Carrying manipulator

Abstract

The carrying mechanical arm comprises a fixing base, a Z-axis driving part, an X-axis driving part and a picking mechanism, the Z-axis driving part and the X-axis driving part are both installed in the fixing base, the picking mechanism and the fixing base are installed in a sliding mode through a supporting base, the supporting base is arranged in the fixing base, one side of the supporting base and the picking mechanism are installed, and the Z-axis driving part and the supporting base are installed in a driving mode. And the X-axis driving part and the picking mechanism are installed in a driving mode, and the X-axis driving part drives the picking mechanism to move left and right along the X axis. According to the carrying mechanical arm, the layout structure is compact, the motors are fixed and kept in the fixing base, namely, the load is reduced for a moving picking mechanism, the motors in the X-axis driving part and the Z-axis driving part are evenly distributed at different positions in the fixing base, the weight distribution of the fixing base can be balanced, the bias torque is reduced, and the carrying mechanical arm is suitable for being used for carrying a picking mechanism. Therefore, the overall stability of the manipulator is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automation equipment, in particular to a transport robot. Background Art

[0002] Since the 21st century, fully automatic stamping lines equipped with industrial robots have achieved leapfrog development thanks to their technological advantages: by integrating high-precision sensors and servo control systems, they have not only significantly reduced the intensity of manual labor and effectively avoided safety risks in stamping operations, but also increased the production line's beat efficiency by more than 30%. In multi-station continuous stamping scenarios, the current handling robots still have obvious technical bottlenecks. The gantry structure design they adopt still has problems such as bulky structure and slow dynamic response, which affects the overall operating efficiency of the handling robots. Summary of the Invention

[0003] The purpose of the present invention is to provide a handling robot to solve the technical problems in the background technology.

[0004] To achieve the aforementioned object, the present invention provides the following technical solutions:

[0005] A handling robot comprises a fixed seat, a Z-axis driving member, an X-axis driving member and a picking mechanism, wherein the Z-axis driving member and the X-axis driving member are both installed in the fixed seat, the picking mechanism is slidably installed with the fixed seat through a support seat, the support seat is in the fixed seat, one side of the support seat is installed with the picking mechanism, the Z-axis driving member is driven and installed with the support seat, driving the picking mechanism to move up and down along the Z-axis, the X-axis driving member is driven and installed with the picking mechanism, driving the picking mechanism to move left and right along the X-axis, the Z-axis driving member comprises a first motor, a first swing arm and a second swing arm, the first motor is installed in the middle part of the fixed seat, one end of the first swing arm is fixedly installed with the output shaft of the first motor, the other end of the first swing arm is rotatably connected to the second swing arm, the other end of the second swing arm is rotatably connected to the bottom of the support seat, and the first swing arm and the second swing arm move with each other to form a connecting rod mechanism.

[0006] The picking mechanism includes a positioning frame, a slide and several groups of suction cup assemblies with the same structure, the suction cup assembly is fixed on the slide, the positioning frame and the slide are both rectangular structures, the positioning frame is provided with a concave slide groove, the slide is slidably connected to the positioning frame in the slide groove, the upper and lower ends of the slide are installed with guide rods, the guide rods are round rod structures, the guide rods are installed at the upper and lower ends of the slide along the X-axis direction, several pulleys with the same structure are installed on the positioning frame, the pulleys are rotatably connected to the positioning frame, the pulleys are in conflict with the guide rods, the pulleys are provided with a concave guide groove, the guide rods are in the guide groove, and the pulleys are wrapped with a rubber sleeve and are in contact with the guide rods.

[0007] Several of the pulleys are installed on the positioning frame through a positioning plate, and the pulleys are rotatably installed on one side of the positioning plate. Positioning grooves are provided at the upper and lower ends of the positioning frame, and the positioning grooves are T-shaped groove structures. The positioning grooves pass through the left and right ends of the positioning frame. The positioning plate is in the positioning groove, and the pulleys are rotatably installed on the positioning plate. At least one first positioning hole is provided on the positioning plate, and the first positioning hole is a screw hole structure. A first locking rod is threadedly installed in the first positioning hole, and one end of the first locking rod is provided with a threaded mounting portion, and the threaded mounting portion is threadedly connected to the first positioning hole. The first locking rod is on the outside of the positioning frame and abuts against the outside of the positioning groove.

[0008] The X-axis driving component includes a second motor, a first synchronous wheel, a second synchronous wheel, a third synchronous wheel and a synchronous belt, the second motor is fixed above the fixed seat, the first synchronous wheel is installed on the support seat and on the rear side of the positioning frame, the first synchronous wheel is driven and installed with the second motor through a spline shaft, the spline shaft is arranged along the vertical direction, the second synchronous wheel and the third synchronous wheel are rotatably installed at the left and right ends of the skateboard, the positions of the first synchronous wheel, the second synchronous wheel and the third synchronous wheel form a triangular structure, the synchronous belt is a single-sided toothed synchronous belt structure, the outer circumference of the first synchronous wheel, the second synchronous wheel and the third synchronous wheel are provided with a tooth portion that matches the synchronous belt, the synchronous belt is a single conveyor belt structure, one end of the synchronous belt is fixedly installed on one side of the skateboard, and the other end is wrapped around the first synchronous wheel and then around the third synchronous wheel and fixedly installed on the skateboard, and the synchronous belt is at the rear side of the skateboard.

[0009] The suction cup assembly includes a mounting frame, several connecting plates and several vacuum suction nozzles with the same structure installed on the connecting plates. The rear end of the mounting frame is fixedly connected to the slide, and the connecting plate is fixed to the front end of the mounting frame. The several vacuum suction nozzles are evenly distributed on both sides of the connecting plate.

[0010] An auxiliary cylinder is also installed above the fixing seat, and the driving shaft of the auxiliary cylinder is fixedly connected to the supporting seat.

[0011] Compared with the prior art, the present invention provides a handling robot with a compact layout and structure, and the motor is fixed and maintained in the fixed seat, which reduces the weight load on the moving picking mechanism, and the motors in the X-axis and Z-axis drive components are evenly distributed at different positions in the fixed seat, which can balance the weight distribution of the fixed seat and reduce the eccentric weight torque, thereby improving the overall stability of the robot; in addition, the picking mechanism in the present application uses high-strength aviation aluminum materials on a large scale to minimize the load on the moving part as much as possible, improve the movement speed and response sensitivity, and enable the handling robot to achieve lightweight, high-speed and stable operation, and the X-axis drive component in the present application adopts a driving structure of three synchronous wheels and synchronous belts to drive the slide to slide in the positioning frame. The overall structure is compact, occupies less space, and has less vibration during the transmission process, can maintain a stable transmission speed, helps to maintain transmission accuracy, and makes the movement of the picking mechanism more precise and stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 : Schematic diagram of the three-dimensional structure of this application;

[0013] Figure 2 : Pickup mechanism three-dimensional structure diagram;

[0014] Figure 3 : Positioning frame three-dimensional structure diagram;

[0015] Figure 4 : Positioning frame left view;

[0016] Figure 5 : 3D structural diagram of a single set of positioning plates;

[0017] Figure 6 : Cross-sectional view of the positioning frame and the sliding plate installation structure;

[0018] Figure 7 : Installation three-dimensional structure diagram of Z-axis drive components and X-axis drive components;

[0019] Figure 8 : Main view of the installation of Z-axis drive components and X-axis drive components;

[0020] Figure 9 : 3D structural diagram of X-axis drive components;

[0021] Figure 10 : Position relationship diagram of three synchronous wheels and positioning frame. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present invention.

[0023] Specific embodiment 1: Please refer to Figures 1 to 10In an embodiment of the present invention, a handling robot comprises a fixed base 1, a Z-axis driving member 2, an X-axis driving member 3 and a picking mechanism 5. The Z-axis driving member 2 and the X-axis driving member 3 are both installed in the fixed base 1. The picking mechanism 5 is slidably installed with the fixed base 1 through the support base 4. The support base 4 is in the fixed base 1, and one side of the support base 4 is installed with the picking mechanism 5. The Z-axis driving member 2 is driven and installed with the support base 4 to drive the picking mechanism 5 to move up and down along the Z axis. The X-axis driving member 3 is driven and installed with the picking mechanism 5 to drive the picking mechanism 5 to move left and right along the X axis. The Z-axis driving member 2 comprises a first motor 201, a first swing arm 202 and a second swing arm 203. The first motor 201 is installed in the middle part of the fixed base 1. One end of the first swing arm 202 is fixedly installed with the output shaft of the first motor 201. The other end of the first swing arm 202 is rotatably connected to the second swing arm 203. The other end of the second swing arm 203 is rotatably connected to the bottom of the support base 4. The first swing arm 202 and the second swing arm 203 move with each other to form a connecting rod mechanism. In this application, a connecting rod mechanism formed by the first swing arm 202 and the second swing arm 203 is used to drive the support base 4 to achieve up and down movement. The entire Z-axis drive component 2 has a compact structure and high space utilization, and can achieve a large stroke of up and down movement within a limited space. In addition, the connecting rod mechanism has a short transmission chain and low inertia. When driven by the motor, the acceleration and deceleration response is rapid, and energy loss is low. This can improve the speed and efficiency of the up and down movement, and achieve fast and stable up and down movement of the support base 4. In addition, an auxiliary cylinder 13 is installed above the fixed base 1. The drive shaft of the auxiliary cylinder 13 is fixedly connected to the support base 4. The auxiliary cylinder 13 can provide power to overcome the residual load, reducing the power demand and energy consumption of the main drive.

[0024] The picking mechanism 5 in the present application includes a positioning frame 6, a slide 7 and several groups of suction cup assemblies 12 with the same structure. The suction cup assembly 12 is fixed on the slide 7. The positioning frame 6 and the slide 7 are both rectangular structures. The positioning frame 6 is provided with a concave slide groove 601. The slide 7 is slidably connected to the positioning frame 6 in the slide groove 601. Guide rods 11 are installed at the upper and lower ends of the slide 7. The guide rod 11 is a round rod structure. The guide rod 11 is installed at the upper and lower ends of the slide 7 along the X-axis direction. Several pulleys 8 with the same structure are installed on the positioning frame 6. The pulley 8 is rotatably connected to the positioning frame 6. The pulley 8 conflicts with the guide rod 11. The pulley 8 is provided with a concave guide groove 801. The guide rod 11 is in the guide groove 801. The pulley 8 is wrapped with a rubber sleeve and contacts the guide rod 11.

[0025] Several pulleys 8 are installed on the positioning frame 6 through the positioning plate 9. The pulley 8 is rotatably installed on one side of the positioning plate 9. Positioning grooves 602 are provided at the upper and lower ends of the positioning frame 6. The positioning grooves 602 are T-shaped slot structures. The positioning grooves 602 pass through the left and right ends of the positioning frame 6. The positioning plate 9 is in the positioning groove 602. The pulley 8 is rotatably installed on the positioning plate 9. At least one first positioning hole is provided on the positioning plate 9. The first positioning hole is a screw hole structure. A first locking rod 10 is threadedly installed in the first positioning hole. One end of the first locking rod 10 is provided with a threaded mounting portion, which is threadedly connected to the first positioning hole. The first locking rod 10 is on the outside of the positioning frame 6 and abuts against the outside of the positioning groove 602. In the picking mechanism 5 of the present application, the skateboard 7 slides in the slide groove 601, and the slide groove 601 forms a rigid constraint on the skateboard 7. The distribution of the upper and lower pulleys 8 can limit the lateral deviation and overturning of the skateboard 7, ensuring that the error of the motion trajectory of the skateboard 7 is small, and the pulley 8 converts the sliding friction between the skateboard 7 and the frame into rolling friction, which greatly reduces the friction coefficient, can reduce the driving energy consumption, and improve the movement response speed. In addition, the slide groove 601 cooperates with the support of the skateboard 7 to reduce the risk of deformation of the skateboard 7 and extend its service life.

[0026] The X-axis driving member 3 of the present application includes a second motor 301, a first synchronous wheel 304, a second synchronous wheel 305, a third synchronous wheel 306 and a synchronous belt 307. The second motor 301 is fixed above the fixed seat 1, and the first synchronous wheel 304 is installed on the support seat 4 and on the rear side of the positioning frame 6. The first synchronous wheel 304 is driven and installed with the second motor 301 through a spline shaft 302. The spline shaft 302 is arranged in a vertical direction. At least one first bearing 303 is installed between the spline shaft 302 and the support seat 4. The support seat 4 can be driven along the spline shaft 30 2 moves up and down, the second synchronous wheel 305 and the third synchronous wheel 306 are rotatably installed on the left and right ends of the slide 7 respectively, the positions of the first synchronous wheel 304, the second synchronous wheel 305 and the third synchronous wheel 306 form a triangular structure, the synchronous belt 307 is a single-sided tooth synchronous belt 307 structure, the outer circumference of the first synchronous wheel 304, the second synchronous wheel 305 and the third synchronous wheel 306 are all provided with a tooth portion that matches the synchronous belt 307, the synchronous belt 307 is a single conveyor belt structure, one end of the synchronous belt 307 is fixedly installed on one side of the slide 7, and the other end is fixedly installed on the other side of the slide 7. One end is wound around the first synchronous wheel 304 and then around the third synchronous wheel 306 and fixed to the slide 7. The synchronous belt 307 is on the rear side of the slide 7. A first guide wheel 308 is installed between the first synchronous wheel 304 and the second synchronous wheel 305. A second guide wheel 309 is installed between the first synchronous wheel 304 and the third synchronous wheel 306. The first guide wheel 308 and the second guide wheel 309 are installed on the front side of the first synchronous wheel 304 and are symmetrically installed on the positioning frame 6. The positioning frame 6 is provided with a first through hole 603. The first guide wheel 30 8 and the second guide wheel 309 are in the first through hole 603. When the second motor 301 drives the first synchronous wheel 304 to rotate, the synchronous belt 307 is pulled to push the skateboard 7 in the left and right directions. The synchronous belt 307 of the present application is rigidly engaged with the synchronous wheel through the tooth shape, and there is no sliding phenomenon. The triangular layout minimizes the projected area of ​​the three synchronous wheels, and long-stroke transmission can be achieved in a limited space. The pulling distance of the synchronous belt 307 can be accurately controlled by the rotation angle of the first synchronous wheel 304, thereby achieving quantitative displacement of the load.

[0027] The suction cup assembly 12 of the present application includes a mounting frame 1201, several connecting plates 1202 and several vacuum suction nozzles 1203 with the same structure installed on the connecting plates 1202. The rear end of the mounting frame is fixedly connected to the slide 7, the connecting plate 1202 is fixed to the front end of the mounting frame, and several vacuum suction nozzles 1203 are evenly distributed on both sides of the connecting plate 1202.

[0028] Compared with the prior art, the present invention provides a handling robot with a compact layout and structure, and the motor is fixed and maintained in the fixed seat, which reduces the weight load on the moving picking mechanism, and the motors in the X-axis and Z-axis drive components are evenly distributed at different positions in the fixed seat, which can balance the weight distribution of the fixed seat and reduce the eccentric weight torque, thereby improving the overall stability of the robot; in addition, the picking mechanism in the present application uses high-strength aviation aluminum materials on a large scale to minimize the load on the moving part as much as possible, improve the movement speed and response sensitivity, and enable the handling robot to achieve lightweight, high-speed and stable operation, and the X-axis drive component in the present application adopts a driving structure of three synchronous wheels and synchronous belts to drive the slide to slide in the positioning frame. The overall structure is compact, occupies less space, and has less vibration during the transmission process, can maintain a stable transmission speed, helps to maintain transmission accuracy, and makes the movement of the picking mechanism more precise and stable.

[0029] It will be apparent to those skilled in the art that the present invention is not limited to the details of the foregoing exemplary embodiments and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and it is intended that all variations within the meaning and range of equivalents of the claims be embraced therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0030] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A handling robot, characterized in that: The Z-axis driving member is installed in the fixed seat, and the X-axis driving member is installed in the fixed seat. The picking mechanism is slidably installed with the fixed seat through the support seat. The support seat is in the fixed seat, and one side of the support seat is installed with the picking mechanism. The Z-axis driving member is installed with the support seat to drive the picking mechanism to move up and down along the Z axis. The X-axis driving member is installed with the picking mechanism to drive the picking mechanism to move left and right along the X axis. The Z-axis driving member includes a first motor, a first swing arm and a second swing arm. The first motor is installed in the middle of the fixed seat, one end of the first swing arm is fixedly installed with the output shaft of the first motor, the other end of the first swing arm is rotatably connected with the second swing arm, and the other end of the second swing arm is rotatably connected with the bottom of the support seat. The first swing arm and the second swing arm move with each other to form a connecting rod mechanism.

2. A handling robot according to claim 1, characterized in that: The picking mechanism includes a positioning frame, a slide and several groups of suction cup assemblies with the same structure, the suction cup assembly is fixed on the slide, the positioning frame and the slide are both rectangular structures, the positioning frame is provided with a concave slide groove, the slide is slidably connected to the positioning frame in the slide groove, the upper and lower ends of the slide are installed with guide rods, the guide rods are round rod structures, the guide rods are installed at the upper and lower ends of the slide along the X-axis direction, several pulleys with the same structure are installed on the positioning frame, the pulleys are rotatably connected to the positioning frame, the pulleys are in conflict with the guide rods, the pulleys are provided with a concave guide groove, the guide rods are in the guide groove, and the pulleys are wrapped with a rubber sleeve and are in contact with the guide rods.

3. A handling robot according to claim 2, characterized in that: Several of the pulleys are installed on the positioning frame through a positioning plate, and the pulleys are rotatably installed on one side of the positioning plate. Positioning grooves are provided at the upper and lower ends of the positioning frame, and the positioning grooves are T-shaped groove structures. The positioning grooves pass through the left and right ends of the positioning frame. The positioning plate is in the positioning groove, and the pulleys are rotatably installed on the positioning plate. At least one first positioning hole is provided on the positioning plate, and the first positioning hole is a screw hole structure. A first locking rod is threadedly installed in the first positioning hole, and one end of the first locking rod is provided with a threaded mounting portion, and the threaded mounting portion is threadedly connected to the first positioning hole. The first locking rod is on the outside of the positioning frame and abuts against the outside of the positioning groove.

4. A handling robot according to claim 3, characterized in that: The X-axis driving component includes a second motor, a first synchronous wheel, a second synchronous wheel, a third synchronous wheel and a synchronous belt, the second motor is fixed above the fixed seat, the first synchronous wheel is installed on the support seat and on the rear side of the positioning frame, the first synchronous wheel is driven and installed with the second motor through a spline shaft, the spline shaft is arranged along the vertical direction, the second synchronous wheel and the third synchronous wheel are rotatably installed at the left and right ends of the skateboard, the positions of the first synchronous wheel, the second synchronous wheel and the third synchronous wheel form a triangular structure, the synchronous belt is a single-sided toothed synchronous belt structure, the outer circumference of the first synchronous wheel, the second synchronous wheel and the third synchronous wheel are provided with a tooth portion that matches the synchronous belt, the synchronous belt is a single conveyor belt structure, one end of the synchronous belt is fixedly installed on one side of the skateboard, and the other end is wrapped around the first synchronous wheel and then around the third synchronous wheel and fixedly installed on the skateboard, and the synchronous belt is at the rear side of the skateboard.

5. A handling robot according to claim 4, characterized in that: The suction cup assembly includes a mounting frame, several connecting plates and several vacuum suction nozzles with the same structure installed on the connecting plates. The rear end of the mounting frame is fixedly connected to the slide, and the connecting plate is fixed to the front end of the mounting frame. The several vacuum suction nozzles are evenly distributed on both sides of the connecting plate.

6. A handling robot according to claim 5, characterized in that: An auxiliary cylinder is also installed above the fixing seat, and the driving shaft of the auxiliary cylinder is fixedly connected to the supporting seat.

7. A handling robot according to claim 6, characterized in that: The positioning frame, slide plate, pulley and guide rod are all made of aviation aluminum.

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