Rotary two-way carrying manipulator

Abstract

The invention discloses a rotary two-way carrying manipulator which is used for taking out or putting a jig from or into an aging cabinet. The rotary two-way carrying manipulator comprises a conveying mechanism, a lifting mechanism arranged on the conveying mechanism in a sliding mode, a rotating mechanism arranged on the lifting mechanism in a sliding mode and a carrying mechanism rotationally installed on the rotating mechanism. The carrying mechanism comprises a pushing slide rail rotationally mounted on the rotating mechanism, a carrying piece which is arranged on the pushing slide rail in a sliding manner and is used for taking the jig out of or putting the jig into the aging cabinet, and a pushing driving piece which is mounted on the carrying piece and is used for driving the carrying piece to move along the pushing slide rail; the rail direction of the pushing sliding rail is perpendicular to the rail direction of the conveying mechanism. The carrying mechanism can rotate around the rotating shaft through the rotating mechanism, so that the angle of the carrying piece is adjusted, and the carrying mechanism can take and place the jig on the aging cabinets on the two sides of the conveying mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of handling equipment, in particular to a rotary bidirectional handling manipulator. Background Art

[0002] In modern industrial production, especially in areas such as electronic products and plastic products that require aging tests, aging cabinets are important equipment in product quality control. With the expansion of production scale and the improvement of automation, an efficient and accurate way is needed to put product fixtures into aging cabinets for aging tests, and to take out the fixtures after the test for subsequent processing or testing. Traditional manual handling methods are inefficient and it is difficult to ensure the accuracy of each handling position, which is prone to fixture collisions and damage to the aging cabinet or products. Summary of the invention

[0003] Based on this, an object of the present invention is to provide a rotary bidirectional transport robot that can accurately pick up and place fixtures in an aging cabinet.

[0004] The present invention adopts the following technical solution:

[0005] A rotary bidirectional transport robot is used to take out or put in a jig from an aging cabinet; the rotary bidirectional transport robot comprises a conveying mechanism, a lifting mechanism slidably mounted on the conveying mechanism, a rotating mechanism slidably mounted on the lifting mechanism, and a transport mechanism rotatably mounted on the rotating mechanism; the transport mechanism comprises a pushing slide rail rotatably mounted on the rotating mechanism, a transport member slidably mounted on the pushing slide rail for taking the jig out or putting in the aging cabinet, and a pushing driving member mounted on the transport member for driving the transport member to move along the pushing slide rail; the track direction of the pushing slide rail is perpendicular to the track direction of the conveying mechanism.

[0006] Furthermore, the transport member includes a transport frame slidably mounted on the pushing rail, a material pushing portion installed on the transport frame, and a material taking portion installed on the transport frame; the pushing driving member is installed on the transport frame.

[0007] Furthermore, the transport member also includes an initial sensing part and a push-out sensing part installed on the pushing rail for detecting the position of the fixture; the push-out sensing part is installed on the pushing rail away from the side of the transport frame, and the initial sensing part is installed on the pushing rail close to both sides of the transport frame.

[0008] Furthermore, the transport member also includes a position sensing portion installed on the pushing slide rails on both sides of the pushing sensing portion for detecting the position of the aging cabinet.

[0009] Furthermore, the conveying mechanism includes a conveying bracket and a conveying slide rail installed on the conveying bracket; the lifting mechanism is slidably mounted on the conveying slide rail, and the conveying mechanism also includes a conveying driving component installed on the conveying bracket for driving the lifting mechanism to move along the conveying slide rail, and a conveying detection component installed on one end of the conveying slide rail for detecting the initial position of the lifting mechanism.

[0010] Furthermore, the conveying drive component includes a conveying rack installed on the conveying bracket and a conveying motor installed on the lifting mechanism; the conveying motor is provided with a conveying gear ring meshing with the conveying rack; the conveying mechanism also includes a tank chain arranged on the conveying bracket.

[0011] Furthermore, the lifting mechanism includes a lifting bracket slidably mounted on the conveying slide rail and a lifting slide rail installed on the lifting bracket; the rotating mechanism is slidably mounted on the lifting slide rail; the lifting mechanism also includes a lifting driving member installed on the lifting bracket for driving the rotating mechanism to move along the lifting slide rail, and a lifting detection member installed on the lifting bracket for detecting the initial position of the rotating mechanism.

[0012] Furthermore, the lifting drive component includes a lifting screw rotatably installed on both sides of the lifting bracket, a lifting intermediate gear ring installed on the lifting bracket, a lifting gear sleeved on both ends of the lifting screw, a lifting drive unit installed on the lifting bracket, and a belt; the rotating mechanism is threadedly connected to the lifting screw, the lifting drive unit is transmission connected to the lifting gear at one end of the lifting screw through the belt, and the lifting gear at the other end of the lifting screw is coaxially transmission connected to the lifting screw on the other side through the belt and the lifting intermediate gear ring.

[0013] Furthermore, the rotating mechanism includes a rotating bracket slidably mounted on the lifting slide rail, and a rotating seat installed on the rotating bracket; the pushing slide rail is installed on the rotating seat; the rotating mechanism also includes a rotating driving member installed on the rotating bracket for driving the rotating seat to rotate, and a rotating detection member installed on the rotating bracket for detecting the rotation direction of the conveying mechanism; a rotation detection hole opposite to the detection member is provided on the pushing slide rail.

[0014] Furthermore, the rotating drive member includes a rotating cylinder installed on the rotating bracket; the cylinder also includes a rotating telescopic rod, and the rotating drive member also includes a rotating rack arranged on the telescopic rod, and a rotating gear sleeved on the rotating seat and meshing with the rotating rack.

[0015] The beneficial effects of the present invention are:

[0016] The rotary bidirectional transport robot involved in the present invention can allow the transport mechanism to rotate around the rotating axis through the rotating mechanism, thereby adjusting the angle of the transport piece, so that the transport mechanism can take and place the jigs in the aging cabinets on both sides of the conveying mechanism; when the transport robot reaches the approximate position and height of the aging cabinet through the conveying mechanism and the lifting mechanism, since the opening direction or placement angle of the jig may be inconsistent with the initial direction of the transport piece, the rotating mechanism can rotate the transport piece to a direction that is completely aligned with the jig, ensuring that the transport piece can accurately grasp or place the jig, so as to solve the problem of not being able to take and place smoothly due to the mismatch between the angles of the jig and the transport piece. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of a rotary bidirectional transport robot according to an embodiment of the present invention;

[0018] Figure 2 for Figure 1 A three-dimensional schematic diagram of a conveying mechanism of a rotary bidirectional handling robot;

[0019] Figure 3 for Figure 2 An exploded diagram of the transmission mechanism;

[0020] Figure 4 for Figure 1 An exploded diagram of the lifting mechanism of the rotary bidirectional handling manipulator;

[0021] Figure 5 for Figure 1 A three-dimensional schematic diagram of a rotating mechanism and a transport mechanism of a rotary bidirectional transport manipulator;

[0022] Figure 6 for Figure 5 Exploded diagram of the handling mechanism;

[0023] Figure 7 for Figure 1 A three-dimensional schematic diagram of the rotating mechanism of the rotary bidirectional transport robot. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "vertical direction", "up", "down", "horizontal", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention 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 limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" 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, it can be an electrical connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0027] See also Figures 1 to 7 , is a rotary bidirectional transport manipulator of an embodiment of the present invention, which is used to take out or put in a fixture from an aging cabinet; the rotary bidirectional transport manipulator includes a conveying mechanism 10, a lifting mechanism 20 slidably mounted on the conveying mechanism 10, a rotating mechanism 30 slidably mounted on the lifting mechanism 20, and a transport mechanism 40 rotatably mounted on the rotating mechanism 30; the transport mechanism 40 includes a pushing slide rail 41 rotatably mounted on the rotating mechanism 30, a transport member 42 slidably mounted on the pushing slide rail 41 for taking out or putting in the fixture from the aging cabinet, and a pushing driving member 43 mounted on the transport member 42 for driving the transport member 42 to move along the pushing slide rail 41; the track direction of the pushing slide rail 41 is perpendicular to the track direction of the conveying mechanism 10.

[0028] The working principle of the rotary bidirectional transport manipulator of the present invention is as follows: when it is necessary to transport the jig, the conveying mechanism 10 enables the lifting mechanism 20 slidably mounted on the conveying mechanism 10 to move along the direction of the conveyor belt, and moves the transport manipulator to the corresponding position of the aging cabinet; the lifting mechanism 20 can slide on the track of the conveying mechanism 10, driving the rotating mechanism 30 slidably mounted thereon to rise or fall, so that the transport mechanism 40 can be lifted and lowered to a suitable height in the aging cabinet to approach the jig; the rotating mechanism 30 is installed on the lifting mechanism 20 and can slide. When the transport mechanism 40 is lowered to a suitable height, the rotating mechanism 30 enables the push slide rail 41 to rotate around the rotation axis, adjusting the direction of the transport member 42, so that It can align the jig to facilitate subsequent material picking operations; the track direction of the pushing slide rail 41 is perpendicular to the track direction of the conveying mechanism 10, which enables the transport member 42 to move perpendicular to the moving direction of the conveying mechanism 10; when the transport member 42 is aligned with the jig, the transport member 42 is driven to move along the pushing slide rail 41 toward the jig; then the jig is grabbed from the aging cabinet or the jig in the transport member 42 is placed into the aging cabinet through the transport member 42, and then, the driving member 43 is pushed to drive the transport member 42 to move in the opposite direction along the pushing slide rail 41 to take the jig out of the aging cabinet or put it in; thereafter, the material discharge or collection operation is completed through the coordinated action of the rotating mechanism 30, the lifting mechanism 20 and the conveying mechanism 10.

[0029] Compared with the prior art, the rotary bidirectional transport robot of the present invention can allow the transport mechanism 40 to rotate around the rotation axis through the rotating mechanism 30, thereby adjusting the angle of the transport piece 42, so that the transport mechanism 40 can take and place the jigs in the aging cabinets on both sides of the conveying mechanism 10; when the transport robot reaches the approximate position and height of the aging cabinet through the conveying mechanism 10 and the lifting mechanism 20, since the opening direction or placement angle of the jig may be inconsistent with the initial direction of the transport piece 42, the rotating mechanism 30 can rotate the transport piece 42 to a direction that is completely aligned with the jig, ensuring that the transport piece 42 can accurately grab or place the jig, so as to solve the problem caused by the jig and The problem of the inability to smoothly pick up and place the transport piece 42 due to the mismatched angle; through the coordinated work of the conveying mechanism 10, the lifting mechanism 20, the rotating mechanism 30 and the transport mechanism 40, the transport piece 42 can be accurately moved to the fixture at a specific position in the aging cabinet for picking up and placing, and the transport direction can be flexibly adjusted to adapt to aging cabinets with different layouts and fixture placement methods; the fixture can be effectively taken out of the aging cabinet and transported to the designated position, and the fixture can also be transported from other positions into the aging cabinet. This two-way transport function improves the flexibility and efficiency of the equipment and meets the needs of fixture flow between the aging cabinet and other production links during the production process.

[0030] Please refer to Figure 1 , Figure 5 and Figure 6The transporting member 42 includes a transporting frame 420 slidably mounted on the pushing rail 41, a material pushing part 421 installed on the transporting frame 420, and a material picking part 422 installed on the transporting frame 420; the pushing driving member 43 is installed on the transporting frame 420. The transporting frame 420, as the main part of the entire transporting member 42, can slide on the pushing rail 41; the material pushing part 421 is installed on the transporting frame 420, and is mainly used to push the jig into the aging cabinet or push it out of the aging cabinet; during the material discharge process, when the transporting frame 420 moves the jig carried by the material picking part 422 to the entrance position of the aging cabinet, the push rod of the material pushing part 421 extends out, and pushes the jig smoothly into the designated position in the aging cabinet with a certain thrust; when picking up materials, the push rod of the material pushing part 421 can first contact the jig and push it slightly out of the placement position in the aging cabinet, so as to facilitate the grabbing by the material picking part 422; the material picking part 422 is installed on the transporting frame 420. The rack 420 is used to grab the jig; in this embodiment, the material picking portion 422 can use a mechanical clamp; when the transport rack 420 moves the material picking portion 422 to the jig position under the drive of the push drive member 43, the clamp will close under the action of the driving mechanism, and grab the jig by the friction between the clamp and the jig or the clamping force of the mechanical structure; then, driven by the push drive member 43, the transport rack 420 moves in the opposite direction along the push slide rail 41, takes the grabbed jig out of the aging cabinet, and completes the material picking process; when placing the material, the material picking portion 422 moves the carried jig to the designated position in the aging cabinet, and then releases the clamp to place the jig.

[0031] The transport member 42 further includes an initial sensing portion 423 and a push sensing portion 424 mounted on the push rail 41 for detecting the position of the fixture; the push sensing portion 424 is mounted on the push rail away from the transport frame 420, and the initial sensing portion 423 is mounted on the push rails close to both sides of the transport frame 420. The initial sensing portion 423 is mounted on the push rails close to both sides of the transport frame 420, and its main purpose is to detect whether the fixture has reached the initial grasping position. When the handling robot moves the handling member 42 to a position close to the fixture in the aging cabinet under the coordinated action of the conveying mechanism 10, the lifting mechanism 20 and the rotating mechanism 30, the initial sensing part 423 starts to work; it detects the position of the fixture through optical, electromagnetic or mechanical contact sensing methods; when the fixture enters the sensing area of ​​the sensor, it will change the on-off state of the optical path, thereby triggering the sensor to generate an electrical signal; this signal will be transmitted to the control system, and the control system will determine that the fixture has reached the initial position where it can be grasped based on this signal, and then send an instruction to the pushing drive part 43 of the handling member 42, so that the handling frame 420 moves along the pushing slide rail 41 toward the fixture and starts the grasping action; the pushing sensing part 424 is located on the pushing slide rail on the side away from the handling frame 420, and is mainly used to detect whether the fixture is completely pushed out or placed at the target Mark position; during the discharge process, when the pushing portion 421 of the transport member 42 pushes the fixture to the designated position in the aging cabinet, the push-out sensing portion 424 monitors the position of the fixture; a suitable sensing method is also used, such as infrared sensing or mechanical limit sensing; taking infrared sensing as an example, when the fixture moves to the sensing area of ​​the push-out sensing portion 424, blocking or reflecting infrared light, the sensor will generate a signal; this signal informs the control system that the fixture has reached the predetermined placement position, at which time the pushing portion 421 stops pushing, and the transport member 42 can start the return action, or prepare for the next discharge cycle; during the material picking process, the push-out sensing portion 424 can also be used to detect whether the fixture has been completely pushed out of the placement position in the aging cabinet, so that the picking portion 422 can smoothly grab it, ensuring the accuracy and reliability of the entire material picking and placing process.

[0032] The transporting member 42 also includes a position sensing part 425 installed on the push rails on both sides of the push sensing part 424 for detecting the position of the aging cabinet. When the transporting manipulator approaches the aging cabinet, the position sensing part 425 starts to work; since the position of the aging cabinet may change due to factors such as the adjustment of the workshop layout, the movement of equipment or installation errors, the position sensing part 425 can monitor the position of the aging cabinet in real time; through the coordinated work of the two position sensing parts 425 (respectively located on both sides of the push sensing part 424), the position of the aging cabinet in three-dimensional space can be determined more accurately; for example, the two position sensing parts 425 can form an angle to determine the position of the aging cabinet through the principle of triangulation; they feed back the detected position information to the control system, and the control system adjusts the motion trajectory of the transporting manipulator according to this information to ensure that the transporting member 42 can accurately put the fixture into or take out the aging cabinet; if the position sensing part 425 detects that the position of the aging cabinet has changed, the control system can promptly fine-tune the conveying mechanism 10, the lifting mechanism 20 and the rotating mechanism 30 so that the transporting member 42 can adapt to this change and ensure the smooth progress of the material taking and placing operation.

[0033] Please refer to Figures 1 to 3 The conveying mechanism 10 includes a conveying bracket 11 and a conveying slide rail 12 installed on the conveying bracket 11; the lifting mechanism 20 is slidably arranged on the conveying slide rail 12, and the conveying mechanism 10 also includes a conveying driving member 13 installed on the conveying bracket 11 for driving the lifting mechanism 20 to move along the conveying slide rail 12, and a conveying detection member 14 installed at one end of the conveying slide rail for detecting the initial position of the lifting mechanism 20. When the jig needs to be transported, the lifting mechanism 20 is driven to slide on the conveying slide 12 to move the transport robot to the corresponding position of the aging cabinet; the conveying slide 12 is installed on the conveying bracket 11, providing a precise moving path for the lifting mechanism 20; its surface is precisely processed and has low friction and high straightness to ensure that the lifting mechanism 20 can move smoothly and accurately; the lifting mechanism 20 is installed on the slider, and there are balls or rollers inside the slider, which roll on the guide rail, greatly reducing the friction resistance; this structure can withstand certain vertical and lateral forces to ensure that the lifting mechanism 20 will not deviate or shake during the movement, thereby improving the accuracy of the transport robot in the horizontal direction; the conveying detection part 14 is installed at one end of the slide rail to detect the initial position of the lifting mechanism 20; it can be a photoelectric sensor, a proximity sensor or a limit switch, etc. Taking the photoelectric sensor as an example, when the lifting mechanism 20 is in the initial position, it will block or reflect the light emitted by the photoelectric sensor.

[0034] The conveying drive member 13 includes a conveying rack 130 installed on the conveying bracket 11 and a conveying motor 131 installed on the lifting mechanism 20; a conveying gear ring 132 meshing with the conveying rack 130 is arranged on the conveying motor 131; the conveying mechanism 10 also includes a tank chain 15 arranged on the conveying bracket 11. When it is necessary to drive the lifting mechanism 20 to move on the conveying slide rail 12, the conveying motor 131 starts working; the rotational movement of the conveying motor 131 drives the conveying gear ring 132 to rotate; since the conveying gear ring 132 is meshed with the conveying rack 130 installed on the conveying bracket 11, according to the gear rack transmission principle, when the conveying gear ring 132 rotates, a linear motion along the rack direction will be generated; this transmission method can effectively convert the rotational power of the motor into a linear driving force, so that the lifting mechanism 20 can achieve precise linear motion on the conveying slide rail 12; by controlling the speed and direction of the conveying motor 131, the moving speed and direction of the lifting mechanism 20 can be accurately controlled; if it is necessary to quickly move the handling robot to the vicinity of the aging cabinet, the speed of the conveying motor 131 can be increased; if the position needs to be adjusted precisely, the speed can be reduced to achieve fine Position control; the tank chain 15 is installed on the conveying bracket 11, and is mainly used to protect and manage various connecting cables and pipelines; during the operation of the handling robot, the electrical equipment on the lifting mechanism 20 (such as the conveying motor 131, sensors, etc.) needs to be connected to the control system through cables, and there may also be some air or oil circuits (if there are pneumatic or hydraulic components); the tank chain 15 provides a safe passage for these cables and pipelines; its structure is similar to the track of a tank, consisting of multiple chain links, and can be flexibly bent and stretched; when the lifting mechanism 20 moves on the conveying slide rail 12, the tank chain 15 will expand or contract with the movement of the lifting mechanism 20, so that the internal cables and pipelines can remain connected, while avoiding damage to the cables and pipelines due to long-term friction, pulling or external interference, ensuring the stability and reliability of electrical signals and power transmission.

[0035] Please refer to Figure 1 and Figure 4The lifting mechanism 20 includes a lifting bracket 21 slidably mounted on the conveying slide rail 12, and a lifting slide rail 22 installed on the lifting bracket 21; the rotating mechanism 30 is slidably mounted on the lifting slide rail 22; the lifting mechanism 20 also includes a lifting driving member 23 installed on the lifting bracket 21 for driving the rotating mechanism 30 to move along the lifting slide rail 22, and a lifting detection member 24 installed on the lifting bracket 21 for detecting the initial position of the rotating mechanism 30. This structure can withstand a certain vertical load and ensure that the rotating mechanism 30 will not deviate or shake during the lifting process, ensuring the accuracy and stability of the vertical movement of the rotating mechanism 30, so that the handling robot can accurately reach the fixture positions at different heights in the aging cabinet; the lifting detection member 24 is installed on the lifting bracket 21, and is used to detect the initial position of the rotating mechanism 30; it can be a photoelectric sensor, a limit switch or a magnetic sensor, etc.; taking the photoelectric sensor as an example, under normal conditions, the photoelectric sensor will emit light of a certain intensity, and when the rotating mechanism 30 is in the initial position, it will block or reflect the light; after the photoelectric element inside the photoelectric sensor detects the change in light, it determines whether the rotating mechanism 30 is in the initial position based on this signal. Before each handling task starts, by detecting whether the rotating mechanism 30 returns to the initial position, it can ensure that subsequent lifting, rotation and handling operations all start from an accurate starting point, and in the event of a fault or abnormal situation, this initial position information can also be used as a reference for troubleshooting.

[0036] The lifting drive member 23 includes a lifting screw 230 rotatably installed on both sides of the lifting bracket 21, a lifting intermediate gear ring 231 installed on the lifting bracket 21, a lifting gear 232 sleeved on both ends of the lifting screw 230, a lifting drive unit 233 installed on the lifting bracket 21, and a belt 234; the rotating mechanism 30 is threadedly connected to the lifting screw 230, the lifting drive unit 233 is transmission-connected to the lifting gear 232 at one end of the lifting screw 230 through the belt 234, and the lifting gear 232 at the other end of the lifting screw 230 is coaxially transmission-connected to the lifting screw 230 on the other side through the belt 234 and the lifting intermediate gear ring 231. When it is necessary to drive the rotating mechanism 30 to perform lifting movement, the lifting drive unit 233 starts to work; the lifting drive unit 233 can be a motor, and the rotational movement of the motor is transmitted to the lifting gear 232 at one end of one of the lifting screw rods 230 through the belt 234; for example, the belt 234 wheel on the output shaft of the motor is connected to the belt 234 wheel on this lifting gear 232 through the belt 234, and when the motor rotates, the belt 234 drives the lifting gear 232 to rotate; since the lifting screw rod 230 and the lifting gear 232 are coaxially connected, the rotation of the lifting gear 232 will cause the lifting screw rod 230 to rotate accordingly; the rotating mechanism 30 and the lifting screw rod 230 are threadedly connected; when the lifting screw rod 230 rotates under the drive of the lifting gear 232, according to the spiral transmission principle of the screw rod, the rotating mechanism 30 will perform a linear motion in the vertical direction along the lifting screw rod 230; taking the right-hand screw rod as an example, when the screw rod rotates clockwise, the rotating mechanism 30 will move upward along the screw rod; when the screw rod rotates counterclockwise, the rotating mechanism 30 will move downward; this transmission method can convert rotational motion into precise linear motion, which is convenient for controlling the lifting height of the rotating mechanism 30; the lifting gear 232 at the other end of the lifting screw 230 is coaxially connected to the lifting screw 230 on the other side through the belt 234 and the lifting intermediate gear ring 231; when the lifting screw 230 on one side rotates, the lifting gear 232 at its end also rotates accordingly; this lifting gear 232 transmits power to the lifting intermediate gear ring 231 through the belt 234, and the intermediate gear ring then transmits power to the lifting gear 232 at the end of the lifting screw 230 on the other side through another belt 234, so that the lifting screw 230 on the other side also rotates synchronously; in this way, it is ensured that the lifting screws 230 on both sides can rotate at the same speed and direction, so that the rotating mechanism 30 can remain horizontal and stable during the lifting process, and will not tilt or jam due to the inconsistent movement of the screws on both sides, thereby ensuring the accuracy and reliability of the vertical movement of the rotating mechanism 30 on the lifting slide rail 22.

[0037] Please refer to Figure 5 and Figure 7The rotating mechanism 30 includes a rotating bracket 31 slidably mounted on the lifting slide rail 22, and a rotating seat 32 installed on the rotating bracket 31; the pushing slide rail 41 is installed on the rotating seat 32; the rotating mechanism 30 also includes a rotating driving member 33 installed on the rotating bracket 31 for driving the rotating seat 32 to rotate, and a rotating detection member 34 installed on the rotating bracket 31 for detecting the rotation direction of the conveying mechanism 40; a rotation detection hole 410 opposite to the detection member is provided on the pushing slide rail 41. The direction of the pushing slide 41 and the transport mechanism 40 can be changed to ensure that the transport member 42 can accurately face the fixtures placed at different angles in the aging cabinet; the rotation detection member 34 is installed on the rotating bracket 31, and is mainly used to detect the rotation direction and angle of the transport mechanism 40; it can be a photoelectric encoder, a rotary transformer or a magnetic sensor, etc. Taking the photoelectric encoder as an example, it determines the rotation angle by detecting the change of the light signal during the rotation process; a rotation detection hole 410 opposite to the detection member is provided on the pushing slide 41; when the rotating seat 32 rotates, the rotation detection hole 410 will rotate with the pushing slide 41; the rotation detection member 34 determines the angle and direction of rotation by counting these detection holes or detecting the on-off change of the light signal; for example, each time passing through a detection hole, the photoelectric encoder can accurately know how much the rotating seat 32 has rotated, whether it is clockwise or counterclockwise, thereby realizing accurate control of the rotation position of the transport mechanism 40; this precise detection can ensure that the transport mechanism 40 can be accurately adjusted to a predetermined angle to adapt to aging cabinets with different layouts and fixture placement methods.

[0038] The rotating driving member 33 includes a rotating cylinder 330 installed on the rotating bracket 31; the cylinder also includes a rotating telescopic rod, and the driving member also includes a rotating rack 331 arranged on the telescopic rod, and a rotating gear 332 mounted on the rotating seat 32 and meshing with the rotating rack 331. When it is necessary to rotate the conveying mechanism 40 to adjust the direction, inside the cylinder body of the cylinder, when compressed air enters one side of the cylinder, it will push the piston to move; the piston is connected to the rotating telescopic rod, so the movement of the piston drives the rotating telescopic rod to extend or retract; for example, when compressed air enters one side of the piston, it pushes the piston to move to the other side, and the rotating telescopic rod extends accordingly; when the air intake direction of the compressed air is changed, the piston moves in the opposite direction, and the rotating telescopic rod retracts; a rotating rack 331 is arranged on the rotating telescopic rod, and when the rotating telescopic rod performs telescopic movement, the rotating rack 331 also moves accordingly; the rotating seat 32 is mounted with a rotating rack 331 is meshed with a rotating gear 332; when the rotating rack 331 moves forward or backward, it drives the rotating gear 332 to rotate; since the rotating gear 332 is coaxially connected to the rotating base 32, the rotation of the rotating gear 332 will cause the rotating base 32 to rotate around its central axis; for example, when the rotating rack 331 moves forward, it pushes the rotating gear 332 to rotate clockwise, thereby causing the rotating base 32 to rotate clockwise, and then drives the pushing slide rail 41 and the transport mechanism 40 installed on the rotating base 32 to rotate together, and adjust the direction of the transport member 42 so as to accurately align the fixture in the aging cabinet for pick-up and placement operations.

[0039] The above only expresses the preferred technical solution of the present invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, and the present invention is also intended to include these modifications and modifications.

Claims

1. A rotary bidirectional handling manipulator, used to take the jig out of or put it into the aging cabinet; characterized in that: The rotary bidirectional transport robot includes a conveying mechanism, a lifting mechanism slidably mounted on the conveying mechanism, a rotating mechanism slidably mounted on the lifting mechanism, and a transport mechanism rotatably mounted on the rotating mechanism; the transport mechanism includes a pushing slide rail rotatably mounted on the rotating mechanism, a transport piece slidably mounted on the pushing slide rail for taking the jig out of or putting it into the aging cabinet, and a pushing driving piece mounted on the transport piece for driving the transport piece to move along the pushing slide rail; the track direction of the pushing slide rail is perpendicular to the track direction of the conveying mechanism.

2. The rotary bidirectional transport robot according to claim 1, characterized in that: The transport member comprises a transport frame slidably arranged on the pushing rail, a material pushing part installed on the transport frame, and a material taking part installed on the transport frame; the pushing driving member is installed on the transport frame.

3. The rotary bidirectional transport robot according to claim 2, characterized in that: The transport member also includes an initial sensing part and a push-out sensing part installed on the pushing rail for detecting the position of the fixture; the push-out sensing part is installed on the pushing rail away from the side of the transport frame, and the initial sensing part is installed on the pushing rail close to both sides of the transport frame.

4. The rotary bidirectional transport robot according to claim 3, characterized in that: The transporting member also includes a position sensing portion installed on the pushing slide rails on both sides of the pushing sensing portion for detecting the position of the aging cabinet.

5. The rotary bidirectional transport robot according to claim 1, characterized in that: The conveying mechanism includes a conveying bracket and a conveying slide rail installed on the conveying bracket; the lifting mechanism is slidably mounted on the conveying slide rail, and the conveying mechanism also includes a conveying driving member installed on the conveying bracket for driving the lifting mechanism to move along the conveying slide rail, and a conveying detection member installed on one end of the conveying slide rail for detecting the initial position of the lifting mechanism.

6. The rotary bidirectional transport robot according to claim 5, characterized in that: The conveying drive component includes a conveying rack installed on the conveying bracket and a conveying motor installed on the lifting mechanism; a conveying gear ring meshing with the conveying rack is arranged on the conveying motor; and the conveying mechanism also includes a tank chain arranged on the conveying bracket.

7. The rotary bidirectional transport robot according to claim 5, characterized in that: The lifting mechanism includes a lifting bracket slidably mounted on the conveying slide rail and a lifting slide rail installed on the lifting bracket; the rotating mechanism is slidably mounted on the lifting slide rail; the lifting mechanism also includes a lifting driving member installed on the lifting bracket for driving the rotating mechanism to move along the lifting slide rail, and a lifting detection member installed on the lifting bracket for detecting the initial position of the rotating mechanism.

8. The rotary bidirectional transport robot according to claim 7, characterized in that: The lifting drive component includes a lifting screw rotatably installed on both sides of the lifting bracket, a lifting intermediate gear ring installed on the lifting bracket, a lifting gear sleeved on both ends of the lifting screw, a lifting drive unit installed on the lifting bracket, and a belt; the rotating mechanism is threadedly connected to the lifting screw, the lifting drive unit is transmission connected to the lifting gear at one end of the lifting screw through the belt, and the lifting gear at the other end of the lifting screw is coaxially transmission connected to the lifting screw on the other side through the belt and the lifting intermediate gear ring.

9. The rotary bidirectional transport robot according to claim 7, characterized in that: The rotating mechanism includes a rotating bracket slidably mounted on the lifting slide rail, and a rotating seat installed on the rotating bracket; the pushing slide rail is installed on the rotating seat; the rotating mechanism also includes a rotating driving member installed on the rotating bracket for driving the rotating seat to rotate, and a rotating detection member installed on the rotating bracket for detecting the rotation direction of the conveying mechanism; a rotation detection hole opposite to the detection member is provided on the pushing slide rail.

10. The rotary bidirectional transport robot according to claim 9, characterized in that: The rotating drive member includes a rotating cylinder installed on the rotating bracket; the cylinder also includes a rotating telescopic rod, and the rotating drive member also includes a rotating rack arranged on the telescopic rod, and a rotating gear sleeved on the rotating seat and meshing with the rotating rack.

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