Single-fork spindle robot structure

Abstract

The application discloses a single-fork main shaft mechanical hand structure and relates to the technical field of mechanical hands, which comprises a base, a driving mechanism arranged on the base, a main plate slidably connected to the base, a driving mechanism for driving the main plate to move, the main plate being provided with a first clamping plate and a second clamping plate arranged oppositely, the main plate being provided with a driving assembly for driving the first clamping plate and the second clamping plate to slide towards each other or away from each other, and the main plate being provided with a positioning mechanism for making the freedom degree of a material disc on a plane perpendicular to the sliding direction of the first clamping plate be zero. The application solves the problem that the stability of the mechanical hand is low, has the effects of being stable and convenient, reduces the risk that the material disc falls off from the mechanical hand in the transportation process, and improves the stability of the mechanical hand transportation.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, and in particular to a single-fork spindle robotic arm structure. Background Technology

[0002] A robotic arm is a mechanical device capable of performing various tasks. It has the advantages of high efficiency, accuracy, and repeatability, and can therefore replace human labor in performing tasks in harsh and dangerous environments. Robotic arms play a key role in the industrial manufacturing field and drive the development of automation technology.

[0003] The material trays are arranged in a circular shape and are mainly used to store various materials. The circumferential side walls of the trays have storage slots for storing materials, and the center of the tray has an installation slot. During storage, a robotic arm is used for transport; the tray is placed onto the robotic arm, and the arm moves along with it to transport it to the designated location. However, during transport, the robotic arm moves or rotates in multiple directions, making it prone to slipping and falling off, reducing the stability of the transport process and requiring improvement. Summary of the Invention

[0004] The purpose of this application is to provide a single-fork spindle robot structure to solve the problem of low stability in robot transportation.

[0005] The single-fork spindle robot structure provided in this application adopts the following technical solution: A single-fork spindle robot structure includes a base and a drive mechanism disposed on the base. The base is slidably connected to a main board. The drive mechanism is used to drive the main board to move. The main board is provided with a first clamping plate and a second clamping plate arranged opposite to each other. The main board is provided with a drive assembly for driving the first clamping plate and the second clamping plate to slide in a direction that moves closer to or further away from each other. The main board is provided with a positioning mechanism for making the material tray have zero degrees of freedom on a plane perpendicular to the sliding direction of the first clamping plate.

[0006] By adopting the above technical solution, when a material tray needs to be stored, the drive mechanism drives the main board to move, thereby placing the material tray to be transported onto the second clamping plate. Then, the drive assembly drives the first and second clamping plates to move towards each other until their opposing sides are in contact with the material tray, thus restricting the displacement of the material tray in the sliding direction of the first clamping plate. Subsequently, a positioning mechanism restricts the sliding of the material tray in a plane perpendicular to the sliding direction of the first clamping plate, thus limiting the degree of freedom of the material tray in the plane perpendicular to the sliding direction of the first clamping plate. The zero degree of freedom restricts the three-way movement of the material tray, thus making the material tray's position fixed during the robot's transport of the material tray. After the material tray is transported to the corresponding position on the storage rack, the drive assembly drives the first clamping plate and the second clamping plate to move away from each other, that is, cancels the clamping of the material tray by the first clamping plate and the second clamping plate, and cancels the restriction of the positioning mechanism on the material tray, so that the material tray can slide on the second clamping plate. Then, the drive mechanism drives the main board to move and place the material tray on the storage rack, thus realizing the storage of the material tray.

[0007] The first and second clamping plates restrict the displacement of the material tray in the sliding direction of the first clamping plate. Then, the positioning mechanism restricts the sliding of the material tray in a plane perpendicular to the sliding direction of the first clamping plate. This restricts the three-way movement of the material tray, so that the material tray has zero degrees of freedom during transportation, reducing the risk of the material tray falling off the robot arm during transportation and improving the stability of the robot arm's transportation.

[0008] Optionally, the motherboard is provided with a mounting bracket, the second clamping plate is fixedly connected to the mounting bracket, the driving assembly includes a first lead screw disposed on the mounting bracket, a driving component disposed on the mounting bracket and used to drive the first lead screw to rotate, the first clamping plate is threadedly connected to the first lead screw, and the mounting bracket is provided with a limiting component for limiting the rotation of the first clamping plate.

[0009] By adopting the above technical solution, when the driving component needs to drive the first clamping plate and the second clamping plate to move towards or away from each other, the driving component drives the first lead screw to rotate. The first clamping plate is threadedly connected to the first lead screw, and the limiting component restricts the rotation of the first clamping plate, thereby causing the first clamping plate to slide on the first lead screw. The second clamping plate is fixedly connected to the mounting bracket. The first clamping plate and the second clamping plate are arranged opposite to each other, thereby causing the first clamping plate and the second clamping plate to move towards each other.

[0010] The first lead screw drives the movement of the first clamping plate. The first lead screw plays a certain guiding role in the sliding trajectory of the first clamping plate, which reduces the risk of the movement trajectory of the first clamping plate deviating and affecting the clamping of the material tray, and improves the stability of the robot.

[0011] Optionally, the positioning mechanism includes two sets of positioning rods slidably connected to the second clamping plate and a moving component disposed on the mounting frame. The mounting frame is slidably connected to two sliding blocks arranged opposite to each other. Each set of positioning rods is provided with a plurality of rods and disposed on the corresponding sliding block. The plurality of positioning rods in the same set are spaced apart along the circumferential outer wall of the material tray. The moving component is used to drive the two sliding blocks to slide in a direction that moves closer to or further away from each other.

[0012] By adopting the above technical solution, when the robotic arm grips the material tray to be transported, it places the material tray on the second clamping plate and simultaneously positions the material tray between two sets of positioning rods. When the positioning mechanism needs to reduce the material tray's degrees of freedom to zero, the moving component drives two sliding blocks to slide towards each other, causing several positioning rods to move towards the material tray, so that the circumferential sidewalls of the positioning rods abut against the circumferential outer wall of the material tray. Several positioning rods in the same group are spaced apart along the circumferential outer wall of the material tray, so that several positioning rods in both groups can simultaneously abut against the circumferential outer wall of the material tray.

[0013] When all the positioning rods abut against the circumferential sidewall of the material tray, the moving component no longer drives the sliding block to slide, thus fixing the position of the positioning rods. The positioning rods restrict the displacement of the material tray. The positioning rods are slidably connected to the side of the second clamping plate near the first clamping plate. The first clamping plate and the second clamping plate are arranged opposite to each other, which restricts the sliding of the material tray in the plane perpendicular to the sliding direction of the first clamping plate, so that the degree of freedom of the material tray in the plane perpendicular to the sliding direction of the first clamping plate is zero.

[0014] The sliding of multiple positioning rods is converted into the sliding of two sliding blocks, which facilitates the adjustment of the positioning mechanism, makes the operation of the positioning mechanism simpler and more convenient, and improves the ease of use of the robot.

[0015] Optionally, the first clamping plate is slidably connected to a limiting rod, and the first clamping plate is provided with a transmission component for driving the limiting rod to slide towards or away from the second clamping plate. Several positioning rods in both groups are located on the same circular contour with a reference point directly opposite the center of the limiting rod as the center. The moving group is used to drive the two sliding blocks to slide the same distance towards or away from each other.

[0016] By adopting the above technical solution, when the moving component drives the two sliding blocks to slide towards each other, the several positioning rods of the two groups slide towards the material tray. The several positioning rods of the two groups are all located on the same circular contour with the reference point directly opposite the center of the limiting rod as the center. The sliding distance of the two sliding blocks driven by the moving component is the same. Therefore, during the sliding process, the several positioning rods of the two groups are all located on the circular contour with the reference point directly opposite the center of the limiting rod as the center. The circular contour is located on a plane perpendicular to the sliding direction of the first clamping plate. The diameter of the circular contour gradually decreases. During this process, the positioning rod will abut against the circumferential outer wall of the material tray. The circumferential side wall of the material tray coincides with the circular contour. The material tray is disc-shaped. The center of the material tray is directly opposite the center of the circular contour. The center of the circular contour is the reference point directly opposite the center of the limiting rod, so that the center of the material tray is directly opposite the center of the limiting rod.

[0017] A mounting groove is provided at the center of the material tray. When the positioning rods are all in contact with the material tray and the first and second clamping plates clamp the material tray, the transmission component drives the limiting rod to slide closer to the material tray. Since the center of the limiting rod is directly opposite the center of the material tray, and the center of the material tray has a mounting groove, the limiting rod and the mounting groove on the material tray can be inserted and fitted together. During the transportation of the material tray by the robot arm, the limiting rod applies pressure to the groove wall of the mounting groove on the material tray, thereby restricting the movement of the material tray, reducing the risk of the material tray falling off the robot arm, and improving the stability of the robot arm.

[0018] Simultaneously, when material trays of different specifications are placed between several positioning rods, the moving component drives two sliding blocks to move towards each other, i.e., each positioning rod slides towards the material tray. Since the center of the circular contour of the positioning rod remains unchanged, and the center of each circle is a reference point directly opposite the center of the limiting rod, and the material trays of different specifications are arranged in a disc shape, when the positioning rod abuts against the circumferential side wall of the material tray, i.e., the material tray coincides with the circular contour, the center of the material trays of different specifications will be directly opposite the center of the limiting rod. This allows the limiting rod to be inserted and matched with the mounting slots on the material trays of different specifications without changing the position of the limiting rod on the first clamping plate. This makes the robot applicable to material trays of different specifications, improving the practicality of the robot.

[0019] Optionally, the mounting bracket is provided with a mounting block, and the moving component includes a second lead screw rotatably connected to the mounting block and a third lead screw axially disposed on the second lead screw. The second lead screw and the third lead screw are respectively threadedly connected to the corresponding sliding block. The thread rotation directions of the second lead screw and the third lead screw are different. The mounting block is provided with a transmission component for driving the second lead screw to rotate and a limiting component for limiting the rotation of the sliding block.

[0020] By adopting the above technical solution, when the two sliding blocks slide towards each other or away from each other as needed, the transmission component drives the second lead screw to rotate, and the third lead screw is axially fixedly connected to the second lead screw, so that the second lead screw drives the third lead screw to rotate. The two sliding blocks are respectively threaded to the second lead screw or the third lead screw, and the limiting component restricts the rotation of the sliding blocks, so that the sliding blocks slide on the second lead screw or the third lead screw. The rotation direction of the thread of the second lead screw is different from the rotation direction of the thread of the third lead screw, so that the two sliding blocks move towards each other or away from each other.

[0021] The third lead screw is axially fixed to the second lead screw, so that the transmission component drives the second lead screw to rotate, thereby driving the third lead screw to rotate. This ensures that the sliding distance of the two sliding blocks is the same, reduces the risk that the center of the material tray will deviate from the center of the limit rod due to the offset of the sliding path of the two sliding blocks, and improves the stability of the robot.

[0022] Optionally, the transmission assembly includes a first bevel gear axially disposed on the first lead screw and a second bevel gear axially disposed on the second lead screw, wherein the first bevel gear and the second bevel gear mesh.

[0023] By adopting the above technical solution, when the driving component drives the first lead screw to rotate, the first lead screw will drive the first clamping plate to slide towards or away from the second clamping plate. Simultaneously, the first bevel gear is axially fixedly connected to the first lead screw, and the first bevel gear meshes with the second bevel gear, causing the second bevel gear to rotate. The second bevel gear is axially fixedly connected to the second lead screw, thus causing the second lead screw to rotate. The second lead screw will then drive the third lead screw to rotate, causing the two sliding blocks to slide towards or away from each other, thereby causing several positioning rods to slide towards or away from the material tray. When the first clamping plate slides towards the second clamping plate, the positioning rod also slides towards the material tray, thus simultaneously clamping the material tray in multiple directions. When the first clamping plate slides away from the second clamping plate, the positioning rod also slides away from the material tray, thus simultaneously releasing the clamping of the material tray, facilitating its storage. Furthermore, the clamping of the first and second clamping plates and the clamping of the positioning rod do not require separate control; both can be controlled by the drive mechanism, making the operation of the robot simpler and more convenient, and improving the stability of the robot's use.

[0024] Optionally, the second bevel gear is axially fixedly connected to a sliding rod, which is slidably connected to one end of the second lead screw, and the second lead screw is provided with a pusher for driving the sliding rod to slide.

[0025] By adopting the above technical solution, when the first bevel gear needs to drive the second bevel gear to rotate, that is, when it is necessary to simultaneously slide the first clamping plate and the positioning rod, the pusher drives the sliding rod to slide towards the first bevel gear. The sliding rod is axially fixedly connected to the second bevel gear, so that the second bevel gear slides towards the first bevel gear until the first bevel gear meshes with the second bevel gear, so that the first bevel gear rotates together with the second bevel gear. At this time, the pusher no longer drives the sliding rod to slide, and the sliding rod is fixedly connected to the second lead screw, so that the first lead screw rotates while the second lead screw rotates, thus achieving the purpose of simultaneous sliding of the first clamping plate and the positioning rod.

[0026] When the first clamping plate needs to slide independently, the pusher drives the sliding rod to slide away from the first bevel gear, thereby causing the second bevel gear to slide away from the first bevel gear, that is, canceling the meshing of the first and second bevel gears, so that the first clamping plate can slide independently, thereby making the initial position of the first clamping plate and the initial position of the positioning rod adjustable.

[0027] When handling and storing material trays of different sizes, if the initial positions of the positioning rod and the first clamping plate are the same, their movement paths will differ when clamping material trays of different sizes. To ensure that the positioning rod and the first clamping plate clamp the material trays simultaneously, their initial positions need to be adjusted. The pushing component makes the initial positions of the first clamping plate and the positioning rod adjustable, enabling the robot to be used with material trays of different sizes and improving the robot's practicality.

[0028] Optionally, the motherboard is equipped with a vision control device for scanning QR codes and controlling the drive mechanism.

[0029] By adopting the above technical solution, when the robotic arm stores materials, it moves the materials along a prescribed path according to the storage and transportation requirements. That is, the drive mechanism moves the mainboard along the prescribed path, and the material is placed after reaching the designated position. However, during long-term use, wear or misalignment may occur in the connections of the components in the drive mechanism, causing errors in the mainboard's movement path and affecting the storage of materials.

[0030] The material rack has multiple storage locations for materials. A QR code is affixed to the corresponding position of each location. When the mainboard moves to the corresponding location along a predetermined path, the vision control device faces the QR code and, after successfully scanning it, clamps or places the material. If the mainboard's movement path deviates, the QR code captured by the vision control device will be misaligned, preventing successful scanning. In this case, the vision control device will control the drive mechanism to move the mainboard based on the captured image, thereby adjusting the mainboard's position until the vision control device successfully scans the QR code, after which the material can be placed.

[0031] By using a vision control device to adjust and correct the movement path of the mainboard, the risk of deviation of the mainboard movement path affecting material storage is reduced, and the stability of the robot is improved.

[0032] Optionally, the motherboard is equipped with a distance sensor for measuring the distance between itself and the corresponding QR code and transmitting the measurement result to the vision control device.

[0033] By adopting the above technical solution, when the motherboard moves to the corresponding position of the storage rack and is ready to use the vision control device to scan the QR code, the distance sensor measures the distance between itself and the corresponding QR code and transmits the measurement result to the vision control device. The vision control device adjusts the shooting focus based on the measurement result to prevent the scanning from failing due to unclear QR codes, thereby reducing the risk of not being able to put the material tray into the storage rack due to unclear shooting and improving the stability of the robot arm.

[0034] Optionally, elastic pads are fixedly connected to the opposing sides of both the first clamping plate and the second clamping plate.

[0035] By adopting the above technical solution, when the robot grips the material, the opposing sides of the first gripping plate and the corresponding second gripping plate abut against the material. Since elastic pads are fixedly connected to the opposing sides of the first gripping plate and the corresponding second gripping plate, and the elastic pads are made of elastic material, the elastic pads undergo elastic deformation under force, that is, the elastic pads play a buffering role for the material, reducing the risk of material damage caused by excessive pressure applied during gripping. At the same time, the elastic pads increase the friction between the material and the first and second gripping plates, reducing the risk of the material falling off the robot during transportation and improving the stability of the robot's use.

[0036] In summary, this application includes at least one of the following beneficial technical effects: 1. This reduces the material tray's degree of freedom during transport to zero, lowering the risk of the material tray falling off the robotic arm and improving the stability of the robotic arm's transport. 2. It reduces the risk of the material tray being affected by the deviation of the movement trajectory of the first clamping plate or positioning rod, and improves the stability of the robot arm. 3. The operation of the robotic arm is simpler and more convenient, improving its ease of use; 4. The robotic arm can be used with material trays of different sizes, which improves the practicality of the robotic arm. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application; Figure 2 This is a schematic diagram of the motherboard structure according to an embodiment of this application; Figure 3 This is a schematic diagram of the mounting bracket structure according to an embodiment of this application; Figure 4 This is a schematic diagram of the driver component structure according to an embodiment of this application; Figure 5 This is a schematic diagram of the limiting component structure according to an embodiment of this application; Figure 6 This is a schematic diagram of the limiting rod structure according to an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the mobile component according to an embodiment of this application.

[0038] Explanation of reference numerals in the attached drawings: 1. Base; 2. Main board; 3. Mounting bracket; 4. First clamping plate; 5. Second clamping plate; 6. Drive assembly; 7. Positioning mechanism; 8. Moving assembly; 9. Transmission assembly; 11. Drive mechanism; 12. Connecting rod; 21. Connecting frame; 22. Distance sensor; 23. Drive wheel; 24. Transmission wheel; 25. First transmission motor; 31. Drive wheel; 32. Limiting assembly; 33. Guide block; 34. Sliding block; 35. Mounting block; 41. Elastic pad; 42. Limiting block; 43. Moving groove; 44. Limiting rod; 45. Transmission component; 51. 61. Through slot; 62. First lead screw; 71. Driving component; 81. Positioning rod; 82. Second lead screw; 91. First bevel gear; 92. Second bevel gear; 211. Vision control device; 231. Conveyor belt; 311. Connecting belt; 321. Locking slot; 322. Locking block; 351. Limiting component; 421. Guide slot; 611. Driven wheel; 811. Pushing component; 921. Sliding rod; 2111. Vision camera; 2112. LED light source; 2113. Integrated mechanical control board; 3511. Limiting slot; 3512. Limiting block. Detailed Implementation

[0039] The following is in conjunction with the appendix Figure 1 - Appendix Figure 7 This application will be described in further detail.

[0040] This application discloses a single-fork spindle robot structure.

[0041] Reference Figure 1 A single-fork spindle manipulator structure includes a base 1 and a drive mechanism 11 mounted on the base 1. The base 1 is slidably connected to a main board 2. The drive mechanism 11 is used to drive the main board 2 to move. The drive mechanism 11 refers to Chinese invention patent with authorization publication number CN111482979A. The main board 2 is mounted on a connecting rod 12, thereby enabling the drive mechanism 11 to drive the main board 2 to move and rotate in three directions.

[0042] Reference Figure 1 and Figure 2 The motherboard 2 is slidably connected to the mounting bracket 3. The mounting bracket 3 is equipped with a first clamping plate 4 and a second clamping plate 5 arranged opposite to each other. The first clamping plate 4 is slidably connected to the mounting bracket 3, and the second clamping plate 5 is fixedly connected to the mounting bracket 3. An elastic pad 41 is fixedly connected to the opposite side of the first clamping plate 4 and the second clamping plate 5. The elastic pad 41 is made of elastic material such as rubber.

[0043] Reference Figure 1 and Figure 2 A connecting frame 21 is fixedly connected to the side of the motherboard 2 away from the mounting bracket 3. The connecting frame 21 is equipped with a vision control device 211 for scanning QR codes and controlling the drive mechanism 11. The vision control device 211 includes a vision camera 2111 fixedly connected to the connecting frame 21, an LED light source fixedly connected to the connecting frame 21, and an integrated robotic arm control board fixedly connected to the motherboard 2. The vision camera 2111 is used to take pictures and scan QR codes.

[0044] Reference Figure 1 and Figure 2 The motherboard 2 is equipped with a distance sensor 22 for measuring the distance between itself and the corresponding QR code and transmitting the measurement result to the vision control device 211.

[0045] Reference Figure 3 The main board 2 is rotatably connected to a drive wheel 23 and a transmission wheel 24. The drive wheel 23 and the transmission wheel 24 are connected by a conveyor belt 231. The mounting bracket 3 is fixedly connected to a fixing block, which is fixedly connected to the conveyor belt 231. The main board 2 is fixedly connected to a first transmission motor 25 for driving the drive wheel 23 to rotate. The drive wheel 23 is axially fixedly connected to the output end of the first transmission motor 25.

[0046] Reference Figure 4 The main board 2 is equipped with a drive assembly 6 for driving the first clamping plate 4 and the second clamping plate 5 to slide in a direction that moves closer to or further away from each other, and the main board 2 is equipped with a positioning mechanism 7 for making the material tray have zero degrees of freedom on a plane perpendicular to the sliding direction of the first clamping plate 4.

[0047] Reference Figure 4 The drive assembly 6 includes a first lead screw 61 rotatably connected to the mounting bracket 3 and a drive component 62 fixedly connected to the mounting bracket 3 for driving the first lead screw 61 to rotate. The drive component 62 uses a conventional drive motor. One end of the first lead screw 61 is axially fixedly connected to a driven wheel 611. The mounting bracket 3 is rotatably connected to a drive wheel 31. The driven wheel 611 and the drive wheel 31 are connected by a connecting belt 311. The drive wheel 31 is axially fixedly connected to the output end of the drive component 62. A first clamping plate 4 is threadedly connected to the first lead screw 61. The mounting bracket 3 is equipped with a limiting assembly 32 for limiting the rotation of the first clamping plate 4.

[0048] Reference Figure 5 Limiting blocks 42 are fixedly connected to both sides of the first clamping plate 4. Two guide blocks 33 are fixedly connected to both sides of the mounting bracket 3. The limiting block 42 has a guide groove 421 that slides and cooperates with the corresponding guide block 33. The limiting component 32 includes four locking grooves 321 that are respectively opened on both sides of the corresponding guide block 33 and four locking blocks 322 that are fixedly connected to the groove walls on both sides of the guide groove 421. The locking blocks 322 slide and cooperate with the corresponding locking grooves 321.

[0049] Reference Figure 6 The first clamping plate 4 has a moving groove 43 on the side near the second clamping plate 5. A limit rod 44 is slidably connected in the moving groove 43. The first clamping plate 4 is fixedly connected to a transmission component 45 for driving the limit rod 44 to slide towards or away from the second clamping plate 5. The transmission component 45 adopts a conventional transmission cylinder. One end of the piston rod of the transmission component 45 is fixedly connected to the limit rod 44, and the other end is fixedly connected to the first clamping plate 4.

[0050] Reference Figure 7 The positioning mechanism 7 includes two sets of positioning rods 71 ​​slidably connected to the second clamping plate 5 and a moving component 8 mounted on the mounting bracket 3. The second clamping plate 5 has four through slots 51, and the positioning rods 71 ​​are slidably connected in the corresponding through slots 51.

[0051] Reference Figure 7 The mounting bracket 3 is slidably connected to two sliding blocks 34 arranged opposite each other. Each set of positioning rods 71 ​​consists of two rods and is fixedly connected to the corresponding sliding block 34. All four positioning rods 71 ​​are located on the same circular outline with the reference point directly opposite the center of the limiting rod 44 as the center. The circular outline is located on a plane perpendicular to the sliding direction of the first clamping plate 4. The moving component 8 is used to drive the two sliding blocks 34 to slide the same distance in a direction that is closer to or farther away from each other.

[0052] Reference Figure 7The mounting bracket 3 is fixedly connected to the mounting block 35. The moving component 8 includes a second lead screw 81 rotatably connected to the mounting block 35 and a third lead screw 82 axially fixed to the second lead screw 81. The second lead screw 81 and the third lead screw 82 are respectively threadedly connected to the corresponding sliding block 34. The thread rotation directions of the second lead screw 81 and the third lead screw 82 are different. The mounting block 35 is equipped with a transmission component 9 for driving the rotation of the second lead screw 81 and a limiting component 351 for limiting the rotation of the sliding block 34.

[0053] Reference Figure 7 The limiting component 351 includes a limiting groove 3511 formed on the mounting block 35 and two limiting blocks 3512 respectively fixedly connected to the corresponding sliding block 34. The limiting blocks 3512 slide and cooperate with the corresponding limiting groove 3511.

[0054] Reference Figure 7 The transmission assembly 9 includes a first bevel gear 91 axially fixedly connected to the first lead screw 61 and a second bevel gear 92 axially fixedly connected to the second lead screw 81, wherein the first bevel gear 91 and the second bevel gear 92 mesh with each other.

[0055] Reference Figure 7 The second bevel gear 92 is axially fixedly connected to a sliding rod 921. The sliding rod 921 is slidably connected to one end of the second lead screw 81 near the first bevel gear 91. One end of the second lead screw 81 is fixedly connected to a pusher 811 for driving the sliding rod 921 to slide. The pusher 811 is a conventional electric push rod. One end of the piston rod of the pusher 811 is fixedly connected to the sliding rod 921, and the other end is fixedly connected to the second lead screw 81.

[0056] Reference Figure 7 The integrated robotic arm control board is used to control the drive mechanism 11, drive component 62, first transmission motor 25, transmission component 45, push component 811, LED light source 2112 and vision camera 2111.

[0057] The implementation principle of a single-fork spindle robot structure in this application embodiment is as follows: When it is necessary to transport and store the material tray, the drive mechanism 11 drives the main board 2 to move, so that the material tray to be transported is placed on the second clamping plate 5, and the material tray to be transported is located between the first clamping plate 4 and the second clamping plate 5, while the material tray is located between multiple positioning rods 71.

[0058] The sliding of the material tray is then restricted by the first clamping plate 4 and the positioning mechanism 7. The drive unit 62 is activated, which drives the drive wheel 31 to rotate. The drive wheel 31 and the driven wheel 611 are connected by a connecting belt 311, causing the driven wheel to rotate. The driven wheel 611 is axially fixed to the first lead screw 61, thus driving the first lead screw 61 to rotate. The first clamping plate 4 is threadedly connected to the first lead screw 61. The groove wall of the locking groove 321 restricts the rotation of the locking block 322. The locking block 322 is fixedly connected to the limiting block 42, which is fixedly connected to the first clamping plate 4, thus restricting the rotation of the first clamping plate 4. This allows the first clamping plate 4 to slide on the first lead screw 61. The first clamping plate 4 and the second clamping plate 5 are arranged opposite to each other, causing the first clamping plate 4 to slide towards the second clamping plate 5 until both the opposing sides of the first clamping plate 4 and the second clamping plate 5 are in contact with the material tray, thus clamping the material tray. After this, the drive unit 62 no longer drives the first lead screw 61 to rotate.

[0059] While the driving component 62 drives the first lead screw 61 to rotate, the first bevel gear 91 is axially fixedly connected to the first lead screw 61. The first bevel gear 91 meshes with the second bevel gear 92, causing the second bevel gear 92 to rotate. The second bevel gear 92 is axially fixedly connected to the second lead screw 81, thereby causing the second lead screw 81 to rotate. The second lead screw 81 will drive the third lead screw 82 to rotate. The two sliding blocks 34 are respectively threaded to the second lead screw 81 or the third lead screw 82. The groove wall of the limiting groove 3511 restricts the rotation of the limiting block 3512. The limiting block 3512 is fixedly connected to the corresponding sliding block 34, so that the two sliding blocks 34 slide on the second lead screw 81 or the third lead screw 82. The two sliding blocks 34 are arranged opposite to each other. The rotation direction of the thread of the second lead screw 81 is different from that of the thread of the third lead screw 82, so that the two sliding blocks 34 slide the same distance in the direction of moving closer to each other, so that the four positioning rods 71 ​​slide in the direction of moving closer to the material tray, and the sliding distance of the four positioning rods 71 ​​is the same. The four positioning rods 71 ​​are all located on the same circular contour with the reference point directly opposite the center of the limiting rod 44 as the center. Therefore, during the sliding process, the four positioning rods 71 ​​of both sets are located on the circular contour with the reference point directly opposite the center of the limiting rod 44 as the center. The circular contour is located on a plane perpendicular to the sliding direction of the first clamping plate 4. The diameter of the circular contour gradually decreases. During this process, the four positioning rods 71 ​​will abut against the circumferential outer wall of the material tray. When the opposing sides of the first clamping plate 4 and the second clamping plate 5 are both in contact with the material tray, the four positioning rods 71 ​​will all be in contact with the circumferential outer wall of the material tray. The driving member 62 will no longer drive the first lead screw 61 to rotate, thereby causing the second lead screw 81 and the third lead screw 82 to stop rotating, that is, fixing the position of each positioning rod 71. Each positioning rod 71 restricts the sliding of the material tray on a plane perpendicular to the sliding direction of the first clamping plate 4, and makes the circumferential side wall of the material tray coincide with the circular outline. The material tray is disc-shaped, so that the center of the material tray is directly opposite the center of the circular outline. The center of the circular outline is the reference point directly opposite the center of the limiting rod 44, thereby making the center of the material tray directly opposite the center of the limiting rod 44.

[0060] Then the piston rod of the transmission component 45 extends, and the limiting rod 44 is fixedly connected to one end of the piston rod of the transmission component 45, so that the limiting rod 44 slides towards the second clamping plate 5, that is, towards the center of the material tray. The center of the material tray is provided with an installation groove, so that the limiting rod 44 is inserted and engaged with the installation groove. Then the piston rod of the transmission component 45 no longer extends, that is, the position of the limiting rod 44 is fixed, so that the limiting rod 44 further restricts the sliding of the material tray by applying force to the wall of the installation groove of the material tray.

[0061] The material tray is then transported to the corresponding storage location on the storage rack via the drive mechanism 11. The movement path of the mainboard 2 is calibrated and adjusted by the vision control device 211. When it reaches the corresponding position, the integrated robotic arm control board turns on the LED light source 2112, which illuminates the vision camera 2111. The integrated robotic arm control board then controls the vision camera 2111 to capture and scan the QR code. If the QR code is successfully scanned, the material is placed. If the QR code captured by the vision control device 211 is deviated and cannot be successfully scanned, the vision control device 211 will control the drive mechanism 11 to move the mainboard 2 based on the captured image, thereby adjusting the position of the mainboard 2 until the vision camera 2111 successfully scans the QR code. Then, the drive wheel 23 is driven by the first transmission motor 25 to rotate, causing the mounting frame 3 to slide and send the material tray into the corresponding storage location. After being sent into the storage location, the material tray is placed in cooperation with the drive mechanism 11.

[0062] During the material tray process, the corresponding material tray displacement restriction needs to be removed. That is, the piston rod of the transmission component 45 retracts and the limiting rod 44 slides away from the second clamping plate 5, thus canceling the insertion and engagement of the mounting groove and the limiting rod 44. At the same time, the driving component 62 drives the first lead screw 61 to rotate in the opposite direction, causing the first clamping plate 4 to slide away from the second clamping plate 5, and causing the positioning rod 71 to slide away from the material tray, thereby removing the restriction on the material tray displacement.

[0063] During the transport of the material tray, the first clamping plate 4 and the second clamping plate 5 are used to clamp the material tray, and the positioning rod 71 is used to clamp the material tray to restrict its sliding on the plane perpendicular to the sliding direction of the first clamping plate 4. This restricts the three-way movement of the material tray, so that the material tray has zero degrees of freedom during transport. Furthermore, the movement of the material tray is further restricted by the insertion and cooperation of the limiting rod 44 with the mounting groove on the material tray, which reduces the risk of the material tray falling off the robot arm during transport and ensures the stability of the robot arm when transporting the material tray.

[0064] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A single-fork spindle robot structure, characterized in that: Includes a base (1) and a drive mechanism (11) disposed on the base (1). The base (1) is slidably connected to a main board (2). The drive mechanism (11) is used to drive the main board (2) to move. The main board (2) is provided with a first clamping plate (4) and a second clamping plate (5) arranged opposite to each other. The main board (2) is provided with a drive assembly (6) for driving the first clamping plate (4) and the second clamping plate (5) to slide in a direction that moves closer to or further away from each other. The main board (2) is provided with a positioning mechanism (7) for making the material tray have zero degrees of freedom on a plane perpendicular to the sliding direction of the first clamping plate (4). The motherboard (2) is provided with a mounting bracket (3), and the drive assembly (6) includes a first lead screw (61) rotatably connected to the mounting bracket (3); The positioning mechanism (7) includes two sets of positioning rods (71) slidably connected to the second clamping plate (5) and a moving component (8) set on the mounting frame (3). The mounting frame (3) is slidably connected to two sliding blocks (34) arranged opposite to each other. Each set of positioning rods (71) is provided with a plurality of rods and is set on the corresponding sliding block (34). The plurality of positioning rods (71) in the same set are spaced apart along the circumferential outer wall of the material tray. The moving component (8) is used to drive the two sliding blocks (34) to slide in a direction that is closer to each other or further away from each other. The first clamping plate (4) is slidably connected to a limiting rod (44). The first clamping plate (4) is provided with a transmission member (45) for driving the limiting rod (44) to slide towards or away from the second clamping plate (5). Several positioning rods (71) of the two groups are located on the same circular outline with the reference point directly opposite the center of the limiting rod (44) as the center. The moving component (8) is used to drive the two sliding blocks (34) to slide the same distance towards or away from each other. The mounting bracket (3) is provided with a mounting block (35), and the moving component (8) includes a second lead screw (81) rotatably connected to the mounting block (35). The mounting block (35) is provided with a transmission component (9) for driving the second lead screw (81) to rotate. The transmission assembly (9) includes a first bevel gear (91) axially disposed on the first lead screw (61) and a second bevel gear (92) axially disposed on the second lead screw (81), wherein the first bevel gear (91) and the second bevel gear (92) mesh. The second bevel gear (92) is axially fixedly connected to a sliding rod (921), which is slidably connected to one end of the second lead screw (81). The second lead screw (81) is provided with a pusher (811) for driving the sliding rod (921) to slide.

2. The single-fork spindle robot structure according to claim 1, characterized in that: The second clamping plate (5) is fixedly connected to the mounting frame (3). The driving assembly (6) includes a driving member (62) disposed on the mounting frame (3) and used to drive the first lead screw (61) to rotate. The first clamping plate (4) is threadedly connected to the first lead screw (61). The mounting frame (3) is provided with a limiting assembly (32) for limiting the rotation of the first clamping plate (4).

3. The single-fork spindle robot structure according to claim 2, characterized in that: The moving component (8) includes a third lead screw (82) axially disposed on the second lead screw (81). The second lead screw (81) and the third lead screw (82) are respectively threadedly connected to the corresponding sliding block (34). The thread rotation directions of the second lead screw (81) and the third lead screw (82) are different. The mounting block (35) is provided with a limiting component (351) for limiting the rotation of the sliding block (34).

4. The single-fork spindle robot structure according to claim 1, characterized in that: The motherboard (2) is equipped with a vision control device (211) for scanning QR codes and controlling the drive mechanism (11).

5. The single-fork spindle robot structure according to claim 4, characterized in that: The motherboard (2) is equipped with a distance sensor (22) for measuring the distance between itself and the corresponding QR code and transmitting the measurement result to the vision control device (211).

6. The single-fork spindle robot structure according to claim 1, characterized in that: Elastic pads (41) are fixedly connected to the opposite sides of the first clamping plate (4) and the second clamping plate (5).

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