Multi-speed manipulator

Abstract

The utility model discloses a multi-speed manipulator, and relates to the technical field of workpiece transportation, the multi-speed manipulator comprises a lifting driving part and a lifting assembly vertically connected with the lifting driving part in a sliding manner, the lifting assembly is connected with a suction cup structure for transferring plate-shaped workpieces, and a rack driving structure is vertically arranged between the outer part of the lifting assembly and the lifting driving part; the lifting assembly is of a two-section type displacement structure and is divided into a first lifting plate and a second lifting plate which are in sliding connection with each other, and a belt stretching structure based on the pulley principle is arranged in the first lifting plate. The vertical height of the suction cup structure is adjusted through the belt stretching structure; the pulley and the first lifting plate are integrated, the height of the first lifting plate is adjusted through the lifting driving part, two-time vertical displacement between the first lifting plate and the lifting driving part and between the first lifting plate and the second lifting plate can be generated through single displacement of the lifting driving part, a driving system is simplified, and meanwhile the driving displacement is multiplied.

Description

Technical Field

[0001] The present application relates to the technical field of workpiece transportation, and in particular to a double-speed manipulator. Background Art

[0002] In air conditioner and refrigerator production lines, the transfer and processing of sheet metal workpieces are key production links. These sheet metal workpieces are usually large and heavy metal or plastic sheets, which require multiple processing processes such as cutting, drilling, welding and bending. In order to achieve an efficient, accurate and safe production process, special sheet metal transfer equipment and processing equipment are required. Sheet metal transfer equipment usually includes cranes, hoists, conveyor belts, roller conveyors and automated handling robots, which can transfer sheet metal workpieces from one production link to another, and accurately position and fix them on processing equipment for processing.

[0003] Existing means of transfer include manual handling, which is time-consuming and labor-intensive, and requires subsequent proofreading before and after the workstation is transported; existing equipment that uses suction cups for transfer, due to the need to lift plate-like workpieces, in order to meet the corresponding lifting height, the transfer equipment often needs to be made taller and heavier; sometimes, due to the height of the workshop, after the installation height of the transfer equipment reaches the limit, it still cannot meet the need for lifting and lowering of plate workpieces at a specified height. Utility Model Content

[0004] This device provides a double-speed manipulator, and the specific implementation is as follows:

[0005] A double-speed manipulator, comprising:

[0006] A lifting drive and a lifting assembly vertically slidably connected to the lifting drive, a suction cup structure for transferring plate-like workpieces is connected to the lifting assembly, a rack driving structure is vertically arranged between the outside of the lifting assembly and the lifting drive, and the lifting drive controls the lifting assembly and the suction cup structure to adjust the placement height of the plate-like workpiece;

[0007] The lifting assembly is a two-stage displacement structure, which is divided into a first lifting plate and a second lifting plate that are slidably connected to each other. The first lifting plate is equipped with a belt stretching structure based on the pulley principle. One end of the belt stretching structure is connected to the second lifting plate, and the other end is connected to an external fixed point. The pulley is integrated on the first lifting plate. The lifting drive controls the lifting and lowering of the pulley and the first lifting plate through the rack drive structure. At the same time, the pulley changes its height and adjusts the height of the suction cup structure again with the help of the belt, so that the suction cup structure has a double-speed travel effect.

[0008] Based on the above technical scheme, the direct displacement of the first step is achieved through the rack drive structure, and the indirect displacement of the second step is achieved through the belt stretching structure. The combination of the two can improve the displacement effect of the suction cup structure and the plate-like workpiece in a limited vertical driving space; the transfer suction cup structure is a common mechanical design used to provide adsorption force on a flat or curved surface to achieve object grasping, lifting and carrying. The suction cup is usually made of a soft elastic material, such as rubber or silicone, and has multiple small holes or a corrugated structure. When the suction cup contacts the surface, by creating negative pressure and vacuum inside the suction cup, the suction cup can generate adsorption force to firmly adhere itself to the surface of the workpiece. In this way, the suction cup can grasp and fix the object by adsorption force, and then transport it by mechanical devices or other means.

[0009] Preferably, it also includes a frame and a translation drive component, a plurality of guide rails are arranged on the frame along the length direction, the translation drive component and the lifting drive component are integrated into one body, and the integrated structure is slidably connected to the guide rails, and the translation drive component is used to drive the integrated structure to slide along the guide rail direction.

[0010] Preferably, the guide rail is divided into a first guide rail and a second guide rail, which are arranged in the same direction and in different planes respectively.

[0011] Based on the above technical solution, the frame and the translational drive component enable the entire device to have a translation function, that is, in addition to being able to lift and lower the plate-like workpiece, it can also achieve transportation within the horizontal plane; the translational drive component in this application is a linear motor, and a conventional screw structure can also be selected.

[0012] Preferably, the first lifting plate is a frame structure, a belt stretching structure is installed inside the frame, the belt stretching structure includes a pulley rotatably arranged above the inside of the first lifting plate, a belt is arranged outside the pulley, one end of the belt is connected to the second lifting plate through a quick-release mounting part, and the other end is connected to the lifting drive part.

[0013] Preferably, a first mounting seat is provided on the first lifting plate, and a second slide rail structure is provided between the first mounting seat and the second lifting plate, which is composed of a fourth guide rail and a slide groove member that are slidably connected to each other. The fourth guide rail is installed on the side of the second lifting plate, and the slide groove member is connected to the first mounting seat.

[0014] Based on the above technical solution, the belt stretching structure uses the movable pulley principle, that is, one end of the belt is fixed. Since the belt length is fixed, in order to adjust the other end of the belt, it can be achieved by adjusting the pulley height.

[0015] Preferably, the lifting drive member includes a second mounting seat and a motor mounted on the second mounting seat, a rack is provided on the side of the first lifting plate along its height direction, the output end of the motor is engaged with the rack through a gear, and the second mounting seat and the first lifting plate are vertically slidably connected through a first slide rail structure.

[0016] Preferably, the connection mode between the first slide rail structure, the second mounting seat and the first lifting plate is the same as the connection mode between the second slide rail structure, the first mounting seat and the second lifting plate.

[0017] Based on the above technical solution, the lifting drive member realizes the conventional first-level lifting function by means of the principle of tooth plate engagement, and the first slide rail structure, the second mounting seat and the first lifting plate can effectively enhance the stability of the lifting.

[0018] In summary, this application includes the following beneficial technical effects:

[0019] 1. The utility model realizes the vertical height adjustment of the suction cup structure by using the first lifting plate and the sliding cooperation second lifting plate and the belt stretching structure;

[0020] 2. The utility model integrates the pulley and the first lifting plate into one, and uses the lifting drive to adjust the height of the first lifting plate, thereby realizing the linkage of the belt stretching structure. A single displacement of the lifting drive can generate two vertical displacements between the first lifting plate and the lifting drive and between the first lifting plate and the second lifting plate, which not only simplifies the driving system, but also doubles the driving displacement;

[0021] 3. The utility model has a simple structure, and improves the stability of vertical adjustment of the plate-like workpiece through the first slide rail structure and the second slide rail structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a structural schematic diagram of the utility model;

[0023] Figure 2 It is a partial schematic diagram of the front view structure of the utility model;

[0024] Figure 3 It is a structural schematic diagram of the lifting component in the utility model;

[0025] Figure 4 This utility model Figure 3 Cross-section diagram of the middle structure Figure 1 ;

[0026] Figure 5 This utility model Figure 3 Exploded diagram of the middle structure;

[0027] Figure 6 This utility model Figure 3 The cross-sectional view of the middle structure after explosion;

[0028] Figure 7 This utility model Figure 3 Cross-section diagram of the middle structure Figure 2.

[0029] Description of reference numerals:

[0030] 1. Frame, 2. Translation drive member, 3. Lifting drive member, 4. Lifting assembly, 5. Suction cup structure, 101. First guide rail, 102. Second guide rail, 301. Motor, 302. Second mounting seat, 401. First lifting plate, 402. Second lifting plate, 403. First mounting seat, 404. Rack, 405. First slide rail structure, 406. Belt stretching structure, 407. Second slide rail structure, 4061. Belt, 4062. Pulley, 4063. Quick-release mounting member, 4071. Fourth guide rail, 4072. Slide chute member. DETAILED DESCRIPTION

[0031] The following describes the specific implementation of the utility model in conjunction with the accompanying drawings and embodiments:

[0032] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so that people familiar with this technology can understand and read them, and are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0033] At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of description and are not used to limit the scope of the implementation of the present utility model. Changes or adjustments to their relative relationships should be regarded as the scope of the implementation of the present utility model without substantially changing the technical content.

[0034] The following is combined with Figure 1-7 This application is described in further detail.

[0035] The embodiment of the present application discloses a double-speed robot.

[0036] Example 1

[0037] Reference Figures 1 to 7The present embodiment discloses a double-speed manipulator, comprising a lifting drive member 3 and a lifting assembly 4 vertically slidably connected to the lifting drive member 3, a suction cup structure 5 for transferring plate-shaped workpieces connected to the lifting assembly 4, a rack driving structure vertically arranged between the outside of the lifting assembly 4 and the lifting drive member 3, the lifting assembly 4 is a two-stage displacement structure, which is divided into a first lifting plate 401 and a second lifting plate 402 which are slidably connected to each other, a belt stretching structure 406 based on the pulley principle is built into the first lifting plate 401, one end of the belt stretching structure 406 is connected to the second lifting plate 402, and the other end thereof is connected to an external fixed point, and the pulley 4062 is integrated on the first lifting plate 401, the lifting drive member 3 controls the lifting of the pulley 4062 and the first lifting plate 401 through the rack driving structure, and at the same time, the pulley 4062 changes its height and adjusts the height of the suction cup structure 5 again with the help of the belt 4061, so that the suction cup structure 5 has a double-speed travel effect.

[0038] The lifting drive member 3 includes a second mounting seat 302 and a motor 301 mounted on the second mounting seat 302. A rack 404 is provided on the side of the first lifting plate 401 along its height direction. The output end of the motor 301 is meshed with the rack 404 through a gear. The second mounting seat 302 and the first lifting plate 401 are vertically slidably connected through a first slide rail structure 405. In this structure, the first lifting plate 401 is a frame structure, and a belt stretching structure 406 is installed inside the frame. The belt stretching structure 406 includes a pulley 4062 rotatably arranged on the upper part of the first lifting plate 401. A belt 4061 is provided outside the pulley 4062. One end of the belt 4061 is connected to the second lifting plate 402 through a quick-release mounting member 4063, and the other end thereof is connected to the lifting drive member 3.

[0039] A first mounting seat 403 is provided on the first lifting plate 401, and a second slide rail structure 407 is provided between the first mounting seat 403 and the second lifting plate 402, which is composed of a fourth guide rail 4071 and a slide groove member 4072 that are slidably connected to each other. The fourth guide rail 4071 is installed on the side of the second lifting plate 402, and the slide groove member 4072 is connected to the first mounting seat 403. In this structure, the connection method between the first slide rail structure 405, the second mounting seat 302 and the first lifting plate 401 is the same as the connection method between the second slide rail structure 407, the first mounting seat 403 and the second lifting plate 402.

[0040] The specific implementation process is as follows: the plate-like workpiece is sucked onto the suction cup structure 5; when it needs to be lifted, the lifting drive 3 starts to control the first lifting plate 401 to move upward along the direction of the first slide rail structure 405; in this process, since the pulley 4062 and the first lifting plate 401 are lifted synchronously, and one end of the belt 4061 is fixed, the pulley 4062 is lifted, causing the other end of the belt 4061 to be pulled up, that is, the second lifting plate 402 and the suction cup structure 5 are pulled up; then the lifting drive 3 starts to lift, causing the rack drive structure and the belt stretching structure 406 to trigger the lifting effect on the plate-like workpiece, so that the plate-like workpiece is pulled up at twice the speed.

[0041] Example 2

[0042] Reference Figure 1 to Figure 2 , and based on Example 1, this embodiment further provides a double-speed manipulator, which also includes a frame 1 and a translation drive member 2, and two first guide rails 101 and second guide rails 102 arranged in different planes are arranged on the frame 1 along the length direction, and the translation drive member 2 and the lifting drive member 3 are integrated into one body. In this structure, the first guide rail 101 and the second guide rail 102 are respectively slidably connected to the integrated structure, so that the plate-like workpiece has the ability to be transported horizontally.

[0043] Many other changes and modifications can be made without departing from the concept and scope of the utility model. It should be understood that the utility model is not limited to a specific embodiment, and the scope of the utility model is defined by the appended claims.

Claims

1. A double-speed manipulator, characterized in that: include: A lifting drive member (3) and a lifting assembly (4) vertically slidably connected to the lifting drive member (3), the lifting assembly (4) being connected to a suction cup structure (5) for transferring a plate-like workpiece, a rack driving structure being vertically arranged between the outside of the lifting assembly (4) and the lifting drive member (3), the lifting drive member (3) controlling the lifting assembly (4) and the suction cup structure (5) to adjust the placement height of the plate-like workpiece; The lifting assembly (4) is a two-stage displacement structure, which is divided into a first lifting plate (401) and a second lifting plate (402) which are slidably connected to each other. The first lifting plate (401) is equipped with a pulley-principle belt stretching structure (406). One end of the belt stretching structure (406) is connected to the second lifting plate (402), and the other end is connected to an external fixed point. The pulley (4062) is integrated on the first lifting plate (401). The lifting drive member (3) controls the lifting of the pulley (4062) and the first lifting plate (401) through a rack drive structure. At the same time, the pulley (4062) changes its height and adjusts the height of the suction cup structure (5) again with the help of the belt (4061), so that the suction cup structure (5) has a double-speed travel effect. It also comprises a frame (1) and a translation drive member (2), wherein a plurality of guide rails are arranged on the frame (1) along the length direction, the translation drive member (2) and the lifting drive member (3) are integrated into one body, and the integrated structure is slidably connected to the guide rails, and the translation drive member (2) is used to drive the integrated structure to slide along the guide rail direction; The lifting drive member (3) comprises a second mounting seat (302) and a motor (301) mounted on the second mounting seat (302); a rack (404) is provided on the side of the first lifting plate (401) along its height direction; an output end of the motor (301) is meshed with the rack (404) via a gear; and the second mounting seat (302) and the first lifting plate (401) are vertically slidably connected via a first slide rail structure (405); The first lifting plate (401) is a frame structure, and the belt stretching structure (406) is installed inside the frame. The belt stretching structure (406) includes a pulley (4062) rotatably arranged on the upper part of the first lifting plate (401), and a belt (4061) is arranged outside the pulley (4062). One end of the belt (4061) is connected to the second lifting plate (402) through a quick-release mounting part (4063), and the other end is connected to the lifting drive part (3).

2. A double-speed manipulator according to claim 1, characterized in that: The guide rail is divided into a first guide rail (101) and a second guide rail (102), the two guide rails are arranged in the same direction and are arranged in different planes.

3. A double-speed manipulator according to claim 2, characterized in that: A first mounting seat (403) is provided on the first lifting plate (401), and a second slide rail structure (407) is provided between the first mounting seat (403) and the second lifting plate (402), which is composed of a fourth guide rail (4071) and a slide groove member (4072) that are slidably connected to each other, the fourth guide rail (4071) is installed on the side of the second lifting plate (402), and the slide groove member (4072) is connected to the first mounting seat (403).

4. A double-speed manipulator according to claim 3, characterized in that: The connection method between the first slide rail structure (405), the second mounting seat (302) and the first lifting plate (401) is the same as the connection method between the second slide rail structure (407), the first mounting seat (403) and the second lifting plate (402).

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