Transfer manipulator

Abstract

The transfer manipulator comprises a longitudinal moving mechanism, the output end of the longitudinal moving mechanism is connected with the rear end of a connecting arm, and a power box body is arranged at the front end of the connecting arm; the rear half section of the power box body is provided with a first swing mechanism, the front half section of the power box body is provided with a second swing mechanism, and the output end of the second swing mechanism is connected with a rotating shaft. The lower end of the rotating shaft is connected with a mounting base, a rotating motor is arranged on the outer side of the mounting base, the output end of the rotating motor is connected with the rear end of an extension shaft, a fixing base is arranged at the front end of the extension shaft, a clamping mechanism is arranged on the fixing base, and the clamping motor is arranged on the fixing base and drives the clamping mechanism to conduct clamping. According to the device, the transfer efficiency is improved, the product quality is guaranteed, and the adaptability to machined parts in complex shapes is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical automation equipment, and in particular to a transfer robot for material transfer. Background Art

[0002] At a time when modern manufacturing is booming, production efficiency and product quality have become key factors for companies to stand out in the fierce market competition. The widespread application of automated production technology has greatly promoted the upgrading and transformation of the manufacturing industry. Among them, the material transfer link is an important part of the production process, and its degree of automation directly affects the efficiency of the entire production system. As the core equipment for realizing the automated transfer of materials, the transfer manipulator plays a pivotal role in various industries. The manufacturing industry has a highly complex production process, involving the processing and assembly of many parts. During the production process, the processed parts need to be accurately and efficiently transferred between different processing areas. The traditional manual transfer method is not only inefficient and difficult to meet the needs of large-scale production, but also due to the limitations of manual operation, mistakes are prone to occur during the transfer process, resulting in damage to the processed parts, which in turn affects product quality and increases production costs. With the continuous advancement of science and technology, automated transfer equipment has emerged. The early transfer equipment had a relatively simple structure and single function. It could only achieve simple linear transportation and could not meet the needs of complex production scenarios. The position and posture of the workpieces were changeable. Simple linear transportation equipment could not flexibly adjust the angle and position of grasping and placement, making the transfer process difficult. In order to overcome these problems, R&D personnel optimized and upgraded the structure and function of the transfer robot. The new transfer robot began to have multi-degree-of-freedom motion functions and could achieve precise positioning and posture adjustment in space. However, the existing transfer robots still have many shortcomings in some specific production environments. When some transfer robots grasp automobile exhaust pipe workpieces of different shapes and sizes, the clamping mechanism has poor adaptability and cannot firmly grasp the workpieces, which are prone to falling off, affecting the continuity and safety of production. At the same time, the movement accuracy and stability of some transfer robots need to be improved. During rapid transfer, jitter and deviation will occur, which makes it difficult to meet the requirements of high-precision processing.

[0003] In summary, a transfer robot with high precision, high stability, strong adaptability and intelligent functions is developed to meet the transfer needs of complex processed parts such as automobile exhaust pipes. Summary of the invention

[0004] The purpose of the present invention is to provide a transfer robot that can effectively solve the above-mentioned technical problems.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a transfer robot, comprising a longitudinal moving mechanism, wherein the output end of the longitudinal moving mechanism is connected to the rear end of a connecting arm, and the front end of the connecting arm is provided with a power box; The rear half of the power box is provided with a first swing mechanism, the front half of the power box is provided with a second swing mechanism, and the output end of the second swing mechanism is connected to a rotating shaft; The lower end of the rotating shaft is connected to a mounting seat, a rotating motor is arranged on the outer side of the mounting seat, the output end of the rotating motor is connected to the rear end of the extension shaft, a fixing seat is arranged at the front end of the extension shaft, a clamping mechanism is arranged on the fixing seat, a clamping motor is arranged on the fixing seat, and the clamping motor drives the clamping mechanism to clamp.

[0006] Preferably, it also includes a first processing area and a second processing area; The longitudinal moving mechanism includes an upper and lower displacement plate, a slide seat is arranged at the rear end of the upper and lower displacement plate, and the slide seat is slidably connected to a sliding edge arranged on the outer wall of the first processing area. The driving unit is arranged at the upper end of the first processing area and is used to drive the upper and lower displacement plates to move back and forth along the height direction of the first processing area.

[0007] Preferably, the longitudinal moving mechanism also includes a guide seat arranged at the rear end of the upper and lower displacement plates, the guide seat extends along the height direction of the upper and lower displacement plates, a screw is passed through the guide seat, and the screw rotates in a mounting groove opened on the first processing area. The driving unit is a displacement motor, and the displacement motor is arranged at the upper end of the first processing area. The output shaft of the displacement motor is connected to the upper end of the screw for driving the screw to rotate.

[0008] Preferably, the first swinging mechanism includes a first drive motor, which is arranged at the lower end of the front half of the connecting arm. The output end of the first drive motor rotates and extends into the power box and is sleeved with a first drive gear. The first drive gear is meshed with a first driven gear, and the first driven gear is arranged in the power box.

[0009] Preferably, a plurality of positioning columns are arranged in the power box body, and an upper end cover is arranged at the upper end of the power box body, and the upper end cover is connected to the power box body by screws and the positioning columns; The second swinging mechanism includes a second drive motor arranged at the upper end of the upper end cover, the output end of the second drive motor extends to the power box and is connected to a second drive gear, the second drive gear is meshed with a second driven gear arranged in the power box, and the second driven gear is sleeved on the output shaft.

[0010] Preferably, the output shaft extends outside the power box and is connected to the upper end of the rotating shaft; the mounting seat is C-shaped, and the rotating shaft is connected to the upper end of the mounting seat.

[0011] Preferably, a C-shaped connecting piece is provided in the mounting seat, a rear end of the connecting piece is connected to the output end of the rotating motor, and a front end of the connecting piece is detachably connected to the extension shaft.

[0012] Preferably, the fixing seat is L-shaped.

[0013] Preferably, the clamping mechanism includes two clamping members symmetrically arranged with each other, the clamping members include two first rocker arms hinged to one side of the movable seat, the outer sides of the first rocker arms are hinged to the swinging member at the same time, a clamping block is arranged on the swinging member, the movable seat is slidably arranged on the fixed seat, a column is arranged on the fixed seat, the column is hinged to the first rocker arm through a second rocker arm, a screw rod is arranged at the output end of the clamping motor, and the screw rod is passed through the fixed seat.

[0014] Preferably, the swing member is Z-shaped.

[0015] Beneficial effects of the present invention: 1. The longitudinal moving mechanism can drive the connecting arm and subsequent components to move back and forth quickly in the height direction. Combined with the first swing mechanism, the second swing mechanism and the rotating motor to flexibly adjust the angle and direction, it can quickly locate the material position and complete the grabbing and transfer actions. Compared with traditional manual transfer or simple linear handling equipment, it greatly improves the transfer efficiency and meets the needs of large-scale production; 2. It avoids the problem of damage to the processed parts due to operational limitations during manual transfer. The robot has accurate positioning and stable operation, which reduces the collision and falling of the processed parts during transfer, reduces the defective rate of products, ensures product quality, and helps reduce production costs; 3. The clamping mechanism adopts a special design. The two symmetrical clamping parts work together through multiple swing rods and Z-shaped swinging parts. They can automatically adjust the clamping state according to the workpieces of different shapes and sizes, such as automobile exhaust pipes, enhance the adaptability to workpieces with complex shapes, firmly grasp the workpieces, prevent them from falling off, and ensure the continuity and safety of production.

[0016] 4. The coordination of the guide seat and the screw in the longitudinal moving mechanism, as well as the precise transmission of the swing mechanisms and the rotating motor, ensures that the robot has less jitter and deviation during movement, has higher movement accuracy and stability, and can meet the strict requirements of high-precision machining for material transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 yes Figure 1 A schematic diagram of the partially enlarged structure at center A; Figure 3 yes Figure 1 A schematic diagram of the partially enlarged structure at B in the middle; Figure 4 It is a three-dimensional structural schematic diagram of the present invention; Figure 5 It is a schematic diagram of the structure of the upper and lower displacement plates; Figure 6 It is a schematic diagram of the connection structure between the rotating motor and the connecting member; Figure 7 It is the formal structural diagram of the fixing seat and other parts; Figure 8 It is a schematic diagram of the structure of the fixing seat and other components; Fig. 9 It is a schematic diagram of the structure of the swinging member; Fig.10 It is a schematic diagram of the structure of the power box; Fig.11 It is a schematic diagram of the internal structure of the power box. DETAILED DESCRIPTION

[0018] 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.

[0019] See also Figure 1-Figure 11 A transfer manipulator comprises a longitudinal moving mechanism 1, wherein the output end of the longitudinal moving mechanism 1 is connected to the rear end of a connecting arm 2, and a power box 3 is provided at the front end of the connecting arm 2; The rear half of the power box 3 is provided with a first swing mechanism 4, the front half of the power box 3 is provided with a second swing mechanism 5, and the output end of the second swing mechanism 5 is connected to a rotating shaft 6; The lower end of the rotating shaft 6 is connected to a mounting seat 7, a rotating motor 8 is arranged on the outer side of the mounting seat 7, the output end of the rotating motor 8 is connected to the rear end of the extension shaft 9, a fixing seat 10 is arranged at the front end of the extension shaft 9, a clamping mechanism 11 is arranged on the fixing seat 10, a clamping motor 12 is arranged on the fixing seat 10, and the clamping motor 12 drives the clamping mechanism 11 to clamp.

[0020] It also includes a first processing area 13 and a second processing area 15; The longitudinal moving mechanism 1 includes an upper and lower displacement plate 16, a slide seat 17 is arranged at the rear end of the upper and lower displacement plate 16, and the slide seat 17 is slidably connected to a sliding edge 18 arranged on the outer wall of the first processing area 13. The driving unit is arranged at the upper end of the first processing area 13 and is used to drive the upper and lower displacement plate 16 to move back and forth along the height direction of the first processing area 13.

[0021] The longitudinal moving mechanism 1 also includes a guide seat 19 arranged at the rear end of the upper and lower displacement plates 16, and the guide seat 19 extends along the height direction of the upper and lower displacement plates 16. A screw 20 is passed through the guide seat 19, and the screw 20 rotates in a mounting groove 21 provided on the first processing area 13. The driving unit is a displacement motor 22, and the displacement motor 22 is arranged at the upper end of the first processing area 13. The output shaft of the displacement motor 22 is connected to the upper end of the screw 20 for driving the screw 20 to rotate.

[0022] The first swing mechanism 4 includes a first drive motor 23, which is arranged at the lower end of the front half of the connecting arm 2. The output end of the first drive motor 23 rotates and extends into the power box 3 and is sleeved with a first drive gear 26. The first drive gear 26 is meshed with a first driven gear 27. The first driven gear 27 is arranged in the power box 3.

[0023] A plurality of positioning columns 28 are arranged in the power box 3, and an upper end cover 29 is arranged at the upper end of the power box 3. The upper end cover 29 is connected to the power box 3 by screws and the positioning columns 28; The second swing mechanism 5 includes a second drive motor 30 arranged at the upper end of the upper end cover 29, the output end of the second drive motor 30 extends to the power box 3 and is connected to a second drive gear 31, the second drive gear 31 is meshed with a second driven gear 32 arranged in the power box 3, and the second driven gear 32 is sleeved on the output shaft.

[0024] The output shaft extends to the outside of the power box 3 and is connected to the upper end of the rotating shaft 6 ; the mounting seat 7 is C-shaped, and the rotating shaft 6 is connected to the upper end of the mounting seat 7 .

[0025] A C-shaped connecting member 33 is disposed in the mounting seat 7 , a rear end of the connecting member 33 is connected to the output end of the rotating motor 8 , and a front end of the connecting member 33 is detachably connected to the extension shaft 9 .

[0026] The fixing seat 10 is L-shaped.

[0027] The clamping mechanism 11 includes two clamping members 34 symmetrically arranged with each other, and the clamping member 34 includes two first swing rods 35 hinged to one side of the movable seat, and the outer side of each first swing rod 35 is hinged to the swing member 36 at the same time, and the swing member 36 is provided with a clamping block 37, and the movable seat is slidably arranged on the fixed seat 10, and the fixed seat 10 is provided with a column 38, and the column is hinged to the first swing rod 35 through a second swing rod 50, and the output end of the clamping motor 12 is provided with a screw rod 39, and the screw rod 39 is penetrated on the fixed seat 10. The swing member 36 is Z-shaped. The clamping mechanism 11 includes two clamping members 34 symmetrically arranged with each other, and the clamping member 34 includes two first swing rods 35 hinged to one side of the movable seat, and the outer side of each first swing rod 35 is hinged to the swing member 36 at the same time, and the swing member 36 is provided with a clamping block 37. In the present invention, the clamping block 37 is designed as a detachable structure. By replacing the clamping block 37 of different shapes, such as replacing it with an arc clamping block for a circular workpiece, and replacing it with a clamping block with a right-angle groove for a square workpiece, etc., the contact mode and adaptability between the clamping mechanism 11 and the workpiece can be changed, so that the transfer robot is suitable for the transfer of workpieces of different shapes and sizes. The movable seat is slidably arranged on the fixed seat 10, and the fixed seat 10 is provided with a column 38, and the column is hinged with the first swing rod 35 through a second swing rod 50. The output end of the clamping motor 12 is provided with a screw rod 39, and the screw rod 39 is penetrated on the fixed seat 10.

[0028] Through the above structural design improvements, the flexibility and versatility of the clamping mechanism 11 of the present invention are significantly improved, which can better meet diverse production needs and further enhance the practicality of the transfer robot in different production scenarios.

[0029] The working principle of the present invention is: The transfer robot is mainly used to transfer the workpiece between the first processing area 13 and the second processing area 15. Its working principle involves the coordinated operation of multiple components as follows: The drive unit displacement motor 22 is started, and its output shaft drives the screw 20 to rotate. Since the screw 20 is rotatably located in the mounting groove 21 on the first processing area 13, and the guide seat 19 is provided with the screw 20, and the guide seat 19 is fixed at the rear end of the upper and lower displacement plates 16 and extends along the height direction thereof, when the screw 20 rotates, the upper and lower displacement plates 16 will move back and forth along the sliding edge 18 of the outer wall of the first processing area 13, realize longitudinal movement, and then drive the connecting arm 2 and subsequent components to move in the height direction; the first drive motor 23 works, and its output end rotates and extends into the power box 3, driving the sleeved first drive gear 26 to rotate; the first drive gear 26 meshes with the first driven gear 27, thereby driving the first driven gear 27 to rotate, so that the power box 3 swings around the rotation center of the first driven gear 27, realizes the first swing function, and changes the angle of the power box 3. ; The second drive motor 30 is started, and the output end extends to the power box 3 and drives the second drive gear 31 to rotate. The second driving gear 31 meshes with the second driven gear 32, and the second driven gear 32 is sleeved on the output shaft, thereby driving the output shaft to rotate. The output shaft extends to the outside of the power box 3 and is connected to the upper end of the rotating shaft 6, so as to realize the swing of the rotating shaft 6, that is, the second swing, and further adjust the angle of the clamping mechanism 11; the rotating motor 8 is running, and its output end is connected to the rear end of the connecting member 33, and the front end of the connecting member 33 is detachably connected to the extension shaft 9. The rotating motor 8 drives the extension shaft 9 and the fixed seat 10 to rotate around the axis of the rotating shaft 6, changing the direction of the clamping mechanism 11; the clamping motor 12 is working, and the screw rod 39 at its output end rotates. Since the screw rod 39 is inserted into the fixed seat 10, and the movable seat is slidably arranged on the fixed seat 10, the rotation of the screw rod 39 will drive the movable seat to move. Two first swing rods 35 are hinged on one side of the movable seat. The outer side of the first swing rod 35 is hinged to the Z-shaped swing member 36, and a clamping block 37 is arranged on the swing member 36. The column 38 on the fixed seat 10 is hinged to the first swing rod 35 through the second swing rod 50. When the movable seat moves, the swing member 36 is driven by the swing rod to move, so that the clamping blocks 37 on the two clamping members 34 are moved closer to or away from each other, thereby realizing the clamping or loosening operation of the workpiece. The transfer robot adjusts the height through the longitudinal moving mechanism 1, and the first swing mechanism 4, the second swing mechanism 5 and the rotating motor 8 adjust the angle and direction. The clamping mechanism 11 realizes the grasping and releasing of the workpiece, thereby completing the material transfer work from the first processing area 13 to the second processing area 15.

[0030] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A transfer robot, characterized in that: It comprises a longitudinal moving mechanism (1), the output end of the longitudinal moving mechanism (1) is connected to the rear end of a connecting arm (2), and the front end of the connecting arm (2) is provided with a power box (3); The rear half of the power box (3) is provided with a first swing mechanism (4), the front half of the power box (3) is provided with a second swing mechanism (5), and the output end of the second swing mechanism (5) is connected to a rotating shaft (6); The lower end of the rotating shaft (6) is connected to a mounting seat (7), a rotating motor (8) is arranged outside the mounting seat (7), an output end of the rotating motor (8) is connected to the rear end of the extension shaft (9), a fixing seat (10) is arranged at the front end of the extension shaft (9), a clamping mechanism (11) is arranged on the fixing seat (10), and a clamping motor (12) is arranged on the fixing seat (10), and the clamping motor (12) drives the clamping mechanism (11) to clamp.

2. The transfer robot according to claim 1, characterized in that: It also includes a first processing area (13) and a second processing area (15); The longitudinal movement mechanism (1) comprises an upper and lower displacement plate (16), a slide seat (17) being arranged at the rear end of the upper and lower displacement plate (16), the slide seat (17) being slidably connected to a sliding edge (18) arranged on the outer wall of the first processing area (13), and a driving unit being arranged at the upper end of the first processing area (13) and being used for driving the upper and lower displacement plate (16) to perform reciprocating motion along the height direction of the first processing area (13).

3. The transfer robot according to claim 2, characterized in that: The longitudinal movement mechanism (1) further comprises a guide seat (19) arranged at the rear end of the upper and lower displacement plates (16), the guide seat (19) extending in the height direction of the upper and lower displacement plates (16), a screw rod (20) passing through the guide seat (19), the screw rod (20) rotatingly located in a mounting groove (21) provided on the first processing area (13), the driving unit being a displacement motor (22), the displacement motor (22) being arranged at the upper end of the first processing area (13), the output shaft of the displacement motor (22) being connected to the upper end of the screw rod (20) for driving the screw rod (20) to rotate.

4. The transfer robot according to claim 3, characterized in that: The first swing mechanism (4) comprises a first drive motor (23), the first drive motor (23) being arranged at the lower end of the front half of the connecting arm (2), the output end of the first drive motor (23) rotatably extending into the power housing (3) and being sleeved with a first drive gear (26), the first drive gear (26) being meshed with a first driven gear (27), the first driven gear (27), the first driven gear (27) being arranged in the power housing (3).

5. The transfer robot according to claim 4, characterized in that: A plurality of positioning columns (28) are arranged in the power box (3), an upper end cover (29) is arranged at the upper end of the power box (3), and the upper end cover (29) is connected to the power box (3) by screws and the positioning columns (28); The second swing mechanism (5) comprises a second drive motor (30) arranged at the upper end of the upper end cover (29); an output end of the second drive motor (30) extends to the power housing (3) and is connected to a second drive gear (31); the second drive gear (31) meshes with a second driven gear (32) arranged in the power housing (3); the second driven gear (32) is sleeved on the output shaft.

6. The transfer robot according to claim 5, characterized in that: The output shaft extends outside the power box (3) and is connected to the upper end of the rotating shaft (6); the mounting seat (7) is C-shaped, and the rotating shaft (6) is connected to the upper end of the mounting seat (7).

7. The transfer robot according to claim 6, characterized in that: A C-shaped connecting piece (33) is arranged in the mounting seat (7), the rear end of the connecting piece (33) is connected to the output end of the rotating motor (8), and the front end of the connecting piece (33) is detachably connected to the extension shaft (9).

8. The transfer robot according to claim 7, characterized in that: The fixing seat (10) is L-shaped.

9. The transfer robot according to claim 8, characterized in that: The clamping mechanism (11) comprises two clamping members (34) arranged symmetrically with each other, the clamping member (34) comprising two first swing rods (35) hinged to one side of the movable seat, the outer side of each first swing rod (35) being hinged to a swing member (36) at the same time, the swing member (36) being provided with a clamping block (37), the movable seat (10) being slidably mounted on the fixed seat (10), the fixed seat (10) being provided with a column (38), the column being hinged to the first swing rod (35) via a second swing rod (50), the output end of the clamping motor (12) being provided with a screw rod (39), the screw rod (39) being passed through the fixed seat (10).

10. The transfer robot according to claim 9, characterized in that: The swinging member (36) is in a Z shape.

Images