Three-dimensional conveying manipulator

Abstract

The utility model discloses a three-dimensional conveying manipulator. The three-dimensional conveying manipulator comprises two mounting seats, a moving arm, a supporting rod, an opening and closing screw rod driving module, a lifting screw rod driving module and a conveying screw rod driving module, wherein the two mounting seats are oppositely arranged at an interval; the separating and combining lead screw driving module, the lifting lead screw driving module and the conveying lead screw driving module work cooperatively and cooperatively to correspondingly control the two moving arms to perform separating and combining, lifting and advancing and retreating actions, so that the purpose of gradually moving workpieces forwards is achieved, each driving module is of a lead screw transmission structure, the advantages of being high in speed and good in stability are achieved, and the working efficiency is improved. And the action accuracy and the working efficiency of the manipulator are effectively improved. And meanwhile, all the clamping blocks are driven to do clamping and loosening actions simultaneously through separation and combination of the two moving arms, the synchronism is good, the problem that a traditional complex structure needs single control is effectively solved, in addition, advancing and retreating actions of the two moving arms are achieved through one conveying lead screw driving module, the structure is further simplified, the cost is further reduced, and wide popularization is facilitated.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a three-dimensional conveying manipulator. Background Art

[0002] The three-dimensional multi-station feeding robot is also called the three-dimensional robot. The three-dimensional robot has good application prospects in industrial production. It can be adapted to the large-tonnage punching production. It is a conveying device that transfers plates or molding materials between multi-process molds. As an efficient precision stamping automation equipment, the three-dimensional robot has wide applicability, high machine efficiency, high safety, high degree of digitization, high degree of intelligence, and high stability of the whole machine. The three-dimensional robot brings great convenience to product production and is an important development direction of modern hot stamping production technology.

[0003] For example, publication number "CN117400282A", entitled "A three-dimensional multi-station feeding robot and its installation method", discloses a three-dimensional multi-station feeding robot, including several columns and longitudinal beams, a longitudinal drive mounting plate is arranged horizontally on the longitudinal beam, a vertical drive mechanical arm is arranged on the longitudinal drive mounting plate, a drive connecting arm is arranged on the vertical drive mechanical arm, an electric telescopic rod is arranged on the drive connecting arm, a robot pushing plate is arranged on the electric telescopic rod, a stepping motor is arranged on the robot pushing plate, a feeding robot is arranged on the stepping motor, an upper clamping plate, a lower clamping plate, a spring and a clamping plate limit push plate are rotatably arranged on the feeding robot; although it can achieve the purpose of reciprocating feeding, the drive connecting arm cannot perform a closing action, but a plurality of electric telescopic rods are arranged in sequence on the drive connecting arm, and the loosening action is achieved by simultaneously controlling the telescopic action of each electric telescopic rod. The control is relatively troublesome, it is difficult to ensure the synchronization of the work, and the wiring is complicated. Utility Model Content

[0004] In view of the above-mentioned shortcomings, the purpose of the utility model is to provide a three-dimensional conveying robot with simple and reasonable structural design, convenient control and good working stability.

[0005] In order to achieve the above purpose, the technical solution provided by the utility model is:

[0006] A three-dimensional conveying manipulator comprises two relatively spaced mounting seats, a moving arm, a support rod, a separation and combination screw drive module, a lifting screw drive module and a conveying screw drive module, wherein the separation and combination screw drive module is mounted on the mounting seat, two support rods are mounted on the separation and combination screw drive module through a Z-axis slide rail assembly, and driven by the separation and combination screw drive module to perform separation and combination relative to each other along the Y-axis direction, the lifting screw drive module is mounted on the mounting seat, and can drive the two support rods to perform lifting and lowering movements along the Z-axis direction, the moving arm is mounted on the support rod through an X-axis slide rail assembly, the conveying screw drive module is mounted on one of the mounting seats, and can drive the moving arm to perform linear reciprocating motion along the X-axis direction, and a plurality of clamping blocks are spaced apart on the inner side walls of the two moving arms. Through the coordinated work of the moving arm, the separation and combination screw drive module, the lifting screw drive module and the conveying screw drive module, the precise conveying of the moving arm in three-dimensional space is achieved.

[0007] As a preferred solution of the utility model, the moving arm and the support rod are both made of aluminum rods, which have the characteristics of light weight and high strength, while reducing the overall weight of the manipulator, lowering inertia, and improving response speed and accuracy.

[0008] As a preferred solution of the utility model, the clamping block is provided with a clamping recess for clamping objects, which effectively increases the clamping stability.

[0009] As a preferred solution of the utility model, the mounting seat is T-shaped in appearance, which provides a stable support and installation foundation and is convenient for installation and debugging.

[0010] As a preferred solution of the utility model, the splitting and combining screw drive module includes a splitting and combining motor and two slides, the two slides are movably arranged on both sides of the mounting seat through a Y-axis slide rail assembly, two Y-axis screw pairs are respectively arranged at the positions corresponding to the two slides, the two Y-axis screw pairs are connected through a coupling, and the splitting and combining motor is connected to one of the Y-axis screw pairs through a transmission assembly. The splitting and combining motor drives the Y-axis screw pair, so that the two slides perform a splitting and combining action relative to each other along the Y-axis direction.

[0011] As a preferred solution of the utility model, the lifting screw drive module includes a lifting motor, a lifting slide and a linkage rod. The lifting slide is arranged at the lower position of the mounting seat through a lifting rail assembly. The lifting motor drives the lifting slide to perform lifting motion along the Z-axis direction through a Z-axis screw pair. The middle part of the linkage rod is fixed to the lifting slide, and the two ends are connected to two support rods. The lifting motor drives the Z-axis screw pair to make the lifting slide perform lifting motion along the Z-axis direction.

[0012] As a preferred solution of the utility model, the conveying screw drive module includes a bracket, a crossbar, a transverse slide, a transverse slide, an optical axis, a linear bearing seat, a conveying motor and a conveying slide. The conveying slide is arranged on the bracket through a longitudinal slide assembly. The conveying motor is arranged on the bracket and can drive the conveying slide to reciprocate along the X-axis direction through the X-axis screw pair. The middle part of the crossbar is fixed on the conveying slide. The transverse slide is arranged on the upper surface of the crossbar. Two transverse slides are movably arranged on the transverse slide. The optical axis is vertically arranged on the transverse slide. The linear bearing seat is fixed on the moving arm and sleeved on the optical axis. The X-axis screw pair is driven by the conveying motor to make the conveying slide reciprocate along the X-axis direction, thereby driving the moving arm to move forward and backward.

[0013] As a preferred solution of the utility model, the moving arm comprises a replaceable middle section and two fixed sections located at both ends of the replaceable middle section, the two ends of the replaceable middle section are provided with pressing hooks, and the fixed sections are provided with supporting hooks adapted to the pressing hooks. The moving arm is composed of a replaceable middle section and two fixed sections, and the cooperation of the pressing hooks and the supporting hooks can realize the rapid replacement of the middle section.

[0014] The beneficial effects of the utility model are as follows: the utility model has a reasonable structural design, and the two moving arms are controlled to move apart, lift, advance and retreat through the coordinated work of the splitting and combining screw drive module, the lifting screw drive module and the conveying screw drive module, so as to achieve the purpose of gradually moving the workpiece forward, and each drive module adopts a screw transmission structure, which has the advantages of fast speed and good stability, and effectively improves the accuracy and work efficiency of the robot action. At the same time, all the clamps are driven to clamp and loosen at the same time through the separation and combination of the two moving arms, with good synchronization, and effectively solves the complex structural problem of traditional single control. In addition, a conveying screw drive module is used to realize the advance and retreat of the two moving arms, which further simplifies the structure, reduces costs, and is conducive to wide promotion.

[0015] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0017] Figure 2 It is a structural schematic diagram of the splitting and combining screw rod driving module in the utility model.

[0018] Figure 3 It is a structural schematic diagram of the lifting screw drive module in the utility model.

[0019] Figure 4 It is a structural schematic diagram of the conveying screw drive module in the utility model.

[0020] Figure 5 It is a structural schematic diagram of the moving arm in the utility model.

[0021] Figure 6 yes Figure 4 Schematic diagram of the enlarged structure of local A in the middle.

[0022] Figure 7 It is a schematic diagram of the structure of the utility model equipped with a protective cover. DETAILED DESCRIPTION

[0023] For example, see Figures 1 to 6 , a three-dimensional conveying robot provided in this embodiment includes a mounting seat 1, a moving arm 2, a support rod 3, a separation and combination screw drive module 4, a lifting screw drive module 5 and a conveying screw drive module 6. Each drive module adopts a screw transmission structure, which has the advantages of fast speed and good stability, and effectively improves the accuracy and work efficiency of the robot's movements. In this embodiment, the moving arm 2 and the support rod 3 are preferably aluminum rods, which have the characteristics of light weight and high strength, while reducing the overall weight of the robot, reducing inertia, and improving response speed and accuracy. The mounting seat 1 is T-shaped in shape, with a reasonable structural design, which can provide a stable support and installation foundation, and while facilitating installation, it also provides sufficient space to install and fix other modules and components. During installation, the two mounting seats 1 are set relative to each other.

[0024] The splitting and combining screw driving module 4 is mounted on the mounting seat 1, and the two support rods 3 are arranged on the splitting and combining screw driving module 4 through the Z-axis slide rail assembly, and are driven by the splitting and combining screw driving module 4 to perform splitting and combining actions relative to each other along the Y-axis direction. Figure 2 The splitting and combining screw drive module 4 includes a splitting and combining motor 41 and two slides 42. The two slides 42 are movably arranged on both sides of the mounting base 1 through a Y-axis slide rail assembly 43. Two Y-axis screw pairs 44 are respectively arranged at the positions corresponding to the two slides 42. The two Y-axis screw pairs 44 are connected through a coupling 45. The splitting and combining motor 41 is connected to one of the Y-axis screw pairs 44 through a transmission assembly 46. The splitting and combining motor 41 drives the Y-axis screw pair 44, so that the two slides 42 are relatively split and combined along the Y-axis direction, thereby driving the movement of the support rod 3 and the moving arm 2 to achieve the purpose of clamping and releasing.

[0025] The lifting screw drive module 5 is arranged on the mounting seat 1 and can drive the two support rods 3 to move up and down along the Z-axis direction. Figure 3The lifting screw driving module 5 includes a lifting motor 51, a lifting slide 52 and a linkage rod 53. The lifting slide 52 is arranged at the lower position of the mounting seat 1 through a lifting rail assembly 54. The lifting motor 51 drives the lifting slide 52 to perform lifting motion along the Z-axis direction through a Z-axis screw pair 55. The middle part of the linkage rod 53 is fixed to the lifting slide 52, and the two ends are connected to the two support rods 3. The lifting motor 51 drives the Z-axis screw pair 55 to make the lifting slide 52 perform lifting motion along the Z-axis direction, and the linkage rod 53 drives the lifting of the support rod 3 and the moving arm 2, thereby achieving the purpose of lifting and lowering.

[0026] The moving arm 2 is arranged on the support rod 3 through the X-axis slide rail assembly 7, and a plurality of clamping blocks 8 are arranged at intervals on the inner side walls of the two moving arms 2. Preferably, a clamping recess is provided on the clamping block 8 for clamping objects, which effectively increases the clamping stability, prevents objects from slipping or moving during the handling process, and improves the operation accuracy and work efficiency.

[0027] The conveying screw drive module 6 is arranged on one of the mounting seats 1 and can drive the moving arm 2 to perform linear reciprocating motion along the X-axis direction. Figure 4 The conveying screw drive module 6 includes a bracket 61, a crossbar 62, a transverse slide 63, a transverse slide 64, an optical axis 65, a linear bearing seat 66, a conveying motor 67 and a conveying slide 68. The conveying slide 68 is arranged on the bracket 61 through a longitudinal slide assembly 69. The conveying motor 67 is arranged on the bracket 61 and can drive the conveying slide 68 to reciprocate along the X-axis direction through the X-axis screw pair 610. The middle part of the crossbar 62 is fixed on the conveying slide 68. The transverse slide 63 is arranged on the upper surface of the crossbar 62. Two transverse slides 64 are movably arranged on the transverse slide 63. The optical axis 65 is vertically arranged on the transverse slide 64. The linear bearing seat 66 is fixed on the moving arm 2 and sleeved on the optical axis 65. The X-axis screw pair is driven by the conveying motor 67 to make the conveying slide 68 reciprocate along the X-axis direction, thereby driving the moving arm 2 to move forward and backward. The coordinated design of the crossbar 62, the transverse slide rail 63, the transverse slide seat 64, the optical axis 65 and the linear bearing seat 66 ensures that the forward and backward movements and the lifting and lowering movements of the moving arm 2 can be performed synchronously.

[0028] Better, see Figure 6 and Figure 7The moving arm 2 includes a replaceable middle section 21 and two fixed sections 22 located at both ends of the replaceable middle section 21. Both ends of the replaceable middle section 21 are provided with pressing hooks 23, and the fixed sections 22 are provided with supporting hooks 24 that match the pressing hooks 23. The moving arm 2 is composed of a replaceable middle section 21 and two fixed sections 22. The middle section can be quickly replaced by cooperating with the pressing hooks 23 and the supporting hooks 24. When the moving arm 2 is damaged or the length needs to be adjusted and replaced, only the middle section 21 needs to be replaced, which reduces daily maintenance and production costs. At the same time, the design of the pressing hooks 23 and the supporting hooks 24 makes the replacement process more convenient and quick, saving time.

[0029] See also Figure 7 A protective cover 9 can also be installed on the mounting seat 1, which has good protection effect and beautiful appearance.

[0030] During operation, through the coordinated work of the moving arm 2, the separation and combination screw drive module 4, the lifting screw drive module 5 and the conveying screw drive module 6, the two moving arms 2 are controlled to perform separation and combination, lifting and lowering, and advance and retreat actions accordingly, thereby realizing precise transportation of the moving arm 2 in three-dimensional space with fast speed and stable operation.

[0031] According to the disclosure and teaching of the above specification, the technicians in the field of the utility model can also change and modify the above implementation. Therefore, the utility model is not limited to the specific implementation disclosed and described above, and some modifications and changes to the utility model should also fall within the protection scope of the claims of the utility model. In addition, although some specific terms are used in this specification, these terms are only for the convenience of explanation and do not constitute any limitation to the utility model. The use of the same or similar machinery is within the protection scope of the utility model.

Claims

1. A three-dimensional conveying robot, comprising two mounting seats arranged at a relative interval, characterized in that: It also includes a moving arm, a support rod, a separation and combination screw drive module, a lifting screw drive module and a conveying screw drive module. The separation and combination screw drive module is installed on the mounting seat. Two support rods are arranged on the separation and combination screw drive module through a Z-axis slide rail assembly, and are driven by the separation and combination screw drive module to perform relative separation and combination actions along the Y-axis direction. The lifting screw drive module is arranged on the mounting seat and can drive the two support rods to perform lifting actions along the Z-axis direction. The moving arm is arranged on the support rod through an X-axis slide rail assembly. The conveying screw drive module is arranged on one of the mounting seats and can drive the moving arm to perform linear reciprocating motion along the X-axis direction. A plurality of clamping blocks are arranged at intervals on the inner side walls relative to each other of the two moving arms.

2. The three-dimensional conveying robot according to claim 1, characterized in that: The moving arm and the support rod are both made of aluminum.

3. The three-dimensional conveying robot according to claim 1, characterized in that: The clamping block is provided with a clamping recess.

4. The three-dimensional conveying robot according to claim 1, characterized in that: The mounting seat is T-shaped in appearance.

5. The three-dimensional conveying robot according to claim 1, characterized in that: The splitting and combining screw drive module includes a splitting and combining motor and two slides, which are movably arranged on both sides of the mounting base through a Y-axis slide rail assembly, and two Y-axis screw pairs are respectively arranged corresponding to the positions of the two slides, and the two Y-axis screw pairs are connected through a coupling, and the splitting and combining motor is connected to one of the Y-axis screw pairs through a transmission assembly.

6. The three-dimensional conveying robot according to claim 1, characterized in that: The lifting screw drive module includes a lifting motor, a lifting slide and a linkage rod. The lifting slide is arranged at the lower position of the mounting seat through a lifting slide rail assembly. The lifting motor drives the lifting slide to perform lifting movements along the Z-axis direction through a Z-axis screw pair. The middle part of the linkage rod is fixed to the lifting slide, and the two ends are correspondingly connected to two support rods.

7. The three-dimensional conveying robot according to claim 1, characterized in that: The conveying screw drive module includes a bracket, a cross bar, a transverse slide, a transverse slide, an optical axis, a linear bearing seat, a conveying motor and a conveying slide. The conveying slide is arranged on the bracket through a longitudinal slide rail assembly. The conveying motor is arranged on the bracket and can drive the conveying slide to reciprocate along the X-axis direction through an X-axis screw pair. The middle part of the cross bar is fixed on the conveying slide, the transverse slide is arranged on the upper surface of the cross bar, and two transverse slides are movably arranged on the transverse slide rail. The optical axis is vertically arranged on the transverse slide, and the linear bearing seat is fixed on the moving arm and sleeved on the optical axis.

8. The three-dimensional conveying robot according to any one of claims 1 to 7, characterized in that: The moving arm comprises a replaceable middle section and two fixed sections located at two ends of the replaceable middle section. Pressing hooks are arranged at two ends of the replaceable middle section, and supporting hooks matched with the pressing hooks are arranged on the fixed sections.

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