Vertical translation rotating manipulator

Abstract

The utility model relates to a vertical translation rotary manipulator which comprises a base, an electric box, a lifting mechanism, a first rotating mechanism and a front-back moving module, a second rotating mechanism is installed at the front end of a telescopic arm of the front-back moving module, and the second rotating mechanism comprises a second rotating motor, a speed reducer, a material taking unit installation frame and a material taking unit. An output shaft of the second rotating motor extends downwards to be connected with a speed reducer, a material taking unit installation frame is arranged below the speed reducer, and a plurality of material taking units are installed at the bottom of the material taking unit installation frame. In the working process, a second rotating motor of the second rotating mechanism drives the material taking unit mounting frame to rotate around the Z axis through a speed reducer, power transmission of a synchronous belt is omitted, precision is improved, a product is more accurately rotated to the set position, the speed is increased, the bearing capacity is improved, and the production requirement is met.

Description

Technical Field

[0001] The utility model relates to the field of mechanical equipment, in particular to a vertical translation and rotation manipulator. Background Art

[0002] With the popularization of automation equipment, the use of manipulators to pick up materials is becoming more and more common. For existing four-axis manipulators, the structure at the final output end is that the motor drives the reducer to start, and the reducer drives one of the synchronous wheels to rotate. This synchronous wheel drives another synchronous wheel to rotate through the synchronous belt, and this synchronous wheel then drives its internal bearing to rotate the load. The disadvantage of this structure is that the synchronous belt has low load capacity and poor precision, and the slow speed leads to low efficiency, which cannot meet the requirements of high-efficiency production. Utility Model Content

[0003] In view of the above-mentioned defects in the prior art, the technical problem to be solved by the utility model is to provide a high-precision material taking manipulator, and the specific technical solution is as follows:

[0004] A vertical translation and rotation manipulator comprises a base, an electric box, a lifting mechanism, a first rotating mechanism, and a forward and backward moving module. The electric box is installed above the base, and the lifting mechanism is installed in front of the electric box. The first rotating mechanism is installed above the lifting mechanism. The lifting mechanism drives the first rotating mechanism to move up and down. The forward and backward moving module is installed above the first rotating mechanism. The first rotating mechanism drives the forward and backward moving module to rotate. A second rotating mechanism is installed at the front end of the telescopic arm of the forward and backward moving module. The second rotating mechanism comprises a second rotating motor, a reducer, a material picking unit mounting frame and a material picking unit. The output shaft of the second rotating motor extends downward to connect the reducer. The material picking unit mounting frame is below the reducer. The material picking unit mounting frame is in an L shape. Multiple material picking units are installed at the bottom of the material picking unit mounting frame. The second rotating motor drives the material picking unit mounting frame to rotate around the Z axis.

[0005] As a preferred solution of the utility model, a through slot is provided at the front end of the telescopic arm of the forward and backward moving module, a fixing plate is installed at the bottom of the front end of the telescopic arm, and the second rotating motor is fixedly installed on the fixing plate and passes through the through slot.

[0006] As a preferred solution of the utility model, a avoidance groove is provided at the bottom of the front end of the telescopic arm.

[0007] As a preferred solution of the utility model, the material picking unit mounting frame includes an extension plate, a transverse plate and a longitudinal plate. The rear end of the extension plate is provided with multiple screw holes. The extension plate is fixedly installed on the reducer by inserting screws into the screw holes. The front end of the extension plate is connected to the transverse plate. Multiple longitudinal plates are installed at the front end of the transverse plate. The single longitudinal plate is provided with multiple long grooves for adjusting the position of the material picking unit.

[0008] As a preferred solution of the utility model, the lifting mechanism includes a lifting seat base, a lifting motor, a first synchronous wheel assembly, a screw rod, a lifting block and a lifting seat. The electric box is fixedly installed on the back of the lifting shaft base, and the lifting motor is installed in the lifting seat base. The lifting motor drives the screw rod to rotate through the first synchronous wheel assembly. The screw rod is threadedly connected to the lifting block. The lifting seat is installed in front of the lifting block. The lifting seat is slidably connected to the lifting seat base through a vertically arranged slide rail, and a rotating mechanism is installed above the lifting seat.

[0009] As a preferred solution of the utility model, the first rotating mechanism includes a first rotating motor, a second synchronous wheel assembly, a reducer and a first rotating seat. The first rotating motor drives the reducer to rotate around the Z axis through the second synchronous wheel assembly, and the reducer drives the rotating seat to rotate. A forward and backward moving module is installed above the rotating seat.

[0010] Beneficial effects: The vertical translational rotary manipulator of the utility model has a reasonable structural design. When working, the lifting mechanism drives the first rotating mechanism to move up and down, the first rotating mechanism drives the forward and backward moving module to rotate, the forward and backward moving module drives the second rotating mechanism to move forward and backward, and the first rotating mechanism rotates to pick up materials. The various mechanism components cooperate with each other to achieve the purpose of transporting products, and the second rotating motor of the second rotating mechanism drives the material picking unit mounting frame to rotate around the Z axis through the reducer, which eliminates the power transmission of the synchronous belt, improves the accuracy, and more accurately rotates the product to the set position, and also improves the speed and carrying capacity to meet production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional diagram of the utility model;

[0012] Figure 2 It is a three-dimensional diagram of the utility model after the shield is hidden;

[0013] Figure 3 It is a three-dimensional diagram of the second rotating mechanism and the telescopic arm of the utility model;

[0014] Figure 4 It is a three-dimensional diagram of the second rotating mechanism and the telescopic arm of the utility model from another perspective;

[0015] Figure 5 It is a three-dimensional diagram of the turning mechanism and the telescopic arm of the utility model when they are disassembled;

[0016] Figure 6 It is a three-dimensional diagram of the lifting mechanism of the utility model;

[0017] Figure 7 It is an exploded view of the lifting mechanism of the utility model;

[0018] Figure 8 It is a three-dimensional diagram of the rotating mechanism of the utility model. DETAILED DESCRIPTION

[0019] The following is a further description of the specific implementation of the present invention in conjunction with the accompanying drawings:

[0020] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have specific directions, be constructed and operated in specific directions. Therefore, they cannot be understood as limitations on the present invention.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0022] like Figure 1-5 As shown, a vertical translation and rotation manipulator includes a base 1, an electric box 2, a lifting mechanism 3, a first rotating mechanism 4, and a forward and backward moving module 5. The electric box 2 is installed above the base 1, and a power supply, a resistor, a relay, a controller, a driver, etc. are installed inside the electric box 2. The lifting mechanism 3 is installed in front of the electric box 2, and the first rotating mechanism 4 is installed above the lifting mechanism 3. The lifting mechanism 3 drives the first rotating mechanism 4 to move up and down. The forward and backward moving module 5 is installed above the first rotating mechanism 4, and the first rotating mechanism 4 drives the forward and backward moving module 5 to rotate. The front end of the telescopic arm 51 of the movable mold assembly 5 is equipped with a second rotating mechanism 6, which includes a second rotating motor 61, a reducer 62, a material picking unit mounting frame 63 and a material picking unit 64. The output shaft of the second rotating motor extends downward to connect the reducer 62. The material picking unit mounting frame 63 is below the reducer 62. The material picking unit mounting frame 63 is in a shape of L. A plurality of material picking units 64 are installed at the bottom of the material picking unit mounting frame 63. The material picking units are suction nozzles, clamp cylinders, etc. The second rotating motor 61 drives the material picking unit mounting frame 63 to rotate around the Z axis. In addition, the manipulator also includes a front shield 7 and an upper shield 8. The front shield 7 covers the lifting mechanism 3. The upper shield 8 is installed above the lifting mechanism 3 and the electric box 2. The front shield 7 and the upper shield 8 effectively prevent dust from entering the machine.

[0023] Specifically, a through slot 52 is provided at the front end of the telescopic arm 51 of the forward and backward moving module 5, a fixed plate 65 is installed at the bottom of the front end of the telescopic arm 51, the second rotating motor 61 is fixedly installed on the fixed plate 65 and passes through the through slot 52 on the top. This setting method is convenient for installing the motor, and a avoidance slot 53 is provided at the bottom of the front end of the telescopic arm 51. The avoidance slot 53 is used for avoiding the reducer 62 and the material picking unit mounting frame 63 when they rotate.

[0024] Specifically, the material picking unit mounting frame 63 includes an extension plate 631, a transverse plate 632 and a longitudinal plate 633. The rear end 631 of the extension plate is provided with a plurality of screw holes. The extension plate 631 is fixedly installed on the bottom of the reducer 62 by inserting screws into the screw holes. The front end of the extension plate 631 is connected to the transverse plate 632. A plurality of longitudinal plates 633 are installed at the front end of the transverse plate 632. A single longitudinal plate 633 is provided with a plurality of long grooves for adjusting the position of the material picking unit. The material picking unit mounting frame 63 is configured in this way so that multiple products can be picked up at one time.

[0025] like Figure 6 and 7 As shown, the lifting mechanism 3 includes a lifting seat base 31, a lifting motor 32, a first synchronous wheel assembly 33, a screw rod 34, a lifting block 35 and a lifting seat 36. The electric box 2 is fixedly installed on the back of the lifting shaft base 31. The lifting motor 32 is installed in the lifting seat base 31. The lifting motor 32 drives the screw rod 34 to rotate through the first synchronous wheel assembly 33. The screw rod 34 is threadedly connected to the lifting block 35. The lifting seat 36 is installed in front of the lifting block 35. The lifting seat 36 is slidably connected to the lifting seat base 31 through a vertically arranged slide rail 37. The rotating mechanism 4 is installed above the lifting seat 36.

[0026] like Figure 8 As shown, the first rotating mechanism 4 includes a rotating motor 41, a second synchronous wheel assembly 42, a reducer 43 and a first rotating seat 44. The first rotating motor 41 drives the reducer 43 to rotate around the Z axis through the second synchronous wheel assembly 42, and the reducer drives the first rotating seat 44 to rotate, and the first rotating seat 44 drives the forward and backward moving module 5 to rotate around the Z axis.

[0027] The above content is a further detailed description of the utility model in combination with specific preferred implementation methods. It cannot be determined that the specific implementation of the utility model is limited to these descriptions. For ordinary technicians in the technical field to which the utility model belongs, without departing from the concept of the utility model, they can also make several simple deductions or substitutions, which should be regarded as belonging to the protection scope of the utility model.

Claims

1. A vertical translation and rotation manipulator, comprising a base, an electric box, a lifting mechanism, a first rotating mechanism, and a forward and backward moving module. The electric box is installed above the base, the lifting mechanism is installed in front of the electric box, the first rotating mechanism is installed above the lifting mechanism, the lifting mechanism drives the first rotating mechanism to move up and down, the forward and backward moving module is installed above the first rotating mechanism, and the first rotating mechanism drives the forward and backward moving module to rotate, characterized in that: A second rotating mechanism is installed at the front end of the telescopic arm of the forward and backward moving module, and the second rotating mechanism includes a second rotating motor, a reducer, a material picking unit mounting frame and a material picking unit. The output shaft of the second rotating motor extends downward to connect the reducer, and the material picking unit mounting frame is below the reducer. The material picking unit mounting frame is in an L shape, and multiple material picking units are installed at the bottom of the material picking unit mounting frame. The second rotating motor drives the material picking unit mounting frame to rotate around the Z axis.

2. A vertical translation and rotation manipulator according to claim 1, characterized in that: A through slot is arranged at the front end of the telescopic arm of the forward and backward moving module, a fixing plate is installed at the bottom of the front end of the telescopic arm, and the second rotating motor is fixedly installed on the fixing plate and passes through the through slot.

3. A vertical translation and rotation manipulator according to claim 2, characterized in that: A avoidance groove is arranged at the bottom of the front end of the telescopic arm.

4. A vertical translation and rotation manipulator according to claim 1 or 3, characterized in that: The material-retrieving unit mounting frame includes an extension plate, a transverse plate and a longitudinal plate. A plurality of screw holes are provided at the rear end of the extension plate. The extension plate is fixedly installed on the reducer by inserting screws into the screw holes. The front end of the extension plate is connected to the transverse plate. A plurality of longitudinal plates are installed at the front end of the transverse plate. A single longitudinal plate is provided with a plurality of long grooves for adjusting the position of the material-retrieving unit.

5. The vertical translation and rotation manipulator according to claim 1, characterized in that: The lifting mechanism includes a lifting seat base, a lifting motor, a first synchronous wheel assembly, a screw rod, a lifting block and a lifting seat. The electric box is fixedly installed on the back of the lifting shaft base. The lifting motor is installed in the lifting seat base. The lifting motor drives the screw rod to rotate through the first synchronous wheel assembly. The screw rod is threadedly connected to the lifting block. The lifting seat is installed in front of the lifting block. The lifting seat is slidably connected to the lifting seat base through a vertically arranged slide rail, and a rotating mechanism is installed above the lifting seat.

6. The vertical translation and rotation manipulator according to claim 1, characterized in that: The first rotating mechanism includes a first rotating motor, a second synchronous wheel assembly, a reducer and a first rotating seat. The first rotating motor drives the reducer to rotate around the Z axis through the second synchronous wheel assembly, and the reducer drives the rotating seat to rotate. A forward and backward moving module is installed above the rotating seat.

7. The vertical translation and rotation manipulator according to claim 1, characterized in that: The utility model also comprises a front shield and an upper shield. The front shield covers the lifting mechanism, and the upper shield is arranged above the lifting mechanism and the electric box.

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