Independent carrying manipulator

Abstract

According to the independent carrying mechanical arm, a carrying part is connected with a left-right moving assembly, the left-right moving assembly is connected with an up-down moving assembly, the up-down moving assembly is provided with an up-down moving freedom degree, and the left-right moving assembly is provided with a left-right moving freedom degree; the correction assembly is provided with a degree of freedom of front-back movement and a degree of freedom of rotation; the left-right moving assembly comprises a left-right fixed arm, a left-right moving seat and a left-right moving arm, the left-right fixed arm is connected with the up-down moving assembly, the left-right moving seat is movably connected with the left-right fixed arm, the left-right moving arm is movably connected with the left-right moving seat, and the carrying part is movably connected with the left-right moving seat. The carrying part can quickly move to complete material taking and carrying of objects, meanwhile, the reliability and accuracy of object carrying are guaranteed through the arrangement of the correction table, the object carrying efficiency is improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an independent transporting manipulator. Background Art

[0002] As a commonly used equipment in workshops and production sites, handling manipulators can carry objects. They are usually used in scenarios where manual handling is difficult, so that operators can reduce labor intensity and improve work efficiency. The Chinese utility model patent with announcement number CN203427031U discloses an automatic handling machine, including a workbench, a ball screw assembly, a spline shaft assembly, a manipulator and a drive system. The ball screw assembly is connected to the spline shaft assembly, and the spline shaft assembly is connected to the manipulator. The drive system drives the movement of the ball screw assembly and the spline shaft assembly. The ball screw assembly and the spline shaft assembly realize the free and flexible movement of the grasping parts of the manipulator up and down, left and right. In addition, the movement accuracy of the ball screw assembly and the spline shaft assembly is high, thereby improving the accuracy of the manipulator grasping parts and ensuring the safety performance of parts. Since the manipulator has a large left and right movement range, its movement efficiency can be further improved. Utility Model Content

[0003] The purpose of the utility model is to provide a device with higher moving and carrying efficiency in view of the deficiencies existing in the above-mentioned background technology.

[0004] In order to achieve the above-mentioned purpose, the utility model provides an independent handling manipulator, comprising an up-and-down moving component, a left-and-right moving component, a handling part and a correction component; the handling part is connected to the left-and-right moving component, the left-and-right moving component is connected to the up-and-down moving component, the up-and-down moving component is provided with a degree of freedom for up-and-down movement, the left-and-right moving component is provided with a degree of freedom for left-and-right movement, and the correction component is provided with a degree of freedom for forward and backward movement and a degree of freedom for rotation;

[0005] The left-right moving assembly includes left-right fixed arms, left-right moving seats and left-right moving arms, the left-right fixed arms are connected to the up-and-down moving assembly, the left-and-right moving seats are movably connected to the left-and-right fixed arms, the left-and-right moving arms are movably connected to the left-and-right moving seats, and the transporting part is movably connected to the left-and-right moving seats.

[0006] Furthermore, the up and down moving component includes a main frame and a sliding seat. The main frame is provided with a first guide rail. The sliding seat is fixedly connected to the left and right fixed arms, and the sliding seat is slidably connected to the first guide rail. The main frame is provided with a first screw rod and a first motor. The first motor and the first screw rod are transmission-connected through a transmission belt mechanism. The first screw rod cooperates with a first nut, and the first nut is fixedly connected to the sliding seat.

[0007] Furthermore, the up-and-down moving assembly further comprises a balancing cylinder, a cylinder body of the balancing cylinder is fixedly connected to the main frame, and an end of a piston rod of the balancing cylinder is connected to the sliding seat.

[0008] Furthermore, the left and right fixed arms and the left and right movable arms are both provided with second guide rails, the left and right movable seats are provided with second sliders, and the second sliders are slidably matched with the second guide rails.

[0009] Furthermore, the left and right fixed arms and the left and right movable arms are respectively provided with a first rack and a second rack, the left and right movable seats are provided with a first gear and a second gear, the first gear is meshed with the first rack, the second gear is meshed with the second rack, the first gear and the second gear are connected through the same rotating shaft, the left and right movable seats are provided with a second motor, and the second motor is transmission-connected to the rotating shaft.

[0010] Furthermore, a first synchronous belt mechanism is provided on the left and right movable arms, a third guide rail is provided on the left and right movable arms, the transporting part is slidably connected to the third guide rail via a third slider, and the transporting part is connected to the first synchronous belt mechanism.

[0011] Further, the correction assembly includes a correction mounting frame, a correction seat and a correction platform, the correction mounting frame is provided with a fourth guide rail, the correction seat is provided with a fourth slider, the fourth slider is slidably matched with the fourth guide rail, the correction mounting frame is provided with a second synchronous belt mechanism, the correction seat is connected to the second synchronous belt mechanism, the correction seat is provided with a rotating mechanism, the correction platform is connected to the rotating mechanism, and a plurality of correction cylinders are provided on the correction platform.

[0012] The above solution of the utility model has the following beneficial effects:

[0013] The independent handling manipulator provided by the utility model can enable the handling part to move quickly through the setting of the left and right moving components to complete the material picking and handling of objects. At the same time, the reliability and accuracy of object handling are guaranteed through the setting of the correction platform, thereby improving the object handling efficiency and reducing the labor intensity.

[0014] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation sections. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the up and down moving components of the utility model;

[0017] Figure 3 This is a front view of the left-right moving component of the utility model;

[0018] Figure 4 It is a top view of the left-right moving component of the utility model;

[0019] Figure 5 This is a schematic diagram of the relevant structure of the left-right movable seat of the utility model;

[0020] Figure 6 It is a schematic diagram of the correction platform of the utility model.

[0021] [Description of Reference Numerals]

[0022] 10-up and down moving assembly; 11-main frame; 12-sliding seat; 13-first guide rail; 14-first screw rod; 15-first motor; 16-transmission belt mechanism; 17-first nut; 18-balancing cylinder; 20-left and right moving assembly; 21-left and right fixed arms; 22-left and right moving seat; 23-left and right moving arms; 24-second guide rail; 25-second slider; 26-first rack; 27-second rack; 28-first gear; 29-second gear; 210-rotating shaft; 211-second motor; 212-first synchronous belt mechanism; 213-third guide rail; 214-third slider; 30-conveying part; 40-calibration assembly; 41-calibration mounting frame; 42-calibration seat; 43-calibration table; 44-fourth guide rail; 45-fourth slider; 46-second synchronous belt mechanism; 47-rotating mechanism; 48-calibration cylinder. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the present application, the present application will be described more comprehensively with reference to the relevant drawings below. The preferred embodiments of the present application are provided in the drawings. However, the present application can be implemented in many other different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present application more thorough and comprehensive.

[0024] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0025] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0026] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0027] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.

[0028] like Figure 1 As shown, an embodiment of the utility model provides an independent handling manipulator, including an up-and-down moving assembly 10, a left-and-right moving assembly 20, a handling unit 30, and a correction assembly 40. The handling unit 30 is connected to the left-and-right moving assembly 20, and the left-and-right moving assembly 20 is connected to the up-and-down moving assembly 10, so the handling unit 30 has the freedom to move left-and-right and up-and-down. The correction assembly 40 has the freedom to move forward and backward and the freedom to rotate, so that the object handled by the handling unit 30 can adjust the correction degree on the correction assembly 40, and finally the handling unit 30 carries the object to the next process in a preset posture.

[0029] At the same time Figure 2 As shown, the up-and-down moving assembly 10 includes a main frame 11 and a sliding seat 12. The main frame 11 is provided with a first guide rail 13, and the sliding seat 12 is slidably connected to the first guide rail 13. At the same time, the main frame 11 is provided with a first screw rod 14 and a first motor 15. The first motor 15 is connected to the first screw rod 14 through a transmission belt mechanism 16 to drive the first screw rod 14 to rotate. The first screw rod 14 cooperates with the first nut 17, and the first nut 17 is fixedly connected to the sliding seat 12. Therefore, the first nut 17 and the sliding seat 12 can be driven to move under the rotation of the first screw rod 14 to complete the up-and-down movement.

[0030] As a preferred embodiment, the up and down moving component 10 in this embodiment also includes a balancing cylinder 18, the cylinder body of the balancing cylinder 18 is fixedly connected to the main frame 11, and the piston rod end of the balancing cylinder 18 is connected to the sliding seat 12. The force applied to the sliding seat 12 is compensated by the air pressure of the balancing cylinder 18, so that the large-load-bearing sliding seat 12 can move up and down more smoothly under the drive of the first screw 14, thereby improving reliability.

[0031] At the same time Figure 3-Figure 5 As shown, the left-right moving assembly 20 includes left-right fixed arms 21, left-right moving seats 22 and left-right moving arms 23. The left-right fixed arms 21 are arranged on the uppermost layer, and the left-right fixed arms 21 are fixedly connected to the sliding seat 12. The left-right moving seat 22 is arranged on the middle layer, and the left-right moving arms 23 are arranged on the lower layer. The left-right fixed arms 21 and the left-right moving arms 23 are both provided with second guide rails 24, and the left-right moving seats 22 are provided with second sliders 25, and the second sliders 25 are slidably matched with the second guide rails 24 (and are clamped and limited), so that the left-right moving seats 22 can move along the left-right fixed arms 21, and the left-right moving arms 23 can move along the left-right moving seats 22.

[0032] The left and right fixed arms 21 and the left and right movable arms 23 are respectively provided with a first rack 26 and a second rack 27, and the left and right movable seat 22 is provided with a first gear 28 and a second gear 29, the first gear 28 is meshed with the first rack 26, and the second gear 29 is meshed with the second rack 27. At the same time, the first gear 28 and the second gear 29 are connected through the same rotating shaft 210 to maintain synchronous rotation. The left and right movable seat 22 is also provided with a second motor 211, which is connected to the rotating shaft 210 for transmission, and drives the first gear 28 and the second gear 29 to rotate.

[0033] The left and right moving arms 23 are provided with a first synchronous belt mechanism 212 and a third guide rail 213. The transport unit 30 is slidably connected to the third guide rail 213 via a third slider 214. The transport unit 30 is connected to the first synchronous belt mechanism 212, so the transport unit 30 can be driven to move under the conveyance of the first synchronous belt mechanism 212. It should be noted that the transport unit 30 can be provided with a suction cup, a gripper cylinder, etc., which is not specifically limited here.

[0034] Therefore, the left-right moving assembly 20 provided in this embodiment enables the conveying portion 30 to have a function of moving at four times the speed, so that it can move left-right quickly, thereby improving the object conveying efficiency.

[0035] At the same time Figure 6As shown, the correction component 40 includes a correction mounting frame 41, a correction seat 42 and a correction platform 43. Among them, the correction mounting frame 41 is provided with a fourth guide rail 44, and the correction seat 42 is provided with a fourth slider 45, and the fourth slider 45 is slidably matched with the fourth guide rail 44. Since the fourth guide rail 44 is arranged front and back, the correction component 40 has the freedom to move forward and backward. At the same time, a second synchronous belt mechanism 46 is provided on the correction mounting frame 41, and the correction seat 42 is connected to the second synchronous belt mechanism 46, and moves forward and backward driven by the second synchronous belt mechanism 46. A rotating mechanism 47 is provided on the correction seat 42, and the correction platform 43 is connected to the rotating mechanism 47, so that the correction angle can be rotated to adjust and correct the direction angle of the placed object. A plurality of correction cylinders 48 are provided on the correction platform 43, and the correction cylinders 48 are used to make the placed objects align with respect to the correction platform 43 itself, so as to facilitate the correction process of the correction platform 43.

[0036] When in use, personnel or equipment places objects on the correction table 43, and the correction table 43 uses the correction cylinder 48 to align the object relative to the correction table 43, and then corrects it by moving forward and backward and rotating. The up and down moving component 10 controls the conveying part 30 to move to the correction table 43 to pick up the object, and then the left and right moving component 20 controls the conveying part 30 to quickly transport the object, thereby improving work efficiency and reliability.

[0037] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0038] The above embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. An independent handling robot, characterized in that: The invention comprises an up-and-down moving component (10), a left-and-right moving component (20), a transporting part (30) and a correction component (40); the transporting part (30) is connected to the left-and-right moving component (20), the left-and-right moving component (20) is connected to the up-and-down moving component (10), the up-and-down moving component (10) is provided with a degree of freedom for up-and-down movement, the left-and-right moving component (20) is provided with a degree of freedom for left-and-right movement, and the correction component (40) is provided with a degree of freedom for forward and backward movement and a degree of freedom for rotation; The left-right moving assembly (20) comprises left-right fixed arms (21), a left-right moving seat (22) and left-right moving arms (23); the left-right fixed arms (21) are connected to the up-down moving assembly (10); the left-right moving seat (22) is movably connected to the left-right fixed arms (21); the left-right moving arms (23) are movably connected to the left-right moving seat (22); and the transporting portion (30) is movably connected to the left-right moving seat (22).

2. The independent handling robot according to claim 1, characterized in that: The up-and-down moving assembly comprises a main frame (11) and a sliding seat (12); the main frame (11) is provided with a first guide rail (13); the sliding seat (12) is fixedly connected to the left and right fixed arms (21); the sliding seat (12) is slidably connected to the first guide rail (13); the main frame (11) is provided with a first screw rod (14) and a first motor (15); the first motor (15) is transmission-connected to the first screw rod (14) via a transmission belt mechanism (16); the first screw rod (14) cooperates with a first nut (17); and the first nut (17) is fixedly connected to the sliding seat (12).

3. The independent handling robot according to claim 2, characterized in that: The up-and-down moving assembly (10) further comprises a balancing cylinder (18), the cylinder body of the balancing cylinder (18) being fixedly connected to the main frame (11), and the end of the piston rod of the balancing cylinder (18) being connected to the sliding seat (12).

4. The independent handling robot according to claim 1, characterized in that: The left and right fixed arms (21) and the left and right movable arms (23) are both provided with second guide rails (24), and the left and right movable seats (22) are provided with second sliders (25), and the second sliders (25) are slidably matched with the second guide rails (24).

5. The independent handling robot according to claim 4, characterized in that: The left and right fixed arms (21) and the left and right movable arms (23) are respectively provided with a first rack (26) and a second rack (27); the left and right movable seat (22) is provided with a first gear (28) and a second gear (29); the first gear (28) is meshed with the first rack (26); the second gear (29) is meshed with the second rack (27); the first gear (28) and the second gear (29) are connected via a same rotating shaft (210); the left and right movable seat (22) is provided with a second motor (211); the second motor (211) is transmission-connected with the rotating shaft (210).

6. The independent handling robot according to claim 1, characterized in that: The left and right movable arms (23) are provided with a first synchronous belt mechanism (212), the left and right movable arms (23) are provided with a third guide rail (213), the transport portion (30) is slidably connected to the third guide rail (213) via a third slider (214), and the transport portion (30) is connected to the first synchronous belt mechanism (212).

7. The independent handling robot according to claim 1, characterized in that: The correction assembly (40) comprises a correction mounting frame (41), a correction seat (42) and a correction platform (43); the correction mounting frame (41) is provided with a fourth guide rail (44); the correction seat (42) is provided with a fourth slider (45); the fourth slider (45) is slidably matched with the fourth guide rail (44); the correction mounting frame (41) is provided with a second synchronous belt mechanism (46); the correction seat (42) is connected to the second synchronous belt mechanism (46); the correction seat (42) is provided with a rotating mechanism (47); the correction platform (43) is connected to the rotating mechanism (47); and a plurality of correction cylinders (48) are provided on the correction platform (43).

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