A five-axis handling robot

Abstract

The present application relates to the technical field of handling equipment, and specifically discloses a five-axis handling manipulator, which includes a transfer plate, a first mounting seat, a second mounting seat, a first straw, a second straw, a mounting frame, and a rotating frame; the first straw is mounted in the first mounting seat, with the first straw nozzle facing downward, and a lifting mechanism for driving the first mounting seat to rise and fall is mounted on the transfer plate; the mounting frame is mounted on the transfer plate, and the rotating frame is arranged below the mounting frame, and a rotating mechanism for driving the rotating frame to rotate is arranged in the mounting frame; the second straw is mounted in the second mounting seat, and the second mounting seat is located below the first mounting seat, with the second straw nozzle facing downward, and a rotating motor is arranged in the rotating frame, and the output shaft of the rotating motor is connected to the side of the second mounting seat; the second straw is located below the first straw, and the second straw nozzle and the first straw nozzle are on the same vertical line. The present application has the effect of reducing the manufacturing cost of the production line and reducing the difficulty of assembling the production line.

Description

Technical Field

[0001] The present invention relates to the technical field of handling equipment, and in particular to a five-axis handling robot. Background Art

[0002] A five-axis handling robot is a robot with five freely movable axes, used for handling, assembly, disassembly and other operations.

[0003] In related technologies, during product processing, some products require labels or codes on their fronts. A conveyor transports the products to a processing device, which then transfers the products on the conveyor belt to a processing station. For production lines with a low degree of automation, an operator is often deployed to remove the products from the conveyor belt and place them on a processing station. For production lines with a high degree of automation, a robot often grabs the products on the conveyor and places them on a processing station. Because the products are dumped onto the conveyor belt at once without adjusting the front and back orientations, some face up while others face down. This necessitates a flipping mechanism on the conveyor. A CCD camera identifies products with their backs facing up, which the flipping mechanism then grabs and rotates 180° so they face up. The robot then grabs the products.

[0004] Regarding the above-mentioned related technologies, by setting a flipping mechanism on the conveyor, on the one hand, the manufacturing cost of the production line is increased; on the other hand, since the products with the back side facing up need to be accurately flipped and the products with the front side facing up cannot be flipped, the flipping mechanism needs to have a higher assembly precision, which increases the assembly difficulty of the production line. Summary of the Invention

[0005] In order to reduce the manufacturing cost of the production line and reduce the difficulty of production line assembly, the present application provides a five-axis handling robot.

[0006] The five-axis handling robot provided in this application adopts the following technical solution:

[0007] A five-axis handling robot comprises a transfer plate, a first mounting seat, a second mounting seat, a first straw, a second straw, a mounting frame and a rotating frame; the first straw is mounted in the first mounting seat, the first straw nozzle faces downward, and a lifting mechanism for driving the first mounting seat to rise and fall is mounted on the transfer plate; the mounting frame is mounted on the transfer plate, the rotating frame is arranged below the mounting frame, and a rotating mechanism for driving the rotating frame to rotate is arranged in the mounting frame; the second straw is mounted in the second mounting seat, the second mounting seat is located below the first mounting seat, the second straw nozzle faces downward, a rotating motor is arranged in the rotating frame, and the output shaft of the rotating motor is connected to the side of the second mounting seat; the second straw is located below the first straw, and the second straw nozzle and the first straw nozzle are on the same vertical line.

[0008] Optionally, the lifting mechanism includes a mounting plate, a telescopic cylinder, a fourth linear guide rail and a lifting plate; the mounting plate is mounted on the side of the transfer plate, and the fourth linear guide rail is mounted on the side of the mounting plate away from the transfer plate; the side of the lifting plate is connected to the side of the slider of the fourth linear guide rail, the telescopic cylinder is mounted on the top of the mounting plate away from the side of the transfer plate, and the piston rod end of the telescopic cylinder is connected to the top surface of the lifting plate; the first mounting seat is connected to the bottom end of the side of the lifting plate away from the mounting plate.

[0009] Optionally, the first mounting seat includes a first square tube, a first sliding plate and a first bolt; one side of the first square tube is connected to the side of the bottom end of the lifting plate, and two first sliding plates are provided, one end of the two first sliding plates respectively slides on the inner walls at both ends of the first square tube, and the other ends of the two first sliding plates extend out of the first square tube; two first bolts are provided, the two first bolts are passed through the side wall of the first square tube away from the lifting plate, and the ends of the two first bolts are respectively pressed against the sides of the two first sliding plates; two first suction straws are provided, and the two first suction straws are respectively passed through the ends of the two first sliding plates.

[0010] Optionally, the second mounting seat includes a second square tube, a second sliding plate and a second bolt; the middle position of one side surface of the second square tube is connected to the output shaft end of the rotating motor, and two second sliding plates are provided, one end of the two second sliding plates slides on the inner walls of the two ends of the second square tube respectively, and the other ends of the two second sliding plates extend out of the second square tube; two second bolts are provided, the two second bolts are passed through the top side walls of the second square tube, and the ends of the two second bolts are respectively pressed against the sides of the two second sliding plates; two second suction pipes are provided, and the two second suction pipes are respectively passed through the ends of the two second sliding plates.

[0011] Optionally, the mounting frame includes a U-shaped plate, a horizontal plate, a side plate and a bottom plate, and two U-shaped plates are provided, one end of the two U-shaped plates is connected to the top surface of the transfer plate, and the other end of the two U-shaped plates is connected to the top surface of the horizontal plate, the two U-shaped plates are located at both ends of the horizontal plate, and the lifting mechanism is located between the two U-shaped plates; two side plates are provided, the two side plates are connected to the bottom surface of the horizontal plate, and the rotating mechanism is installed between the two side plates; the bottom plate is connected to the bottom surfaces of the two side plates; the rotating frame includes a top plate, a side frame and a receiving plate, the top plate is driven to rotate by the rotating mechanism, two side frames are provided, the two side frames are connected to the bottom surface of the top plate, and the receiving plate is connected between the bottom ends of the two side frames; the rotating motor is installed on the top surface of the receiving plate.

[0012] Optionally, the rotating mechanism includes a rotating motor and a rotating rod, the rotating motor is installed between the two side plates, and the output shaft of the rotating motor passes through the bottom surface of the bottom plate and is connected to the top surface of the top plate; there are four rotating rods, and one end of the four rotating rods is rotatably connected to the bottom surface of the bottom plate; the top surface of the top plate is provided with a rolling groove for the four rotating rods to roll, and the circumferential surface of the rotating rod is in contact with the inner wall of the rolling groove.

[0013] Optionally, a first connecting tube is inserted into the inner wall of the first straw nozzle, and the bottom end of the first connecting tube is connected to a first flexible bellows, and the bottom end of the first flexible bellows is flat; the top end of the first straw is connected to a first elastic tube, and the first elastic tube is used to connect to an external vacuum generator; a second connecting tube is inserted into the inner wall of the second straw nozzle, and the top end of the second connecting tube is connected to a second flexible bellows, and the top end of the second flexible bellows is flat; the bottom end of the second straw is connected to a second elastic tube, and the second elastic tube is used to connect to an external vacuum generator.

[0014] Optionally, two guide rods are connected to the bottom surface of the second mounting seat, a guide tube is sliding on the circumference of the guide rod, a support plate is connected to the bottom surface of the guide tube, and the guide rod passes through the support plate; the support plate is provided with a waist-shaped hole for the second straw to pass through; the second mounting seat is installed with a driving mechanism for driving the support plate to move along the guide rod.

[0015] Optionally, the driving mechanism includes a cylinder, a first piston rod, a second piston rod, a spring, a mounting block, a pressing rod and a third bolt; the cylinder is mounted on the side of the second mounting seat away from the first mounting seat, a U-shaped oil channel is provided in the cylinder, the U-shaped oil channel is filled with hydraulic oil, both ends of the U-shaped oil channel are connected to the side of the cylinder away from the second mounting seat, and the inner walls of both ends of the U-shaped oil channel are connected to limiting rings; the piston head at the end of the first piston rod slides and is sealed on the inner wall of one end of the U-shaped oil channel, and the first piston rod slides on the inner wall of the limiting ring; the piston head at the end of the second piston rod slides on the inner wall of the other end of the U-shaped oil channel, and the second piston rod slides on the limiting ring The inner wall of the ring; the end of the first piston rod is connected to the side of the support plate close to the oil cylinder, the end of the second piston rod is connected to a baffle, and a through hole for the baffle to pass through is provided in the support plate; the spring is sleeved on the outside of the second piston rod, one end of the spring is pressed against the side of the baffle, and the other end of the spring is pressed against the side of the oil cylinder away from the second mounting seat; the mounting block is connected to the side of the first mounting seat away from the lifting mechanism, the lower pressure rod is passed through the mounting block, the lower pressure rod is vertically arranged, the third bolt is passed through the side wall of the mounting block away from the first mounting seat, and the third bolt is pressed against the circumference of the lower pressure rod; the lower pressure rod is aligned with the baffle.

[0016] Optionally, it also includes a support table, a first substrate, a Y-axis moving mechanism, a Y-axis moving plate, a second substrate, an X-axis moving mechanism, an X-axis moving plate, a third substrate, a Z-axis moving mechanism and a Z-axis fixed plate; the first substrate is horizontally installed on the top surface of the support table, the Y-axis moving mechanism is installed on the top surface of the first substrate, and the Y-axis moving mechanism is used to drive the Y-axis moving plate to move along the Y-axis; one end of the side surface of the second substrate is connected to the side surface of the Y-axis moving plate, the X-axis moving mechanism is installed on the side surface of the second substrate, and the X-axis moving mechanism is used to drive the X-axis moving plate to move along the X-axis; two Z-axis fixed plates are provided, and two Z-axis fixed plates are connected to the side surfaces of the X-axis moving plate, the third substrate is vertically installed between the two Z-axis fixed plates, the Z-axis moving mechanism is installed on the Z-axis fixed plate, and the Z-axis moving mechanism is used to drive the third substrate to move along the Z-axis; the transfer plate is connected to the bottom end of the third substrate.

[0017] In summary, this application includes at least one of the following beneficial technical effects:

[0018] 1. When the product is identified as facing up, the transfer plate is driven to descend so that the second straw is close to the top surface of the product, and the nozzle of the second straw sucks the front of the product, and then the transfer plate is driven to rise, and the transfer plate is moved to move the product to the processing station; when the product is identified as facing up, the transfer plate is driven to descend so that the second straw is close to the top surface of the product, and the nozzle of the second straw sucks the back of the product, and then the transfer plate is driven to rise, and the motor drives the second mounting seat to rotate 180° so that the product is rotated above the second straw. At this time, the product faces up; the lifting mechanism drives the first mounting seat to descend, and the first mounting seat drives the first straw to descend. The nozzles of the first straw and the second straw are in the same straight line, and the nozzle of the first straw is close to the top surface of the product. , the first straw sucks the top surface of the product; the rotating mechanism drives the rotating frame to rotate 180°, and the second mounting base rotates 180°, so that the second straw moves away from under the first straw; at this time, the lifting mechanism drives the first mounting base to descend, and the first mounting base drives the first straw to move downward, so that the first straw passes over the second straw, and then the transfer plate is moved to move the product to the processing station; by cooperating with the flipped second straw and the first straw, the product with the back side facing up can be adjusted to face up, without the need for a separate flipping mechanism, thereby improving the convenience of product flipping. Only a robot arm is required, and CCD camera recognition is required to complete the transfer and flipping of the product, while reducing the production line manufacturing cost and the difficulty of production line assembly;

[0019] 2. By providing two first suction pipes, both pipes simultaneously absorb the product, making the first suction pipes' product absorption more stable. By loosening the first bolt, the length of the first sliding plate sliding out of the first square tube is adjusted, and tightening the first bolt changes the distance between the two first suction pipes to accommodate products of different specifications.

[0020] 3. By providing two second suction pipes, both pipes simultaneously absorb the product, making the second pipes' product absorption more stable. By loosening the second bolt, the length of the second sliding plate sliding out of the second square tube is adjusted, and tightening the second bolt changes the distance between the two second suction pipes to accommodate different product sizes.

[0021] 4. When the second straw rotates the product 180°, the product is located above the second straw. The driving mechanism drives the support plate to rise, and the support plate slides on the guide rod through the guide tube, and the support plate is close to the bottom surface of the product. When the first straw presses down on the product, the support plate is used to support the product, making it less likely to shake and improving the stability of the product when it is sucked by the first straw. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic structural diagram of the manipulator according to an embodiment of the present application;

[0023] Figure 2 yes Figure 1 Schematic diagram of the enlarged structure of part A;

[0024] Figure 3 This is a schematic diagram of a portion of the structure of the robot according to an embodiment of the present application;

[0025] Figure 4 This is a partial structural diagram of the driving mechanism of an embodiment of the present application;

[0026] Figure 5 2 is a schematic cross-sectional view of the first straw according to an embodiment of the present application;

[0027] Figure 6 It is a schematic diagram of the cross-sectional structure of the second straw in the embodiment of the present application.

[0028] Description of reference numerals:

[0029] 1. Transfer plate; 11. First mounting seat; 111. First square tube; 112. First sliding plate; 113. First bolt; 12. Second mounting seat; 121. Second square tube; 122. Second sliding plate; 123. Second bolt; 13. First suction pipe; 131. First connecting pipe; 132. First flexible bellows; 133. First elastic tube; 14. Second suction pipe; 141. Second connecting pipe; 143. Second flexible bellows; 142. Second elastic tube Tube; 15. Mounting frame; 151. U-shaped plate; 152. Horizontal plate; 153. Side plate; 154. Bottom plate; 16. Rotating frame; 161. Top plate; 1611. Rolling groove; 162. Side frame; 163. Attachment plate; 17. Rotating motor; 2. Lifting mechanism; 21. Mounting plate; 22. Telescopic cylinder; 23. Fourth linear guide; 24. Lifting plate; 3. Rotating mechanism; 31. Rotating motor; 32. Rotating rod; 4. Guide rod; 41. Guide tube; 42 , support plate; 421, waist-shaped hole; 422, through hole; 5, driving mechanism; 51, oil cylinder; 511, U-shaped oil channel; 512, limiting ring; 52, first piston rod; 53, second piston rod; 531, baffle; 54, spring; 55, mounting block; 56, lower pressure rod; 57, third bolt; 6, support table; 61, first base plate; 62, Y-axis moving mechanism; 621, first motor; 622, first lead screw; 623, first linear guide; 624, first A transmission ring; 63, Y-axis moving plate; 64, second base plate; 65, X-axis moving mechanism; 651, second motor; 652, second lead screw; 653, second linear guide; 654, second transmission ring; 66, X-axis moving plate; 67, third base plate; 68, Z-axis moving mechanism; 681, third motor; 682, third lead screw; 683, third linear guide; 684, third transmission ring; 69, Z-axis fixing plate; 691, angle steel; 692, connecting plate. DETAILED DESCRIPTION

[0030] The following is combined with Figure 1-6 This application is described in further detail.

[0031] The embodiment of the present application discloses a five-axis handling robot. Figure 1-6 The robot includes a transfer plate 1, a first mounting seat 11, a second mounting seat 12, a first suction pipe 13, a second suction pipe 14, a mounting frame 15 and a rotating frame 16; the first suction pipe 13 is installed in the first mounting seat 11, the nozzle of the first suction pipe 13 is facing downward, and a lifting mechanism 2 for driving the first mounting seat 11 to rise and fall is installed on the transfer plate 1; the mounting frame 15 is installed on the transfer plate 1, and the rotating frame 16 is arranged below the mounting frame 15, and a rotating mechanism 3 for driving the rotating frame 16 to rotate is arranged in the mounting frame 15; the second suction pipe 14 is installed in the second mounting seat 12, the second mounting seat 12 is located below the first mounting seat 11, the nozzle of the second suction pipe 14 is facing downward, and a rotating motor 17 is arranged in the rotating frame 16, and the output shaft of the rotating motor 17 is connected to the side of the second mounting seat 12; the second suction pipe 14 is located below the first suction pipe 13, and the nozzle of the second suction pipe 14 and the nozzle of the first suction pipe 13 are on the same vertical line.

[0032] When it is recognized that the product is facing up, the transfer plate 1 is driven to descend, so that the second suction pipe 14 is close to the top surface of the product, and the nozzle of the second suction pipe 14 sucks the front of the product, and then the transfer plate 1 is driven to rise, and the transfer plate 1 is moved to move the product to the processing station; when the product is recognized that the back is facing up, the transfer plate 1 is driven to descend, so that the second suction pipe 14 is close to the top surface of the product, and the nozzle of the second suction pipe 14 sucks the back of the product, and then the transfer plate 1 is driven to rise, and the rotating motor 17 drives the second mounting seat 12 to rotate 180°, so that the product is rotated to above the second suction pipe 14, and the front of the product is facing up; the lifting mechanism 2 drives the first mounting seat 11 to descend, and the first mounting seat 11 drives the first suction pipe 13 to descend, and the nozzles of the first suction pipe 13 and the second suction pipe 14 are in the same straight line, and the nozzle of the first suction pipe 13 is close to the top of the product. The first suction pipe 13 sucks the top surface of the product; the rotating mechanism 3 drives the rotating frame 16 to rotate 180°, and the second mounting seat 12 rotates 180°, so that the second suction pipe 14 moves away from under the first suction pipe 13; at this time, the lifting mechanism 2 drives the first mounting seat 11 to descend, and the first mounting seat 11 drives the first suction pipe 13 to move downward, so that the first suction pipe 13 passes over the second suction pipe 14, and then the transfer plate 1 is moved to move the product to the processing station; by cooperating with the flipped second suction pipe 14 and the first suction pipe 13, the product with the back side facing up can be adjusted to face the front side facing up, and there is no need to set up a flipping mechanism separately, which can improve the convenience of product flipping. It only needs to assemble a robot arm and cooperate with the CCD camera for recognition to complete the transfer and flipping of the product, while reducing the production line manufacturing cost and the production line assembly difficulty.

[0033] The lifting mechanism 2 includes a mounting plate 21, a telescopic cylinder 22, a fourth linear guide 23 and a lifting plate 24; the mounting plate 21 is installed on the side of the transfer plate 1, the mounting plate 21 is vertically arranged, two fourth linear guides 23 are provided, the two fourth linear guides 23 are installed on the side of the mounting plate 21 away from the transfer plate 1, and the fourth linear guide 23 is vertically arranged; the side of the lifting plate 24 is connected to the side of the slider of the fourth linear guide 23, the telescopic cylinder 22 is installed on the top of the side of the mounting plate 21 away from the transfer plate 1, and the piston rod end of the telescopic cylinder 22 is connected to the top surface of the lifting plate 24; the first mounting seat 11 is connected to the bottom end of the side of the lifting plate 24 away from the mounting plate 21.

[0034] When the first mounting seat 11 needs to be driven to move up and down, the telescopic cylinder 22 drives the piston rod to move up and down, and the piston rod drives the lifting plate 24 to move up and down. The lifting plate 24 slides on the fourth linear guide rail 23, and the lifting plate 24 can drive the first mounting seat 11 to move up and down.

[0035] The first mounting seat 11 includes a first square tube 111, a first sliding plate 112 and a first bolt 113; one side of the first square tube 111 is connected to the side of the bottom end of the lifting plate 24, and two first sliding plates 112 are provided, one end of the two first sliding plates 112 slides on the inner walls of the two ends of the first square tube 111 respectively, and the other ends of the two first sliding plates 112 extend out of the first square tube 111; two first bolts 113 are provided, and the two first bolts 113 are passed through the side wall of the first square tube 111 away from the lifting plate 24, and the ends of the two first bolts 113 are respectively pressed against the sides of the two first sliding plates 112; two first suction pipes 13 are provided, and the two first suction pipes 13 are respectively passed through the ends of the two first sliding plates 112.

[0036] By providing two first suction pipes 13, the two first suction pipes 13 simultaneously adsorb the product, making the first suction pipe 13 more stable in adsorbing the product; by loosening the first bolt 113, adjusting the length of the first sliding plate 112 sliding out of the first square tube 111, and tightening the first bolt 113, the distance between the two first suction pipes 13 is changed to adapt to the adsorption of products of different specifications.

[0037] The second mounting base 12 includes a second square tube 121, a second sliding plate 122 and a second bolt 123; the middle position of one side of the second square tube 121 is connected to the output shaft end of the rotating motor 17, and two second sliding plates 122 are provided, one end of the two second sliding plates 122 slides on the inner walls of the two ends of the second square tube 121 respectively, and the other ends of the two second sliding plates 122 extend out of the second square tube 121; there are two second bolts 123, the two second bolts 123 are passed through the top side wall of the second square tube 121, and the ends of the two second bolts 123 are respectively pressed against the sides of the two second sliding plates 122; there are two second suction pipes 14, the two second suction pipes 14 are respectively passed through the ends of the two second sliding plates 122; one end of the second suction pipe 14 is bent downward by 90°, and the other end of the second suction pipe 14 is bent upward by 90°.

[0038] By providing two second suction pipes 14, the two second suction pipes 14 simultaneously adsorb the product, making the second suction pipes 14 more stable in adsorbing the product; by loosening the second bolt 123, adjusting the length of the second sliding plate 122 sliding out of the second square tube 121, and tightening the second bolt 123, the distance between the two second suction pipes 14 is changed to adapt to the adsorption of products of different specifications.

[0039] The mounting frame 15 includes a U-shaped plate 151, a transverse plate 152, a side plate 153 and a bottom plate 154. There are two U-shaped plates 151, one end of the two U-shaped plates 151 is connected to the top surface of the transfer plate 1, and the other end of the two U-shaped plates 151 is connected to the top surface of the transverse plate 152. The two U-shaped plates 151 are located at both ends of the transverse plate 152, and the lifting mechanism 2 is located between the two U-shaped plates 151; there are two side plates 153, the two side plates 153 are connected to the bottom surface of the transverse plate 152, and the rotating mechanism 3 is installed between the two side plates 153; the bottom plate 154 is a circular plate, and the bottom plate 154 is connected to the bottom surfaces of the two side plates 153.

[0040] The rotating frame 16 includes a top plate 161, a side frame 162 and a receiving plate 163. The top plate 161 is driven to rotate by the rotating mechanism 3. Two side frames 162 are provided. The two side frames 162 are connected to the bottom surface of the top plate 161. The receiving plate 163 is connected between the bottom ends of the two side frames 162; the rotating motor 17 is installed on the top surface of the receiving plate 163.

[0041] The rotating mechanism 3 includes a rotating motor 31 and a rotating rod 32. The rotating motor 31 is installed between the two side plates 153. The output shaft of the rotating motor 31 passes through the bottom surface of the bottom plate 154 and is connected to the top surface of the top plate 161. Four rotating rods 32 are provided. One end of the four rotating rods 32 is rotatably connected to the bottom surface of the bottom plate 154. The four rotating rods 32 are evenly distributed around the circumference of the bottom plate 154. The top surface of the top plate 161 is provided with a rolling groove 1611 for the four rotating rods 32 to roll, and the circumferential surface of the rotating rod 32 is in contact with the inner wall of the rolling groove 1611.

[0042] When it is necessary to drive the rotating frame 16 to rotate, the rotating motor 31 drives the top plate 161 to rotate, and the top plate 161 drives the receiving plate 163 to rotate through the side frame 162, and the receiving plate 163 drives the rotating motor 17 to rotate, so that the entire rotating frame 16 can rotate; when the top plate 161 rotates around the output shaft of the rotating motor 31, the rotating rod 32 rolls in the rolling groove 1611, and with the cooperation of the four rotating rods 32 and the rolling groove 1611, the top plate 161 can rotate stably around the output shaft of the rotating motor 31.

[0043] A first connecting tube 131 is inserted into the inner wall of the nozzle of the first suction tube 13. The bottom end of the first connecting tube 131 is connected to a first flexible bellows 132, and the bottom end of the first flexible bellows 132 is flat. The top end of the first suction tube 13 is connected to a first elastic tube 133, which is used to connect to an external vacuum generator. When the first flexible bellows 132 contacts the product, it acts as a buffer for the product and also improves the sealing performance of the product.

[0044] A second connecting tube 141 is inserted into the inner wall of the nozzle of the second suction tube 14. The top of the second connecting tube 141 is connected to a second flexible bellows 143, and the top of the second flexible bellows 143 is flat. The bottom end of the second suction tube 14 is connected to a second elastic tube 142, which is used to connect to an external vacuum generator. When the second flexible bellows 143 comes into contact with the product, it acts as a buffer for the product and also improves the sealing performance of the product.

[0045] Two guide rods 4 are connected to the bottom surface of the second square tube 121, and a guide tube 41 slides around the circumference of the guide rod 4. A support plate 42 is connected to the bottom surface of the guide tube 41, and the guide rod 4 passes through the support plate 42; the support plate 42 is provided with a waist-shaped hole 421 for the two second straws 14 to pass through; a driving mechanism 5 for driving the support plate 42 to move along the guide rod 4 is installed on the second square tube 121.

[0046] When the second suction pipe 14 rotates the product 180°, the product is located above the second suction pipe 14, and the driving mechanism 5 drives the supporting plate 42 to rise. The supporting plate 42 slides on the guide rod 4 through the guide tube 41, and the supporting plate 42 is closely attached to the bottom surface of the product. When the first suction pipe 13 presses down on the product, the supporting plate 42 is used to support the product, making it less likely to shake, thereby improving the stability of the product when it is sucked by the first suction pipe 13.

[0047] The driving mechanism 5 includes a cylinder 51, a first piston rod 52, a second piston rod 53, a spring 54, a mounting block 55, a pressing rod 56 and a third bolt 57. The cylinder 51 is mounted on the side of the second square tube 121 away from the first square tube 111. A U-shaped oil passage 511 is provided in the cylinder 51. The U-shaped oil passage 511 is filled with hydraulic oil. Both ends of the U-shaped oil passage 511 are connected to the side of the cylinder 51 away from the second square tube 121. The inner walls of both ends of the U-shaped oil passage 511 are connected to limiting rings 512; the piston head at the end of the first piston rod 52 slides and is sealed on the inner wall of one end of the U-shaped oil passage 511, and the first piston rod 52 slides on the inner wall of the limiting ring 512; the piston head at the end of the second piston rod 53 slides on the inner wall of the other end of the U-shaped oil passage 511, and the second piston rod 53 slides on The inner wall of the limiting ring 512; the end of the first piston rod 52 is connected to the side of the support plate 42 close to the cylinder 51 through a plate, and the end of the second piston rod 53 is connected to the baffle 531, and the support plate 42 is provided with a through hole 422 for the baffle 531 to pass through; the spring 54 is sleeved on the outside of the second piston rod 53, one end of the spring 54 is pressed against the side of the baffle 531, and the other end of the spring 54 is pressed against the side of the cylinder 51 away from the second square tube 121; the mounting block 55 is connected to the side of the first square tube 111 away from the lifting plate 24, the lower pressure rod 56 is passed through the mounting block 55, the lower pressure rod 56 is vertically arranged, the third bolt 57 is passed through the side wall of the mounting block 55 away from the first square tube 111, and the third bolt 57 is pressed against the circumference of the lower pressure rod 56; the lower pressure rod 56 is aligned with the baffle 531.

[0048] When the support plate 42 needs to be lifted, the first square tube 111 descends, and the first square tube 111 drives the lower pressure rod 56 to descend, and the lower pressure rod 56 first contacts the baffle 531, and the lower pressure rod 56 presses the baffle 531 downward, and the baffle 531 compresses the spring 54, and the baffle 531 presses the second piston rod 53 downward, and the second piston rod 53 pushes the hydraulic oil, and the hydraulic oil pushes the first piston rod 52, and the first piston rod 52 lifts the support plate 42; when the support plate 42 contacts the bottom surface of the product, the nozzle of the first suction pipe 13 is pressed tightly against the top surface of the product; when the downward pressure of the lower pressure rod 56 on the baffle 531 is released, under the action of the spring 54, the spring 54 pushes the baffle 531 at the end of the second piston rod 53, and under the action of the weight of the support plate 42 itself, the second piston rod 53 pulls the hydraulic oil, and the first piston rod 52 pushes the hydraulic oil, so that the support plate 42 is reset; by changing the position of the lower pressure rod 56 in the mounting block 55, it can be applied to products of different thicknesses.

[0049] The manipulator also includes a support table 6, a first substrate 61, a Y-axis moving mechanism 62, a Y-axis moving plate 63, a second substrate 64, an X-axis moving mechanism 65, an X-axis moving plate 66, a third substrate 67, a Z-axis moving mechanism 68 and a Z-axis fixed plate 69; the first substrate 61 is horizontally mounted on the top surface of the support table 6, the Y-axis moving mechanism 62 is mounted on the top surface of the first substrate 61, and the Y-axis moving mechanism 62 is used to drive the Y-axis moving plate 63 to move along the Y-axis; one end of the side of the second substrate 64 is connected to the Y-axis moving plate 63 On the side, the X-axis moving mechanism 65 is installed on the side of the second substrate 64, and the X-axis moving mechanism 65 is used to drive the X-axis moving plate 66 to move along the X-axis; two Z-axis fixed plates 69 are provided, and the two Z-axis fixed plates 69 are connected to the sides of the X-axis moving plate 66, and the third substrate 67 is vertically installed between the two Z-axis fixed plates 69, and the Z-axis moving mechanism 68 is installed on the Z-axis fixed plate 69, and the Z-axis moving mechanism 68 is used to drive the third substrate 67 to move along the Z-axis; the transfer plate 1 is connected to the bottom end of the third substrate 67.

[0050] When the transfer plate 1 needs to be moved, the X-axis moving mechanism 65 drives the transfer plate 1 to move along the X-axis, the Y-axis moving mechanism 62 drives the transfer plate 1 to move along the Y-axis, and the Z-axis moving mechanism 68 drives the transfer plate 1 to move along the Z-axis.

[0051] The Y-axis moving mechanism 62 includes a first motor 621, a first lead screw 622, a first linear guide 623 and a first transmission ring 624; the first motor 621 is installed on the end of the first substrate 61, and the two ends of the first lead screw 622 are installed on the two ends of the first substrate 61 through bearing support plates, and one end of the first lead screw 622 is connected to the output shaft of the first motor 621; there are two first linear guides 623, and the two first linear guides 623 are installed on the top surface of the first substrate 61, and the Y-axis moving plate 63 is connected to the top surface of the slider of the first linear guide 623; the first transmission ring 624 is sleeved on the outside of the first lead screw 622, and the first transmission ring 624 is threadedly transmitted with the first lead screw 622, and the first transmission ring 624 is connected to the bottom surface of the Y-axis moving plate 63.

[0052] When the Y-axis moving plate 63 needs to be driven to move, the first motor 621 drives the first lead screw 622 to rotate, and the first lead screw 622 drives the first transmission ring 624 to move, and the first transmission ring 624 can drive the Y-axis moving plate 63 to slide on the first linear guide rail 623.

[0053] The X-axis moving mechanism 65 includes a second motor 651, a second lead screw 652, a second linear guide 653 and a second transmission ring 654; the second motor 651 is installed on the end of the second base plate 64, and the two ends of the second lead screw 652 are installed on the two ends of the second base plate 64 through bearing support plates, and one end of the second lead screw 652 is connected to the output shaft of the second motor 651; two second linear guides 653 are provided, and the two second linear guides 653 are installed on the side of the second base plate 64, and the X-axis moving plate 66 is connected to the side of the slider of the second linear guide 653; the second transmission ring 654 is sleeved on the outside of the second lead screw 652, and the second transmission ring 654 is threadedly transmitted with the second lead screw 652, and the second transmission ring 654 is connected to the side of the X-axis moving plate 66.

[0054] When the X-axis moving plate 66 needs to be driven to move, the second motor 651 drives the second lead screw 652 to rotate, and the second lead screw 652 drives the second transmission ring 654 to move, and the second transmission ring 654 can drive the X-axis moving plate 66 to slide on the second linear guide rail 653.

[0055] The Z-axis moving mechanism 68 includes a third motor 681, a third lead screw 682, a third linear guide 683 and a third transmission ring 684; the third motor 681 is installed on the top of the third base plate 67, and the two ends of the third lead screw 682 are installed on the two ends of the third base plate 67 through bearing support plates. One end of the third lead screw 682 is connected to the output shaft of the third motor 681; there are two third linear guides 683, and the two third linear guides 683 are respectively installed on the two side surfaces of the third base plate 67, and the two Z-axis fixed plates 69 are respectively connected to the side surfaces of the sliders of the two third linear guides 683; the third transmission ring 684 is sleeved on the outside of the third lead screw 682, and the third transmission ring 684 and the third lead screw 682 are threadedly transmitted. Two angle steels 691 are connected to the side of the two Z-axis fixed plates 69 away from the X-axis moving plate 66, and a connecting plate 692 is connected between the two angle steels 691. The third transmission ring 684 is connected to the inner side of the connecting plate 692.

[0056] When the third substrate 67 needs to be driven to rise and fall, the third motor 681 drives the third lead screw 682 to rotate, and the third lead screw 682 drives the third transmission ring 684 to move. Since the position of the third transmission ring 684 is fixed, the third lead screw 682 drives the third substrate 67 to rise and fall on the third linear guide rail 683.

[0057] The implementation principle of a five-axis handling robot in the embodiment of the present application is as follows: when it is recognized that the front side of the product is facing upward, the transfer plate 1 is driven to descend, so that the second suction pipe 14 is close to the top surface of the product, and the nozzle of the second suction pipe 14 sucks the front side of the product, and then the transfer plate 1 is driven to rise, and the transfer plate 1 is moved to move the product to the processing station; when it is recognized that the back side of the product is facing upward, the transfer plate 1 is driven to descend, so that the second suction pipe 14 is close to the top surface of the product, and the nozzle of the second suction pipe 14 sucks the back side of the product, and then the transfer plate 1 is driven to rise, and the rotating motor 17 drives the second mounting seat 12 to rotate 180°, so that the product is rotated to above the second suction pipe 14, and the front side of the product is facing upward; the lifting mechanism 2 drives the first mounting seat 11 to descend, and the first mounting seat 11 drives the first suction pipe 13 to descend, and the nozzles of the first suction pipe 13 and the second suction pipe 14 are in the same straight line. The nozzle of the straw 13 is close to the top surface of the product, and the first straw 13 sucks the top surface of the product; the rotating mechanism 3 drives the rotating frame 16 to rotate 180°, and the second mounting seat 12 rotates 180°, so that the second straw 14 moves away from under the first straw 13; at this time, the lifting mechanism 2 drives the first mounting seat 11 to descend, and the first mounting seat 11 drives the first straw 13 to move downward, so that the first straw 13 passes over the second straw 14, and then moves the transfer plate 1 to move the product to the processing station; by cooperating with the flipped second straw 14 and the first straw 13, the product with the back facing up can be adjusted to face up, and there is no need to set up a flipping mechanism separately, which can improve the convenience of product flipping. It only needs to assemble a robot and cooperate with the CCD camera for recognition to complete the transfer and flipping of the product, while reducing the production line manufacturing cost and the difficulty of production line assembly.

[0058] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A five-axis handling robot, characterized by: The invention comprises a transfer plate (1), a first mounting seat (11), a second mounting seat (12), a first suction pipe (13), a second suction pipe (14), a mounting frame (15) and a rotating frame (16); the first suction pipe (13) is mounted in the first mounting seat (11), the nozzle of the first suction pipe (13) faces downward, the transfer plate (1) is mounted with a lifting mechanism (2) for driving the first mounting seat (11) to rise and fall; the mounting frame (15) is mounted on the transfer plate (1), the rotating frame (16) is arranged below the mounting frame (15), and a useful The rotating mechanism (3) drives the rotating frame (16) to rotate; the second suction pipe (14) is installed in the second mounting seat (12), the second mounting seat (12) is located below the first mounting seat (11), the nozzle of the second suction pipe (14) faces downward, a rotating motor (17) is provided in the rotating frame (16), the output shaft of the rotating motor (17) is connected to the side of the second mounting seat (12); the second suction pipe (14) is located below the first suction pipe (13), and the nozzle of the second suction pipe (14) and the nozzle of the first suction pipe (13) are on the same vertical line; The lifting mechanism (2) comprises a mounting plate (21), a telescopic cylinder (22), a fourth linear guide rail (23) and a lifting plate (24); the mounting plate (21) is mounted on the side of the transfer plate (1), and the fourth linear guide rail (23) is mounted on the side of the mounting plate (21) away from the transfer plate (1); the side of the lifting plate (24) is connected to the side of the slider of the fourth linear guide rail (23), the telescopic cylinder (22) is mounted on the top of the side of the mounting plate (21) away from the transfer plate (1), and the end of the piston rod of the telescopic cylinder (22) is connected to the top surface of the lifting plate (24); the first mounting seat (11) is connected to the bottom end of the side of the lifting plate (24) away from the mounting plate (21); The mounting frame (15) comprises a U-shaped plate (151), a transverse plate (152), a side plate (153) and a bottom plate (154). Two U-shaped plates (151) are provided, one end of the two U-shaped plates (151) is connected to the top surface of the transfer plate (1), and the other end of the two U-shaped plates (151) is connected to the top surface of the transverse plate (152). The two U-shaped plates (151) are located at both ends of the transverse plate (152), and the lifting mechanism (2) is located between the two U-shaped plates (151); two side plates (153) are provided, and the two side plates (153) are connected to the transverse plate (152). ), the rotating mechanism (3) is installed between the two side plates (153); the bottom plate (154) is connected to the bottom surfaces of the two side plates (153); the rotating frame (16) includes a top plate (161), a side frame (162) and a receiving plate (163); the top plate (161) is driven to rotate by the rotating mechanism (3); two side frames (162) are provided, the two side frames (162) are connected to the bottom surface of the top plate (161), and the receiving plate (163) is connected between the bottom ends of the two side frames (162); the rotating motor (17) is installed on the top surface of the receiving plate (163); The rotating mechanism (3) comprises a rotating motor (31) and a rotating rod (32), wherein the rotating motor (31) is installed between the two side plates (153), and the output shaft of the rotating motor (31) passes through the bottom surface of the bottom plate (154) and is connected to the top surface of the top plate (161); four rotating rods (32) are provided, and one end of the four rotating rods (32) is rotatably connected to the bottom surface of the bottom plate (154); the top surface of the top plate (161) is provided with a rolling groove (1611) for the four rotating rods (32) to roll, and the circumferential surface of the rotating rod (32) is in contact with the inner wall of the rolling groove (1611).

2. A five-axis handling robot according to claim 1, characterized in that: The first mounting seat (11) includes a first square tube (111), a first sliding plate (112) and a first bolt (113); one side of the first square tube (111) is connected to the side of the bottom end of the lifting plate (24); two first sliding plates (112) are provided, one end of the two first sliding plates (112) respectively slides on the inner walls of the two ends of the first square tube (111), and the other ends of the two first sliding plates (112) extend out of the first square tube (111); two first bolts (113) are provided, the two first bolts (113) are passed through the side wall of the first square tube (111) away from the lifting plate (24), and the ends of the two first bolts (113) are respectively pressed against the sides of the two first sliding plates (112); two first suction pipes (13) are provided, and the two first suction pipes (13) are respectively passed through the ends of the two first sliding plates (112).

3. The five-axis handling robot according to claim 1, characterized in that: The second mounting seat (12) comprises a second square tube (121), a second sliding plate (122) and a second bolt (123); the middle position of one side of the second square tube (121) is connected to the output shaft end of the rotating motor (17); two second sliding plates (122) are provided, one end of the two second sliding plates (122) respectively slides on the inner walls of the two ends of the second square tube (121), and the other ends of the two second sliding plates (122) extend out of the second square tube (121); two second bolts (123) are provided, the two second bolts (123) are passed through the top side wall of the second square tube (121), and the ends of the two second bolts (123) are respectively pressed against the sides of the two second sliding plates (122); two second suction pipes (14) are provided, and the two second suction pipes (14) are respectively passed through the ends of the two second sliding plates (122).

4. The five-axis handling robot according to claim 1, characterized in that: A first connecting tube (131) is inserted into the inner wall of the nozzle of the first suction tube (13), and the bottom end of the first connecting tube (131) is connected to a first flexible bellows (132), and the bottom end of the first flexible bellows (132) is flat; the top end of the first suction tube (13) is connected to a first elastic tube (133), and the first elastic tube (133) is used to connect to an external vacuum generator; a second connecting tube (141) is inserted into the inner wall of the nozzle of the second suction tube (14), and the top end of the second connecting tube (141) is connected to a second flexible bellows (143), and the top end of the second flexible bellows (143) is flat; the bottom end of the second suction tube (14) is connected to a second elastic tube (142), and the second elastic tube (142) is used to connect to an external vacuum generator.

5. The five-axis handling robot according to claim 1, characterized in that: The bottom surface of the second mounting seat (12) is connected to two guide rods (4), the circumference of the guide rods (4) is slidably provided with a guide tube (41), the bottom surface of the guide tube (41) is connected to a support plate (42), and the guide rods (4) pass through the support plate (42); the support plate (42) is provided with a waist-shaped hole (421) for the second straw (14) to pass through; and a driving mechanism (5) for driving the support plate (42) to move along the guide rods (4) is installed on the second mounting seat (12).

6. The five-axis handling robot according to claim 5, characterized in that: The driving mechanism (5) comprises an oil cylinder (51), a first piston rod (52), a second piston rod (53), a spring (54), a mounting block (55), a pressing rod (56) and a third bolt (57); the oil cylinder (51) is mounted on the side of the second mounting seat (12) away from the first mounting seat (11); a U-shaped oil passage (511) is provided in the oil cylinder (51), hydraulic oil is filled in the U-shaped oil passage (511), and both ends of the U-shaped oil passage (511) are connected to the oil cylinder (51). ) is away from the side of the second mounting seat (12), and the inner walls at both ends of the U-shaped oil passage (511) are connected to the limiting ring (512); the piston head at the end of the first piston rod (52) slides and seals on the inner wall of one end of the U-shaped oil passage (511), and the first piston rod (52) slides on the inner wall of the limiting ring (512); the piston head at the end of the second piston rod (53) slides on the inner wall of the other end of the U-shaped oil passage (511), and the second piston rod (53) slides in the limiting ring (512) The end of the first piston rod (52) is connected to the side of the support plate (42) close to the oil cylinder (51), the end of the second piston rod (53) is connected to the baffle (531), and the support plate (42) is provided with a through hole (422) for the baffle (531) to pass through; the spring (54) is sleeved on the outside of the second piston rod (53), one end of the spring (54) is pressed against the side of the baffle (531), and the other end of the spring (54) is pressed against the oil cylinder (51) away from the first piston rod (53). The side of the second mounting seat (12); the mounting block (55) is connected to the side of the first mounting seat (11) away from the lifting mechanism (2), the lower pressure rod (56) is passed through the mounting block (55), the lower pressure rod (56) is vertically arranged, the third bolt (57) is passed through the side wall of the mounting block (55) away from the first mounting seat (11), and the third bolt (57) is pressed against the circumference of the lower pressure rod (56); the lower pressure rod (56) is aligned with the baffle (531).

7. The five-axis handling robot according to claim 1, characterized in that: The invention also includes a support platform (6), a first substrate (61), a Y-axis moving mechanism (62), a Y-axis moving plate (63), a second substrate (64), an X-axis moving mechanism (65), an X-axis moving plate (66), a third substrate (67), a Z-axis moving mechanism (68) and a Z-axis fixed plate (69); the first substrate (61) is horizontally mounted on the top surface of the support platform (6); the Y-axis moving mechanism (62) is mounted on the top surface of the first substrate (61); the Y-axis moving mechanism (62) is used to drive the Y-axis moving plate (63) to move along the Y-axis; one end of the side surface of the second substrate (64) is connected to the side surface of the Y-axis moving plate (63); the X-axis moving mechanism (65 ... the The X-axis moving mechanism (65) is installed on the side of the second substrate (64), and the X-axis moving mechanism (65) is used to drive the X-axis moving plate (66) to move along the X-axis; two Z-axis fixed plates (69) are provided, and the two Z-axis fixed plates (69) are connected to the side of the X-axis moving plate (66); the third substrate (67) is vertically installed between the two Z-axis fixed plates (69), and the Z-axis moving mechanism (68) is installed on the Z-axis fixed plate (69), and the Z-axis moving mechanism (68) is used to drive the third substrate (67) to move along the Z-axis; the transfer plate (1) is connected to the bottom end of the third substrate (67).

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