Product transfer manipulator

Abstract

The invention discloses a product transfer manipulator in the field of mechanical claw design, and the product transfer manipulator comprises a truss and a first rack, the first rack is mounted on the truss through a cross-shaped driving body, and the first rack has a motion freedom degree on an XZ plane; the second machine frame is installed on the first machine frame through a Y driving body, and the second machine frame has the motion freedom degree in the Y direction; the clamping plates are relatively and movably arranged on the second rack, and a clamping driving body is mounted on the second rack and used for controlling the two clamping plates to synchronously move close to or away from each other; the designed cross-shaped driving body can move the first rack in the longitudinal plane, the Y-shaped driving body drives the second rack to move in the Y direction, at the moment, the clamping plates of the second rack can freely move in the space, the two clamping plates are matched with the clamping driving body to fix and transfer a tray in the space, and the device is high in transfer efficiency and high in practicability. And safety and stability are achieved, and operation efficiency is greatly improved.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical gripping design, and in particular to a product transfer robot. Background Art

[0002] As people's living standards continue to improve, various disposable paper daily necessities emerge in an endless stream, and the use of disposable tableware remains high. Considering the safety factor, pure polypropylene is usually used to make it. During manufacturing, the raw materials are hot-melted and tableware of qualified sizes is made through molds, such as disposable plastic bowls and plastic spoons. These products have a high temperature just after they are produced and need to be arranged on pallets for natural cooling. Finally, they are transferred to the packaging area for packaging. In this process, manual transportation is generally used using a transport truck, which is inefficient. When the road surface is flat during the transfer process, the transportation speed is lower and affects the safety of the operation. How to design a gripper to quickly and stably transfer the pallet is what designers need to solve. Summary of the invention

[0003] The purpose of the present application is to provide a product transfer robot to solve the defect of low efficiency of tableware tray transfer in the prior art.

[0004] In order to achieve the above objectives, this application is implemented by adopting the following technical solutions: In a first aspect, the present application provides a product transfer robot, which comprises truss, A first frame, the first frame is mounted on the truss through a cross drive body, and the first frame has a degree of freedom of movement in an XZ plane; A second frame, wherein the second frame is mounted on the first frame via a Y driving body, and the second frame has a degree of freedom of movement in a Y direction; The clamping plates are relatively movable on the second frame, and a clamping driving body is installed on the second frame. The cross driving body and the Y driving body work to make the second frame move in space. The clamping driving body is used to control the two clamping plates to move synchronously towards or away from each other.

[0005] According to a further solution of the present application, the cross driving body includes an X-driving body, a Z-driving body and a mounting seat, the mounting seat is slidably connected to the truss and the first frame, the X-driving body and the Z-driving body are installed on the mounting seat, the Z-driving body drives the first frame to move in the Z-axis direction, and the X-driving body drives the Z-driving body and the first frame to move in the X-axis direction.

[0006] In a further solution, the X-driving body comprises an X-motor and an X-rack, wherein the X-motor is vertically mounted on the bottom plate of the mounting seat, the X-rack is fixed to the top of the truss along the truss arrangement direction, the output shaft of the X-motor passes through one end of the mounting seat and is fixed with a gear meshing with the X-rack, and an X-slide rail assembly is installed between the mounting seat and the truss; The Z driving body includes a Z motor and a Z rack, the Z motor is vertically mounted on the side plate of the mounting seat, the Z rack is vertically fixed on the first frame, the output shaft of the Z motor passes through one end of the mounting seat and is fixed with a gear meshing with the Z rack, and a Z slide rail assembly is installed between the first frame and the mounting seat.

[0007] According to a further solution of the present application, the Y driving body comprises a Y motor and a Y transmission rod, the Y motor and the Y transmission rod are arranged in parallel with the first frame, the Y transmission rod is rotatably installed at the bottom of the first frame, the output end of the Y motor is transmission-connected to the Y transmission rod, mounting structures are provided at two opposite ends of the bottom of the first frame, two guide wheels are rotatably installed in the mounting structure, side wheels are rotatably installed at both ends of the Y transmission rod, the side wheels and the guide wheels on the same side are arranged in the same plane, the two guide wheels are arranged on both sides of the side wheels, and transmission belts are interspersed in an S shape on the surfaces of the side wheels and the two guide wheels, and the two ends of the transmission belts are fixed to the second frame along the Y direction; the mounting structure is arranged perpendicular to the second frame and is slidably connected through a Y slide rail assembly.

[0008] According to a further solution of the present application, the clamping driving body is arranged on the second frame along the X direction, and the clamping driving body includes a clamping motor and two screw rods. The clamping motor is fixed on the crossbeam of the second frame, and the two screw rods are rotatably installed at the bottom of both sides of the second frame. The clamping motor is connected to the corresponding screw rods through a synchronization component, and a nut block is threadedly installed on the screw rod. A guide rod is fixed to the bottom of the second frame on one side of each screw rod along the X direction, and the guide rod movably passes through the nut block. An extrusion structure is provided between the nut block and the adjacent clamping plate, and the clamping motor drives the nut block to move, so that the extrusion structure operates to realize the relative or separate movement of the clamping plates.

[0009] According to a further solution, the synchronization assembly includes two rotating rods and two intermediate wheels. The two rotating rods are rotatably installed at the bottom of the second frame and are transmission-connected to adjacent screw rods. The two intermediate wheels are rotatably installed on both sides of the clamping motor. A transmission belt is installed between the rotating wheels on the two rotating rods. The transmission belt is S-shapedly overlapped between the driving wheel on the output shaft of the clamping motor and the two intermediate wheels.

[0010] In a further solution, the extrusion structure includes a convex shaft fixed on the side of the nut block facing the clamping plate, the clamping plate is provided with an inclined groove, the two inclined grooves are symmetrically arranged, and the convex shaft moves to squeeze the inclined groove to make the clamping plate move back and forth.

[0011] According to a further solution of the present application, the connection points at both ends of the bottom of the first frame are symmetrically arranged about the longitudinal center line of the first frame.

[0012] In a second aspect, the present application provides an assembly line, which includes the above-mentioned product transfer robot.

[0013] The beneficial effects of this application are: The cross driving body designed in the present application can move the first frame in the longitudinal plane. A Y driving body is installed between the second frame and the first frame. The Y driving body drives the second frame to move in the horizontal direction (Y direction). At this time, the clamping plate of the second frame can realize free movement in the space, and cooperate with the clamping driving body so that the two clamping plates can fix and transfer the pallet in the space. The entire operation is based on the length layout route of the truss, and there is no need to worry about the impact of the ground conditions on the handling operation. The device not only has high transfer efficiency, but also is safe and stable, which greatly improves the operation efficiency.

[0014] The clamping motor and the synchronization component cooperate to achieve the synchronous movement of the two clamping plates, which can quickly achieve the clamping and releasing operation effects and also speed up the operation efficiency to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic axial view of the product transfer robot in the embodiment of the present application; Figure 2 This is a structural schematic diagram of the product transfer robot from another perspective in the embodiment of the present application Figure 3 This is a schematic diagram of the structure of a cross driving body in the embodiment of the present application; Figure 4 This is a schematic diagram of the structure of the clamping driving body and the Y driving body in the embodiment of the present application; Figure 5 This is a schematic diagram of the structure of the product transfer robot from an upward perspective in an embodiment of the present application; Figure 6 for Figure 5 Enlarged view of point A in the middle.

[0016] Among them: 1. Truss; 2. Cross driving body; 3. First frame; 4. Y driving body; 5. Second frame; 6. Clamping driving body; 7. Tray; 8. Clamping plate; 9. Guide rod; 81. Bevel groove; 21. X driving body; 211. X motor; 212. X rack; 213. X slide rail assembly; 22. Z driving body; 221. Z motor; 222. Z rack; 223. Z slide rail assembly; 23. Mounting seat; 41. Y motor; 42. Y transmission wheel; 43. Y transmission rod; 44. Side wheel; 45. Guide wheel; 51. Y slide rail assembly; 61. Clamping motor; 62. Synchronous assembly; 63. Screw rod; 64. Nut block; 65. Rotating rod; 66. Intermediate wheel. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Embodiment 1

[0018] like Figure 1 As shown, this embodiment discloses a product transfer manipulator, which is mainly used to carry a tray 7 on which disposable bowls are placed. The transfer gripper includes a truss 1, a first frame 3, a second frame 5 and two clamping plates 8, wherein the two clamping plates 8 are installed on opposite sides of the second frame 5 by connecting a slider and a slide groove, and clamping grooves are also provided on the opposite surfaces of the clamping plates 8, so as to fix the edge of the tray 7 during clamping and improve stability. The truss 1 is supported on the ground by columns, and a cross driving body 2 is provided on the truss 1. The first frame 3 It is slidably installed on the cross driving body 2, and the cross driving body 2 controls the first frame 3 to move freely on the XZ plane. The second frame 5 is movably installed at the bottom end of the first frame 3. A Y driving body 4 is arranged between the two, and the Y driving body 4 controls the second frame 5 to move in the Y direction. The cross driving body 2 plus the Y driving body 4 meet the movement of the second frame 5 and the clamping plate 8 in space, and realize a large range of clamping and carrying work. A clamping driving body 6 is installed on the second frame 5, and the clamping driving body 6 is used to control the synchronous approach or separation movement of the two clamping plates 8.

[0019] When in use, the distance between the two clamping plates 8 is enlarged by the clamping driving body 6, and then the cross driving body 2 and the Y driving body 4 are started to transfer the position of the clamping plate 8 until it reaches a suitable clamping position, and then the clamping driving body 6 is used to reduce the distance between the two clamping plates 8 to clamp the tray 7. During production, the connection points at both ends of the bottom of the first frame 3 are symmetrically arranged about the longitudinal center line of the first frame 3 to increase the movement stability of the second frame 5.

[0020] As attached Figure 2 As shown, the cross driving body 2 in this embodiment includes an X driving body 21, a Z driving body 22 and a mounting seat 23. The mounting seat 23 is slidably connected to the truss 1 and the first frame 3. The X driving body 21 and the Z driving body 22 are mounted on the mounting seat 23. Usually, the mounting seat 23 is an L-shaped mounting plate. The X driving body 21 is connected to the bottom plate of the mounting seat 23 through an independent mounting plate, and the Z driving body 22 is connected to the side plate of the mounting seat 23 through an independent mounting plate. When in use, the Z driving body 22 drives the first frame 3 to move in the Z axis direction, and the X driving body 21 drives the Z driving body 22 and the first frame 3 to move in the X axis direction.

[0021] Still further embodiments, as shown in the attached Figure 2 and 3 As shown, the X-driving body 21 includes an X-motor 211 and an X-rack 212, including the X-motor 211 vertically mounted on the bottom plate of the mounting seat 23, and an X-slide rail assembly 213 is installed between the mounting seat 23 and the truss 1; the X-slide rail assembly 213 here includes two sets of slide rails installed in parallel on the truss 1, and two rows of sliders are fixed linearly at intervals at the bottom of the mounting seat 23, and the sliders and the slide rails are installed in a corresponding manner, and the X-rack 212 is fixed to the top of the truss 1 along the arrangement direction of the truss 1, and is located between the two slide rails to ensure movement stability, and the output shaft of the X-motor 211 passes through one end of the mounting seat 23 and is fixed with a gear meshing with the X-rack 212, and when the X-motor 211 rotates, the gear drives the entire first frame 3 to move along the length direction of the truss 1 (X direction); In addition, the Z driving body 22 includes a Z motor 221 and a Z rack 222. The Z motor 221 is vertically mounted on the side plate of the mounting seat 23. A Z slide rail assembly 223 is installed between the first frame 3 and the mounting seat 23. Similarly, the Z slide rail assembly 223 includes two groups of slide rails installed in parallel on the first frame 3. Two rows of sliders are fixed linearly at intervals on the side of the side plate of the mounting seat 23 facing the first frame 3. The Z rack 222 is vertically fixed on the first frame 3 and is located between the two slide rails. The output shaft of the Z motor 221 passes through one end of the mounting seat 23 and is fixed with a gear meshing with the Z rack 222. Considering the safety performance of the movement of parts, limiting parts are fixed at the end positions on the first frame 3 and the truss 1.

[0022] As attached Figures 4 to 6As shown in the figure, in this embodiment, the Y driving body 4 includes a Y motor 41 and a Y transmission rod 43. The Y motor 41 and the Y transmission rod 43 are arranged in parallel on the first frame 3. Usually, the axial direction of the Y motor 41 is parallel to the axial direction of the Y transmission rod 43. The Y motor 41 is fixed on the cross beam of the first frame 3, and the Y transmission rod 43 is rotatably installed at the bottom of the first frame 3. A stabilizing member is also provided between the cross beam and the Y transmission rod 43. The Y transmission rod 43 rotatably passes through the stabilizing member. The output end of the Y motor 41 is provided with an output wheel, and a Y transmission wheel 42 is fixed in the middle of the Y transmission rod 43. The output wheel and the transmission wheel are connected by a synchronous belt. At both ends of the bottom of the first frame 3, mounting structures are oppositely provided. Two guide wheels 45 are rotatably installed in the mounting structures. Side wheels 44 are rotatably installed at both ends of the Y transmission rod 43. The side wheels 44 and the guide wheels 45 on the same side are coplanar. The two guide wheels 45 are arranged on both sides of the side wheels 44 along the Y direction. A transmission belt is S-shaped and inserted through the surfaces of the side wheels 44 and the two guide wheels 45. Generally speaking, the guide wheels 45 contact the inner side of the transmission belt, and the guide wheels 45 contact the outer side of the transmission belt. Actually, the transmission belt among the three presents a "ji" shape. Both ends of the transmission belt are fixed to both ends of the second frame 5 along the Y direction; the mounting structure is vertically arranged with the second frame 5 and is slidably connected through a Y slide rail assembly 51. Here, the Y slide rail assembly 51 uses a slide rail and a slider. The installation method has been mentioned twice above and will not be elaborated here.

[0023] As shown in the attached Figure 4 figure, the clamping driving body 6 is arranged along the X direction on the second frame 5. The clamping driving body 6 includes a clamping motor 61 and two lead screws 63. The clamping motor 61 is fixed on the cross beam of the second frame 5. The two lead screws 63 are rotatably installed at the bottom on both sides of the second frame 5 through pedestal bearings. The clamping motor 61 is传动连接对应的丝杆63,同步组件62包括两根转杆65和两个中间轮66,两根转杆65通过带座轴承安装在第二机架5底部并与相邻的丝杆63传动连接,实际生产转杆65和丝杆63的相邻端通过联轴器传动连接,两个中间轮66转动安装在夹紧电机61的两侧,两根转杆65上的转轮之间安装有传动带,两个中间轮66和夹紧电机61上的驱动轮之间的传动带也呈现“几”字状,传动带S形搭接在夹紧电机61输出轴上的驱动轮和两个中间轮66之间, A nut block 64 is threadedly fitted on the lead screw 63. A guide rod 9 is fixed along the X direction at the bottom of the second frame 5 on one side of each lead screw 63. The guide rod 9 movably passes through the nut block 64. An extrusion structure is provided between the nut block 64 and the adjacent clamping plate 8. The clamping motor 61 drives the nut block 64 to move, so that the extrusion structure operates to realize the relative or separating movement of the clamping plates 8.

[0024] As shown in the attached Figure 5 and Figure 6 It should be noted that there is an unclear expression "传动连接对应的丝杆63" in the original text. I have tried my best to translate it according to the context, but it may need to be adjusted according to the accurate technical content.As shown, the extrusion structure in this embodiment includes a convex shaft, which is fixed on the side of the nut block 64 facing the clamp plate 8, and a bevel groove 81 is provided on the clamp plate 8. It should be noted here that since the nut blocks 64 on both sides move synchronously in the same direction, the two bevel grooves 81 need to be designed symmetrically. The nut block 64 drives the convex shaft to linearly move the extrusion bevel groove 81, so that the movement of the convex shaft in the Y direction is transformed into the movement of the clamp plate 8 in the X direction, and finally the two clamp plates 8 move back and forth relative to each other. Embodiment 2

[0025] This embodiment discloses an assembly line, which includes the product transfer robot in the above-mentioned embodiment 1, and the product transfer robot is arranged in the transport section of the assembly line body.

[0026] Specific use: When the bowl slots in the tray 7 are filled with disposable bowls, the X motor 211, the Z motor 221 and the Y motor 41 are started to move the second frame 5. In actual production, controllers and industrial cameras are installed on the truss 1, the first frame 3 and the second frame 5. The controller is connected to the main computer, and the signal is connected to the X motor 211, the Z motor 221 and the Y motor 41 to achieve the final precise positioning of the second frame 5. Here, it is assumed that the distance between the two clamps 8 in the initial state is the largest. When the position of the clamp 8 is initially in place, the Y motor 41 is started to extend the clamp 8 to the edge of the corresponding tray 7, and finally the clamping motor 61 is started to reduce the distance between the two clamps 8. Generally, pressure sensors are installed on the opposite surfaces of the two clamps 8 to prevent the clamps 8 from being over-clamped and damaging the tray 7; the tray 7 is transferred and released by controlling the reverse operation of the X motor 211, the Z motor 221, the Y motor 41 and the clamping motor 61; the equipment has high operating efficiency, reduces labor, and improves the safety of workers.

[0027] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0028] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

Claims

1. A product transfer robot, characterized in that: include Truss (1), A first frame (3), the first frame (3) being mounted on the truss (1) via a cross drive body (2), the first frame (3) having a degree of freedom of movement in an XZ plane; A second frame (5), the second frame (5) being mounted on the first frame (3) via a Y-driving body (4), the second frame (5) having a degree of freedom of movement in a Y direction; A clamping plate (8) is arranged on the second frame (5) for relative movement, and a clamping driving body (6) is installed on the second frame (5), wherein the cross driving body (2) and the Y driving body (4) work to move the second frame (5) in space, and the clamping driving body (6) is used to control the two clamping plates (8) to move synchronously towards or away from each other.

2. The product transfer robot according to claim 1, characterized in that: The cross driving body (2) comprises an X driving body (21), a Z driving body (22) and a mounting seat (23); the mounting seat (23) is slidably connected to the truss (1) and the first frame (3); the X driving body (21) and the Z driving body (22) are mounted on the mounting seat (23); the Z driving body (22) drives the first frame (3) to move in the Z-axis direction; and the X driving body (21) drives the Z driving body (22) and the first frame (3) to move in the X-axis direction.

3. The product transfer robot according to claim 2, characterized in that: The X-driving body (21) comprises an X-motor (211) and an X-rack (212), wherein the X-motor (211) is vertically mounted on a bottom plate of the mounting seat (23), the X-rack (212) is fixed to the top of the truss (1) along the arrangement direction of the truss (1), an output shaft of the X-motor (211) passes through one end of the mounting seat (23) and is fixed with a gear meshing with the X-rack (212), and an X-slide rail assembly (213) is installed between the mounting seat (23) and the truss (1); The Z driving body (22) comprises a Z motor (221) and a Z rack (222); the Z motor (221) is vertically mounted on a side plate of the mounting seat (23); the Z rack (222) is vertically fixed on the first frame (3); an output shaft of the Z motor (221) passes through one end of the mounting seat (23) and is fixed with a gear meshing with the Z rack (222); and a Z slide rail assembly is installed between the first frame (3) and the mounting seat (23).

4. The product transfer robot according to claim 1, characterized in that: The Y driving body (4) comprises a Y motor (41) and a Y transmission rod (43). The Y motor (41) and the Y transmission rod (43) are arranged in parallel with the first frame (3). The Y transmission rod (43) is rotatably mounted at the bottom of the first frame (3). The output end of the Y motor (41) is transmission-connected to the Y transmission rod (43). Two mounting structures are arranged opposite to each other at the bottom of the first frame (3). Two guide wheels (45) are rotatably mounted in the mounting structure. Side wheels (44) are rotatably mounted at both ends of the Y transmission rod (43). The side wheels (44) and the guide wheels (45) on the same side are arranged in the same plane. The two guide wheels (45) are arranged on both sides of the side wheels (44). A transmission belt is inserted in an S shape on the surface of the side wheels (44) and the two guide wheels (45). The two ends of the transmission belt are fixed to the second frame (5) along the Y direction. The mounting structure is arranged vertically to the second frame (5) and is slidably connected to the second frame (5) through a Y slide rail assembly (51).

5. The product transfer robot according to claim 1, characterized in that: The clamping drive body (6) is arranged on the second frame (5) along the X direction. The clamping drive body (6) comprises a clamping motor (61) and two screw rods (63). The clamping motor (61) is fixed on the crossbeam of the second frame (5). The two screw rods (63) are rotatably mounted on the bottom of both sides of the second frame (5). The clamping motor (61) is connected to the corresponding screw rods (63) through a synchronization component (63). A nut block (64) is threadedly mounted on the screw rod (63). A guide rod (9) is fixed to the bottom of the second frame (5) on one side of each screw rod (63) along the X direction. The guide rod (9) movably passes through the nut block (64). An extrusion structure is provided between the nut block (64) and the adjacent clamping plate (8). The clamping motor (61) drives the nut block (64) to move, so that the extrusion structure operates to realize the relative or separate movement of the clamping plates (8).

6. The product transfer robot according to claim 5, characterized in that: The synchronization assembly (63) comprises two rotating rods (65) and two intermediate wheels (66). The two rotating rods (65) are rotatably mounted on the bottom of the second frame (5) and are transmission-connected to adjacent screw rods (63). The two intermediate wheels (66) are rotatably mounted on both sides of the clamping motor (61). A transmission belt is installed between the rotating wheels on the two rotating rods (65). The transmission belt is S-shapedly overlapped between the driving wheel on the output shaft of the clamping motor (61) and the two intermediate wheels (66).

7. The product transfer robot according to claim 5, characterized in that: The extrusion structure comprises a convex shaft fixed on the side of the nut block (64) facing the clamping plate (8), the clamping plate (8) is provided with an inclined groove (81), and the inclined grooves (81) on the two clamping plates (8) are symmetrically arranged. The convex shaft moves to squeeze the inclined grooves (81), so that the clamping plate (8) moves back and forth.

8. The product transfer robot according to claim 1, characterized in that: The connection points at both ends of the bottom of the first frame (3) are symmetrically arranged about the longitudinal center line of the first frame (3).

9. A production line, characterized in that: It comprises the product transfer robot as described in any one of claims 1 to 8.

Images