the second shift block 834 can only rotate upward but not downward, and under the action of the torsion spring, the second shift block 834 always maintains a horizontal state when not subjected to other forces. The two ends of the torsion spring are respectively connected to the pre-locking member 830 and the second shift block 834. The torsion spring makes the second shift block 834 have a tendency to rotate outward of the clearance groove 833, that is, the second shift block 834 has a tendency to rotate downward as shown in the figure. A fourth inclined surface 835 for cooperating with the third inclined surface 814 is provided at one end of the second shift block 834 facing the first sliding bar 810.

[0065] When the first sliding bar 810 moves toward the bottom of the sliding seat 700, the third inclined surface 814 cooperates with the fourth inclined surface 835 to move the pre-locking member away from the first sliding bar 810, thereby causing the second sliding bar 840 to leave the groove 852. When the first sliding bar 810 moves from the bottom of the sliding seat 700 toward the top of the sliding seat 700, the first shifting block 813 can shift the second shifting block 834 back into the clearance groove 833.

[0066] A third elastic member (not shown in the figure) is also arranged between the sliding seat 700 and the unlocking bar 850. The two ends of the third elastic member are respectively connected to the sliding seat 700 and the unlocking bar 850. The third elastic member makes the unlocking bar 850 tend to move toward the top of the sliding seat 700.

[0067] Among them, the second sliding bar 840, the unlocking bar 850 and the third elastic member are all provided in two, the two second sliding bars 840 are respectively located on both sides of the first sliding bar 810, the two unlocking bars 850 and the two second sliding bars 840 are provided in one-to-one correspondence, and the two third elastic members and the two unlocking bars 850 are provided in one-to-one correspondence. The cooperation of the two unlocking bars 850 and the two second sliding bars 840 can make the pre-locking member 830 move more smoothly. In addition, when installing the second basic component, the two unlocking bars 850 can also make the force on the second basic component more uniform, making the installation more convenient and accurate.

[0068] See also Fig.10 and Fig.11 The working principle of the pre-locking assembly 800 disclosed in this embodiment is as follows:

[0069] Initially, under the push of the second elastic member, the second sliding bar 840 is engaged in the groove 852 of the unlocking bar 850 , and the first sliding bar 810 protrudes from the upper surface of the partition 720 under the action of the first elastic member 820 .

[0070] First, the first basic component is installed. When the first basic component is installed on the sliding seat 700, under the pressure of the first basic component, the first sliding bar 810 begins to move toward the bottom of the sliding seat 700. In the process of the first sliding bar 810 moving downward, the first block 813 on the first sliding bar 810 first contacts the second block 834. Under the interaction of the third inclined surface 814 and the fourth inclined surface 835, the first sliding bar 810 will push the pre-locking member 830 to move a short distance along the X direction in the direction away from the first sliding bar 810. At this time, it can be ensured that the pre-locking member 830 drives the second sliding bar 840 to completely leave the range of the groove 852. At this time, the unlocking bar 850 will immediately move upward under the elastic force of the third elastic member. After that, when the first sliding bar 810 continues to move downward, after the first block 813 and the second block 834 are offset, the pre-locking member 830 will drive the first clamping bar 831 to abut against the first sliding bar 810 again under the thrust of the second elastic member. When the first sliding bar 810 descends until its upper surface is just flush with the upper surface of the partition 720, the slot 811 on the first sliding bar 810 is just aligned with the first locking strip 831 on the pre-locking member 830. At this time, under the action of the second elastic member, the pre-locking member 830 approaches the first sliding bar 810, allowing the first locking strip 831 to be inserted into the slot 811, and the second locking strip 832 thereon to form a locking connection with the first basic component, thereby completing the installation and fixation of the first basic component.

[0071] Install on the second basic component, first adjust the orientation of the second basic component through the control structure 500, and then assemble the second basic component with the first basic component from top to bottom. When the second basic component moves downward, the second basic component will squeeze the unlocking bar 850, that is, when the second basic component descends, it will drive the unlocking bar 850 to move downward together. When the unlocking bar 850 moves downward, the first inclined surface 841 on it will cooperate with the second inclined surface 851 on the second sliding bar 840, so that when the unlocking bar 850 moves downward, it pushes the second sliding bar 840 and the pre-locking member 830 to move in a direction away from the first sliding bar 810. In the process of the second basic component descending, the first clamping bar 831 on the pre-locking member 830 will first be completely out of the range of the clamping slot 811, and the second clamping bar 832 will be completely out of the range of the first basic component. Afterwards, when the second base component continues to descend, the second base component will push the unlocking bar 850 down until its groove 852 is aligned with the second sliding bar 840. At this time, under the thrust of the second elastic member, the pre-locking member 830 drives the second sliding bar 840 to be stuck in the groove 852, and at this time, the first locking strip 831 on the pre-locking member 830 will not be stuck in the slot 811, and the second locking strip 832 thereon will not be stuck in the first base component, thus completing the splicing of the second base component and the first base component.

[0072] Finally, the connected first base component and the second base component are removed from the sliding seat 700. When the first base component and the second base component leave the sliding seat 700 upward, the unlocking bar 850 will not move, and will not generate thrust on the second base component, thereby preventing the second base component from loosening from the first base component. However, when the first base component leaves the sliding seat 700 upward, since the restriction of the first clamping bar 831 on the first sliding bar 810 has been released, the first sliding bar 810 will move upward under the elastic force of the first elastic member 820, which can help separate the first base component from the sliding seat 700 on the one hand, and on the other hand, it is convenient for the first sliding bar 810 to unlock the second sliding bar 840 and the unlocking bar 850 when it moves downward again. When the first sliding bar 810 moves upward, after the first block 813 contacts the second block 834, the first block 813 continues to move, causing the second block 834 to return to the clearance groove 833, until the first block 813 completely leaves the rotation range of the second block 834, and the second block 834 rotates again to the bottom of the first block 813 under the action of the torsion spring. When the first sliding bar 810 moves upward, the positioning block 812 on the first sliding bar 810 contacts the partition 720.

[0073] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A rectangular coordinate robot, characterized in that: include: Pedestal; An X-mounting shaft, the X-mounting shaft being mounted on the base; A Y mounting axis, wherein the Y mounting axis is slidably arranged with the X mounting axis, and the Y mounting axis is vertically arranged with the X mounting axis; A Z mounting axis, wherein the Z mounting axis is slidably arranged with the Y mounting axis, the Z mounting axis is vertically arranged with the Y mounting axis, and the Z mounting axis is vertically arranged with the X mounting axis; A control structure, the control structure comprising a mounting seat, an X rotating seat, a Y rotating seat and a Z rotating seat, the mounting seat is slidably connected to the Z mounting shaft, the X rotating seat is rotationally connected to the mounting seat, the Y rotating seat is rotationally connected to the X rotating seat, and the Z rotating seat is rotationally connected to the Y rotating seat; A sliding seat, the sliding seat is slidably connected to the base, and the sliding seat is used to install the first basic component; as well as a gripping structure, the gripping structure being mounted on the Z rotating seat and being used to connect a second base component and to mount the second base component on the first base component; Also included is a pre-locking component, the pre-locking component comprising: a first sliding bar, wherein a first end of the first sliding bar is slidably connected to the sliding seat, and a second end of the first sliding bar is provided with a card slot; a first elastic member, wherein two ends of the first elastic member are respectively connected to the sliding seat and the first sliding bar, and the first elastic member enables the first sliding bar to have a tendency to move toward the top of the sliding seat; A pre-locking member, wherein the pre-locking member is provided with a first clamping strip and a second clamping strip, wherein the first clamping strip is located below the second clamping strip, the first clamping strip is used to cooperate with the clamping slot, and the second clamping strip is used to cooperate with the first basic component; a second elastic member, wherein two ends of the second elastic member are respectively connected to the sliding seat and the pre-locking member, and the second elastic member enables the pre-locking member to have a tendency to move toward the first sliding bar, and when the first sliding bar moves toward the bottom of the sliding seat, the first clamping bar can be clamped into the clamping slot, and the second clamping bar can be clamped into the first base component; and an unlocking structure, wherein the unlocking structure is installed in the sliding seat, and when the second basic component is connected to the first basic component, the second basic component can push the second clamping strip to leave the range of the first basic component through the unlocking structure; The unlocking structure comprises: a second sliding bar, the second sliding bar being slidably connected to the sliding seat, and a sliding direction of the second sliding bar being parallel to a sliding direction of the pre-locking member; and An unlocking bar, wherein the unlocking bar is slidably connected to the sliding seat, and when the unlocking bar moves toward the bottom of the sliding seat, the unlocking bar can push the second sliding bar to move toward the pre-locking member; A first inclined surface is provided at one end of the second sliding bar away from the pre-locking member, and a second inclined surface is provided on the unlocking bar, and the second inclined surface cooperates with the first inclined surface so that when the unlocking bar moves toward the bottom of the sliding seat, the second sliding bar can be pushed to move toward the pre-locking member; A groove is provided on one side of the unlocking bar facing the second sliding bar, and the second sliding bar can be engaged with the groove, a first shifting block is provided on the first sliding bar, and the second sliding bar is fixedly connected to the pre-locking member; The pre-locking member is provided with a second dial block and a torsion spring, the second dial block is rotatably connected to the pre-locking member, the rotation axis of the second dial block is parallel to the Y installation axis, the pre-locking member is provided with a yield groove, the second dial block and the torsion spring are both located in the yield groove, the two ends of the torsion spring are respectively connected to the pre-locking member and the second dial block, the torsion spring makes the second dial block have a tendency to rotate toward the outside of the yield groove, when the first sliding bar moves toward the bottom of the sliding seat, the first dial block cooperates with the second dial block and makes the pre-lock move in a direction away from the first sliding bar, so that the second sliding bar leaves the groove, and when the first sliding bar moves from the bottom of the sliding seat to the top of the sliding seat, the first dial block can dial the second dial block back into the yield groove; The pre-locking assembly further includes a third elastic member, two ends of which are respectively connected to the sliding seat and the unlocking bar, and the third elastic member enables the unlocking bar to have a tendency to move toward the top of the sliding seat; A third inclined surface is provided at one end of the first shift block facing the pre-locking member, and a fourth inclined surface is provided at one end of the second shift block facing the first sliding bar, and the third inclined surface cooperates with the fourth inclined surface to enable the pre-locking member to move in a direction away from the first sliding bar when the first sliding bar moves toward the bottom of the sliding seat.

2. The rectangular coordinate robot according to claim 1, characterized in that: The sliding seat comprises: A seat body, the seat body is slidably connected to the base, and the seat body has a mounting cavity; and A partition is installed on the base body, and the partition divides the installation cavity into a first cavity and a second cavity along the height direction of the base body, the first basic component is located in the first cavity, and the pre-locking component is located in the second cavity.

3. The rectangular coordinate robot according to claim 2, characterized in that: The partition is provided with a through hole, the first cavity and the second cavity are connected through the through hole, the first sliding bar is located in the through hole, a positioning block is provided on the first sliding bar, the positioning block is located in the second cavity, and the cross section of the positioning block is larger than the cross section of the through hole.

4. The rectangular coordinate robot according to claim 1, characterized in that: The number of the second sliding bars and the number of the unlocking bars are both two, the two second sliding bars are respectively located on both sides of the first sliding bar, and the two unlocking bars and the two second sliding bars are arranged in one-to-one correspondence.

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