Five-linkage manipulator for refrigerator riveting

Abstract

The utility model discloses a quintuplet manipulator for riveting a refrigerator. The quintuplet manipulator comprises a rack; the cross beam is mounted on the rack; the X-axis linear module is mounted on the cross beam; a plurality of groups of Z-axis linear modules are arranged on the X-axis linear module; the X-axis linear module can drive the Z-axis linear module to move on the X axis; the suction cup assembly is installed on the Z-axis linear module, the Z-axis linear module can drive the suction cup assembly to move on the Z axis, the suction cup assembly can suck a refrigerator box body, the refrigerator box body can be conveniently transferred at all stations, and the refrigerator transfer device is simple in structure, stable, reliable and low in cost.

Description

Technical Field

[0001] The utility model belongs to the technical field of refrigerator processing equipment, and in particular relates to a five-link robot for riveting refrigerators. Background Art

[0002] In the process of implementing the utility model, the inventor found that the prior art has at least the following problems:

[0003] In traditional technology, freezers need to be transported by robots during the transportation process of each workstation. Robots are expensive and have complex structures. In addition, the damage rate of the robot arm clamp cylinder is high during the clamping process of the robot.

[0004] CN113290121B-A device and method for preparing a waste gas purifier shell, discloses a device and method for preparing a waste gas purifier shell, the device comprises a suction cup feeder, a plurality of transmission components, a step-by-step punching machine, a sheet turning component, a two-side bending component, a laser cutting component, a square hole flanging component, a bending forming component, and a material unloading robot. The above technical problems cannot be solved either. Utility Model Content

[0005] The technical problem to be solved by the utility model is to provide a five-link robot for riveting refrigerators, which can conveniently transfer the cabinet body between various workstations, has a simple structure, is stable and reliable, and has low cost.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is: a five-link robot for riveting refrigerators, having:

[0007] frame;

[0008] A crossbeam, mounted on the frame;

[0009] An X-axis linear module is mounted on the crossbeam;

[0010] Z-axis linear module, the X-axis linear module is provided with multiple groups of Z-axis linear modules; the X-axis linear module can drive the Z-axis linear module to move on the X-axis;

[0011] A suction cup assembly is installed on a Z-axis linear module, and the Z-axis linear module can drive the suction cup assembly to move on the Z-axis, and the suction cup assembly can adsorb the refrigerator box.

[0012] The suction cup assembly comprises:

[0013] A frame is mounted on the moving end of the Z-axis linear module;

[0014] Sliding racks mounted on both sides of the frame;

[0015] Suction cup mechanism: a group of suction cup mechanisms are respectively arranged on both sides of the sliding frame, and a group of suction cup mechanisms can clamp a side wall of the box body.

[0016] The suction cup mechanism comprises two suction cup beams which are slidably mounted on the sliding frame; one suction cup beam is provided with a series of suction cups, and the other suction cup beam is provided with a series of stoppers corresponding to the suction cups; and a driving mechanism is also provided for driving the suction cup beams to slide.

[0017] The driving assembly includes a driving cylinder and a driving connecting rod; the driving cylinder is installed on a sliding frame, and a driving connecting rod is respectively provided on two suction cup beams, the first end of the driving connecting rod is hinged to the suction cup beam, and the second end of the driving connecting rod is hinged to the piston rod of the driving cylinder.

[0018] A total of five groups of Z-axis linear modules are arranged on the X-axis linear module, and the Z-axis linear module can move back and forth between the current station and the adjacent station.

[0019] It also has a driving slider, which is slidably mounted on the sliding frame, and the second end of the driving connecting rod is hinged to the driving slider; the piston rod of the driving cylinder is connected to the driving slider.

[0020] One of the above technical solutions has the following advantages or beneficial effects: the cabinet can be easily transferred between various workstations, the structure is simple, stable and reliable, and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of a five-link robot for riveting refrigerators provided in an embodiment of the utility model;

[0022] Figure 2 for Figure 1 The schematic diagram of the structure of the five-joint robot for riveting refrigerators;

[0023] Figure 3 for Figure 1 The schematic diagram of the structure of the five-joint robot for riveting refrigerators;

[0024] Figure 4 for Figure 1 The schematic diagram of the structure of the five-joint robot for riveting refrigerators;

[0025] The marks in the above figures are: 1. frame, 2. beam, 3. X-axis linear module, 4. Z-axis linear module, 5. suction cup assembly, 51. frame, 52. sliding frame, 521. slide rail, 53. suction cup beam, 54. driving cylinder, 55. driving slider, 56. driving connecting rod, 57. suction cup. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figures 1 to 4 , a five-link robot for riveting refrigerators, having:

[0028] Frame 1; beam 2, mounted on frame 1; X-axis linear module 3, mounted on beam 2; Z-axis linear module 4, multiple groups of Z-axis linear modules 4 are arranged on X-axis linear module 3; X-axis linear module 3 can drive Z-axis linear module 4 to move on X-axis; each group of Z-axis linear module 4 corresponds to a processing station, after processing is completed at one processing station, X-axis linear module 3 can drive Z-axis linear module 4 to move the refrigerator to the next processing station, then X-axis linear module 3 drives Z-axis linear module 4 to return to the original station, and so on, continuously transporting the refrigerator body forward. Suction cup assembly 5, suction cup assembly 5 is mounted on Z-axis linear module 4, Z-axis linear module 4 can drive suction cup assembly 5 to move on Z-axis, suction cup assembly 5 can absorb the refrigerator body. The refrigerator body is absorbed by suction cup assembly 5, so as to transport the body. The refrigerator body is driven to rise and fall by Z-axis linear module 4, so as to be transported between various stations.

[0029] The suction cup assembly 5 includes: a frame 51, mounted on the moving end of the Z-axis linear module 4; a sliding frame 52, mounted on both sides of the frame 51; and a suction cup mechanism, with a set of suction cup mechanisms on each side of the sliding frame 52, each of which can clamp one side wall of the box. The suction cup mechanisms on both sides of the sliding frame 52 clamp the two side walls of the box, thereby achieving the purpose of clamping and carrying.

[0030] The suction cup mechanism includes two suction cup beams 53, which are slidably mounted on the sliding frame 52; a series of suction cups are arranged on one suction cup beam 53, and a series of stoppers corresponding to the suction cups are arranged on the other suction cup beam 53; and a driving mechanism is also provided to drive the suction cup beam 53 to slide. The driving mechanism drives the suction cup beam 53 to move, thereby realizing relative or reverse movement of the suction cup and the stopper, thereby clamping or releasing the side wall of the box body, thereby achieving the clamping effect.

[0031] The driving assembly includes a driving cylinder 54 and a driving connecting rod 56; the driving cylinder 54 is mounted on the sliding frame 52, and each of the two suction cup beams 53 is provided with a driving connecting rod 56, the first end of the driving connecting rod 56 is hinged to the suction cup beam 53, and the second end of the driving connecting rod 56 is hinged to the piston rod of the driving cylinder 54. The cylinder + crank connecting rod structure is adopted, which has low price, simple structure, not easy to damage, and can clamp the refrigerator box body to move.

[0032] There are five groups of Z-axis linear modules 4 on the X-axis linear module 3. The Z-axis linear module 4 can move back and forth between the current station and the adjacent station, so as to continuously transport the box between the five stations. The last station can transport the processed box to the conveyor line and transport it to other equipment.

[0033] It also has a driving slider 55, which is slidably installed on the sliding frame 52, and the second end of the driving connecting rod 56 is hinged to the driving slider 55; the piston rod of the driving cylinder 54 is connected to the driving slider 55, and the driving slider 55 is driven to slide by the piston rod of the driving cylinder 54, thereby driving the driving connecting rod 56 to move, thereby driving the two suction cup beams 53 to move relative or reversely to clamp or release the box.

[0034] The X-axis linear module can drive the Z-axis linear module to move on the X-axis; each group of Z-axis linear modules corresponds to a processing station. After processing at a processing station, the X-axis linear module can drive the Z-axis linear module to move the refrigerator to the next processing station. Then the X-axis linear module drives the Z-axis linear module back to the original station, and so on, continuously transporting the refrigerator body forward. The refrigerator body is adsorbed by the suction cup assembly to transport the body. The Z-axis linear module drives the refrigerator body to rise and fall, so as to transfer it between various stations. After adopting the above structure, the cabinet body can be easily transferred between various stations, with simple structure, stable and reliable, and low cost.

[0035] In the description of the present invention, it should be understood that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention 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 invention.

[0036] In the present utility model, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the utility model according to the specific circumstances.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A five-link robot for riveting refrigerators, characterized in that: have: frame; A crossbeam, mounted on the frame; An X-axis linear module is mounted on the crossbeam; Z-axis linear module, the X-axis linear module is provided with multiple groups of Z-axis linear modules; the X-axis linear module can drive the Z-axis linear module to move on the X-axis; A suction cup assembly is installed on a Z-axis linear module, and the Z-axis linear module can drive the suction cup assembly to move on the Z-axis, and the suction cup assembly can adsorb the refrigerator box.

2. The five-link robot for riveting refrigerators according to claim 1 is characterized in that: The suction cup assembly comprises: A frame is mounted on the moving end of the Z-axis linear module; Sliding racks mounted on both sides of the frame; Suction cup mechanism: a group of suction cup mechanisms are respectively arranged on both sides of the sliding frame, and a group of suction cup mechanisms can clamp a side wall of the box body.

3. The five-link robot for riveting refrigerators as claimed in claim 2 is characterized in that: The suction cup mechanism comprises two suction cup beams which are slidably mounted on the sliding frame; one suction cup beam is provided with a series of suction cups, and the other suction cup beam is provided with a series of stoppers corresponding to the suction cups; and a driving mechanism is also provided for driving the suction cup beams to slide.

4. The five-link robot for riveting refrigerators as claimed in claim 3 is characterized in that: The driving mechanism includes a driving cylinder and a driving connecting rod; the driving cylinder is installed on the sliding frame, and a driving connecting rod is respectively provided on the two suction cup beams, the first end of the driving connecting rod is hinged to the suction cup beam, and the second end of the driving connecting rod is hinged to the piston rod of the driving cylinder.

5. The five-link robot for riveting refrigerators as claimed in claim 4 is characterized in that: A total of five groups of Z-axis linear modules are arranged on the X-axis linear module, and the Z-axis linear module can move back and forth between the current station and the adjacent station.

6. The five-link robot for riveting refrigerators as claimed in claim 5, characterized in that: It also has a driving slider, which is slidably mounted on the sliding frame, and the second end of the driving connecting rod is hinged to the driving slider; the piston rod of the driving cylinder is connected to the driving slider.

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