Carrying manipulator

Abstract

The utility model discloses a carrying manipulator, and relates to the technical field of automation equipment. The device comprises a base plate, a cycloid device, a sliding rail assembly and a rotation driving device. The cycloid device comprises a cycloid plate, an eccentric rotating shaft, a turntable assembly and a transmission shaft; the cycloid plate is fixed to the front face of the base plate, and the outer edge of the cycloid plate is in a rounded rectangle shape. The eccentric rotating shaft comprises a rotating shaft main body and an eccentric shaft body; the rotating shaft main body vertically penetrates through the cycloid plate and the base plate; the rotating disc assembly comprises a rotating disc and three first cam followers, the eccentric shaft body is sleeved with the rotating disc, the three first cam followers are distributed on the edge of the rotating disc in a triangular vertex mode, and the first cam followers are arranged on the rotating disc in a penetrating mode and attached to the outer edge of the cycloidal plate; one end of the transmission shaft is fixedly connected with one first cam follower, and the other end of the transmission shaft is rotationally connected with the sliding rail assembly. A clamping assembly is arranged on the sliding rail assembly. The rotation driving device is installed on the back of the substrate. The utility model has the advantages of stable operation and high action precision.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a transporting manipulator. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain movements and functions of human hands and arms and carry objects or operate tools according to a fixed procedure, while a PPU cam manipulator is an automatic operating device with a pure cam structure.

[0003] For example, Chinese patent document CN112296980A discloses a PPU high-speed pick-and-place mobile manipulator. The manipulator includes a fixed back plate, a reducer, a cam groove track plate, an X-axis guide rail assembly, and a cross roller Z-axis guide rail assembly with anti-creep; a gate-shaped cam groove is arranged on the cam groove track plate of the manipulator, one end of the torque arm is connected to the input shaft, and the other end is formed with a linear groove and is arranged on the bearing through a linear sleeve. Its basic working principle is to drive the torque arm to rotate through a reduction motor, and the torque arm drives the bearing to slide in the gate-shaped cam groove, and the bearing drives the telescopic arm to move.

[0004] However, the robot has the following shortcomings: 1. The bearing needs to slide in the linear groove on the torque arm and move in the gate-shaped cam groove. Therefore, there must be a gap between the bearing and the linear groove and the cam groove to ensure high-speed movement without getting stuck. The gap on the linear groove and the cam groove will cause the robot's movement accuracy to be low and cannot meet the requirements of high-precision product picking and placement. At the same time, it causes the bearing to easily collide with the side walls of the linear groove and the cam groove when switching back and forth, affecting its service life; 2. The gate-shaped cam groove allows the bearing to only move back and forth and cannot move a full circle, thereby failing to meet the requirements of the telescopic arm for the corresponding movement trajectory. Utility Model Content

[0005] In view of the problems existing in the above-mentioned prior art, the utility model adopts the following technical solutions:

[0006] A handling robot comprises a base plate, a cycloid device, a slide rail assembly and a rotary drive device; the cycloid device comprises a cycloid plate, an eccentric rotating shaft, a turntable assembly and a transmission shaft; the cycloid plate is fixedly arranged on the front side of the base plate, and the outer edge of the cycloid plate is a rounded rectangle; the eccentric rotating shaft comprises a rotating shaft body and an eccentric shaft body arranged at one end of the rotating shaft body, and the rotating shaft body is vertically penetrated through the cycloid plate and the base plate; the turntable assembly comprises a rotating disk and three first cam followers, the rotating disk is sleeved on the eccentric shaft body and is rotatably connected with the eccentric shaft body, the three first cam followers are arranged on the edge of the rotating disk in a triangular vertex distribution, the first cam follower is penetrated on the rotating disk, and the outer ring of the first cam follower is in contact with the outer edge of the cycloid plate; one end of the transmission shaft is fixedly connected to one of the first cam followers, and the other end is rotatably connected to the slide rail assembly; a clamping assembly for transporting products is provided on the slide rail assembly; the rotary drive device is mounted on the back side of the base plate, and the output shaft of the rotary drive device passes through the base plate and drives the connected rotating shaft body.

[0007] As a further elaboration of the above technical solution:

[0008] Three groups of connecting through holes are arranged at intervals on the edge of the rotating disk, and each group of connecting through holes includes a plurality of hole bodies arranged at intervals along the circumference of the rotating disk; and three first cam followers are respectively penetrated through the hole bodies of the three groups of connecting through holes.

[0009] The slide rail assembly includes an X-axis guide rail, an X-axis slider, a connecting plate, a Z-axis slider and a Z-axis guide rail. The X-axis guide rail is installed on the front of the base plate. The X-axis slider is slidably connected to the X-axis guide rail. The Z-axis slider is installed on the X-axis slider through the connecting plate. The Z-axis guide rail is slidably connected to the Z-axis slider, and one end of the Z-axis guide rail is rotatably connected to the transmission shaft, and the other end is connected to the clamping assembly.

[0010] One end of the Z-axis guide rail connected to the transmission shaft is provided with a connecting plate, and a second cam follower is passed through the connecting plate; the upper end of the transmission shaft is fixedly connected to the second cam follower.

[0011] Limit blocks are fixedly provided on the base plate at both ends of the X-axis guide rail.

[0012] A first mounting through hole is provided at the center of the rotating disk and the rotating disk is sleeved on the eccentric shaft body through the first mounting through hole. A first bearing is installed between the outer wall of the eccentric shaft body and the inner wall of the first mounting through hole.

[0013] A second mounting through hole is provided on the base plate; a third mounting through hole aligned with the second mounting through hole is provided at the center of the cycloid plate; the shaft body is passed through the third mounting through hole and the second mounting through hole, and a second bearing is installed between the outer wall of the shaft body and the inner wall of the third mounting through hole; a bearing locking nut is installed between the outer wall of the shaft body and the inner wall of the second mounting through hole.

[0014] The utility model also comprises a protective shell, which is installed on the front side of the base plate and covers the cycloid device and the slide rail assembly.

[0015] The rotation drive device is a servo motor.

[0016] It also includes a support frame, which includes an optical axis, a fixing seat, and a guide support. The optical axis is vertically arranged, and one end of the optical axis is fixedly connected to the back of the substrate through the fixing seat, and the other end is fixedly connected to the workbench through the guide support.

[0017] Compared with the prior art, the present invention achieves at least the following beneficial effects:

[0018] The utility model drives the eccentric rotating shaft to rotate through a rotating driving device. The eccentric shaft body of the eccentric rotating shaft can drive the rotating disk to move by eccentric rotation, so that the rotating disk makes a cycloidal motion above the cycloidal plate, and the three first cam followers on the rotating disk move along the rounded rectangular outer edge of the cycloidal plate, one of the first cam followers is used to drive the transmission shaft to move synchronously, and the transmission shaft drives the slide rail assembly to move, so that the clamping assembly on the slide rail assembly completes the transportation of the product; and the three first cam followers keep in close contact with the outer edge of the cycloidal plate during the movement, thereby forming an effective support, improving the movement accuracy, avoiding collision with the outer edge of the cycloidal plate, and extending the service life; in addition, the transmission shaft can move a full circle along the outer edge of the cycloidal plate with the first cam followers, eliminating the disadvantage that the prior art can only move back and forth. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] One or more embodiments of the present invention will now be described by way of example only with reference to the accompanying drawings, in which:

[0020] Figure 1 This is a schematic diagram of the structure of an embodiment of the present application;

[0021] Figure 2 for Figure 1 A schematic diagram of the structure of the embodiment with the protective shell removed;

[0022] Figure 3 for Figure 1 An exploded view of an embodiment;

[0023] Figure 4 for Figure 1 A schematic structural diagram of a cycloid device according to an embodiment.

[0024] The numbers in the figure are: 1, substrate; 11, second mounting through hole; 2, cycloid device; 21, cycloid plate; 211, third mounting through hole; 22, eccentric rotating shaft; 221, rotating shaft body; 222, eccentric shaft body; 23, turntable assembly; 231, rotating disk; 2311, first mounting through hole; 2312, connecting through hole; 232, first cam follower; 24, transmission shaft; 3, slide rail assembly; 31, X-axis guide rail; 32, X-axis slider; 33, connecting plate; 34, Z-axis slider; 35, Z-axis guide rail; 351, connecting plate; 4, rotary drive device; 5, first bearing; 6, second bearing; 7, second cam follower; 8, limit block; 9, bearing locking nut; 10, support frame; 101, optical axis; 102, fixed seat; 103, guide support; 20, protective shell. DETAILED DESCRIPTION

[0025] The present invention will be described in detail below with reference to the exemplary embodiments in the accompanying drawings. However, it should be understood that the present application can be implemented in a variety of different forms and should not be construed as being limited to the embodiments described herein. These embodiments are provided here to make the disclosure of the present application more complete and to fully convey the concept of the present application to those skilled in the art.

[0026] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, "several" and "multiple" mean two or more, unless otherwise clearly and specifically defined. In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a communication between the two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In this application, unless otherwise clearly specified and limited, the first feature "above" or "below" the second feature can include the first and second features directly contacting, or it can include the first and second features not being in direct contact but contacting through another feature between them. Moreover, the first feature "above", "above" and "above" the second feature include the first feature being directly above and obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature "below", "below" and "below" the second feature include the first feature being directly below and obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0027] like Figures 1 to 4 As shown, the handling robot of the embodiment of the present application includes a substrate 1, a cycloid device 2, a slide rail assembly 3, a rotation drive device 4, and a protective shell 20.

[0028] The cycloid device 2 includes a cycloid plate 21, an eccentric shaft 22, a turntable assembly 23 and a transmission shaft 24; the cycloid plate 21 is fixedly arranged on the front of the substrate 1, and the outer edge of the cycloid plate 21 is a rounded rectangle; the eccentric shaft 22 includes a shaft body 221 and an eccentric shaft body 222 arranged at one end of the shaft body 221, and the shaft body 221 is vertically penetrated on the cycloid plate 21 and the substrate 1; the turntable assembly 23 includes a rotating disk 231 and three first cam followers 232, and the rotating disk 231 is sleeved on the eccentric shaft The first cam followers 232 are arranged on the rotating disk 231 at the edges of the rotating disk 231 in a triangular shape and are rotatably connected to the eccentric shaft body 222. The three first cam followers 232 are arranged on the rotating disk 231 at the vertices thereof. The three first cam followers 232 are penetrated on the rotating disk 231, and the outer rings of the three first cam followers 232 are in contact with the outer edge of the cycloid plate 21, thereby forming a rolling fit with the outer edge of the cycloid plate 21. One end of the transmission shaft 24 is fixedly connected to one of the first cam followers 232, and the other end is rotatably connected to the slide rail assembly 3. The slide rail assembly 3 is provided with a clamping assembly for carrying products. The rotation drive device 4 is installed on the back of the base plate 1. The rotation drive device 4 is a servo motor, and the output shaft of the servo motor passes through the base plate 1 and drives the connecting shaft body 221.

[0029] It should be noted that the rotating shaft body 221 can drive the eccentric shaft body 222 to rotate eccentrically. Since the eccentric shaft body 222 rotates in coordination with the rotating disk 231, the rotating disk 231 is driven to move, so that the rotating disk 231 performs cycloidal motion above the cycloid plate 21, and the three first cam followers 232 on the rotating disk 231 move along the outer edge of the cycloid plate 21. The motion trajectory of the cycloid bearing is a rounded rectangle, and the outer edge of the cycloid plate 21 is a rounded rectangle that matches the motion trajectory of the first cam. The outer rings of the three first cam followers 232 fit tightly with the outer edge of the cycloid plate 21 without any gap. The three first cam followers 232 form multi-point supports, which makes the structure of the cycloid device 2 more stable and safe, improves the motion accuracy, avoids the collision of the first cam followers 232 and the cycloid plate 21, and improves the service life.

[0030] In addition, the rotating disk 231 has a first mounting through hole 2311 at its center and is sleeved on the eccentric shaft 222 through the first mounting through hole 2311, and a first bearing 5 is installed between the outer wall of the eccentric shaft 222 and the inner wall of the first mounting through hole 2311. The base plate 1 has a second mounting through hole 11; the cycloid plate 21 has a third mounting through hole 211 aligned with the second mounting through hole 11 at its center; the rotating shaft body 221 is penetrated in the third mounting through hole 211 and the second mounting through hole 11, and a second bearing 6 is installed between the outer wall of the rotating shaft body 221 and the inner wall of the third mounting through hole 211; a bearing locking nut 9 is installed between the outer wall of the rotating shaft body 221 and the inner wall of the second mounting through hole 11.

[0031] It should be noted that the rotating disk 231 is rotatably connected to the eccentric shaft 222 through the first bearing 5, and one end of the transmission shaft 24 is fixedly connected to one of the first cam followers 232. The first cam follower 232 is used to drive the transmission shaft 24 to move synchronously, and the transmission shaft 24 drives the slide rail assembly 3 to move. The movement trajectory of the transmission shaft 24 is not limited. Therefore, when carrying products, the transmission shaft 24 can move a full circle along the outer edge of the cycloid plate 21 with the first cam follower 232, rather than just reciprocating motion, thereby correspondingly increasing the movement of the slide rail assembly 3.

[0032] The protective shell 20 is installed on the front side of the base plate 1 and covers the cycloid device 2 and the slide rail assembly 3 .

[0033] The support frame 10 includes an optical axis 101 , a fixing seat 102 , and a guide support 103 . The optical axis 101 is vertically arranged, and one end of the optical axis 101 is fixedly connected to the back of the substrate 1 through the fixing seat 102 , and the other end is fixedly connected to the workbench through the guide support 103 .

[0034] refer to Figure 4 In one embodiment, three groups of connecting through holes 2312 are arranged at intervals on the edge of the rotating disk 231, and each group of connecting through holes 2312 includes a plurality of hole bodies arranged at intervals along the circumference of the rotating disk 231; three first cam followers 232 are respectively arranged on the hole bodies of the three groups of connecting through holes 2312. The positions of the three first cam followers 232 installed on the three groups of connecting through holes 2312 can be adjusted, as long as the three first cam followers 232 are maintained in a triangular vertex distribution. In addition, the position of the transmission shaft 24 on the rotating disk can be adjusted, and it only needs to be connected to one of the first cam followers 232.

[0035] refer to Figure 3 In one embodiment, the slide rail assembly 3 includes an X-axis guide rail 31, an X-axis slider 32, a connecting plate 33, a Z-axis slider 34 and a Z-axis guide rail 35. The X-axis guide rail 31 is installed on the front side of the substrate 1, the X-axis slider 32 is slidably connected to the X-axis guide rail 31, the Z-axis slider 34 is installed on the X-axis slider 32 through the connecting plate 33, the Z-axis guide rail 35 is slidably connected to the Z-axis slider 34, and one end of the Z-axis guide rail 35 is rotatably connected to the transmission shaft 24, and the other end is connected to the clamping assembly.

[0036] Optionally, a connecting plate 351 is provided at one end of the Z-axis guide rail 35 connected to the transmission shaft 24 , and a second cam follower 7 is passed through the connecting plate 351 ; the upper end of the transmission shaft 24 is fixedly connected to the second cam follower 7 .

[0037] Optionally, limit blocks 8 are fixedly provided on the substrate 1 at both ends of the X-axis guide rail 31 , and are used to limit the X-axis slider 32 .

[0038] The working principle of the utility model is:

[0039] The rotary drive device 4 drives the eccentric rotating shaft 22 to rotate, and the eccentric rotation of the eccentric shaft body 222 can drive the rotating disk 231 to move, so that the rotating disk 231 performs cycloidal motion above the cycloidal plate 21, and the three first cam followers 232 on the rotating disk 231 move along the rounded rectangular outer edge of the cycloidal plate 21, and the outer rings of the three first cam followers 232 are tightly fitted with the outer edge of the cycloidal plate 21 to avoid collision and improve the movement accuracy; one of the first cam followers 232 is used to drive the transmission shaft 24 to move synchronously, and the transmission shaft 24 drives the Z-axis guide rail 35 to slide along the Z-axis slider 34 and along the X-axis guide rail 31, thereby realizing displacement in the Z-axis direction and the X-axis direction, so that the clamping assembly on the Z-axis guide rail 35 can complete the handling and transfer of the product. In addition, the transmission shaft 24 can move a full circle along the outer edge of the cycloid plate 21 with the first cam follower 232, and the Z-axis guide rail 35 can drive the clamping assembly to move the product from one place to another, and then the clamping assembly returns to its original position to form a movement cycle, and the above actions are repeated to transport the product.

[0040] It should be understood that all the above embodiments are illustrative rather than restrictive, and any modifications, equivalent changes and modifications made by those skilled in the art to the specific embodiments described above under the conception of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A handling robot, characterized in that: It includes a base plate, a cycloid device, a slide rail assembly and a rotary drive device; The cycloid device comprises a cycloid plate, an eccentric rotating shaft, a turntable assembly and a transmission shaft; the cycloid plate is fixedly arranged on the front side of the base plate, and the outer edge of the cycloid plate is a rounded rectangle; the eccentric rotating shaft comprises a rotating shaft body and an eccentric shaft body arranged at one end of the rotating shaft body, and the rotating shaft body is vertically penetrated through the cycloid plate and the base plate; the turntable assembly comprises a rotating disk and three first cam followers, the rotating disk is sleeved on the eccentric shaft body and is rotatably connected with the eccentric shaft body, the three first cam followers are arranged on the edge of the rotating disk in a triangular vertex distribution, the first cam follower is penetrated on the rotating disk, and the outer ring of the first cam follower is in contact with the outer edge of the cycloid plate; one end of the transmission shaft is fixedly connected to one of the first cam followers, and the other end is rotatably connected to the slide rail assembly; The slide rail assembly is provided with a clamping assembly for carrying products; The rotation driving device is installed on the back side of the base plate, and the output shaft of the rotation driving device passes through the base plate and is drivingly connected to the rotating shaft body.

2. The handling robot according to claim 1, characterized in that: The edge of the rotating disk is provided with three groups of connecting through holes at intervals, and each group of the connecting through holes includes a plurality of hole bodies arranged at intervals along the circumference of the rotating disk; the three first cam followers are respectively penetrated through the hole bodies of the three groups of the connecting through holes.

3. The handling robot according to claim 1, characterized in that: The slide rail assembly includes an X-axis guide rail, an X-axis slider, a connecting plate, a Z-axis slider and a Z-axis guide rail, the X-axis guide rail is installed on the front side of the substrate, the X-axis slider is slidably connected to the X-axis guide rail, the Z-axis slider is installed on the X-axis slider through the connecting plate, the Z-axis guide rail is slidably connected to the Z-axis slider, and one end of the Z-axis guide rail is rotatably connected to the transmission shaft, and the other end is connected to the clamping assembly.

4. The handling robot according to claim 3, characterized in that: A connecting plate is provided at one end of the Z-axis guide rail connected to the transmission shaft, and a second cam follower is passed through the connecting plate; the upper end of the transmission shaft is fixedly connected to the second cam follower.

5. The handling robot according to claim 3, characterized in that: Limit blocks are fixedly provided on the base plate at both ends of the X-axis guide rail.

6. The handling robot according to claim 1, characterized in that: The rotating disk is provided with a first mounting through hole at its center and is sleeved on the eccentric shaft through the first mounting through hole. A first bearing is installed between the outer wall of the eccentric shaft and the inner wall of the first mounting through hole.

7. The handling robot according to claim 1, characterized in that: A second mounting through hole is provided on the base plate; a third mounting through hole aligned with the second mounting through hole is provided at the center of the cycloid plate; the rotating shaft body is passed through the third mounting through hole and the second mounting through hole, and a second bearing is installed between the outer wall of the rotating shaft body and the inner wall of the third mounting through hole; a bearing locking nut is installed between the outer wall of the rotating shaft body and the inner wall of the second mounting through hole.

8. The handling robot according to claim 1, characterized in that: The invention also comprises a protective shell, which is installed on the front side of the base plate and covers the cycloid device and the slide rail assembly.

9. The handling robot according to claim 1, characterized in that: The rotation driving device is a servo motor.

10. The handling robot according to claim 1, characterized in that: It also includes a support frame, which includes an optical axis, a fixing seat, and a guide support. The optical axis is vertically arranged, and one end of the optical axis is fixedly connected to the back of the substrate through the fixing seat, and the other end is fixedly connected to the workbench through the guide support.

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