Manipulator capable of reducing load of lifting mechanism

Abstract

The utility model discloses a manipulator for reducing lifting mechanism load, which comprises a grabbing keeping mechanism, a horizontal conveying mechanism, a lifting mechanism and a machine base, the machine base is provided with a fixed bedplate, a lifting bedplate and a balance component, the lifting bedplate is vertically and slidably arranged on the fixed bedplate, the lifting mechanism drives the lifting bedplate to lift, and the balance component is arranged on the lifting bedplate. The horizontal conveying mechanism is fixed to the lifting platen, the grabbing maintaining mechanism is horizontally arranged on the lifting platen in a sliding mode, the horizontal conveying mechanism drives the grabbing maintaining mechanism to horizontally move, the balance assembly comprises an air cylinder, an air storage tank and an adjusting valve, the air cylinder is vertically fixed to the bottom face of the lifting platen, and the telescopic end of the air cylinder is fixedly connected with the lifting platen. The air storage tank provides constant air pressure for the air cylinder through the adjusting valve, so that the air cylinder has constant output force to counteract the gravity of the lifting platen, the horizontal conveying mechanism and the grabbing keeping mechanism. The gravity of the lifting platen, the horizontal conveying mechanism and the grabbing maintaining mechanism is counteracted through upward force of the balance assembly, and low-load operation of the lifting mechanism is guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of material handling equipment technology, specifically to a robotic arm that reduces the load on the lifting mechanism for quickly moving parts between two devices. Background Technology

[0002] Chinese patent CN102896805A discloses a workpiece handling device, which includes moving devices in both vertical and horizontal directions. These moving devices drive a negative pressure suction hand to move, thereby moving the workpiece. However, this device has the following problems.

[0003] 1. The drive motor of the vertical moving device needs to bear the weight of the horizontal moving device and the feed rod. The drive motor has a large load and is prone to damage.

[0004] 2. The output shaft of the motor of the horizontal moving device is directly connected to the gear to drive the feed rod to move horizontally. The load is large, and the impact load when moving from rapid motion to instantaneous stop and the impact load during reciprocating motion can easily damage the motor.

[0005] The aforementioned defects render the workpiece handling device unsuitable for high-speed production lines. Utility Model Content

[0006] The purpose of this invention is to provide a robotic arm that can reduce the load on the lifting mechanism.

[0007] The purpose of this utility model is achieved as follows.

[0008] A robotic arm for reducing the load on a lifting mechanism includes a gripping and holding mechanism, a horizontal conveying mechanism, a lifting mechanism, and a base. The base has a fixed platform, a lifting platform, and a balancing assembly. The lifting platform is vertically slidably mounted on the fixed platform. The lifting mechanism drives the lifting platform to rise and fall. The horizontal conveying mechanism is fixed on the lifting platform. The gripping and holding mechanism is horizontally slidably mounted on the lifting platform. The horizontal conveying mechanism drives the gripping and holding mechanism to move horizontally. The balancing assembly includes a cylinder, an air tank, and a regulating valve. The cylinder is vertically fixed on the bottom surface of the lifting platform. The telescopic end of the cylinder is connected and fixed to the lifting platform. The air tank, regulating valve, and cylinder are connected through an air circuit. The air tank provides a constant air pressure to the cylinder through the regulating valve, so that the cylinder has a constant output force to counteract the weight of the lifting platform, the horizontal conveying mechanism, and the gripping and holding mechanism.

[0009] This invention uses the upward force of the balancing component to counteract the gravity of the lifting platform, horizontal conveying mechanism, and gripping and holding mechanism, ensuring that the lifting mechanism can operate under low load. Consequently, the lifting mechanism can operate at high speed without being easily damaged. Compared with the prior art, the robot of this invention can be used in high-speed, fast-paced production lines.

[0010] Furthermore, the balancing assembly also includes a fixed frame fixed to the bottom surface of the fixed platform. The fixed platform is provided with a clearance hole corresponding to the fixed frame. The bottom of the lifting platform is provided with an abutment part that extends into the clearance hole. The cylinder is fixed on the fixed frame. The telescopic end of the cylinder is provided with a floating joint that can pass through the clearance hole. The floating joint and the abutment part are connected and fixed.

[0011] The balancing components are reasonably designed and can stably support the lifting platform.

[0012] Furthermore, the balancing assembly includes two cylinders arranged along the length of the lifting platform and each connected to an air tank and a regulating valve, with the two cylinders operating synchronously.

[0013] The balancing components and the lifting platform are balanced in terms of force, reducing the load on individual cylinders.

[0014] Furthermore, the base has two vertically arranged guide rails on the lifting platform, and slides are provided on both sides of the back of the lifting platform. The slides and guide rails are slidably connected. A lifting rack is provided in the middle of the back of the lifting platform along the height direction. The lifting mechanism is fixed on the top surface of the fixed platform and the back of the lifting platform. The lifting mechanism includes a lifting motor, a planetary reducer, a tensioning sleeve, and a lifting gear. The input ends of the lifting motor and the planetary reducer are connected by transmission. The output end of the planetary reducer is connected by transmission to the lifting gear through the tensioning sleeve. The lifting gear and the lifting rack mesh and transmit power.

[0015] The lifting platform operates smoothly, and the lifting mechanism is located on a fixed platform to avoid increasing the load on the lifting motor.

[0016] Furthermore, the front of the lifting platform is provided with a mounting base, which is hollow and has two rows of parallel guide wheels and a transfer rod. The guide wheels have V-grooves in the circumferential direction, and the top and bottom of the transfer rod are respectively provided with inverted V-shaped sliders. The inverted V-shaped sliders are inserted into the corresponding V-grooves for sliding engagement. The horizontal conveying mechanism drives the transfer rod to move horizontally within the mounting base.

[0017] The guide wheel guides the transfer rod to move in a specific direction within the mounting base.

[0018] Furthermore, a horizontal rack is provided on the side of the transfer rod facing the lifting platform. The horizontal transmission mechanism is fixed on the back of the lifting platform. The horizontal transmission mechanism includes a horizontal motor, a coupling, a deep groove ball bearing, and a gear shaft. The deep groove ball bearing is fixed on the back of the lifting platform. The gear shaft is rotatably disposed in the deep groove ball bearing. The front end of the gear shaft passes through the lifting platform and meshes with the horizontal rack. The horizontal motor is connected to the rear end of the gear shaft through the coupling.

[0019] The gear shaft is fixed by a deep groove ball bearing and connected to the output shaft of the horizontal motor via a coupling. This reduces the load on the horizontal motor during operation and prevents damage to the horizontal motor from the impact load during rapid movement to instantaneous stop and the impact load during reciprocating motion.

[0020] Furthermore, the front end face of the mounting base is provided with a clearance notch, and the gripping and holding mechanism and the transfer rod are connected and fixed at the clearance notch.

[0021] The gripping and holding mechanism and the transfer rod are simple and easy to install.

[0022] Furthermore, the gripping and holding mechanism includes a fixed base and a support arm assembly, which are quickly detached and connected, and there is a quick-detachment air passage between the fixed base and the support arm assembly.

[0023] The outrigger assembly is easy to replace, improving production efficiency and avoiding prolonged production line downtime.

[0024] This invention uses an upward force from a balancing component to counteract the weight of the lifting platform, horizontal conveying mechanism, and gripping and holding mechanism, ensuring that the lifting mechanism can operate under low load. This allows the lifting mechanism to operate at high speeds without easily being damaged. Compared to existing technologies, the robotic arm of this invention is suitable for high-speed, fast-paced production lines. The gear shaft is fixed by a deep groove ball bearing and connected to the output shaft of the horizontal motor via a coupling, reducing the load on the horizontal motor and preventing damage from impact loads during rapid movement to a momentary stop and during reciprocating motion. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of Embodiment 1.

[0026] Figure 2 This is a schematic diagram of the internal structure of Example 1.

[0027] Figure 3 This is a schematic diagram of the exploded structure of Example 1.

[0028] Figure 4 This is a cross-sectional structural diagram of Example 1.

[0029] Figure 5 This is a schematic diagram of another cross-sectional structure of Embodiment 1.

[0030] Figure 6 This is a schematic diagram of the exploded structure of the gripping and holding mechanism in Example 1.

[0031] Figure 7 This is a cross-sectional schematic diagram of the gripping and holding mechanism in Embodiment 1.

[0032] Figure 8 This is another cross-sectional structural diagram of the gripping and holding mechanism in Embodiment 1.

[0033] Figure 9 This is a schematic diagram of the fixed base in Embodiment 1.

[0034] Figure 10 This is a schematic diagram of the support arm in Example 1.

[0035] Figure 11 This is a schematic diagram of the clamping block in Example 1. Detailed Implementation

[0036] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0037] Example 1, see Figure 1-11 As shown, a robotic arm for reducing the load on a lifting mechanism includes a gripping and holding mechanism 1, a horizontal conveying mechanism 2, a lifting mechanism 3, and a base 4. The base 4 is provided with a fixed platform 5, a lifting platform 6, and a balancing assembly 7.

[0038] The lifting platform 6 is fixed inside the base 4 and is vertically slidably mounted on the fixed platform 5. Specifically, the base 4 has two vertically arranged guide rails 41 on the lifting platform 6, and slide blocks 61 are respectively provided on both sides of the back of the lifting platform 6. The slide blocks 61 and the guide rails 41 are slidably connected.

[0039] The balancing assembly 7 includes two cylinders 71, an air tank 72, a regulating valve 73, and two mounting brackets 74. The two mounting brackets 74 are arranged and fixed to the bottom surface of the fixed platform 5 along the length of the lifting platform 6. The fixed platform 5 has clearance holes 51 corresponding to the mounting brackets 74. The bottom of the lifting platform 6 has an abutment part 62 extending into the clearance hole 51. One cylinder 71 is fixed to one mounting bracket 74. The telescopic end of the cylinder 71 has a floating joint 75 that can pass through the clearance hole 51. The floating joint 75 and the abutment part 62 are connected and fixed. Both cylinders 71 are connected to an air tank 72 and a regulating valve 73, and the two cylinders 71 operate synchronously.

[0040] A lifting rack 63 is provided along the height direction in the middle of the back of the lifting platform 6 (between the two guide rails 41). The lifting mechanism 3 is fixed to the top surface of the fixed platform 5 and the back of the lifting platform 6. The lifting mechanism 3 includes a lifting motor 31, a planetary reducer 32, a tensioning sleeve, and a lifting gear 33. The input ends of the lifting motor 31 and the planetary reducer 32 are connected for transmission, and the output end of the planetary reducer 32 is connected to the lifting gear 33 through the tensioning sleeve. The lifting gear 33 and the lifting rack 63 mesh for transmission. The lifting motor 31 drives the lifting platform 6 to rise and fall.

[0041] The lifting platform 6 has a mounting base 64 on its front side. The mounting base 64 is hollow and has two rows of parallel guide wheels 65 and a transfer rod 66. The transfer rod 66 is placed between the two rows of guide wheels 65. The guide wheels 65 have V-shaped grooves 67 in the circumferential direction. The top and bottom of the transfer rod 66 are respectively provided with inverted V-shaped sliders 68. The inverted V-shaped sliders 68 are inserted into the corresponding V-shaped grooves 67 for sliding cooperation. The horizontal conveying mechanism 2 drives the transfer rod 66 to move horizontally within the mounting base 64.

[0042] A horizontal rack 69 is provided on the side of the transfer rod 66 facing the lifting platform 6, and the horizontal conveying mechanism 2 is fixed to the back of the lifting platform 6. The horizontal conveying mechanism 2 includes a horizontal motor 21, a coupling 22, a deep groove ball bearing 23, and a gear shaft 24. The deep groove ball bearing 23 is fixed to the back of the lifting platform 6, and the gear shaft 24 is rotatably disposed in the deep groove ball bearing 23. The front end of the gear shaft 24 passes through the lifting platform 6 and meshes with the horizontal rack 69 for transmission. The horizontal motor 21 is connected to the rear end of the gear shaft 24 through the coupling 22 for transmission.

[0043] In this invention, the air tank 72, regulating valve 73, and cylinder 71 are connected via an air circuit. The air tank 72 provides a constant air pressure to the cylinder 71 through the regulating valve 73, ensuring that the cylinder 71 has a constant output force to counteract the weight of the lifting platform 6, the horizontal conveying mechanism 2, and the gripping and holding mechanism 1. This reduces the load on the lifting motor 31, making its operation stable and less prone to failure. The weight of the transfer rod 66 and the gripping and holding mechanism 1 is borne by the guide wheel 65, reducing the load on the horizontal motor 21. Furthermore, the horizontal motor 21 drives the gear shaft 24 within the deep groove ball bearing 23 via the coupling 22, moving the transfer rod 66. This reduces the impact load, ensuring the horizontal motor 21 operates stably and is less prone to failure.

[0044] The front end face of the mounting base 64 is provided with a clearance notch 60, and the gripping and holding mechanism 1 and the transfer rod 66 are connected and fixed at the clearance notch 60.

[0045] The gripping and holding mechanism 1 includes a fixed base 8 and a support arm assembly 9. The fixed base 8 and the support arm assembly 9 are quickly detached and connected, and there is a quick-detaching air passage between the fixed base 8 and the support arm assembly 9. Specifically, the fixed base 8 is fixed to the front of the transfer rod 66. The front of the fixed base 8 is provided with an insertion hole 81, and the top surface of the fixed base 8 is provided with a first positioning hole 82. A clamping cylinder (not shown in the figure) is provided above the first positioning hole 82 on the transfer rod 66 or the fixed base 8. A clamping block 80 is connected and fixed to the telescopic end of the clamping cylinder. The transfer rod 66 is hollow inside to allow signal lines and air pipes to pass through. A solenoid valve controlling the clamping cylinder is provided on the transfer rod 66. The telescopic end of the clamping cylinder drives the clamping block 80 to move downward and insert into the first positioning hole 82. The fixed base 8 is provided with a first channel 83 that connects to the vacuum generator. The bottom surface of the first channel 83 near the opening end of the mounting hole is provided with a first connecting port 84. A first groove 85 is provided at the first connecting port 84, and a sealing ring 86 is provided in the first groove 85.

[0046] The support arm assembly 9 includes a bracket 91 and a suction cup 90 fixed to the bracket 91. The bracket 91 has a second positioning hole 92 at its end, which is inserted into the mounting hole. The bottom of the clamping block 80 passes through the first positioning hole 82 and is inserted into the second positioning hole 92, connecting and fixing the bracket 91 and the fixing seat 8. Preferably, the clamping block 80 has a conical stepped surface 87, and the top of the corresponding second positioning hole 92 has a conical groove 93. The clamping block 80 passes through the first positioning hole 82 and is inserted into the second positioning hole 92, with the conical stepped surface 87 and the conical groove 93 in contact. The rear end of the bracket 91 has a slot 94 communicating with the second positioning hole 92. The width of the slot 94 is smaller than the bottom diameter of the clamping block 80. The slot 94 and the bottom of the clamping block 80 have a guiding function, guiding the rear end of the bracket 91 through the slot 94 into the second positioning hole 92. This allows the extension end of the clamping cylinder to move only a distance away from the conical stepped surface 87 and the conical groove 93, without requiring a large movement.

[0047] The bracket 91 has a second channel 95, and the second channel 95 has a second connecting port 96 on the bottom surface of the first bracket 91 near the rear end. The end of the first bracket 91 is inserted into the insertion hole 81. The clamping block 80 presses down on the first bracket 91, so that the sealing ring 86 contacts the periphery of the second connecting port 96. The second connecting port 96 and the first connecting port 84 are aligned and connected to form an air passage for controlling the operation of the suction cup 90. The second channel 95 has an outlet on the side of the first bracket 91 and is connected to a quick-connect air hose. The transfer rod 66 is equipped with a vacuum generator 10 connected to the first connecting port 84. The quick-connect air hose and the suction cup 90 are connected by an air hose. During the disassembly and installation of the support arm assembly 9, there is no need to disassemble and install the air passage separately, thereby simplifying the assembly process.

[0048] The terms used in this utility model, such as "first," "second," etc., do not indicate any order, quantity, or importance, but are only used for distinction.

[0049] In this utility model, terms such as "a" or "an" are used to indicate not a limitation on the quantity, but rather to indicate the existence of at least one of the mentioned objects.

[0050] In this utility model, terms indicating direction or location such as top, bottom, side, longitudinal, transverse, middle, center, outside, inside, horizontal, vertical, left, right, above, and below are used to indicate relative positions rather than absolute positions.

[0051] Terms used in this invention, such as "approximately," "overall," "approximately," and "similar," are limiting terms used to indicate features that exist but allow for certain deviations. The amount of deviation allowed may vary depending on the specific context.

Claims

1. A robotic arm for reducing the load on a lifting mechanism, comprising a gripping and holding mechanism (1), a horizontal conveying mechanism (2), a lifting mechanism (3), and a base (4), characterized in that, The base (4) is provided with a fixed platform (5), a lifting platform (6), and a balancing assembly (7). The lifting platform (6) is vertically slidably mounted on the fixed platform (5). The lifting mechanism (3) drives the lifting platform (6) to rise and fall. The horizontal conveying mechanism (2) is fixed on the lifting platform (6). The gripping and holding mechanism (1) is horizontally slidably mounted on the lifting platform (6). The horizontal conveying mechanism (2) drives the gripping and holding mechanism (1) to move horizontally. The balancing assembly (7) includes a cylinder (71) and an air tank (72). 72) and regulating valve (73), cylinder (71) is vertically fixed on the bottom surface of lifting platform (6), the telescopic end of cylinder (71) is connected and fixed to lifting platform (6), air tank (72), regulating valve (73) and cylinder (71) are connected through air circuit, air tank (72) provides constant air pressure to cylinder (71) through regulating valve (73) so that cylinder (71) has constant output force to counteract the gravity of lifting platform (6), horizontal conveying mechanism (2) and gripping and holding mechanism (1).

2. The robotic arm for reducing the load on the lifting mechanism according to claim 1, characterized in that, The balancing assembly (7) also includes a fixing frame (74) fixed to the bottom surface of the fixing platform (5). The fixing platform (5) is provided with a clearance hole (51) corresponding to the fixing frame (74). The bottom of the lifting platform (6) is provided with an abutment part (62) that extends into the clearance hole (51). The cylinder (71) is fixed on the fixing frame (74). The telescopic end of the cylinder (71) is provided with a floating joint (75) that can pass through the clearance hole (51). The floating joint (75) and the abutment part (62) are connected and fixed.

3. The robotic arm for reducing the load on the lifting mechanism according to claim 1, characterized in that, The balancing assembly (7) includes two cylinders (71), which are arranged along the length of the lifting platform (6) and are connected to an air tank (72) and a regulating valve (73). The two cylinders (71) move synchronously.

4. The robotic arm for reducing the load on the lifting mechanism according to claim 1, characterized in that, The base (4) has two vertically arranged guide rails (41) on the lifting platform (6). The back of the lifting platform (6) is provided with slides (61) on both sides. The slides (61) and the guide rails (41) are slidably connected. The lifting platform (6) has a lifting rack (63) in the middle of the back of the lifting platform (6) along the height direction. The lifting mechanism (3) is fixed on the top surface of the fixed platform (5) and the back of the lifting platform (6). The lifting mechanism (3) includes a lifting motor (31), a planetary reducer (32), a tensioning sleeve and a lifting gear (33). The input end of the lifting motor (31) and the planetary reducer (32) are connected by transmission. The output end of the planetary reducer (32) is connected by transmission to the lifting gear (33) through the tensioning sleeve. The lifting gear (33) and the lifting rack (63) mesh and transmit power.

5. The robotic arm for reducing the load on the lifting mechanism according to claim 1, characterized in that, The lifting platform (6) has a mounting base (64) on the front. The mounting base (64) is hollow and has two rows of parallel guide wheels (65) and a transfer rod (66). The guide wheels (65) have V-grooves (67) in the circumferential direction. The top and bottom of the transfer rod (66) are respectively provided with inverted V-shaped sliders (68). The inverted V-shaped sliders (68) are inserted into the corresponding V-grooves (67) for sliding cooperation. The horizontal conveying mechanism (2) drives the transfer rod (66) to move horizontally within the mounting base (64).

6. The robotic arm for reducing the load on the lifting mechanism according to claim 5, characterized in that, The transfer rod (66) is provided with a horizontal rack (69) on the side facing the lifting platform (6). The horizontal transmission mechanism (2) is fixed on the back of the lifting platform (6). The horizontal transmission mechanism (2) includes a horizontal motor (21), a coupling (22), a deep groove ball bearing (23), and a gear shaft (24). The deep groove ball bearing (23) is fixed on the back of the lifting platform (6). The gear shaft (24) is rotatably installed in the deep groove ball bearing (23). The front end of the gear shaft (24) passes through the lifting platform (6) and meshes with the horizontal rack (69). The horizontal motor (21) is connected to the rear end of the gear shaft (24) through the coupling (22).

7. The robotic arm for reducing the load on the lifting mechanism according to claim 5, characterized in that, The mounting base (64) has a clearance notch (60) on its front end face, and the gripping and holding mechanism (1) and the transfer rod (66) are connected and fixed at the clearance notch (60).

8. The robotic arm for reducing the load on the lifting mechanism according to claim 1, characterized in that, The gripping and holding mechanism (1) includes a fixed base (8) and a support arm assembly (9). The fixed base (8) and the support arm assembly (9) are quickly disassembled and connected, and there is a quick-disassembly air passage between the fixed base (8) and the support arm assembly (9).

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