Rotary bidirectional handling robot

Abstract

The rotary bidirectional carrying manipulator is used for taking out or putting into the jig from or into the aging cabinet; the rotary bidirectional carrying manipulator comprises a conveying mechanism, a lifting mechanism slidably arranged on the conveying mechanism, a rotating mechanism slidably arranged on the lifting mechanism, and a carrying mechanism rotatably arranged on the rotating mechanism; the carrying mechanism comprises a pushing slide rail rotatably arranged on the rotating mechanism, a carrying piece slidably arranged on the pushing slide rail and used for taking out or putting into the jig from or into the aging cabinet, and a pushing driving piece arranged on the carrying piece and used for driving the carrying 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; the rotating mechanism can rotate the carrying mechanism around the rotating shaft, so as to adjust the angle of the carrying piece, and the carrying mechanism can take out or put into the jig from or into the aging cabinets on both sides of the conveying mechanism.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrying equipment, in particular to a rotary bidirectional carrying manipulator. BACKGROUND

[0002] In modern industrial production, especially in the field of electronic products, plastic products and other products that need to be tested, the aging cabinet is an important device for product quality control. With the expansion of production scale and the improvement of automation level, a high-efficiency and accurate way is needed to put the product fixture into the aging cabinet for aging test, and take out the fixture after the test is completed, so as to carry out subsequent processing or detection process. The traditional manual carrying method is low in efficiency, and it is difficult to ensure the accuracy of the carrying position each time, which may cause fixture collision, damage to the aging cabinet or product. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a rotary bidirectional carrying manipulator which can accurately take and place the fixture in the aging cabinet.

[0004] The present application adopts the following technical scheme:

[0005] A rotary bidirectional carrying manipulator is used to take out or put into the fixture from the aging cabinet. The rotary bidirectional carrying manipulator comprises a conveying mechanism, a lifting mechanism slidably arranged on the conveying mechanism, a rotating mechanism slidably arranged on the lifting mechanism, and a carrying mechanism rotatably installed on the rotating mechanism. The carrying mechanism comprises a pushing slide rail rotatably installed on the rotating mechanism, a carrying member slidably arranged on the pushing slide rail for taking out or putting into the fixture from the aging cabinet, and a pushing driving member installed on the carrying member for driving the carrying 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] Further, the carrying member comprises a carrying frame slidably arranged on the pushing slide rail, a pushing material portion installed on the carrying frame, and a material taking portion installed on the carrying frame. The pushing driving member is installed on the carrying frame.

[0007] Further, the carrying member further comprises an initial sensing portion and a pushing-out sensing portion installed on the pushing slide rail for detecting the position of the fixture. The pushing-out sensing portion is installed on the pushing slide rail away from the carrying frame, and the initial sensing portion is installed on the pushing slide rail close to both sides of the carrying frame.

[0008] Further, the carrying member further comprises a position sensing portion installed on the pushing slide rail on both sides of the pushing-out sensing portion for detecting the position of the aging cabinet.

[0009] Further, the conveying mechanism comprises a conveying support and a conveying slide rail installed on the conveying support; the lifting mechanism is slidably arranged on the conveying slide rail; the conveying mechanism further comprises a conveying driving element installed on the conveying support and used for driving the lifting mechanism to move along the conveying slide rail, and a conveying detecting element installed on one end of the conveying slide rail and used for detecting the initial position of the lifting mechanism.

[0010] Further, the conveying driving element comprises a conveying rack installed on the conveying support and a conveying motor installed on the lifting mechanism; the conveying motor is provided with a conveying gear ring engaged with the conveying rack; the conveying mechanism further comprises a tank chain arranged on the conveying support.

[0011] Further, the lifting mechanism comprises a lifting support slidably arranged on the conveying slide rail and a lifting slide rail installed on the lifting support; the rotating mechanism is slidably arranged on the lifting slide rail; the lifting mechanism further comprises a lifting driving element installed on the lifting support and used for driving the rotating mechanism to move along the lifting slide rail, and a lifting detecting element installed on the lifting support and used for detecting the initial position of the rotating mechanism.

[0012] Further, the lifting driving element comprises a lifting lead screw rotatably installed on both sides of the lifting support, a lifting intermediate gear ring installed on the lifting support, a lifting gear sleeved on both ends of the lifting lead screw, a lifting driving part installed on the lifting support and a belt; the rotating mechanism is threadedly connected with the lifting lead screw; the lifting driving part is drivingly connected with the lifting gear at one end of the lifting lead screw through the belt; the lifting gear at the other end of the lifting lead screw is coaxially drivingly connected with the lifting lead screw at the other side through the belt and the lifting intermediate gear ring.

[0013] Further, the rotating mechanism comprises a rotating support slidably arranged on the lifting slide rail and a rotating seat installed on the rotating support; the pushing slide rail is installed on the rotating seat; the rotating mechanism further comprises a rotating driving element installed on the rotating support and used for driving the rotating seat to rotate, and a rotating detecting element installed on the rotating support and used for detecting the rotating direction of the conveying mechanism; the pushing slide rail is provided with a rotating detecting hole opposite to the detecting element.

[0014] Further, the rotating driving element comprises a rotating cylinder installed on the rotating support; the cylinder further comprises a rotating telescopic rod; the rotating driving element further comprises a rotating rack arranged on the telescopic rod and a rotating gear sleeved on the rotating seat and engaged with the rotating rack.

[0015] The present application has the following advantages:

[0016] The rotating bidirectional carrying manipulator can rotate the carrying mechanism around the rotating shaft through the rotating mechanism, thereby adjusting the angle of the carrying piece, and enabling the carrying mechanism to take and place the jig on both sides of the aging cabinet; after the carrying manipulator reaches the approximate position and height of the aging cabinet through the conveying mechanism and the lifting mechanism, the rotating mechanism can rotate the carrying piece to the direction fully aligned with the jig, to ensure that the carrying piece can accurately grab or place the jig, so as to solve the problem that the jig and the carrying piece cannot be smoothly taken and placed due to the angle mismatch. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a perspective view of a rotating bidirectional carrying manipulator according to an embodiment of the present application;

[0018] Figure 2 FIG. 2 is a perspective view of a conveying mechanism of the rotating bidirectional carrying manipulator according to the embodiment of the present application; Figure 1

[0019] Figure 3 FIG. 3 is an exploded view of the conveying mechanism according to the embodiment of the present application; Figure 2

[0020] Figure 4 FIG. 4 is an exploded view of a lifting mechanism of the rotating bidirectional carrying manipulator according to the embodiment of the present application; Figure 1

[0021] Figure 5 FIG. 5 is a perspective view of a rotating mechanism and a carrying mechanism of the rotating bidirectional carrying manipulator according to the embodiment of the present application; Figure 1

[0022] Figure 6 FIG. 6 is an exploded view of the carrying mechanism according to the embodiment of the present application; Figure 5

[0023] Figure 7 FIG. 7 is a perspective view of the rotating mechanism of the rotating bidirectional carrying manipulator according to the embodiment of the present application. Figure 1 DETAILED DESCRIPTION The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0024]

[0025] ​​​​​​In the description of the present application, it should be noted that the terms "vertical direction", "upper", "lower", "horizontal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, "first", "second", "third", "fourth" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0026] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrally connected, it can be mechanically connected, or it can be electrically connected, it can be directly connected, or it can be connected through an intermediate medium, it can be the communication inside two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] Please refer to Figures 1 to 7 The rotating bidirectional carrying manipulator of an embodiment of the present application is used to take out or put into a jig from an aging cabinet; the rotating bidirectional carrying manipulator comprises a conveying mechanism 10, a lifting mechanism 20 slidably arranged on the conveying mechanism 10, a rotating mechanism 30 slidably arranged on the lifting mechanism 20, and a carrying mechanism 40 rotatably installed on the rotating mechanism 30; the carrying mechanism 40 comprises a pushing slide rail 41 rotatably installed on the rotating mechanism 30, a carrying piece 42 slidably arranged on the pushing slide rail 41 and used to take out or put into the jig from the aging cabinet, and a pushing driving piece 43 installed on the carrying piece 42 and used to drive the carrying piece 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 carrying manipulator is as follows: when the carrier is needed, the conveying mechanism 10 moves the lifting mechanism 20 sliding on the conveying mechanism 10 along the direction of the conveying belt, and moves the carrying manipulator to the position corresponding to the aging cabinet; the lifting mechanism 20 can slide on the track of the conveying mechanism 10, drives the rotating mechanism 30 sliding thereon to ascend or descend, so that the carrying mechanism 40 can ascend or descend to a suitable height in the aging cabinet to approach the carrier; the rotating mechanism 30 is installed on the lifting mechanism 20 and can slide, when the carrying mechanism 40 descends to the suitable height, the rotating mechanism 30 drives the pushing slide rail 41 to rotate around the rotating shaft, adjusts the direction of the carrying piece 42, so that the carrying piece 42 can be aligned with the carrier, and the subsequent material taking operation is facilitated; the track direction of the pushing slide rail 41 is perpendicular to the track direction of the conveying mechanism 10, so that the carrying piece 42 can move in the direction perpendicular to the moving direction of the conveying mechanism 10; when the carrying piece 42 is aligned with the carrier, the driving carrying piece 42 moves along the pushing slide rail 41 to the direction of the carrier; then the carrier is taken out of the aging cabinet by the carrying piece 42 or the carrier in the carrying piece 42 is put into the aging cabinet, then the pushing driving piece 43 drives the carrying piece 42 to move reversely along the pushing slide rail 41, and the carrier is taken out of the aging cabinet or put in; then, the taking or placing operation is completed through the cooperative action of the rotating mechanism 30, the lifting mechanism 20 and the conveying mechanism 10.

[0029] Compared with the prior art, the rotary bidirectional carrying manipulator can rotate the carrying mechanism 40 around the rotating shaft through the rotating mechanism 30, so that the angle of the carrying piece 42 is adjusted, and the carrying mechanism 40 can take or place the carrier on both sides of the conveying mechanism 10; when the carrying manipulator 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 the placing angle of the carrier may not be consistent with the initial direction of the carrying piece 42, the rotating mechanism 30 can rotate the carrying piece 42 to the direction completely aligned with the carrier, so that the carrying piece 42 can accurately take or place the carrier, and the problem that the carrier and the carrying piece 42 cannot be smoothly taken or placed due to the angle mismatch is solved; through the cooperative work of the conveying mechanism 10, the lifting mechanism 20, the rotating mechanism 30 and the carrying mechanism 40, the carrying piece 42 can be accurately moved to the carrier at a specific position in the aging cabinet for taking or placing, and the carrying direction can be flexibly adjusted to adapt to the aging cabinet and the carrier placing mode with different layouts; the carrier can be effectively taken out of the aging cabinet and carried to a specified position, and the carrier can also be carried from other positions and placed in the aging cabinet, and the bidirectional carrying function improves the use flexibility and efficiency of the equipment, and meets the demand of carrier circulation between the aging cabinet and other production links in the production process.

[0030] Please refer to Figure 1 , Figure 5 and Figure 6The carrying member 42 comprises a carrying frame 420 sliding on the pushing slide rail 41, a pushing part 421 installed on the carrying frame 420, and a taking part 422 installed on the carrying frame 420; the pushing driving member 43 is installed on the carrying frame 420. The carrying frame 420 is the main part of the whole carrying member 42 and can slide on the pushing slide rail 41; the pushing part 421 is installed on the carrying frame 420 and is mainly used for pushing the jig into or out of the aging cabinet; during the process of putting the jig, when the carrying frame 420 moves the jig carried by the taking part 422 to the entrance position of the aging cabinet, the pushing rod of the pushing part 421 extends to smoothly push the jig into the designated position in the aging cabinet with a certain pushing force; during the process of taking the jig, the pushing rod of the pushing part 421 can first contact the jig to slightly push it out of the placement position in the aging cabinet, so as to facilitate the taking part 422 to grasp; the taking part 422 is installed on the carrying frame 420 and is used for grasping the jig; in this embodiment, the taking part 422 can adopt a mechanical gripper; when the carrying frame 420 moves the taking part 422 to the jig position under the driving of the pushing driving member 43, the gripper will be closed under the action of the driving mechanism to grasp the jig through the friction force between the gripper and the jig or the clamping force of the mechanical structure; then, under the driving of the pushing driving member 43, the carrying frame 420 moves reversely along the pushing slide rail 41 to take out the grasped jig from the aging cabinet, and the process of taking the jig is completed; during the process of putting the jig, the taking part 422 moves the carried jig to the designated position in the aging cabinet and then releases the gripper to realize the placement of the jig.

[0031] The carrying member 42 further comprises an initial sensing part 423 and a pushing-out sensing part 424 installed on the pushing slide rail 41 for detecting the position of the wafer carrier; the pushing-out sensing part 424 is installed on the pushing slide rail far away from the carrying frame 420, and the initial sensing part 423 is installed on the pushing slide rail close to the carrying frame 420. The initial sensing part 423 is installed on the pushing slide rail close to the carrying frame 420, and its main purpose is to detect whether the wafer carrier reaches the initial grabbing position. When the carrying robot moves the carrying member 42 to the position close to the wafer carrier in the aging cabinet under the cooperation 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 wafer carrier through optical, electromagnetic or mechanical contact sensing methods; when the wafer carrier enters the sensing area of the sensor, it changes the on-off state of the light path, thereby triggering the sensor to generate an electrical signal; this signal is transmitted to the control system, and the control system judges that the wafer carrier has reached the initial position that can be grabbed according to the signal, and then sends an instruction to the pushing drive 43 of the carrying member 42, so that the carrying frame 420 moves along the pushing slide rail 41 towards the wafer carrier, and the grabbing action starts; the pushing-out sensing part 424 is located on the pushing slide rail far away from the carrying frame 420, and is mainly used for detecting whether the wafer carrier is completely pushed out or placed at the target position; during the material placing process, when the pushing part 421 of the carrying member 42 pushes the wafer carrier to the designated position in the aging cabinet, the pushing-out sensing part 424 monitors the position of the wafer carrier; the appropriate sensing method is also adopted, such as infrared sensing or mechanical limit sensing; taking infrared sensing as an example, when the wafer carrier moves to the sensing area of the pushing-out sensing part 424, it blocks or reflects the infrared light, and the sensor generates a signal; this signal informs the control system that the wafer carrier has reached the predetermined placement position, at which time the pushing part 421 stops pushing, and the carrying member 42 can start the returning action or prepare for the next material placing cycle; during the material taking process, the pushing-out sensing part 424 can also be used to detect whether the wafer carrier has been completely pushed out of the placement position in the aging cabinet, so that the taking part 422 can smoothly grab, and the accuracy and reliability of the whole material placing and taking process are ensured.

[0032] The carrying member 42 also includes position sensing parts 425 installed on the push sliding rails on both sides of the push sensing part 424 for detecting the position of the aging cabinet. When the carrying manipulator approaches the aging cabinet, the position sensing parts 425 start to work; since the position of the aging cabinet may change due to factors such as adjustment of workshop layout, movement of equipment, or installation error, the position sensing parts 425 can monitor the position of the aging cabinet in real time; through the cooperative work of the two position sensing parts 425 (located on both sides of the push sensing part 424), the position of the aging cabinet in three-dimensional space can be more accurately determined; for example, the two position sensing parts 425 can form an angle, and the position of the aging cabinet is determined by 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 carrying manipulator according to the information to ensure that the carrying member 42 can accurately put or take the jig into or out of the aging cabinet; if the position sensing parts 425 detect that the position of the aging cabinet has changed, the control system can timely adjust the conveying mechanism 10, the lifting mechanism 20, and the rotating mechanism 30, so that the carrying member 42 can adapt to such changes and ensure the smooth operation of the material taking and placing operation.

[0033] Please refer to Figures 1 to 3 The conveying mechanism 10 includes a conveying support 11 and a conveying sliding rail 12 installed on the conveying support 11; the lifting mechanism 20 is slidably arranged on the conveying sliding rail 12, and the conveying mechanism 10 further includes a conveying driving member 13 installed on the conveying support 11 for driving the lifting mechanism 20 to move along the conveying sliding rail 12, and a conveying detection member 14 installed at one end of the conveying sliding rail for detecting the initial position of the lifting mechanism 20. When the jig needs to be carried, the lifting mechanism 20 is driven to slide on the conveying sliding rail 12, and the carrying manipulator is moved to the position corresponding to the aging cabinet; the conveying sliding rail 12 is installed on the conveying support 11, providing an accurate movement path for the lifting mechanism 20; its surface is precisely machined, 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 a sliding block, which has a ball or roller inside, rolling on the guide rail, greatly reducing the friction resistance; this structure can withstand certain vertical and lateral forces, ensuring that the lifting mechanism 20 does not deviate or shake during movement, thereby improving the accuracy of the carrying manipulator in the horizontal direction; the conveying detection member 14 is installed at one end of the sliding rail for detecting 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 driving member 13 comprises a conveying rack 130 mounted on the conveying support 11, a conveying motor 131 mounted on the lifting mechanism 20; the conveying motor 131 is provided with a conveying gear ring 132 engaged with the conveying rack 130; the conveying mechanism 10 further comprises a tank chain 15 provided on the conveying support 11. When it is necessary to drive the lifting mechanism 20 to move on the conveying slide rail 12, the conveying motor 131 starts to work; the rotary motion of the conveying motor 131 drives the conveying gear ring 132 to rotate; since the conveying gear ring 132 is engaged with the conveying rack 130 mounted on the conveying support 11, according to the gear and rack transmission principle, when the conveying gear ring 132 rotates, linear motion in the direction of the rack will be generated; this transmission mode can effectively convert the rotary power of the motor into linear driving force, so that the lifting mechanism 20 can realize precise linear motion on the conveying slide rail 12; by controlling the rotating 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 carrying manipulator to the vicinity of the aging cabinet, the rotating speed of the conveying motor 131 can be increased; if it is necessary to accurately adjust the position, the rotating speed can be reduced to realize fine position control; the tank chain 15 is mounted on the conveying support 11 and is mainly used for protecting and managing various connecting cables and pipelines; in the working process of the carrying manipulator, the electrical equipment (such as the conveying motor 131, sensors, etc.) on the lifting mechanism 20 needs to be connected with the control system through cables, and there can also be some air or oil lines (if there are pneumatic or hydraulic components); the tank chain 15 provides a safe channel for these cables and pipelines; its structure is similar to the track of a tank and is composed of multiple chain links and can flexibly bend and stretch; 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 maintain a connected state, while avoiding damage to the cables and pipelines due to long-term friction, pulling or external interference, ensuring the stability and reliability of electrical signal and power transmission.

[0035] Please refer to Figure 1 and Figure 4The lifting mechanism 20 comprises a lifting support 21 sliding on the conveying slide rail 12, a lifting slide rail 22 installed on the lifting support 21, and a rotating mechanism 30 sliding on the lifting slide rail 22. The lifting mechanism 20 further comprises a lifting driving member 23 installed on the lifting support 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 support 21 for detecting the initial position of the rotating mechanism 30. This structure can bear certain vertical load, and ensures that the rotating mechanism 30 will not deviate or shake during lifting, ensuring the accuracy and stability of the vertical movement of the rotating mechanism 30, so that the carrying manipulator can accurately reach the jig position at different heights in the aging cabinet. The lifting detection member 24 is installed on the lifting support 21 for detecting the initial position of the rotating mechanism 30. It can be an optical sensor, a limit switch or a magnetic sensor, etc. Taking the optical sensor as an example, under normal conditions, the optical sensor will emit light of a certain intensity, and when the rotating mechanism 30 is at the initial position, it will block or reflect the light. After the photoelectric element inside the optical sensor detects the change of the light, it determines whether the rotating mechanism 30 is at the initial position according to the signal. Before each carrying task starts, by detecting whether the rotating mechanism 30 returns to the initial position, it can ensure that the subsequent lifting, rotating and carrying operations start from an accurate starting point. 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 driving member 23 comprises a lifting screw rod 230 rotatably installed on both sides of the lifting support 21, a lifting intermediate gear ring 231 installed on the lifting support 21, a lifting gear 232 sleeved on both ends of the lifting screw rod 230, a lifting driving part 233 installed on the lifting support 21, and a belt 234. The rotating mechanism 30 is in threaded connection with the lifting screw rod 230, the lifting driving part 233 is in transmission connection with the lifting gear 232 at one end of the lifting screw rod 230 through the belt 234, and the lifting gear 232 at the other end of the lifting screw rod 230 is in coaxial transmission connection with the lifting screw rod 230 at the other side through the belt 234 and the lifting intermediate gear ring 231. When the rotating mechanism 30 needs to be driven to move up and down, the lifting driving part 233 starts to work. The lifting driving part 233 can be a motor, and the rotating 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 with the belt 234 wheel on the 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 is coaxially connected with the lifting gear 232, the rotation of the lifting gear 232 will make the lifting screw rod 230 rotate. The rotating mechanism 30 is in threaded connection with the lifting screw rod 230. When the lifting screw rod 230 rotates under the drive of the lifting gear 232, according to the screw transmission principle, the rotating mechanism 30 will move in a straight line in the vertical direction along the lifting screw rod 230. Taking a right-handed 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 mode can convert the rotary motion into precise linear motion, facilitating the control of the lifting height of the rotating mechanism 30. The lifting gear 232 at the other end of the lifting screw rod 230 is coaxially connected with the lifting screw rod 230 at the other side through the belt 234 and the lifting intermediate gear ring 231. When the lifting screw rod 230 at one side rotates, the lifting gear 232 at the end thereof also rotates. The lifting gear 232 transmits power to the lifting intermediate gear ring 231 through the belt 234, and the intermediate gear ring transmits power to the lifting gear 232 at the end of the lifting screw rod 230 at the other side through the other belt 234, so that the lifting screw rod 230 at the other side also rotates synchronously. In this way, it is ensured that the lifting screw rods 230 at both sides can rotate at the same speed and in the same direction, so that the rotating mechanism 30 can remain horizontal and stable during the lifting process, and will not tilt or jam due to inconsistent movement of the screw rods at 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 comprises a rotating bracket 31 sliding on the lifting slide rail 22, a rotating seat 32 installed on the rotating bracket 31, and a pushing slide rail 41 installed on the rotating seat 32. The rotating mechanism 30 further comprises a rotating driving member 33 installed on the rotating bracket 31 for driving the rotating seat 32 to rotate, and a rotating detecting member 34 installed on the rotating bracket 31 for detecting the rotating direction of the carrying mechanism 40. The pushing slide rail 41 is provided with a rotating detecting hole 410 opposite to the detecting member. The direction of the pushing slide rail 41 and the carrying mechanism 40 can be changed, so as to ensure that the carrying member 42 can accurately face the jigs placed at different angles in the aging cabinet. The rotating detecting member 34 is installed on the rotating bracket 31, and is mainly used for detecting the rotating direction and angle of the carrying mechanism 40. It can be an optical encoder, a rotary transformer or a magnetic sensor, etc. Taking the optical encoder as an example, it determines the rotating angle by detecting the change of the optical signal during the rotation. The pushing slide rail 41 is provided with the rotating detecting hole 410 opposite to the detecting member. When the rotating seat 32 rotates, the rotating detecting hole 410 rotates with the pushing slide rail 41. The rotating detecting member 34 determines the rotating angle and direction by counting the detecting holes or detecting the on-off change of the optical signal. For example, the optical encoder can accurately know how many angles the rotating seat 32 rotates, and whether it rotates clockwise or counterclockwise, so as to realize the accurate control of the rotating position of the carrying mechanism 40. The accurate detection can ensure that the carrying mechanism 40 can accurately adjust to the predetermined angle, so as to adapt to the aging cabinet and the jig placing mode with different layouts.

[0038] The rotating driving member 33 comprises a rotating cylinder 330 mounted on the rotating support 31, and a rotating telescopic rod, a rotating rack 331 arranged on the telescopic rod, and a rotating gear 332 sleeved on the rotating seat 32 and engaged with the rotating rack 331. When it is needed to rotate the carrying mechanism 40 to adjust the direction, in the cylinder of the cylinder, when the compressed air enters one side of the cylinder, the piston is pushed to move; the piston is connected with the rotating telescopic rod, so the movement of the piston drives the rotating telescopic rod to extend or retract; for example, when the compressed air enters one side of the piston, the piston is pushed to move to the other side, and the rotating telescopic rod extends; when the direction of the compressed air is changed, the piston moves reversely, and the rotating telescopic rod retracts; the rotating rack 331 is arranged on the rotating telescopic rod, and moves with the rotating telescopic rod when the rotating telescopic rod extends or retracts; the rotating gear 332 engaged with the rotating rack 331 is sleeved on the rotating seat 32; when the rotating rack 331 moves forward or backward, the rotating gear 332 rotates; since the rotating gear 332 is coaxially connected with the rotating seat 32, the rotation of the rotating gear 332 drives the rotating seat 32 to rotate around the central axis; for example, when the rotating rack 331 moves forward, the rotating gear 332 rotates clockwise, so that the rotating seat 32 also rotates clockwise, and drives the pushing slide rail 41 and the carrying mechanism 40 mounted on the rotating seat 32 to rotate, adjusts the direction of the carrying member 42, and accurately aligns the jig in the aging cabinet to carry out the taking and placing operation.

[0039] The above description only represents the preferred technical solutions of the present application, which is more specific and detailed, but cannot be understood as the limitation of the scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, some modifications and improvements can be made, and the present application also intends to include these modifications and improvements.

Claims

1. A rotary bidirectional handling robot for removing or placing fixtures from or into an aging cabinet; characterized in that, The rotary bidirectional handling 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 handling mechanism rotatably mounted on the rotating mechanism. The handling mechanism includes a pusher rail rotatably mounted on the rotating mechanism, a handling component slidably mounted on the pusher rail for removing or placing the fixture from the aging cabinet, and a pusher drive component mounted on the handling component for driving the handling component to move along the pusher rail. The track direction of the pusher rail is perpendicular to the track direction of the conveying mechanism. The handling component includes a handling frame slidably mounted on the pusher rail, a pushing part mounted on the handling frame, and a picking part mounted on the handling frame. The pusher drive component is mounted on the handling frame. The conveying mechanism includes a conveying bracket and a conveying rail mounted on the conveying bracket. The lifting mechanism slidably mounted on the conveying rail, and the conveying mechanism also includes a conveying drive component mounted on the conveying bracket for driving the lifting mechanism to move along the conveying rail. The lifting mechanism includes a lifting bracket slidably mounted on the conveying slide rail and a lifting slide rail mounted on the lifting bracket; the rotating mechanism is slidably mounted on the lifting slide rail; the lifting mechanism also includes a lifting drive component mounted on the lifting bracket for driving the rotating mechanism to move along the lifting slide rail, and a lifting detection component mounted on the lifting bracket for detecting the initial position of the rotating mechanism; the lifting drive component includes a lifting screw rotatably mounted on both sides of the lifting bracket, a lifting intermediate gear ring mounted on the lifting bracket, lifting gears sleeved on both ends of the lifting screw, a lifting drive part mounted on the lifting bracket, and a belt; the rotating mechanism is threadedly connected to the lifting screw, the lifting drive part is driven by 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 driven by the lifting screw on the other side through the belt and the lifting intermediate gear ring.

2. The rotary bidirectional handling robot according to claim 1, characterized in that, The transport component also includes an initial sensing unit and an ejection sensing unit mounted on the push slide rail for detecting the position of the fixture; the ejection sensing unit is mounted on the push slide rail on the side away from the transport frame, and the initial sensing unit is mounted on the push slide rail near both sides of the transport frame.

3. The rotary bidirectional handling robot according to claim 2, characterized in that, The transport component also includes a position sensor installed on the push slide rails on both sides of the push-out sensor for detecting the position of the aging cabinet.

4. The rotary bidirectional handling robot according to claim 1, characterized in that, The conveying drive component includes a conveying rack mounted on the conveying bracket and a conveying motor mounted on the lifting mechanism; the conveying motor is provided with a conveying toothed ring that meshes with the conveying rack; the conveying mechanism also includes a tank chain mounted on the conveying bracket.

5. The rotary bidirectional handling robot according to claim 1, characterized in that, The rotating mechanism includes a rotating bracket slidably mounted on the lifting slide rail and a rotating seat mounted on the rotating bracket; the pushing slide rail is mounted on the rotating seat; the rotating mechanism also includes a rotating drive component mounted on the rotating bracket for driving the rotating seat to rotate, and a rotating detection component mounted on the rotating bracket for detecting the rotation direction of the conveying mechanism; the pushing slide rail is provided with a rotating detection hole opposite to the detection component.

6. The rotary bidirectional handling robot according to claim 5, characterized in that, The rotation drive component includes a rotation cylinder mounted on the rotation bracket; the cylinder also includes a rotation telescopic rod, and the rotation drive component also includes a rotation rack disposed on the telescopic rod and a rotation gear sleeved on the rotation seat and meshing with the rotation rack.

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