Feeding and discharging manipulator

Abstract

The utility model relates to a feeding and discharging mechanical arm which comprises a rotary base, an arm lifting module and a rotary table, the rotary base comprises a machine frame, and the machine frame is provided with the arm lifting module and the rotary table which is located at the bottom of the machine frame and used for driving the machine frame to rotate. The mechanical arm comprises at least two sets of telescopic arms fixed to the arm lifting module, and the two sets of telescopic arms are arranged up and down in a spaced mode and do telescopic motion in the same direction. Two sets of telescopic arms used for feeding and discharging are arranged on a rotary base, and an arm lifting module for driving the two sets of telescopic arms to synchronously ascend and descend and a rotary table for driving the two sets of telescopic arms to synchronously rotate are arranged on the rotary base. The mechanical arm adopts the design of double telescopic arms which are arranged up and down at an interval, and the two groups of telescopic arms adopt telescopic structures, so that the rotary motion after contraction occupies a smaller rotary space. The two sets of telescopic arms are matched with each other to achieve continuous feeding and discharging, the working rhythm of feeding and discharging is accelerated, and the waiting time of detection or processing equipment is shortened.

Description

Technical Field

[0001] The present application relates to the technical field of display module testing equipment, and in particular to a loading and unloading robot. Background Art

[0002] With the continuous improvement and development of living standards, panel display products have become popular in the lives of consumers, such as tablet computers, e-books, car displays and other panel display products. The inspection process is a necessary process before panel display products leave the factory, and it is also a key process in the entire panel display product processing process.

[0003] However, the existing traditional inspection process is: first, a six-axis robot is used to place the panel display product to be tested on the work platform to be inspected, and then the connector of the panel display product to be tested and the test equipment are connected for testing. After the test is completed, another six-axis robot is used to place the inspected panel display product at the next station.

[0004] During this operation, two six-axis robots are needed to load and unload the panel display products respectively. Not only is the loading and unloading efficiency low and the use cost high, but the two six-axis robots need to stand next to the testing equipment, requiring a larger space, making the overall size of the testing equipment large and occupying a large space. Utility Model Content

[0005] The embodiment of the present application provides a loading and unloading robot to solve the problem that two six-axis robots are used in the related art to load and unload panel display products respectively, which not only has low loading and unloading efficiency, high use cost, and large space occupation.

[0006] The present application embodiment provides a loading and unloading robot, comprising:

[0007] A slewing base, the slewing base comprising a frame, the frame being provided with an arm lifting module, and a turntable located at the bottom of the frame for driving the frame to rotate;

[0008] The robotic arm comprises at least two groups of telescopic arms fixed on the arm lifting module, the two groups of telescopic arms are arranged at intervals up and down and telescopically move in the same direction.

[0009] In some embodiments: the frame includes a base connected to the top of the turntable, the top of the base is provided with two vertical plates that are parallel to each other and spaced apart, and the tops of the two vertical plates are fixedly connected with a top plate;

[0010] The arm lifting module includes two linear modules that are vertically fixed on the side walls of the two vertical plates and are arranged oppositely. Both telescopic arms are located between the two linear modules and are fixedly connected to the sliders of the linear modules.

[0011] In some embodiments: The arm lifting module further includes a lifting drive mechanism that is fixed on the top of the top plate and drives the two linear modules to move up and down synchronously.

[0012] In some embodiments: The lifting drive mechanism includes a first drive motor and a double-shaft output reduction gearbox connected to the first drive motor. The output shafts of the double-shaft output reduction gearbox are respectively connected to the input shafts of the linear modules through right-angle drives.

[0013] In some embodiments: The telescopic arm includes a sliding seat fixed on the arm lifting module. A first telescopic arm is slidably connected to the sliding seat, and a second telescopic arm is slidably connected to the first telescopic arm;

[0014] A first horizontal drive mechanism for driving the first telescopic arm to reciprocate horizontally is provided on the sliding seat;

[0015] A second horizontal drive mechanism for driving the second telescopic arm to reciprocate horizontally is provided on the first telescopic arm.

[0016] In some embodiments: The sliding seat includes a base arranged horizontally. Side plates connected to the arm lifting module are fixedly provided on both sides of the base. First linear guide rails for slidably connecting the first telescopic arm are fixedly provided on both side plates;

[0017] The first telescopic arm includes a rectangular sliding frame slidably connected between the two first linear guide rails. Second linear guide rails for slidably connecting the second telescopic arm are provided on the rectangular sliding frame.

[0018] In some embodiments: The first horizontal drive mechanism includes a second drive motor fixed at one end of the sliding seat. The output shaft of the second drive motor is connected to a driving synchronous pulley, and a driven synchronous pulley is fixed at the other end of the sliding seat;

[0019] A first synchronous belt is meshed and connected between the driving synchronous pulley and the driven synchronous pulley. A first clamping plate for clamping the first synchronous belt is fixedly provided on the first telescopic arm, and the first telescopic arm moves synchronously with the first synchronous belt.

[0020] In some embodiments: The second horizontal drive mechanism includes a rear synchronous pulley fixed at one end of the rectangular sliding frame and a front synchronous pulley fixed at the other end of the rectangular sliding frame. A second synchronous belt is meshed and connected between the rear synchronous pulley and the front synchronous pulley;

[0021] A second clamping plate for clamping the second synchronous belt is fixedly provided on the base, and a third clamping plate for clamping the second synchronous belt is fixedly provided on the second telescopic arm. The second telescopic arm moves synchronously with the second synchronous belt.

[0022] In some embodiments: the second telescopic arm includes a slide table slidably connected to the second linear guide rail. A plurality of spaced struts are provided on the top of the slide table, and vacuum suction cups for gripping the material tray are provided on each of the struts.

[0023] In some embodiments: proximity sensors for detecting the position of the material tray are provided on each of the struts. When the proximity sensor approaches the material tray, the vacuum suction cup adsorbs the material tray.

[0024] The beneficial effects brought by the technical solution provided in this application include:

[0025] The embodiment of this application provides a loading and unloading manipulator. Since the loading and unloading manipulator of this application is provided with a rotary base, the rotary base includes a frame, an arm lifting module is provided on the frame, and a turntable for driving the frame to rotate is provided at the bottom of the frame; a robotic arm, the robotic arm includes at least two sets of telescopic arms fixed on the arm lifting module, and the two sets of telescopic arms are arranged at intervals up and down and expand and contract in the same direction.

[0026] Therefore, the loading and unloading manipulator of this application is provided with two sets of telescopic arms for loading and unloading on the rotary base. An arm lifting module for driving the two sets of telescopic arms to lift synchronously is provided on the rotary base, and a turntable for driving the two sets of telescopic arms to rotate synchronously is provided. The robotic arm adopts a double telescopic arm design with an upper and lower spaced arrangement. Both sets of telescopic arms adopt a telescopic structure, and the occupied rotation space is smaller after contraction. The two sets of telescopic arms cooperate with each other to realize continuous loading and unloading, speed up the working rhythm of loading and unloading, and reduce the waiting time of inspection or processing equipment.

[0027] The frame of the loading and unloading manipulator of this application includes a base connected to the top of the turntable. Two parallel and spaced vertical plates are provided on the top of the base, and a top plate is fixedly connected to the top of the two vertical plates; the arm lifting module includes two sets of linear modules fixedly provided on the side walls of the two vertical plates in the vertical direction and arranged oppositely, and both sets of telescopic arms are located between the two sets of linear modules and fixedly connected to the sliders of the linear modules. The frame provides an installation space and rigid support for the arm lifting module and the two sets of telescopic arms. The frame is located at the top of the turntable and can drive the arm lifting module and the two sets of telescopic arms to rotate synchronously.

[0028] The arm lifting module of the loading and unloading manipulator of the present application further includes a lifting drive mechanism fixed to the top of the top plate and driving the synchronous lifting movement of two linear modules. The two linear modules share a set of lifting drive mechanisms to drive them to drive the two telescopic arms to lift synchronously, which not only simplifies the structure and reduces the production cost. In addition, using a set of lifting drive mechanisms to synchronously drive the two linear modules to lift synchronously makes the consistency of the lifting movements of the two telescopic arms better and improves the positioning accuracy of the two telescopic arms.

[0029] The lifting drive mechanism of the loading and unloading manipulator of the present application includes a first drive motor and a double-shaft output speed reducer connected to the first drive motor. The output shafts of the double-shaft output speed reducer are respectively connected to the input shafts of the linear modules through right-angle drives. The first drive motor outputs speed and torque to the double-shaft output speed reducer, and the double-shaft output speed reducer reduces the speed and then outputs it to two coaxial output shafts, and both of the two coaxial output shafts are connected with right-angle drives. The right-angle drive is used to change the transmission direction of the double-shaft output speed reducer and transmit the speed and torque to the two linear modules to lift synchronously through the two right-angle drives respectively.

[0030] The telescopic arm of the loading and unloading manipulator of the present application includes a sliding seat fixed to the arm lifting module. A first telescopic arm is slidably connected to the sliding seat, and a second telescopic arm is slidably connected to the first telescopic arm; a first horizontal drive mechanism for driving the first telescopic arm to reciprocate horizontally is provided on the sliding seat; a second horizontal drive mechanism for driving the second telescopic arm to reciprocate horizontally is provided on the first telescopic arm. The telescopic arm is composed of a sliding seat, a first telescopic arm and a second telescopic arm that are sequentially slidably connected to form three segments. When the first horizontal drive mechanism drives the first telescopic arm to extend and the second horizontal drive mechanism drives the second telescopic arm to extend, it is used for loading and unloading operations. When the first horizontal drive mechanism drives the first telescopic arm to retract and the second horizontal drive mechanism drives the second telescopic arm to retract, it is used for rotating and switching workstations.

[0031] The sliding seat of the loading and unloading manipulator of the present application includes a base arranged in the horizontal direction. Side plates connected to the arm lifting module are fixedly provided on both sides of the base, and first linear guides for slidably connecting the first telescopic arm are fixedly provided on both side plates; the first telescopic arm includes a rectangular sliding frame slidably connected between two groups of first linear guides, and second linear guides for slidably connecting the second telescopic arm are provided on the rectangular sliding frame. The first linear guide for slidably connecting the first telescopic arm is provided on the sliding seat, so that the first telescopic arm reciprocates along the length direction of the first linear guide on the base to realize the extension and retraction actions of the first telescopic arm. The second linear guide for slidably connecting the second telescopic arm is provided on the rectangular sliding frame of the first telescopic arm, so that the second telescopic arm reciprocates along the length direction of the second linear guide on the rectangular sliding frame to realize the extension and retraction actions of the second telescopic arm.

[0032] The first horizontal driving mechanism of the loading and unloading manipulator of the present application includes a second driving motor fixed at one end of the sliding seat. The output shaft of the second driving motor is connected with a driving synchronous pulley, and a driven synchronous pulley fixed at the other end of the sliding seat. A first synchronous belt is meshed and connected between the driving synchronous pulley and the driven synchronous pulley. A first clamping plate for clamping the first synchronous belt is fixedly arranged on the first telescopic arm, and the first telescopic arm moves synchronously with the first synchronous belt. When the second driving motor drives the driving synchronous pulley to rotate forward and backward on the sliding seat, the first synchronous belt meshed on the driving synchronous pulley and the driven synchronous pulley drives the first telescopic arm to reciprocate along the length direction of the first linear guide rail through the first clamping plate.

[0033] The second horizontal driving mechanism of the loading and unloading manipulator of the present application includes a rear synchronous pulley fixed at one end of the rectangular sliding frame, and a front synchronous pulley fixed at the other end of the rectangular sliding frame. A second synchronous belt is meshed and connected between the rear synchronous pulley and the front synchronous pulley. A second clamping plate for clamping the second synchronous belt is fixedly arranged on the base, and a third clamping plate for clamping the second synchronous belt is fixedly arranged on the second telescopic arm. The second telescopic arm moves synchronously with the second synchronous belt. When the first horizontal driving mechanism drives the first telescopic arm to extend or retract, the second synchronous belt meshed on the rear synchronous pulley and the front synchronous pulley uses the extension or retraction movement of the first telescopic arm as power, and drives the second telescopic arm to reciprocate along the length direction of the second linear guide rail through the second clamping plate and the third clamping plate, and enables the second telescopic arm to complete the extension or retraction movement at double speed.

[0034] The second telescopic arm of the loading and unloading manipulator of the present application includes a sliding table slidably connected with the second linear guide rail. A plurality of spaced struts are arranged on the top of the sliding table. Vacuum suction cups for gripping the material tray are arranged on each strut. Proximity sensors for detecting the position of the material tray are arranged on each strut. When the proximity sensor approaches the material tray, the vacuum suction cup adsorbs the material tray. The second telescopic arm is slidably connected with the second linear guide rail by using the sliding table. A plurality of struts for picking and placing the material tray are arranged on the sliding table, and the vacuum suction cups on the struts are used for gripping the material tray. Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0036] Figure 1 It is the main structural view of the embodiment of the present application;

[0037] Figure 2 It is the top structural view of the embodiment of the present application;

[0038] Figure 3Isometric view of the structure of the embodiment of the present application;

[0039] Figure 4 Isometric view of the telescopic arm of the embodiment of the present application in the retracted state;

[0040] Figure 5 Front view of the telescopic arm of the embodiment of the present application in the retracted state;

[0041] Figure 6 Isometric view of the telescopic arm of the embodiment of the present application in the extended state;

[0042] Figure 7 Front view of the telescopic arm of the embodiment of the present application in the extended state;

[0043] Figure 8 Bottom view of the telescopic arm of the embodiment of the present application in the extended state.

[0044] Reference numerals:

[0045] 100, slewing base; 110, frame; 111, base; 112, vertical plate; 113, top plate; 120, arm lifting module; 121, linear module; 122, first driving motor; 123, dual-axis output reduction gear; 124, right-angle transmission; 130, turntable;

[0046] 200, robotic arm; 210, telescopic arm; 220, slide; 221, base; 222, side plate; 223, first linear guide; 230, first telescopic arm; 231, rectangular carriage; 232, second linear guide;

[0047] 240, second telescopic arm; 241, slide table; 242, support rod; 243, vacuum chuck; 244, proximity sensor; 250, first horizontal driving mechanism; 251, second driving motor; 252, driving synchronous pulley; 253, driven synchronous pulley; 254, first synchronous belt; 255, first clamping plate;

[0048] 260, second horizontal driving mechanism; 261, rear synchronous pulley; 262, front synchronous pulley; 263, second synchronous belt; 264, second clamping plate; 265, third clamping plate; 270, material tray. Detailed implementation manners

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some, but not all, of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts shall fall within the scope of protection of this application.

[0050] The embodiment of this application provides a loading and unloading manipulator, which can solve the problems in the prior art that two six-axis robots are respectively used for loading and unloading panel display products, resulting in low loading and unloading efficiency, high use cost, and large occupied space.

[0051] See Figures 1 to 3 As shown, the embodiment of this application provides a loading and unloading manipulator, including:

[0052] A rotary base 100, which includes a frame 110. An arm lifting module 120 is provided on the frame 110, and a turntable 130 located at the bottom of the frame 110 is used to drive the frame 110 to rotate. The turntable 130 is used to drive the frame 110, as well as the arm lifting module 120 and the robotic arm 200 connected to the frame 110 to rotate, so that the robotic arm 200 rotates back and forth between the loading station, the inspection station, and the unloading station.

[0053] A robotic arm 200, which includes at least two sets of telescopic arms 210 fixed on the arm lifting module 120. The two sets of telescopic arms 210 are arranged at an upper and lower interval and extend and retract in the same direction. Both sets of telescopic arms 210 are fixed on the arm lifting module 120, so that the arm lifting module 120 synchronously drives the two sets of telescopic arms 210 to lift. The two sets of telescopic arms 210 are respectively used for loading and unloading, and extend during loading and unloading operations and retract when rotating to the switching station.

[0054] The loading and unloading manipulator of the embodiment of this application is provided with two sets of telescopic arms 210 for loading and unloading on the rotary base 100. An arm lifting module 120 for synchronously lifting the two sets of telescopic arms 210 is provided on the rotary base 100, and a turntable 130 for synchronously rotating the two sets of telescopic arms 210 is provided. The turntable 130 is used to drive the frame 110, as well as the arm lifting module 120 and the robotic arm 200 connected to the frame 110 to rotate, so that the robotic arm 200 rotates back and forth between the loading station, the inspection station, and the unloading station.

[0055] The robotic arm 200 is designed with a double telescopic arm 210 arranged at intervals up and down. Both sets of telescopic arms 210 adopt a telescopic structure. After the telescopic arm 210 contracts, the rotational movement occupies a relatively small rotational space. The two sets of telescopic arms 210 cooperate with each other to achieve continuous loading and unloading, accelerating the working rhythm of loading and unloading and reducing the waiting time of inspection or processing equipment.

[0056] The operation process of the two sets of telescopic arms 210 for loading and unloading is as follows:

[0057] First, the lower telescopic arm 210 extends and picks up the display module to be tested at the loading station. The display module is located in the material tray 270. After the lower telescopic arm 210 extends, it grabs the display module and the material tray 270 together at the loading station. After the grasping action is completed, the arm lifting module 120 drives the lower telescopic arm 210 to lift upward and then disengages from the loading station, and the lower telescopic arm 210 retracts.

[0058] Secondly, the turntable 130 drives the frame 110, the arm lifting module 120 and the robotic arm 200 located on the frame 110 to rotate to a set angle and then reach the inspection station. The upper telescopic arm 210 extends and picks up the inspected display module at the inspection station. After the upper telescopic arm 210 extends, it grabs the display module and the material tray 270 together at the inspection station. After the grasping action is completed, the arm lifting module 120 drives it to lift upward and disengage from the inspection station, and the upper telescopic arm 210 retracts.

[0059] Then, the arm lifting module 120 drives the lower telescopic arm 210 to lift upward. After the lower telescopic arm 210 extends, it places the grabbed display module to be tested and the material tray 270 above the inspection station. The arm lifting module 120 drives the lower telescopic arm 210 to lower. After the lower telescopic arm 210 places the display module to be tested and the material tray 270 in the inspection station, the lower telescopic arm 210 retracts.

[0060] Finally, the turntable 130 drives the frame 110, the arm lifting module 120 and the robotic arm 200 located on the frame 110 to rotate to a set angle and then reach the unloading station. The upper telescopic arm 210 extends and places the measured display module and the material tray 270 taken out at the inspection station above the unloading station. The arm lifting module 120 drives the upper telescopic arm 210 to lower. After the upper telescopic arm 210 places the measured display module and the material tray 270 in the unloading station, it retracts.

[0061] In some alternative embodiments: Refer to Figures 1 to 3As shown in the figure, an embodiment of the present application provides a loading and unloading manipulator. The frame 110 of the loading and unloading manipulator includes a base 111 connected to the top of the turntable 130. On the top of the base 111, there are two parallel and spaced-apart vertical plates 112. The top of the two vertical plates 112 is fixedly connected with a top plate 113. The base 111, the two vertical plates 112 and the top plate 113 are all formed into a rectangular box by processing and assembling metal plates.

[0062] The arm lifting module 120 includes two sets of linear modules 121 vertically and respectively fixed on the side walls of the two vertical plates 112 and arranged oppositely. Both sets of telescopic arms 210 are located between the two sets of linear modules 121 and fixedly connected to the sliders of the linear modules 121. The frame 110 provides an installation space and rigid support for the arm lifting module 120 and the two sets of telescopic arms 210. The frame 110 is located at the top of the turntable 130 and can drive the arm lifting module 120 and the two sets of telescopic arms 210 to rotate synchronously.

[0063] In some alternative embodiments: Refer to Figures 1 to 3 As shown in the figure, an embodiment of the present application provides a loading and unloading manipulator. The arm lifting module 120 of the loading and unloading manipulator further includes a lifting drive mechanism fixed on the top of the top plate 113 and driving the two sets of linear modules 121 to lift synchronously. The two sets of linear modules 121 share a set of lifting drive mechanism to drive them to drive the two sets of telescopic arms 210 to lift synchronously, which not only simplifies the structure and reduces the production cost. In addition, using a set of lifting drive mechanism to synchronously drive the two sets of linear modules 121 to lift synchronously makes the consistency of the lifting movements of the two sets of telescopic arms 210 better and improves the positioning accuracy of the two sets of telescopic arms 210.

[0064] In some alternative embodiments: Refer to Figures 1 to 3 As shown in the figure, an embodiment of the present application provides a loading and unloading manipulator. The lifting drive mechanism of the loading and unloading manipulator includes a first drive motor 122 and a dual-axis output speed reducer 123 connected to the first drive motor 122. The output shafts of the dual-axis output speed reducer 123 are respectively connected to the input shafts of the linear modules 121 through right-angle drives 124.

[0065] The first drive motor 122 outputs speed and torque to the dual-axis output speed reducer 123. The dual-axis output speed reducer 123 reduces the speed and then outputs it to two coaxially arranged output shafts. Both of the two coaxially arranged output shafts are connected with right-angle drives 124. The right-angle drive 124 is used to change the transmission direction of the dual-axis output speed reducer 123 and transmit the speed and torque to the two sets of linear modules 121 to lift synchronously through the two right-angle drives 124.

[0066] In some alternative embodiments: Refer to Figures 5 to 8As shown in the figure, an embodiment of the present application provides a loading and unloading manipulator. The telescopic arm 210 of the loading and unloading manipulator includes a sliding seat 220 fixed on the arm lifting module 120. A first telescopic arm 230 is slidably connected to the sliding seat 220, and a second telescopic arm 240 is slidably connected to the first telescopic arm 230. A first horizontal driving mechanism 250 for driving the first telescopic arm 230 to reciprocate horizontally is provided on the sliding seat 220; a second horizontal driving mechanism 260 for driving the second telescopic arm 240 to reciprocate horizontally is provided on the first telescopic arm 230.

[0067] The telescopic arm 210 is composed of a sliding seat 220, a first telescopic arm 230, and a second telescopic arm 240 that are sequentially slidably connected to form three telescopic segments. When the first horizontal driving mechanism 250 drives the first telescopic arm 230 to extend and the second horizontal driving mechanism 260 drives the second telescopic arm 240 to extend, it is used for loading and unloading operations, facilitating the grasping or releasing of the display module to be measured or already measured. When the first horizontal driving mechanism 250 drives the first telescopic arm 230 to retract and the second horizontal driving mechanism 260 drives the second telescopic arm 240 to retract, it is used for rotating and switching workstations, facilitating the rotation and switching of workstations in a narrow space.

[0068] In some alternative embodiments: Refer to Figures 5 to 8 As shown in the figure, an embodiment of the present application provides a loading and unloading manipulator. The sliding seat 220 of the loading and unloading manipulator includes a base 221 arranged in the horizontal direction. Side plates 222 connected to the arm lifting module 120 are fixedly provided on both sides of the base 221. First linear guide rails 223 for slidably connecting the first telescopic arm 230 are fixedly provided on both side plates 222. The first telescopic arm 230 includes a rectangular sliding frame 231 slidably connected between two groups of first linear guide rails 223. Second linear guide rails 232 for slidably connecting the second telescopic arm 240 are provided on the rectangular sliding frame 231.

[0069] In the embodiment of the present application, a first linear guide rail 223 for slidably connecting the first telescopic arm 230 is provided on the sliding seat 220, enabling the first telescopic arm 230 to reciprocate along the length direction of the first linear guide rail 223 on the base 221, realizing the extension and retraction actions of the first telescopic arm 230. Second linear guide rails 232 for slidably connecting the second telescopic arm 240 are provided on the rectangular sliding frame 231 of the first telescopic arm 230, enabling the second telescopic arm 240 to reciprocate along the length direction of the second linear guide rail 232 on the rectangular sliding frame 231, realizing the extension and retraction actions of the second telescopic arm 240.

[0070] In some alternative embodiments: Refer to Figures 5 to 8As shown in the figure, an embodiment of the present application provides a loading and unloading manipulator. The first horizontal driving mechanism 250 of the loading and unloading manipulator includes a second driving motor 251 fixed to one end of the sliding seat 220. The output shaft of the second driving motor 251 is connected with a driving synchronous pulley 252, and a driven synchronous pulley 253 fixed to the other end of the sliding seat 220. A first synchronous belt 254 is engaged between the driving synchronous pulley 252 and the driven synchronous pulley 253. A first clamping plate 255 for clamping the first synchronous belt 254 is fixedly arranged on the rectangular slide 231 of the first telescopic arm 230. The rectangular slide 231 of the first telescopic arm 230 moves synchronously with the first synchronous belt 254.

[0071] When the second driving motor 251 drives the driving synchronous pulley 252 to rotate forward on the sliding seat 220, the first synchronous belt 254 engaged between the driving synchronous pulley 252 and the driven synchronous pulley 253 also rotates forward synchronously. When the first synchronous belt 254 rotates forward, it drives the first telescopic arm 230 to slide out along the length direction of the first linear guide 223 of the rectangular slide 231 through the first clamping plate 255, thereby realizing the extension action of the rectangular slide 231 on the sliding seat 220.

[0072] When the second driving motor 251 drives the driving synchronous pulley 252 to rotate reversely on the sliding seat 220, the first synchronous belt 254 engaged between the driving synchronous pulley 252 and the driven synchronous pulley 253 also rotates reversely synchronously. When the first synchronous belt 254 rotates reversely, it drives the first telescopic arm 230 to slide back along the length direction of the first linear guide 223 of the rectangular slide 231 through the first clamping plate 255, thereby realizing the retraction action of the rectangular slide 231 on the sliding seat 220.

[0073] In some alternative embodiments: Refer to Figures 5 to 8 As shown in the figure, an embodiment of the present application provides a loading and unloading manipulator. The second horizontal driving mechanism 260 of the loading and unloading manipulator includes a rear synchronous pulley 261 fixed to one end of the rectangular slide 231, and a front synchronous pulley 262 fixed to the other end of the rectangular slide 231. A second synchronous belt 263 is engaged between the rear synchronous pulley 261 and the front synchronous pulley 262. A second clamping plate 264 for clamping the second synchronous belt 263 is fixedly arranged on the base 221, and a third clamping plate 265 for clamping the second synchronous belt 263 is fixedly arranged on the slide table 241 of the second telescopic arm 240. The second telescopic arm 240 moves synchronously with the second synchronous belt 263.

[0074] When the first horizontal driving mechanism 250 drives the first telescopic arm 230 to extend or retract, the second synchronous belt 263 engaged with the rear synchronous pulley 261 and the front synchronous pulley 262 uses the extension or retraction movement of the first telescopic arm 230 as power, and drives the second telescopic arm 240 to reciprocally slide along the length direction of the second linear guide 232 through the second clamping plate 264 and the third clamping plate 265, and enables the second telescopic arm 240 to complete the extension or retraction movement at double speed. The second clamping plate 264 and the third clamping plate 265 are respectively arranged at intervals in the Y-axis direction and the X-axis direction on the second synchronous belt 263, so that the first telescopic arm 230 and the second telescopic arm 240 synchronously extend or retract.

[0075] In some alternative embodiments: Refer to Figures 5 to 8 As shown, the embodiment of the present application provides a loading and unloading manipulator. The second telescopic arm 240 of the loading and unloading manipulator includes a slide table 241 slidably connected to the second linear guide 232. A plurality of spaced struts 242 are provided on the top of the slide table 241. Vacuum suction cups 243 for gripping the material tray 270 are provided on each of the struts 242; proximity sensors 244 for detecting the position of the material tray 270 are provided on each of the struts 242. When the proximity sensor 244 approaches the material tray 270, the vacuum suction cup 243 adsorbs the material tray 270. The second telescopic arm 240 is slidably connected to the second linear guide 232 by using the slide table 241. A plurality of struts 242 for picking and placing the material tray 270 are provided on the slide table 241, and the vacuum suction cups 243 on the struts 242 are used for gripping the material tray 270.

[0076] Working principle

[0077] The embodiment of the present application provides a loading and unloading manipulator. Since the loading and unloading manipulator of the present application is provided with a rotary base 100, the rotary base 100 includes a frame 110, an arm lifting module 120 is provided on the frame 110, and a turntable 130 located at the bottom of the frame 110 for driving the frame 110 to rotate; a robotic arm 200, the robotic arm 200 includes at least two sets of telescopic arms 210 fixed on the arm lifting module 120, and the two sets of telescopic arms 210 are arranged at intervals up and down and extend and retract in the same direction.

[0078] Therefore, the loading and unloading manipulator of the present application is provided with two sets of telescopic arms 210 for loading and unloading on the rotary base 100. An arm lifting module 120 for driving the two sets of telescopic arms 210 to synchronously lift and lower is provided on the rotary base 100, and a turntable 130 for driving the two sets of telescopic arms 210 to synchronously rotate is provided.

[0079] The robotic arm 200 is designed with double telescopic arms 210 arranged at intervals vertically. Both groups of telescopic arms 210 adopt a telescopic structure. After contraction, the two groups of telescopic arms 210 can occupy a smaller rotational space. The two groups of telescopic arms 210 cooperate with each other to achieve continuous feeding and discharging, accelerating the working rhythm of loading and unloading and reducing the waiting time of inspection or processing equipment.

[0080] In the description of the present application, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings. It is 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. Therefore, it should not be construed as a limitation to the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" 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 directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.

[0081] It should be noted that in the present application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the said element.

[0082] The above description is only the specific implementation manners of the present application, enabling those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A loading and unloading manipulator, characterized in that, Comprising: A rotary base (100), the rotary base (100) includes a frame (110), an arm lifting module (120) is provided on the frame (110), and a turntable (130) located at the bottom of the frame (110) for driving the frame (110) to rotate; A robotic arm (200), the robotic arm (200) includes at least two telescopic arms (210) fixed on the arm lifting module (120), the two telescopic arms (210) are arranged at intervals up and down and perform telescopic movement in the same direction.

2. The loading and unloading manipulator according to claim 1, characterized in that: The frame (110) includes a base (111) connected to the top of the turntable (130), two parallel and spaced vertical plates (112) are provided on the top of the base (111), and a top plate (113) is fixedly connected to the top of the two vertical plates (112); The arm lifting module (120) includes two linear modules (121) arranged vertically and respectively fixed on the side walls of the two vertical plates (112) and opposite to each other, and the two telescopic arms (210) are both located between the two linear modules (121) and fixedly connected to the sliders of the linear modules (121).

3. The loading and unloading manipulator according to claim 2, characterized in that: The arm lifting module (120) further includes a lifting drive mechanism fixed on the top of the top plate (113) and driving the two linear modules (121) to perform synchronous lifting movement.

4. The loading and unloading manipulator according to claim 3, characterized in that: The lifting drive mechanism includes a first drive motor (122), and a double-shaft output speed reducer (123) connected to the first drive motor (122), and the output shafts of the double-shaft output speed reducer (123) are respectively connected to the input shafts of the linear modules (121) through right-angle drives (124).

5. The loading and unloading manipulator according to claim 1, characterized in that: The telescopic arm (210) includes a sliding seat (220) fixed on the arm lifting module (120), a first telescopic arm (230) is slidably connected to the sliding seat (220), and a second telescopic arm (240) is slidably connected to the first telescopic arm (230); A first horizontal drive mechanism (250) for driving the first telescopic arm (230) to reciprocate horizontally is provided on the sliding seat (220); A second horizontal drive mechanism (260) for driving the second telescopic arm (240) to reciprocate horizontally is provided on the first telescopic arm (230).

6. The loading and unloading manipulator according to claim 5, characterized in that: The sliding seat (220) includes a base (221) arranged horizontally, side plates (222) fixed on both sides of the base (221) and connected to the arm lifting module (120), and first linear guide rails (223) for slidably connecting the first telescopic arm (230) are fixed on both side plates (222); The first telescopic arm (230) includes a rectangular carriage (231) slidably connected between two sets of the first linear guide rails (223), and two sets of second linear guide rails (232) for slidably connecting the second telescopic arm (240) are provided on the rectangular carriage (231).

7. The loading and unloading manipulator according to claim 5 or 6, characterized in that: The first horizontal driving mechanism (250) includes a second driving motor (251) fixed to one end of the slide base (220), a driving synchronous pulley (252) connected to the output shaft of the second driving motor (251), and a driven synchronous pulley (253) fixed to the other end of the slide base (220); A first synchronous belt (254) is meshed and connected between the driving synchronous pulley (252) and the driven synchronous pulley (253), a first clamping plate (255) for clamping the first synchronous belt (254) is fixedly provided on the first telescopic arm (230), and the first telescopic arm (230) moves synchronously with the first synchronous belt (254).

8. The loading and unloading manipulator according to claim 6, characterized in that: The second horizontal driving mechanism (260) includes a rear synchronous pulley (261) fixed to one end of the rectangular carriage (231), and a front synchronous pulley (262) fixed to the other end of the rectangular carriage (231), and a second synchronous belt (263) is meshed and connected between the rear synchronous pulley (261) and the front synchronous pulley (262); A second clamping plate (264) for clamping the second synchronous belt (263) is fixedly provided on the base (221), a third clamping plate (265) for clamping the second synchronous belt (263) is fixedly provided on the second telescopic arm (240), and the second telescopic arm (240) moves synchronously with the second synchronous belt (263).

9. The loading and unloading manipulator according to claim 6, characterized in that: The second telescopic arm (240) includes a slide table (241) slidably connected to the second linear guide rail (232), a plurality of spaced struts (242) are provided on the top of the slide table (241), and vacuum suction cups (243) for gripping the material tray (270) are provided on each of the struts (242).

10. The loading and unloading manipulator according to claim 9, characterized in that: Proximity sensors (244) for detecting the position of the material tray (270) are provided on each of the struts (242), and when the proximity sensor (244) approaches the material tray (270), the vacuum suction cup (243) adsorbs the material tray (270).

Images