Lifting double-fork horizontal joint robot

Abstract

The utility model discloses a lifting double-fork horizontal joint robot which comprises a connecting base, a two-shaft mechanical arm is arranged at the output end of the connecting base, a double-fork mechanism is arranged at one end of the two-shaft mechanical arm and comprises a fork plate assembly and a steering assembly, and the fork plate assembly comprises a first fork plate and a second fork plate. The steering assembly comprises a first connecting plate and a second connecting plate. A connecting piece is arranged on the side, opposite to the steering assembly, of the fork plate assembly. By means of the design of the two-shaft mechanical arm, the connecting piece and the double-fork mechanism, when the size of the first fork plate and the size of the second fork plate need to be replaced, the clamping block is pressed in the direction close to the inserting block, the clamping block is made to move to the position of the inserting groove, the inserting block can be moved out of the inserting groove, and therefore the first fork plate and the second fork plate are detached and separated; and the first fork plate and the second fork plate with corresponding sizes are replaced and mounted, so that the rotating assembly does not need to be disassembled, and the replacement time is greatly saved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a lifting double-fork horizontal joint robot. Background Art

[0002] During the use of the fork plate robot, the horizontal movement of the fork plate is achieved through the two-axis robot arm, so that the object picked up by the fork plate can be moved. However, the sizes of the objects are different. Therefore, when picking up objects of different specifications, the fork plate needs to be replaced so that the slot of the fork plate fits the size of the object. However, when replacing the fork plate, the entire fork plate needs to be disassembled, so as to disassemble the rotating part of the fork plate. The rotating part is equipped with a large number of parts and screws to connect the parts. When replacing the fork plate, some parts and screws need to be disassembled one by one, which makes the replacement steps of the fork plate complicated and takes a lot of time. Utility Model Content

[0003] The utility model aims to provide a lifting double-fork horizontal joint robot to solve the problems raised in the above background technology.

[0004] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a lifting double-fork horizontal joint robot, comprising a connecting seat, an output end of the connecting seat is provided with a two-axis mechanical arm for horizontal steering, one end of the two-axis mechanical arm is provided with a double-fork mechanism for forking objects, the double-fork mechanism includes a fork plate assembly and a steering assembly, the fork plate assembly includes a first fork plate and a second fork plate, the steering assembly includes a first connecting plate and a second connecting plate, a connecting piece for mutual connection is provided on the opposite side of the fork plate assembly and the steering assembly, the connecting piece includes an insert block, and one end of the two-axis mechanical arm is provided with a rotating assembly for driving the steering assembly.

[0005] Preferably, the first fork plate and the second fork plate are respectively provided with a first groove toward one side of the first connecting plate and the second connecting plate, one end of the insertion block is fixedly connected to the inner wall of the first groove, the first connecting plate and the second connecting plate are respectively provided with a second groove toward one side of the first fork plate and the second fork plate, and the inner walls of the second grooves are respectively provided with insertion slots for inserting the insertion blocks.

[0006] Preferably, a cavity is opened inside one end of the plug block, a through hole is opened on one side of the inner wall of the cavity, a card block is inserted and connected inside the through hole, a baffle is fixedly connected to one end of the card block, and a spring for pushing the baffle is provided at one end of the baffle.

[0007] Preferably, the rotating assembly includes a driving member and a rotating member, the rotating member includes a second connecting plate and a first connecting plate, the top end of the second connecting plate is fixedly connected to the bottom end of the second connecting plate, and the bottom end of the first connecting plate is fixedly connected to the top end of the first connecting plate.

[0008] Preferably, the driving member includes a first motor and a second motor, an installation cavity is opened inside the two-axis robotic arm, the bottom ends of the first motor and the second motor are fixedly connected to the bottom end of the inner wall of the installation cavity, the outer walls of the output ends of the first motor and the second motor are respectively sleeved with a first driving gear and a second driving gear, a first gear plate and a second gear plate are respectively arranged on one side of the first driving gear and the second driving gear, the first driving gear and the first gear plate are meshed with each other, the second driving gear and the second gear plate are meshed with each other, a first circular through groove is opened at the top of the first gear plate, a rotating rod is sleeved inside the first circular through groove, a second circular through groove is opened at the top of the first connecting plate, the rotating rod is sleeved inside the second circular through groove, and the top of the second gear plate is fixedly connected to the second connecting plate.

[0009] Preferably, a circular hole is provided at the top of the inner wall of the mounting cavity, the top of the second gear plate is connected to the circular hole through an interlaced connection, the outer wall of the top of the first gear plate is sleeved with a first bearing, the second gear plate is sleeved on the outer wall of the first bearing, and a third circular through groove is provided at one end of the second connecting plate close to the rotating rod, the interior of the third circular through groove is sleeved with a second bearing, and the second bearing is sleeved on the outer wall of the rotating rod.

[0010] Preferably, a separation plate for separating the first connection plate and the second connection plate is fixedly connected to the top of the second connection plate, a third bearing is sleeved on the outer wall of the top of the separation plate, a circular groove is opened at the bottom of the first connection plate, and the third bearing is sleeved in the circular groove.

[0011] Technical effects and advantages of the utility model:

[0012] The utility model utilizes the design of a two-axis mechanical arm, a connecting piece and a double-fork mechanism. When the size of the first fork plate and the second fork plate needs to be replaced, the card block is pressed in the direction close to the insertion block to move the card block to the insertion slot position, and the insertion block can be removed from the insertion slot, so that the first fork plate and the second fork plate can be disassembled and separated, and the first fork plate and the second fork plate of corresponding sizes can be replaced and installed, thereby eliminating the need to disassemble the rotating component, greatly saving replacement time. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the utility model.

[0014] Figure 2It is a schematic diagram of the three-dimensional structure of the first fork plate and the first connecting plate of the utility model.

[0015] Figure 3 For this utility model Figure 2 A is a schematic diagram of the enlarged structure.

[0016] Figure 4 It is a schematic diagram of the cross-sectional structure of the connection between the first fork plate and the first connecting plate of the utility model.

[0017] Figure 5 It is a schematic diagram of the cross-sectional structure of the connection between the two-axis mechanical arm and the rotating assembly of the utility model.

[0018] Figure 6 It is a three-dimensional structural schematic diagram of the rotating assembly and the double fork mechanism of the utility model.

[0019] In the figure: 1, connecting seat; 2, two-axis mechanical arm; 3, first fork plate; 4, first connecting plate; 5, plug block; 6, clamp block; 7, baffle; 8, spring; 9, second fork plate; 10, second connecting plate; 11, first motor; 12, first driving gear; 13, first gear plate; 14, rotating rod; 15, first bearing; 16, second gear plate; 17, second connecting plate; 18, first connecting plate; 19, separating plate; 20, second bearing; 21, third bearing; 22, second motor; 23, second driving gear. DETAILED DESCRIPTION

[0020] 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.

[0021] The utility model provides Figure 1-6 The lifting double-fork horizontal joint robot shown in the figure includes a connecting seat 1, and the output end of the connecting seat 1 is provided with a two-axis mechanical arm 2 for horizontal steering, and one end of the two-axis mechanical arm 2 is provided with a double-fork mechanism for forking objects, and the double-fork mechanism includes a fork plate assembly and a steering assembly, the fork plate assembly includes a first fork plate 3 and a second fork plate 9, and the steering assembly includes a first connecting plate 4 and a second connecting plate 10. A connecting piece for mutual connection is provided on the opposite side of the fork plate assembly and the steering assembly, and the connecting piece includes an insert block 5, and one end of the two-axis mechanical arm 2 is provided with a rotating assembly for driving the steering assembly.

[0022] Specifically, a primary rotating part is arranged inside the connecting seat 1, and the primary rotating part adopts a dual-motor structure. The dual-motor mechanism drives the two-axis mechanical arm 2 to rotate. The two-axis mechanical arm 2 is composed of two swing arms. A secondary rotating part is arranged at the intersection of the two swing arms. The primary swing arm is close to the connecting seat 1, and the secondary swing arm is far away from the connecting seat 1. The connecting seat 1 includes a shell, and a lifting motor is fixed in the shell. The lifting motor drives a screw rod, and the screw rod is threadedly connected with a lifting block. The lifting block is fixed with a lifting plate, and the lifting plate is connected with a lifting platform. The lifting platform is connected to the primary rotating part. The shell is also fixed with a guide rail and matched with a slider. When the lifting motor is activated, the screw rod is driven to rotate, thereby driving the lifting block to lift and lower, so as to drive the lifting plate to lift and lower. The lifting plate is lifted and lowered under the action of the slider, reducing resistance and providing lifting linearity. The shell is also fixed with a fixed plate, and an upper sealing plate is arranged on the upper ends of the shell and the fixed plate. The lifting plate is also fixed with a lifting sealing plate. The upper sealing plate is provided with a hole for the lifting plate and the lifting sealing plate to pass through. The lifting sealing plate is provided with a drag chain, and the shell is provided with a hole for the drag chain to pass through. A side sealing plate is provided, and the primary rotating part includes a third motor, a fourth motor, a first large gear, and a second large gear. The third motor and the fourth motor are fixed to the lifting platform and rise and fall with the connecting seat 1. The third motor drives and is connected to the first pinion, and the first pinion meshes with the first large gear. The fourth motor drives and is connected to the second pinion, and the second pinion meshes with the second large gear. The first large gear is fixedly connected to the primary swing arm, so that the third motor drives the primary swing arm to rotate as the root rotation; the second large gear is driven and connected to the first synchronous wheel, and the secondary rotating part includes a second synchronous wheel installed at the other end of the primary swing arm, the first synchronous wheel and the second synchronous wheel are connected by synchronous belt transmission, the second synchronous wheel is connected to the secondary wheel, and the secondary wheel is connected to the secondary swing arm, so that the fourth motor drives the secondary swing arm to rotate as the secondary rotation, and the functions of the root rotation and the secondary rotation are realized by the third motor, the fourth motor, and the coaxial first large gear and the second large gear. The two motors are installed in the form of pinion meshing to reduce the weight of the rotating position.

[0023] Specifically, the first fork plate 3 and the second fork plate 9 are respectively provided with a first groove on one side facing the first connecting plate 4 and the second connecting plate 10, one end of the plug block 5 is fixedly connected to the inner wall of the first groove, the first connecting plate 4 and the second connecting plate 10 are respectively provided with a second groove on one side facing the first fork plate 3 and the second fork plate 9, the inner walls of the second grooves are respectively provided with insertion slots for inserting the plug block 5, a cavity is provided inside one end of the plug block 5, an insertion hole is provided on one side of the inner wall of the cavity, a card block 6 is inserted and connected inside the insertion hole, one end of the card block 6 is fixedly connected to a baffle 7, and one end of the baffle 7 is provided with a spring 8 for pushing the baffle 7.

[0024] Further, through the first groove and the second groove, the first fork plate 3 and the first connecting plate 4, the second fork plate 9 and the second connecting plate 10 are formed into a stepped splicing, the connecting pieces of the first fork plate 3 and the second fork plate 9 are respectively arranged on the opposite sides of the first fork plate 3 and the second fork plate 9, and the first fork plate 3 and the second fork plate 9 are respectively close to the first connecting plate 4 and the second connecting plate 10. Two plug blocks 5 are symmetrically arranged at one end, the size of the insertion slot is adapted to the size of the plug block 5, the size of the insertion hole is adapted to the size of the card block 6, the size of the baffle plate 7 is 1.2 times the size of the insertion hole, and the two ends of the spring 8 are respectively connected to the baffle plate 7. The side of the plate 7 away from the card block 6 and the other side of the inner wall of the cavity are fixedly connected. When the first fork plate 3 and the second fork plate 9 need to be disassembled, the card block 6 is pressed to move in the direction of the insertion block 5, the card block 6 is moved into the through-slot, and then the insertion block 5 is removed from the through-slot. The first fork plate 3 or the second fork plate 9 can be replaced quickly and conveniently. When installing the first fork plate 3 or the second fork plate 9, the insertion block 5 is inserted into the through-slot, and under the action of the card block 6 and the insertion block 5, a card connection is formed with the first connecting plate 4 or the second connecting plate 10, so that the first fork plate 3 or the second fork plate 9 is stably installed.

[0025] Specifically, the rotating component includes a driving member and a rotating member, the rotating member includes a second connecting disk 17 and a first connecting disk 18, the top of the second connecting disk 17 is fixedly connected to the bottom end of the second connecting plate 10, and the bottom end of the first connecting disk 18 is fixedly connected to the top end of the first connecting plate 4, the driving member includes a first motor 11 and a second motor 22, an installation cavity is provided inside the two-axis robotic arm 2, the bottom ends of the first motor 11 and the second motor 22 are respectively fixedly connected to the bottom ends of the inner walls of the installation cavity, the outer walls of the output ends of the first motor 11 and the second motor 22 are respectively sleeved with a first driving gear 12 and a second driving gear 23, one side of the first driving gear 12 and the second driving gear 23 are respectively provided with a first gear plate 13 and a second gear plate 16, the first driving gear 12 is meshed with the first gear plate 13, the second driving gear 23 and the second gear plate 16 are meshed with each other, the top of the first gear plate 13 is provided with a first circular through groove, the first A rotating rod 14 is sleeved inside the circular through groove, a second circular through groove is provided at the top of the first connecting plate 18, and the rotating rod 14 is sleeved inside the second circular through groove, a second connecting plate 17 is fixedly connected to the top of the second gear plate 16, a circular hole is provided at the top of the inner wall of the mounting cavity, and the top of the second gear plate 16 is interlaced and connected with the circular hole, a first bearing 15 is sleeved on the outer wall of the first bearing 15 at the top of the first gear plate 13, and the second gear plate 16 is sleeved on the outer wall of the first bearing 15, a third circular through groove is provided at one end of the second connecting plate 10 close to the rotating rod 14, a second bearing 20 is sleeved inside the third circular through groove, and the second bearing 20 is sleeved on the outer wall of the rotating rod 14, a separating plate 19 for separating the first connecting plate 4 and the second connecting plate 10 is fixedly connected to the top of the second connecting plate 10, and a third bearing 21 is sleeved on the outer wall of the top of the separating plate 19, a circular groove is provided at the bottom of the first connecting plate 18, and the third bearing 21 is sleeved in the circular groove.

[0026] Furthermore, the first connecting plate 18 is fixedly connected to the first connecting plate 4 by bolts, the second connecting plate 17 is fixedly connected to the second connecting plate 10 by bolts, the second gear plate 16 and the second connecting plate 17 are fixedly connected by bolt connection, the second gear plate 16 and the second connecting plate 17 cooperate to form a snap connection with the circular hole, and the inner wall of the circular hole is provided with a rotating bearing to prevent friction between the second gear plate 16 and the circular hole, the first gear plate 13 is fixedly sleeved on the outer wall of the rotating rod 14, and the first driving gear 12 is driven to rotate by the output shaft of the first motor 11, and the first driving gear 12 drives the first gear plate 13 to rotate by meshing, and the first gear plate 13 will not drive the second gear plate 16 to rotate under the action of the first bearing 15, and the first gear plate 13 drives the rotating rod 14 to rotate synchronously, and a fourth circular through groove is provided at the top of the second connecting plate 17, and the size of the fourth circular through groove is 1.2 times the diameter of the rotating rod 14, so that the rotation of the rotating rod 14 will not affect the second connecting plate 17 rotates, the rotating rod 14 is fixedly connected to the first connecting plate 18 by bolts, so that the first connecting plate 18 drives the first connecting plate 4 to rotate, and when the output end of the second motor 22 rotates, it drives the second driving gear 23 to rotate, and the second driving gear 23 drives the second gear plate 16 to rotate by meshing, and the second gear plate 16 drives the second connecting plate 17 to rotate synchronously, and the second connecting plate 17 drives the second connecting plate 10 to rotate synchronously, and the separating plate 19 is fixedly connected to the second connecting plate 10 by bolts, and the second bearing 20 is sleeved on the outer wall of the rotating rod 14, so that under the action of the second bearing 20, the rotation of the second connecting plate 10 will not affect the rotating rod 14, the inner ring height of the third bearing 21 is lower than the outer ring height, and the outer wall of the outer ring of the third bearing 21 is fixedly connected to the inner wall of the circular groove of the first connecting plate 18, so that when the separating plate 19 rotates with the second connecting plate 10, it will not affect the rotation of the first connecting plate 18, thereby realizing the separate rotation of the first fork plate 3 and the second fork plate 9.

[0027] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A lifting double-fork horizontal joint robot, comprising a connecting seat (1), wherein an output end of the connecting seat (1) is provided with a two-axis mechanical arm (2) for horizontal steering, characterized in that: A double-fork mechanism for forking objects is arranged at one end of the two-axis mechanical arm (2), and the double-fork mechanism includes a fork plate assembly and a steering assembly, the fork plate assembly includes a first fork plate (3) and a second fork plate (9), the steering assembly includes a first connecting plate (4) and a second connecting plate (10), and connecting members for mutual connection are arranged on opposite sides of the fork plate assembly and the steering assembly, and the connecting members include an insert block (5), and a rotating assembly for driving the steering assembly is arranged at one end of the two-axis mechanical arm (2).

2. The lifting double-fork horizontal joint robot according to claim 1, characterized in that: The first fork plate (3) and the second fork plate (9) are respectively provided with a first groove on one side facing the first connecting plate (4) and the second connecting plate (10); one end of the plug block (5) is fixedly connected to the inner wall of the first groove; the first connecting plate (4) and the second connecting plate (10) are respectively provided with a second groove on one side facing the first fork plate (3) and the second fork plate (9); and the inner wall of the second groove is respectively provided with a slot for inserting the plug block (5).

3. The lifting double-fork horizontal joint robot according to claim 2, characterized in that: A cavity is provided inside one end of the plug block (5), a through hole is provided on one side of the inner wall of the cavity, a clamping block (6) is inserted and connected inside the through hole, a baffle (7) is fixedly connected to one end of the clamping block (6), and a spring (8) for pushing the baffle (7) is provided at one end of the baffle (7).

4. The lifting double-fork horizontal joint robot according to claim 1, characterized in that: The rotating assembly comprises a driving member and a rotating member, wherein the rotating member comprises a second connecting disk (17) and a first connecting disk (18), wherein the top end of the second connecting disk (17) is fixedly connected to the bottom end of the second connecting plate (10), and the bottom end of the first connecting disk (18) is fixedly connected to the top end of the first connecting plate (4).

5. The lifting double-fork horizontal joint robot according to claim 4, characterized in that: The driving member comprises a first motor (11) and a second motor (22); a mounting cavity is provided inside the two-axis mechanical arm (2); the bottom ends of the first motor (11) and the second motor (22) are respectively fixedly connected to the bottom end of the inner wall of the mounting cavity; the outer walls of the output ends of the first motor (11) and the second motor (22) are respectively sleeved with a first driving gear (12) and a second driving gear (23); one side of the first driving gear (12) and the second driving gear (23) is respectively provided with a first gear plate (13) and a second gear plate (16); the first driving gear (12) and the first gear plate (13) are meshed with each other; the second driving gear (23) and the second gear plate (16) are meshed with each other; a first circular through groove is provided at the top end of the first gear plate (13); a rotating rod (14) is sleeved inside the first circular through groove; a second circular through groove is provided at the top end of the first connecting plate (18); the rotating rod (14) is sleeved inside the second circular through groove; and a second connecting plate (17) is fixedly connected at the top end of the second gear plate (16).

6. The lifting double-fork horizontal joint robot according to claim 5, characterized in that: A circular hole is formed at the top of the inner wall of the installation cavity, the top of the second gear plate (16) is inserted and connected with the circular hole, the outer wall of the top of the first gear plate (13) is sleeved with a first bearing (15), the second gear plate (16) is sleeved on the outer wall of the first bearing (15), a third circular through groove is formed at one end of the second connecting plate (10) close to the rotating rod (14), the interior of the third circular through groove is sleeved with a second bearing (20), and the second bearing (20) is sleeved on the outer wall of the rotating rod (14).

7. The lifting double-fork horizontal joint robot according to claim 6, characterized in that: A separation plate (19) for separating the first connection plate (4) and the second connection plate (10) is fixedly connected to the top of the second connection plate (10); a third bearing (21) is sleeved on the outer wall of the top of the separation plate (19); a circular groove is formed at the bottom of the first connection plate (18), and the third bearing (21) is sleeved in the circular groove.

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