Inclined three-axis carrying and transplanting mechanism

Abstract

The utility model discloses an inclined type three-axis carrying and transplanting mechanism which comprises a Y-axis driving assembly, a Z-axis driving assembly and an R-axis inclined module, the Y-axis driving assembly comprises a Y-axis driving motor, an upper belt wheel, a lower belt wheel and a transmission lead screw, the Y-axis driving motor drives the upper belt wheel to rotate, the upper belt wheel is in transmission connection with the lower belt wheel through a belt, and the Z-axis driving assembly is in transmission connection with the R-axis inclined module. The Z-axis driving assembly comprises a transplanting transverse plate, a Z-axis driving motor, a Z-axis lead screw, a lower transmission frame and a guide assembly, the transplanting transverse plate is in threaded connection transmission with the transmission lead screw, the Z-axis driving motor drives the Z-axis lead screw to rotate, and the lower portion of the Z-axis lead screw is hinged to the lower transmission frame. During use, the Y-axis driving motor adjusts the position of the R-axis inclination module in the Y-axis direction, the Z-axis driving motor adjusts the position of the R-axis inclination module in the Z-axis direction through the Z-axis lead screw, the rotating motor and the harmonic speed reducer operate in a matched mode to adjust the direction of the downward detection air cylinder and the direction of the material carrying jig, and the problems that the occupied space for material taking is large, and transplanting material taking and discharging are conducted in the narrow space are solved.

Description

Technical Field

[0001] The utility model relates to the field of transporting and transplanting, in particular to an inclined three-axis transporting and transplanting mechanism. Background Art

[0002] The patent document with application number "CN201610979824.7" discloses a transplanting mechanism for automatic handling and pitch change of hard-packed battery cells, including a robot, a clamping jaw assembly and a pitch change assembly, wherein the clamping jaw assembly is installed below the pitch change assembly, and the pitch change assembly is installed on the robot, and the cylinder of the pitch change assembly drives the clamping jaw assembly to move, thereby adjusting the spacing between the battery cells and handling the battery cells. The present invention provides an automatic pitch change and handling mechanism, which replaces the manual method and effectively reduces the labor cost of the enterprise; provides an automated working equipment, improves the automation level of the customer's production line, and greatly improves the production efficiency; and its performance is stable, avoiding the uncertainty of manual work and effectively improving the yield rate.

[0003] The patent document with application number "CN202121724983.5" discloses a transplanting and handling mechanism for intelligent access stereoscopic warehouse, including a welding bracket, a column base is rollably mounted on the lower end of the welding bracket, a movable column in the vertical direction is fixedly mounted on the upper end of the column base, the lower end of the column base and the upper end of the movable column are both provided with guide wheels, a sliding seat is rollably mounted on the movable column, the column base and the sliding seat are respectively driven by a first drive motor and a second drive motor in conjunction with a chain and a sprocket, and buffer pads are provided at both ends of the column base where the welding bracket slides; the sliding seat includes an outer shell rollably mounted on the movable column, a third drive motor is installed inside the outer shell, a slide base is provided above the third drive motor, and a two-layer slide is slidably mounted on the upper end of the slide base through a sliding bearing. The utility model can realize movement in the up, down, left, right, and front and back directions, and is convenient to use during the material handling process.

[0004] The above patent documents, combined with the prior art, reveal that the existing transport and transplanting mechanisms have the following defects:

[0005] The handling and transplanting mechanisms on the market generally need to be horizontally moved to the corresponding workstations to carry out transplanting, picking up and unloading of materials. The picking up of materials takes up a large space and cannot solve the problem of transplanting, picking up and unloading of materials in a small space, and realize an integrated structure for transplanting and picking up materials. Summary of the invention

[0006] In order to overcome the deficiencies of the prior art, one of the purposes of the utility model is to provide an inclined three-axis transport and transplanting mechanism, which can solve the problem of large material taking-up space and transplanting and placing materials in a narrow space.

[0007] One of the purposes of the utility model is achieved by the following technical solution:

[0008] A tilted three-axis handling and transplanting mechanism includes a Y-axis drive assembly, a Z-axis drive assembly, and an R-axis tilting module. The Y-axis drive assembly is fixedly connected to the Z-axis drive assembly and drives the Z-axis drive assembly to move. The Z-axis drive assembly is fixedly connected to the R-axis tilting module and drives the R-axis tilting module to move. The R-axis tilting module includes a downward probe cylinder and a material carrying fixture. The downward probe cylinder is fixedly connected to the material carrying fixture and drives the material carrying fixture to move.

[0009] Furthermore, the Y-axis drive assembly is driven by a motor driving a pulley, which in turn drives a lead screw; or a rodless cylinder is used for transmission.

[0010] Furthermore, the Z-axis drive assembly uses a motor to drive a lead screw for transmission; or uses an electric cylinder for transmission.

[0011] Furthermore, the Y-axis drive assembly includes a Y-axis drive motor, an upper pulley, a lower pulley, and a transmission screw. The Y-axis drive motor drives the upper pulley to rotate, the upper pulley is connected to the lower pulley through a belt, and the lower pulley is fixedly connected to the transmission screw.

[0012] Furthermore, the Z-axis drive assembly includes a transplanting horizontal plate, a Z-axis drive motor, a Z-axis screw, a lower transmission frame, and a guide assembly. The transplanting horizontal plate is screw-connected with the transmission screw, the Z-axis drive motor drives the Z-axis screw to rotate, the lower part of the Z-axis screw is hinged with the lower transmission frame, and the guide assembly is arranged on the lower transmission frame.

[0013] Furthermore, the R-axis tilt module also includes a pitch variable module, a rotating motor, a harmonic reducer, and a U-shaped frame. The U-shaped frame is fixed on the pitch variable module, and the U-shaped frame is hingedly installed on the lower part of the lower transmission frame. The rotating motor drives the harmonic reducer to rotate and thus rotates the pitch variable module. One end of the lower probe cylinder is fixed to the pitch variable module, and the other end is connected to the material jig.

[0014] Furthermore, an upper connecting rod is provided on the upper portion of the lower transmission frame, and the upper connecting rod is hinged to the Z-axis screw rod.

[0015] Furthermore, the inclined three-axis transport and transplanting mechanism also includes an inclined jig, on which a plurality of product components are placed at an angle.

[0016] Furthermore, the tilting jig is located below the R-axis tilting module.

[0017] Furthermore, a lower movable slide rail is provided at the lower end of the transplanting transverse plate, and the transplanting transverse plate is slidably mounted on the lower movable slide rail.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] When in use, the Y-axis drive motor adjusts the Y-axis position of the R-axis tilting module, the Z-axis drive motor adjusts the Z-axis position of the R-axis tilting module through the Z-axis screw rod, and the rotary motor and harmonic reducer cooperate to adjust the direction of the downward cylinder and the material carrying fixture, thereby solving the problem of large material taking-up space and material transplanting and unloading in a narrow space, and realizing an integrated structure of material transplanting and material taking-up.

[0020] The above description is only an overview of the technical solution of the utility model. In order to more clearly understand the technical means of the utility model, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the utility model more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional diagram of a preferred embodiment of the inclined three-axis transport and transplanting mechanism of the utility model;

[0022] Figure 2 for Figure 1 A side view of the tilted three-axis transport and transplanting mechanism shown;

[0023] Figure 3 for Figure 1 A three-dimensional diagram of an R-axis tilting module in the tilting three-axis transporting and transplanting mechanism shown;

[0024] Figure 4 This is the main view of the R-axis tilt module;

[0025] Figure 5 It is a side view of the R-axis tilt module;

[0026] Figure 6 for Figure 1 Another perspective view of the tilted three-axis transport and transplanting mechanism shown;

[0027] Figure 7 for Figure 1 A side view of the tilted three-axis transport and transplanting mechanism shown;

[0028] Figure 8 for Figure 1 A three-dimensional diagram of the inclined three-axis handling and transplanting mechanism shown in the state of taking materials from the previous station;

[0029] Fig. 9 for Figure 1 A three-dimensional diagram of the inclined three-axis transport and transplanting mechanism discharging materials to the next station;

[0030] Fig.10 for Figure 1 Another stereoscopic view of the inclined three-axis transport and transplanting mechanism shown.

[0031] In the figure: 100, Y-axis drive assembly; 10, Y-axis drive motor; 11, upper pulley; 12, lower pulley; 13, transmission screw;

[0032] 200, Z-axis drive assembly; 20, transplanting horizontal plate; 21, lower moving slide rail; 30, Z-axis drive motor; 40, Z-axis screw rod; 50, lower transmission frame; 51, upper connecting rod; 52, lower hinge end; 60, guide assembly;

[0033] 300, R-axis tilt module; 70, variable pitch module; 80, rotating motor; 90, harmonic reducer; 91, U-shaped frame; 101, lowering cylinder; 102, material carrying fixture;

[0034] 400. Tilt fixture; 401. Product component. DETAILED DESCRIPTION

[0035] The present invention is further described below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form a new embodiment.

[0036] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0037] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0038] See also Figure 1-10, an inclined three-axis handling and transplanting mechanism, including a Y-axis driving assembly 100, a Z-axis driving assembly 200, and an R-axis tilting module 300, wherein the Y-axis driving assembly 100 includes a Y-axis driving motor 10, an upper pulley 11, a lower pulley 12, and a transmission screw 13, wherein the Y-axis driving motor 10 drives the upper pulley 11 to rotate, and the upper pulley 11 is connected to the lower pulley 12 through a belt, and the lower pulley 12 is fixedly connected to the transmission screw 13; the Z-axis driving assembly 200 includes a transplanting cross plate 20, a Z-axis driving motor 30, a Z-axis screw 40, a lower transmission frame 50, and a guide assembly 60, wherein the transplanting cross plate 20 is screwed to the transmission screw 13 for transmission, and the The Z-axis driving motor 30 drives the Z-axis screw rod 40 to rotate, the lower part of the Z-axis screw rod 40 is hinged to the lower transmission frame 50, and the guide assembly 60 is arranged on the lower transmission frame 50; the R-axis tilting module 300 includes a pitch changing module 70, a rotating motor 80, a harmonic reducer, a U-shaped frame, a downward probe cylinder 101, and a material jig 102, the U-shaped frame is fixed on the pitch changing module 70, and the U-shaped frame is hingedly installed on the lower part of the lower transmission frame 50, the rotating motor 80 drives the harmonic reducer to rotate and then rotates the pitch changing module 70, one end of the downward probe cylinder 101 is fixed to the pitch changing module 70, and the other end is connected to the material jig 102. When in use, the Y-axis drive motor 10 adjusts the Y-axis position of the R-axis tilting module 300, and the Z-axis drive motor 30 adjusts the Z-axis position of the R-axis tilting module 300 through the Z-axis screw 40. The rotary motor 80 and the harmonic reducer cooperate to adjust the direction of the downward cylinder 101 and the material-carrying fixture 102, thereby solving the problem of large material retrieval space and material transplanting and unloading in a narrow space, and realizing an integrated structure for transplanting and material retrieval.

[0039] Preferably, an upper connecting rod 51 is provided on the upper part of the lower transmission frame 50, and the upper connecting rod 51 is hinged to the Z-axis screw rod 40. Specifically, the rotation axis of the upper connecting rod 51 coincides with the rotation axis of the Z-axis screw rod 40, so as to ensure that the transmission of the upper connecting rod 51 and the Z-axis screw rod 40 does not conflict.

[0040] Preferably, a lower hinge end 52 for hinge connection is provided at the lower part of the lower transmission frame 50. The number of the lower hinge ends 52 is 2, and the two ends of the U-shaped frame are respectively hinged to the two lower hinge ends 52. The lower probe cylinder 101 is a thin cylinder, which is light and convenient.

[0041] Preferably, the tilting three-axis transport and transplanting mechanism further includes a tilting fixture 400, on which a plurality of product components 401 are tiltedly placed. The tilting fixture 400 is located below the R-axis tilting module 300 and is convenient to access.

[0042] Preferably, a lower movable slide rail 21 is provided at the lower end of the transplanting transverse board 20, and the transplanting transverse board 20 is slidably mounted on the lower movable slide rail 21. The number of the lower movable slide rails 21 is 2, and the lower movable slide rails 21 are arranged at both ends of the transplanting transverse board 20. The whole device has a novel structure, a clever design, strong applicability, and is easy to promote.

[0043] Workflow: See Figure 6-9 The R-axis tilting module of the tilting three-axis handling and transplanting mechanism rotates a small angle, then removes the product components from the tilting fixture of the previous station along the Z-axis direction, then lifts it along the Z-axis direction, adjusts the R-axis tilting module to the correct angle, and then moves along the Y-axis direction to the next station to place the material.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] The above-mentioned implementation modes are only preferred implementation modes of the present invention, and cannot be used to limit the protection scope of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. An inclined three-axis transport and transplanting mechanism, comprising a Y-axis drive assembly, a Z-axis drive assembly, and an R-axis tilting module, characterized in that: The Y-axis driving assembly is fixedly connected to the Z-axis driving assembly and drives the Z-axis driving assembly to move. The Z-axis driving assembly is fixedly connected to the R-axis tilting module and drives the R-axis tilting module to move. The R-axis tilting module includes a downward probe cylinder and a material-carrying jig. The downward probe cylinder is fixedly connected to the material-carrying jig and drives the material-carrying jig to move.

2. The inclined three-axis transport and transplanting mechanism according to claim 1, characterized in that: The Y-axis driving assembly is driven by a motor driving a pulley, and the pulley driving a lead screw; or a rodless cylinder is used for transmission.

3. The inclined three-axis transport and transplanting mechanism according to claim 2, characterized in that: The Z-axis drive assembly is driven by a motor driving a lead screw; or an electric cylinder is used for transmission.

4. The inclined three-axis transport and transplanting mechanism according to claim 1, characterized in that: The Y-axis driving assembly includes a Y-axis driving motor, an upper pulley, a lower pulley, and a transmission screw. The Y-axis driving motor drives the upper pulley to rotate. The upper pulley is connected to the lower pulley through a belt, and the lower pulley is fixedly connected to the transmission screw.

5. The inclined three-axis transport and transplanting mechanism according to claim 4, characterized in that: The Z-axis driving assembly includes a transplanting cross plate, a Z-axis driving motor, a Z-axis screw, a lower transmission frame, and a guide assembly. The transplanting cross plate and the transmission screw are screwed together for transmission. The Z-axis driving motor drives the Z-axis screw to rotate. The lower part of the Z-axis screw is hinged to the lower transmission frame, and the guide assembly is arranged on the lower transmission frame.

6. The inclined three-axis transport and transplanting mechanism according to claim 5, characterized in that: The R-axis tilt module also includes a pitch variable module, a rotating motor, a harmonic reducer, and a U-shaped frame. The U-shaped frame is fixed on the pitch variable module, and the U-shaped frame is hingedly installed on the lower part of the lower transmission frame. The rotating motor drives the harmonic reducer to rotate and thus rotates the pitch variable module. One end of the lower probe cylinder is fixed to the pitch variable module, and the other end is connected to the material jig.

7. The inclined three-axis transport and transplanting mechanism according to claim 6, characterized in that: An upper connecting rod is arranged on the upper part of the lower transmission frame, and the upper connecting rod is hinged to the Z-axis screw rod.

8. The inclined three-axis transport and transplanting mechanism according to claim 1, characterized in that: The inclined three-axis transport and transplanting mechanism also includes an inclined fixture, on which a plurality of product components are placed obliquely.

9. The inclined three-axis transport and transplanting mechanism according to claim 8, characterized in that: The tilting fixture is located below the R-axis tilting module.

10. The inclined three-axis transport and transplanting mechanism according to claim 5, characterized in that: A lower movable slide rail is arranged at the lower end of the transplanting transverse plate, and the transplanting transverse plate is slidably mounted on the lower movable slide rail.

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