Carrying device
By combining the structure of the gantry, handling mechanism and linear module, the high cost and low efficiency problems of traditional robotic handling devices are solved, high speed and high efficiency material handling is achieved, and equipment installation and maintenance costs are reduced.
Patent Information
- Application Number
- CN202422547752.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-21
- Publication Date
- 2025-08-01
- Estimated Expiration
- 2034-10-21
AI Technical Summary
Due to the use of multiple linear modules in traditional robotic handling devices, the equipment installation environment and space requirements are high, the manufacturing cost is high, and it is difficult to meet the handling needs of high speed and high efficiency.
The structure of a gantry, handling mechanism and linear module is adopted. The driving component drives the cam on the transmission shaft to rotate, the connecting rod drives the load transfer module up and down, and the linear module drives the load transfer module to reciprocate in the X-axis direction, achieving efficient material handling.
It realizes high-speed and efficient material handling, reduces manufacturing and maintenance costs, and improves handling accuracy and stability.
Smart Images
Figure CN223175233U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automatic production, in particular to a handling device. Background Art
[0002] In the era of rapid development of industrial automation today, material handling, as an important link in the production process, is facing huge changes. And the integration of manipulator handling, with its excellent performance and reliable quality, has become the mainstay in the field of automatic material handling; with the continuous upgrading of the manufacturing industry, higher requirements are put forward for the accuracy and stability of material handling. The traditional manual handling method not only has a large labor intensity, low efficiency, but also is prone to errors and safety accidents, and can no longer meet the needs of modern industrial production. The emergence of the integration of manipulator handling provides a perfect solution to solve these problems.
[0003] The manipulator usually uses multiple linear modules to control the direction of material handling. However, the linear module has high requirements for the installation environment and installation space of the equipment, and the manufacturing cost and later maintenance cost of the linear module are relatively high. On the other hand, the linear module is difficult to meet the high-speed and high-efficiency handling operation.
[0004] Therefore, there is an urgent need for a handling device to solve the above problems. Summary of the Utility Model
[0005] Based on the above, the purpose of the utility model is to provide a handling device to solve the problem that the manipulator composed of multiple linear modules is difficult to meet the high-speed and high-efficiency handling operation.
[0006] To solve the above technical problems, the utility model adopts the following technical scheme:
[0007] A handling device provided by the utility model includes a gantry, and a plurality of jigs for material detection are arranged on the gantry;
[0008] A handling mechanism is arranged in front of the gantry and includes a driving component and a carrying bracket; the output end of the driving component is connected with a transmission shaft, and one end of the transmission shaft far away from the driving component is rotatably arranged in the carrying bracket along the X-axis direction; the carrying bracket is provided with a clearance channel, a cam is fixed on the transmission shaft located in the clearance channel, and a connecting rod is arranged above the cam;
[0009] A transfer module is arranged in parallel behind the gantry for handling materials, and two ends of the connecting rod are respectively rotatably connected to the carrying bracket and the transfer module;
[0010] A linear module is arranged below the transfer module for driving the transfer module to reciprocate along the X-axis direction;
[0011] Among them, the driving component drives the cam to rotate, drives the connecting rod to move up and down, and further drives the transfer module to reciprocate in the Z-axis direction.
[0012] As an alternative technical solution of a handling device, the driving component includes a motor, a reducer, and a coupling; the output end of the motor is connected to the input end of the reducer; one end of the coupling is connected to the output end of the reducer, and the other end is connected to the transmission shaft.
[0013] As an alternative technical solution of a handling device, a circular induction piece is provided at one end of the transmission shaft close to the coupling, and a reset sensor matching the circular induction piece is provided on one side of the bearing bracket close to the circular induction piece.
[0014] As an alternative technical solution of a handling device, a first shaft wheel and a second shaft wheel are respectively installed on the connecting rod. The outer diameter of the first shaft wheel is in contact with the cam, and the second shaft wheel is rotatably connected to the transfer module.
[0015] As an alternative technical solution of a handling device, the transfer module includes a mounting plate and a transfer bracket; a lateral sliding component is provided between the mounting plate and the transfer bracket, and the transfer bracket can move left and right in the X-axis direction through the lateral sliding component.
[0016] As an alternative technical solution of a handling device, a longitudinal sliding component is provided between the mounting plate and the bearing bracket, and the mounting plate and the transfer bracket can move up and down in the Z-axis direction through the longitudinal sliding component.
[0017] As an alternative technical solution of a handling device, a third shaft wheel is provided on one side of the transfer bracket away from the mounting plate, and a longitudinal chute matching the third shaft wheel is provided on the moving end of the linear module.
[0018] As an alternative technical solution of a handling device, a plurality of material suction devices are installed on the upper end of the transfer bracket along the X-axis direction.
[0019] As an alternative technical solution of a handling device, a limit cylinder is fixedly installed below the mounting plate, and the output end of the limit cylinder is connected to the mounting plate.
[0020] As an alternative technical solution of a handling device, a limit component is provided between the bearing bracket and the mounting plate. The limit component includes a limit screw installed on one side of the bearing bracket and a limit block provided on one side of the mounting plate.
[0021] The beneficial effects of the present utility model are:
[0022] A handling device provided by the present utility model, the handling device includes a gantry, a handling mechanism, a transfer module and a linear module; the handling mechanism is arranged in front of the gantry and includes a driving component and a bearing bracket; the output end of the driving component is connected to a transmission shaft, and one end of the transmission shaft away from the driving component is rotatably arranged in the bearing bracket along the X-axis direction; the bearing bracket is provided with a clearance passage, a cam is fixed on the transmission shaft located in the clearance passage, and a connecting rod is installed above the cam; the transfer module is arranged in parallel behind the gantry, and both ends of the connecting rod are respectively rotatably connected to the bearing bracket and the transfer module; the linear module is arranged below the transfer module and is used to drive the transfer module to reciprocate along the X-axis direction.
[0023] Under the above structure, the handling device drives the transmission shaft and the cam on the transmission shaft to rotate reciprocally through a motor and drives the connecting rod to drive the transfer module to move up and down reciprocally, so as to realize the up and down handling action of the material sucked by the material suction device; the moving end on the linear module drives the transfer bracket to move left and right to realize the left and right handling action of the material sucked by the material suction device. The handling device provided by the present utility model enables the materials on the production line to be handled at high speed and high efficiency through the combination structure of the handling mechanism and the linear module; and the manufacturing and later maintenance costs of the handling mechanism are relatively lower than those of the traditional multi-linear module. Description of the Drawings
[0024] Figure 1 It is a schematic diagram of the overall structure of the handling device from the first perspective in the embodiment of the present utility model;
[0025] Figure 2 It is a schematic diagram of the overall structure of the handling device from the second perspective in the embodiment of the present utility model;
[0026] Figure 3 It is a schematic diagram of a partial structure of the handling mechanism from the first perspective in the embodiment of the present utility model;
[0027] Figure 4 It is a schematic diagram of a partial structure of the handling mechanism from the second perspective in the embodiment of the present utility model;
[0028] Figure 5 It is a schematic diagram of the structure of the transfer module and the linear module in the embodiment of the present utility model;
[0029] Figure 6 For Figure 5 The enlarged schematic diagram at position A in;
[0030] Figure 7 It is a schematic cross-sectional view of the third shaft wheel and the longitudinal chute in the embodiment of the present utility model.
[0031] In the figure: 1. Gantry; 11. Fixture; 2. Handling mechanism; 21. Driving assembly; 210. Motor; 211. Reducer; 212. Coupling; 22. Carrying bracket; 23. Transmission shaft; 230. Circular induction piece; 231. Reset sensor; 24. Clearance passage; 25. Cam; 26. Connecting rod; 260. First shaft wheel; 261. Second shaft wheel; 3. Transfer module; 31. Mounting plate; 32. Transfer bracket; 320. Third shaft wheel; 33. Transverse sliding assembly; 34. Longitudinal sliding assembly; 35. Material suction device; 4. Linear module; 41. Longitudinal chute; 5. Limit cylinder; 6. Limit assembly; 60. Limit screw; 61. Limit block. Detailed implementation mode
[0032] The present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the present utility model, rather than limiting the present utility model. In addition, it should be noted that, for the sake of convenience of description, only the parts related to the present utility model rather than all the structures are shown in the drawings.
[0033] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; 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 or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.
[0034] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact of the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "above", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the first feature is at a higher horizontal height than the second feature. The first feature being "below", "below", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or only indicates that the first feature is at a lower horizontal height than the second feature.
[0035] In the description of this embodiment, the orientation or positional relationship terms such as "above", "below", "left", and "right" are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplifying the operation, 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 thus cannot be understood as a limitation to the present utility model.
[0036] In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.
[0037] As Figures 1 to 7 shown, the present utility model provides a handling device, which includes a gantry 1, on which there are a plurality of jigs 11 for material detection; a handling mechanism 2, arranged in front of the gantry 1, including a driving assembly 21 and a bearing bracket 22; an output end of the driving assembly 21 is connected with a transmission shaft 23, and one end of the transmission shaft 23 far away from the driving assembly 21 is rotatably arranged in the bearing bracket 22 along the X-axis direction; the bearing bracket 22 is provided with a clearance passage 24, and a cam 25 is fixedly arranged on the transmission shaft 23 located in the clearance passage 24, and a connecting rod 26 is arranged above the cam 25; a transfer module 3, arranged in parallel behind the gantry 1 for handling materials, and two ends of the connecting rod 26 are respectively rotatably connected to the bearing bracket 22 and the transfer module 3; a linear module 4, arranged below the transfer module 3 for driving the transfer module 3 to reciprocate along the X-axis direction; wherein, the driving assembly 21 drives the cam 25 to rotate, drives the connecting rod 26 to move up and down, and further drives the transfer module 3 to reciprocate along the Z-axis direction.
[0038] The handling device provided by the present utility model drives the transmission shaft 23 and the cam 25 on the transmission shaft 23 to rotate reciprocally through a motor 210, and drives the connecting rod 26 to drive the transfer module 3 to move up and down reciprocally, so as to realize the up and down handling action of the material sucked by the material suction device 35; the moving end on the linear module 4 drives the transfer bracket 32 to move left and right, so as to realize the left and right handling action of the material sucked by the material suction device 35. The handling device provided by the present utility model enables the materials on the production line to be handled at high speed and high efficiency through the combination structure of the handling mechanism 2 and the linear module 4; and the manufacturing and later maintenance costs of the handling mechanism 2 are relatively lower than those of the traditional multiple linear modules 4.
[0039] Specifically, as Figure 1 and Figure 3As shown, the multiple fixtures 11 provided on the gantry 1 can be used to perform different types of inspections on the materials on the production line, thereby ensuring the qualified rate of the materials; the drive assembly 21 includes a motor 210, a reducer 211 and a coupling 212; the output end of the motor 210 is connected to the input end of the reducer 211; one end of the coupling 212 is connected to the output end of the reducer 211, and the other end of the coupling 212 is connected to the transmission shaft 23. Among them, the motor 210 is preferably a servo motor. Compared with other motors 210, the servo motor has higher positioning accuracy, torque and speed, and can control the position and speed of the cam 25 to rotate more efficiently, so that the speed and accuracy of the material during up and down handling are higher. A circular induction piece 230 is provided at one end of the transmission shaft 23 close to the coupling 212, and a reset sensor 231 matching the circular induction piece 230 is provided on one side of the bearing bracket 22 close to the circular induction piece 230. The servo motor realizes the high-precision reciprocating rotation of the cam 25 through the circular induction piece 230 and the reset sensor 231, thereby improving the precise up and down reciprocating movement of the transfer module 3, so that the material can maintain a unified height during each up and down handling process, and the stability of the material handling is improved.
[0040] Further, as Figure 3 and Figure 4 shown, one end of the connecting rod 26 is rotatably installed on the bearing bracket 22 through a pin shaft and is located above the cam 25. A second shaft wheel 261 is installed at the other end of the connecting rod 26 and is rotatably connected to the mounting plate 31 through the second shaft wheel 261. A first shaft wheel 260 is also provided between the second shaft wheel 261 and the pin shaft. The outer diameter of the first shaft wheel 260 abuts against the outer diameter of the cam 25. When the cam 25 reciprocates, the first shaft wheel 260 and the cam 25 roll relative to each other, and drive the connecting rod 26 to drive the transfer module 3 to move up and down quickly. Compared with the traditional linear module 4, this structure can effectively improve its moving speed, and the structure is relatively simple, with lower manufacturing cost and later maintenance cost, and wider applicability.
[0041] In this embodiment, as Figure 5 and Figure 6 shown, the transfer module 3 includes a mounting plate 31 and a transfer bracket 32; a lateral sliding assembly 33 is provided between the mounting plate 31 and the transfer bracket 32, and the transfer bracket 32 moves left and right along the X-axis direction through the lateral sliding assembly 33; a longitudinal sliding assembly 34 is provided between the mounting plate 31 and the bearing bracket 22, and the mounting plate 31 and the transfer bracket 32 move up and down along the Z-axis direction through the longitudinal sliding assembly 34. Both the lateral sliding assembly 33 and the longitudinal sliding assembly 34 are composed of sliders and chutes. This structure enables the transfer bracket 32 to perform reciprocating movements in the X-axis and Z-axis directions, thereby realizing the fast and precise handling of materials in the X-axis and Z-axis directions.
[0042] Further, asFigure 2 and Figure 7 As shown in Figure 7 , a third shaft wheel 320 is provided on one side of the transfer bracket 32 away from the mounting plate 31, and a longitudinal chute 41 matching the third shaft wheel 320 is provided on the moving end of the linear module 4. The third shaft wheel 320 is slidably sleeved in the longitudinal chute 41. When the linear module 4 drives the longitudinal chute 41 to move in the X-axis direction, it simultaneously drives the transfer bracket 32 to reciprocate in the X-axis direction. When the handling mechanism 2 drives the transfer bracket 32 to move up and down in the Z-axis direction, the third shaft wheel 320 moves up and down in the longitudinal chute 41. Therefore, this structure enables the transfer bracket 32 to independently handle materials in the Z-axis or X-axis direction.
[0043] Furthermore, a plurality of material suction cups 35 matching the fixtures 11 at the upper end of the gantry 1 are installed along the X-axis direction at the upper end of the transfer bracket 32. The material suction cups 35 are used to suck or place the materials in the fixtures 11 to the destination.
[0044] In this embodiment, as Figure 5 and Figure 6 shown, in order to ensure that the transfer module 3 handles materials more stably and accurately during the up and down movement, a limit cylinder 5 is fixedly installed below the mounting plate 31, and the output end of the limit cylinder 5 is connected to the mounting plate 31. When the handling mechanism 2 drives the mounting plate 31 to move upward, the output shaft of the limit cylinder 5 extends. When the output shaft of the limit cylinder 5 extends to the maximum limit, the upward movement stroke of the mounting plate 31 is limited. When the handling mechanism 2 drives the mounting plate 31 to move downward, the output shaft of the limit cylinder 5 resets and limits the downward movement stroke of the mounting plate 31. That is to say, the setting of the limit cylinder 5 enables the transfer module 3 to move the materials to the destination more stably and accurately when handling materials up and down. In addition, in order to better adjust and limit the upward movement stroke of the transfer module 3, a limit component 6 is provided between the bearing bracket 22 and the mounting plate 31. The limit component 6 includes a limit screw 60 installed on one side of the bearing bracket 22 and a limit block 61 provided on one side of the mounting bracket. The bottom end of the limit screw 60 faces the limit block 61. When the mounting plate 31 moves upward to the highest position, the limit block 61 abuts against the limit screw 60 to limit the maximum upward movement stroke of the mounting plate 31. A nut is threadedly connected to the limit screw 60, and the distance between the bottom end of the limit screw 60 and the limit block 61 is adjusted by rotating the position of the nut on the limit screw 60, thereby adjusting the maximum upward movement stroke of the mounting plate 31.
[0045] The above is only a preferred embodiment of the present utility model, and does not impose any form of limitation on the present utility model. Although the present utility model is disclosed above in a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art, without departing from the scope of the technical solution of the present utility model, when making some changes or modifications using the above-disclosed technical content to equivalent embodiments of equivalent changes, but as long as it does not depart from the content of the technical solution of the present utility model, any simple modification, equivalent change and modification made to the above embodiments according to the technology of the present utility model all fall within the scope of the technical solution of the present utility model.
Claims
1. A handling device, including a gantry, and a plurality of jigs for material detection are provided on the gantry, characterized in that, It further includes: A handling mechanism, disposed in front of the gantry, including a driving assembly and a carrying bracket; The output end of the driving assembly is connected to a transmission shaft, and the end of the transmission shaft away from the driving assembly is rotatably inserted through the carrying bracket along the X-axis direction; a clearance passage is provided on the carrying bracket, and a cam is fixedly provided on the transmission shaft located in the clearance passage, and a connecting rod is installed above the cam; A transfer module, disposed parallel to the rear of the gantry for handling materials, and the two ends of the connecting rod are respectively rotatably connected to the carrying bracket and the transfer module; A linear module, disposed below the transfer module for driving the transfer module to reciprocate along the X-axis direction; Wherein, the driving assembly drives the cam to rotate, which drives the connecting rod to move up and down, and further drives the transfer module to reciprocate along the Z-axis direction.
2. The handling device according to claim 1, characterized in that, The driving assembly includes a motor, a reducer and a coupling; the output end of the motor is connected to the input end of the reducer; one end of the coupling is connected to the output end of the reducer, and the other end is connected to the transmission shaft.
3. The handling device according to claim 2, wherein, A circular induction piece is provided on the end of the transmission shaft close to the coupling, and a reset sensor matching the circular induction piece is provided on the side of the carrying bracket close to the circular induction piece.
4. A handling device according to claim 1, characterized in that, A first shaft wheel and a second shaft wheel are respectively installed on the connecting rod, the outer diameter of the first shaft wheel abuts against the cam, and the second shaft wheel is rotatably connected to the transfer module.
5. A handling device according to claim 1, characterized in that The transfer module includes a mounting plate and a transfer bracket; a lateral sliding assembly is provided between the mounting plate and the transfer bracket, and the transfer bracket can move left and right along the X-axis direction through the lateral sliding assembly.
6. The handling device according to claim 5, characterized in that, A longitudinal sliding assembly is provided between the mounting plate and the carrying bracket, and the mounting plate and the transfer bracket can move up and down along the Z-axis direction through the longitudinal sliding assembly.
7. The handling device according to claim 6, characterized in that, A third shaft wheel is provided on the side of the transfer bracket away from the mounting plate, and a longitudinal sliding groove matching the third shaft wheel is provided on the moving end of the linear module.
8. A handling device according to claim 5, characterized in that, A plurality of material suction devices are installed on the upper end of the transfer bracket along the X-axis direction.
9. A handling device according to claim 8, characterized in that, A limiting cylinder is fixedly provided below the mounting plate, and the output end of the limiting cylinder is connected to the mounting plate.
10. A handling device according to claim 9, characterized in that, A limiting component is provided between the carrying bracket and the mounting plate, and the limiting component includes a limiting screw installed on one side of the carrying bracket and a limiting block provided on one side of the mounting plate.