Three-axis rectangular coordinate unhooking and rehooking robot

Abstract

The utility model discloses a three-axis rectangular coordinate unhooking and rehooking robot which comprises a mounting frame, a plurality of mounting plates are arranged on the top face of the mounting frame, a fixing frame is fixedly connected to the top faces of the mounting plates, and connecting holes are formed in the side wall of the fixing frame. Through mutual cooperative use of a mounting plate, a fixing frame, a limiting hole, a threaded block, a connecting block, a coupler, a connecting plate, a limiting plate, a connecting strip and the like, a traditional transmission mode of a ball screw is abandoned, so that the initial cost is reduced, the device adapts to a more severe use environment, and the device has high bearing capacity and is suitable for popularization and application. According to the three-axis rectangular coordinate unhooking and re-hooking robot, the set motor is started through the PLC, so that movement in different axial directions can be achieved, multi-axis operation is achieved, through the second clamping block and the push rod which are designed to be in the special shape and in the special operation mode, connection and disassembly of a hose can be better achieved, and therefore the working efficiency of the three-axis rectangular coordinate unhooking and re-hooking robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of three-axis rectangular coordinate robots, in particular to a three-axis rectangular coordinate hook picking and re-picking robot. Background Art

[0002] The three-axis rectangular coordinate unhooking and rehooking robot is an automated equipment specially designed for train unhooking and rehooking operations. This type of robot usually has three mutually perpendicular coordinate axes, which realize movement in different directions.

[0003] In the existing technology, traditional hook-removing robots usually adopt a ball screw linkage method, and the ball screw manufacturing process is complicated and the manufacturing cost is high. In some harsh environments, such as dusty, humid, high-temperature environments, the balls in the ball screw are easily affected by dust and impurities, resulting in increased wear and performance degradation. Secondly, the carrying capacity of the ball screw is usually limited by the size and number of the balls, and it is often difficult to carry a large load. Furthermore, the traditional three-axis rectangular coordinate hook-removing robot has difficulty in retrieving the hose. This is mainly due to the special shape of the hose connector. The unique design of the hose connector makes it challenging for the robot to find a suitable fulcrum and grasping method when retrieving. At the same time, the special folding method when retrieving the hose also increases the difficulty. Therefore, there is an urgent need for a three-axis rectangular coordinate hook-removing robot to solve the above problems. Utility Model Content

[0004] The purpose of the utility model is to provide a three-axis rectangular coordinate hook-removing robot to solve the problems of the traditional hook-removing robot proposed in the above background technology, such as complex process, high cost, and difficulty in removing and retrieving the hose.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a three-axis rectangular coordinate picking and re-hooking robot, comprising a mounting frame, a plurality of mounting plates are provided on the top surface of the mounting frame, a fixing frame is fixedly connected to the top surface of the mounting plate, a connecting hole is provided on the side wall of the fixing frame, and a limiting hole is provided on the upper surface and the lower surface of the fixing frame, a threaded block is slidably connected to the inner wall of the two limiting holes, a threaded column is threadedly connected to the inner wall of the threaded block, the surface of the threaded column is rotatably connected to the inner wall of the fixing frame, and the side wall of the fixing frame is fixed A motor is connected, and a connecting block is slidably connected to the inner wall of the connecting hole, and the side wall of the connecting block is fixedly connected to the side wall of the threaded block. The bottom surface of the mounting plate located on the Z axis is fixedly connected to the top surface of the mounting bracket, the bottom surface of the mounting plate located on the X axis is fixedly connected to the side wall of the connecting block located on the Z axis, and the side wall of the mounting plate located on the Y axis is fixedly connected to the side wall of the connecting block located on the X axis. A PLC controller is fixedly connected to the surface of the mounting bracket, and the PLC controller is electrically connected to the motor. A clamping assembly is provided on the side wall of the connecting block located on the Y axis.

[0006] The top of the sliding panel also is connected with the up-down knob, and the bottom of the sliding panel is connected with the up-down knob. The sliding panel also is connected with the up-down knob. The two guide wheels are connected in a direction of rotation and a rotation of the guide wheels are respectively connected to the up-down knob.

[0007] Preferably, a slide rail is fixedly connected to the top surface of the mounting frame, and a slider of the slide rail is fixedly connected to the bottom surface of the X-axis mounting plate.

[0008] Preferably, a connecting seat is fixedly connected to the bottom surface of the mounting frame, and a plurality of fixing holes are opened on the surface of the connecting seat.

[0009] Preferably, the side walls of the mounting frame are fixedly connected to a support plate, and the side walls of the support plate are fixedly connected to the bottom surface of the Z-axis mounting plate.

[0010] Preferably, the bottom surface of the mounting bracket is provided with two elongated holes, and the bottom surface of the mounting bracket is provided with two positioning holes.

[0011] Preferably, a coupling is provided on the inner wall of the fixing frame, the output shaft of the motor is fixedly connected to the inner wall of the coupling, and the surface of the threaded column is fixedly connected to the inner wall of the coupling.

[0012] Preferably, an electric telescopic lever is fixedly connected to the top surface of the connecting plate, a telescopic shaft of the electric telescopic lever is fixedly connected to the lower surface of the connecting bar, and the electric telescopic lever is electrically connected to a PLC controller.

[0013] Preferably, an arcuate groove is provided on the inner wall of the second clamping block, and the size of the arcuate groove matches the size of the connecting end of the hose.

[0014] Compared with the prior art, the beneficial effects of the present invention are:

[0015] By using the mounting plate, fixing frame, limiting hole, threaded block, connecting block, coupling, connecting plate, limiting plate and connecting strip in coordination with each other, the transmission mode of the traditional ball screw is abandoned, thereby reducing the initial cost, adapting to a more severe use environment, and having a stronger bearing capacity. By starting the set motor through the PLC controller, different axial directions can be moved, thereby realizing multi-axis operation. The second clamping block and push rod with a unique shape and operation mode of the design make it easier to connect and disassemble the hose, thereby improving the working efficiency of the three-axis rectangular coordinate picking and re-hooking robot. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 This is a schematic diagram of the fixing frame structure of the utility model;

[0018] Figure 3 This is a schematic diagram of the connecting plate structure of the present invention;

[0019] Figure 4 This is a schematic diagram of the connecting seat structure of the present utility model.

[0020] In the figure: 1. Mounting frame; 2. Mounting plate; 3. Fixing frame; 4. Connecting hole; 5. Limiting hole; 6. Threaded block; 7. Threaded column; 8. Motor; 9. Connecting block; 10. Coupling; 11. Long hole; 12. L-shaped plate; 13. Connecting plate; 14. Limiting plate; 15. Sliding block; 16. Connecting strip; 17. Electric telescopic lever; 18. Connecting column; 19. Push rod; 20. Fixed column; 21. Rotating plate; 22. Rotating column; 23. Clamping cylinder; 24. First clamping block; 25. Second clamping block; 26. Slide rail; 27. Connecting seat; 28. Fixing hole; 29. Support plate. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0022] See also Figure 1-4The utility model provides a three-axis rectangular coordinate picking and re-hooking robot, including a mounting frame 1, a plurality of mounting plates 2 are provided on the top surface of the mounting frame 1, a fixing frame 3 is fixedly connected to the top surface of the mounting plate 2, a connecting hole 4 is provided on the side wall of the fixing frame 3, and a limiting hole 5 is provided on the upper and lower surfaces of the fixing frame 3. The inner walls of the two limiting holes 5 are slidably connected with a threaded block 6, the inner wall of the threaded block 6 is threadedly connected with a threaded column 7, the surface of the threaded column 7 is rotatably connected to the inner wall of the fixing frame 3, and the side wall of the fixing frame 3 is fixedly connected to a motor 8. The inner wall of the connecting hole 4 is slidably connected with a connecting block 9, the side wall of the connecting block 9 is fixedly connected to the side wall of the threaded block 6, the bottom surface of the Z-axis mounting plate 2 is fixedly connected to the top surface of the mounting frame 1, the bottom surface of the X-axis mounting plate 2 is fixedly connected to the side wall of the Z-axis connecting block 9, the side wall of the Y-axis mounting plate 2 is fixedly connected to the side wall of the X-axis connecting block 9, the surface of the mounting frame 1 is fixedly connected with a PLC controller, the PLC controller is electrically connected to the motor 8, and a clamping assembly is provided on the side wall of the Y-axis connecting block 9.

[0023] Furthermore, the clamping assembly includes an L-shaped plate 12, the L-shaped plate 12 is fixedly connected to the side wall of the Y-axis connecting block 9, the side wall of the L-shaped plate 12 is fixedly connected to a connecting plate 13, the top surface of the connecting plate 13 is fixedly connected to a limit plate 14, the inner wall of the limit plate 14 is slidably connected to a sliding block 15, the side wall of the sliding block 15 is fixedly connected to a connecting strip 16, the side wall of the sliding block 15 is fixedly connected to a connecting column 18, the side wall of the connecting plate 13 is fixedly connected to two fixed columns 20, the surface of the fixed column 20 is rotatably connected to a rotating plate 21, and the side wall of the rotating plate 21 is fixedly connected to the It is fixedly connected with a rotating column 22, and the surface of the rotating column 22 is sleeved with a pushing rod 19. The inner walls of the two pushing rods 19 are rotatably connected to the surface of the connecting column 18. The side wall of the rotating plate 21 is fixedly connected with a clamping cylinder 23, and the side wall of the clamping jaw in front of the clamping cylinder 23 is fixedly connected with a first clamping block 24, and the side wall of the clamping jaw behind the clamping cylinder 23 is fixedly connected with a second clamping block 25. The clamping cylinder 23 is electrically connected to the PLC controller. The rotating plate 21, the pushing rod 19 and the connecting column 18 are used in conjunction with each other to facilitate the removal and recovery of the hose.

[0024] Furthermore, the top surface of the mounting frame 1 is fixedly connected with a slide rail 26, and the slider of the slide rail 26 is fixedly connected to the bottom surface of the X-axis mounting plate 2. The provision of the slide rail 26 facilitates the movement of the X-axis mounting plate 2.

[0025] Furthermore, a connecting seat 27 is fixedly connected to the bottom surface of the mounting frame 1 , and a plurality of fixing holes 28 are provided on the surface of the connecting seat 27 . The plurality of fixing holes 28 facilitate the fixing of the connecting seat 27 .

[0026] Furthermore, the side wall of the mounting frame 1 is fixedly connected to a support plate 29, and the side wall of the support plate 29 is fixedly connected to the bottom surface of the Z-axis mounting plate 2. The support plate 29 is provided to facilitate supporting the mounting plate 2.

[0027] Furthermore, two elongated holes 11 are provided on the bottom surface of the mounting frame 1 , and two positioning holes are provided on the bottom surface of the mounting frame 1 . The elongated holes 11 make it easier to fix the mounting frame 1 .

[0028] Furthermore, a coupling 10 is provided on the inner wall of the fixed frame 3, the output shaft of the motor 8 is fixedly connected to the inner wall of the coupling 10, and the surface of the threaded column 7 is fixedly connected to the inner wall of the coupling 10. The coupling 10 is provided to avoid rigid contact between the output shaft of the motor 8 and the threaded column 7.

[0029] Furthermore, the top surface of the connecting plate 13 is fixedly connected to an electric telescopic lever 17, the telescopic axis of the electric telescopic lever 17 is fixedly connected to the lower surface of the connecting bar 16, and the electric telescopic lever 17 is electrically connected to the PLC controller. The setting of the electric telescopic lever 17 makes it easy to push the connecting bar 16 up and down.

[0030] Furthermore, an arc-shaped groove is provided on the inner wall of the second clamping block 25, and the size of the arc-shaped groove matches the size of the connecting end of the hose. By setting up the second clamping block 25 with an arc-shaped groove, when the hose is clamped, the inner wall of the second clamping block 25 fits the surface of the connecting end of the hose more closely.

[0031] Working principle: The motor 8 is started by the set PLC controller, and the output shaft of the motor 8 rotates to drive the coupling 10 and the threaded column 7 to rotate. The threaded column 7 rotates through the limit of the limit hole 5 to move the limit hole 5, and the limit hole 5 drives the connecting block 9 to move. Different movements of the connecting block 9 can drive different axial movements. After reaching the specified position, the clamping claws of the clamping cylinder 23 are contracted to clamp the hook rod. The output shaft of the rear Y-axis motor 8 rotates to drive the connecting block 9 to move, thereby driving the connecting plate 13, the push rod 19 and the clamping cylinder 23 to move, thereby completing the hook lifting. When the clamping cylinder 23 reaches the set position for the hose connection, the two clamping cylinders 23 clamp the two ends of the hose in turn, and then the electric telescopic lever 17 is started by the PLC controller. The telescopic shaft of the electric telescopic lever 17 descends, driving the sliding block 15, the connecting column 18 and the push rod 19 to descend. The push rod 19 descends and pushes the rotating plate 21 around the fixed column 20. The rotating plate 21 rotates and drives the clamping cylinders 23. The two clamping cylinders 23 rotate at the same time to form a folding bend at the connection of the hose. After that, the two clamping cylinders 23 loosen the clamping claws at the same time to release the connection between the two ends of the hose.

[0032] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A three-axis rectangular coordinate hook picking robot, comprising a mounting frame (1), characterized in that: The top surface of the mounting frame (1) is provided with a plurality of mounting plates (2), the top surface of the mounting plate (2) is fixedly connected to a fixing frame (3), the side wall of the fixing frame (3) is provided with a connecting hole (4), the upper surface and the lower surface of the fixing frame (3) are both provided with a limiting hole (5), the inner walls of the two limiting holes (5) are slidably connected to a threaded block (6), the inner wall of the threaded block (6) is threadedly connected to a threaded column (7), the surface of the threaded column (7) is rotatably connected to the inner wall of the fixing frame (3), the side wall of the fixing frame (3) is fixedly connected to a motor (8), the inner wall of the connecting hole (4) is provided with a threaded block (6), and the inner wall of the threaded block (6) is threadedly connected to a threaded column (7). A connecting block (9) is slidably connected, and the side wall of the connecting block (9) is fixedly connected to the side wall of the threaded block (6). The bottom surface of the mounting plate (2) located on the Z axis is fixedly connected to the top surface of the mounting frame (1). The bottom surface of the mounting plate (2) located on the X axis is fixedly connected to the side wall of the connecting block (9) located on the Z axis. The side wall of the mounting plate (2) located on the Y axis is fixedly connected to the side wall of the connecting block (9) located on the X axis. A PLC controller is fixedly connected to the surface of the mounting frame (1), and the PLC controller is electrically connected to the motor (8). A clamping assembly is provided on the side wall of the connecting block (9) located on the Y axis.

2. A three-axis rectangular coordinate hook-picking robot according to claim 1, characterized in that: The clamping assembly comprises an L-shaped plate (12), the L-shaped plate (12) is fixedly connected to the side wall of the Y-axis connecting block (9), the side wall of the L-shaped plate (12) is fixedly connected to a connecting plate (13), the top surface of the connecting plate (13) is fixedly connected to a limiting plate (14), the inner wall of the limiting plate (14) is slidably connected to a sliding block (15), the side wall of the sliding block (15) is fixedly connected to a connecting strip (16), the side wall of the sliding block (15) is fixedly connected to a connecting column (18), the side wall of the connecting plate (13) is fixedly connected to two fixing columns (20), the fixing columns (20) The surface of the rotating plate (21) is rotatably connected to the rotating plate, the side wall of the rotating plate (21) is fixedly connected to the rotating column (22), the surface of the rotating column (22) is sleeved with a push rod (19), the inner walls of the two push rods (19) are rotatably connected to the surface of the connecting column (18), the side wall of the rotating plate (21) is fixedly connected to the clamping cylinder (23), the side wall of the front clamping jaw of the clamping cylinder (23) is fixedly connected to the first clamping block (24), the side wall of the rear clamping jaw of the clamping cylinder (23) is fixedly connected to the second clamping block (25), and the clamping cylinder (23) is electrically connected to the PLC controller.

3. The three-axis rectangular coordinate hook-picking robot according to claim 1, characterized in that: The top surface of the mounting frame (1) is fixedly connected to a slide rail (26), and the slider of the slide rail (26) is fixedly connected to the bottom surface of the X-axis mounting plate (2).

4. The three-axis rectangular coordinate hook-picking robot according to claim 1, characterized in that: The bottom surface of the mounting frame (1) is fixedly connected to a connecting seat (27), and a surface of the connecting seat (27) is provided with a plurality of fixing holes (28).

5. The three-axis rectangular coordinate hook-picking robot according to claim 1, characterized in that: The side wall of the mounting frame (1) is fixedly connected to a support plate (29), and the side wall of the support plate (29) is fixedly connected to the bottom surface of the Z-axis mounting plate (2).

6. The three-axis rectangular coordinate hook-picking robot according to claim 1, characterized in that: The bottom surface of the mounting frame (1) is provided with two elongated holes (11), and the bottom surface of the mounting frame (1) is provided with two positioning holes.

7. The three-axis rectangular coordinate hook-picking robot according to claim 1, characterized in that: A coupling (10) is provided on the inner wall of the fixing frame (3), the output shaft of the motor (8) is fixedly connected to the inner wall of the coupling (10), and the surface of the threaded column (7) is fixedly connected to the inner wall of the coupling (10).

8. The three-axis rectangular coordinate hook-picking robot according to claim 2, characterized in that: The top surface of the connecting plate (13) is fixedly connected to an electric telescopic rod (17), the telescopic axis of the electric telescopic rod (17) is fixedly connected to the lower surface of the connecting bar (16), and the electric telescopic rod (17) is electrically connected to a PLC controller.

9. The three-axis rectangular coordinate hook-picking robot according to claim 2, characterized in that: An arcuate groove is provided on the inner wall of the second clamping block (25), and the size of the arcuate groove matches the size of the connecting end of the hose.

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