Rectangular coordinate manipulator feeding and discharging device

Abstract

The utility model discloses a rectangular coordinate manipulator feeding and discharging device, and relates to the technical field of rectangular coordinate manipulators. The rectangular coordinate mechanical arm feeding and discharging device comprises a base, a first guide frame and a second guide frame. The adjusting assembly comprises a first connecting frame, a third driving motor is fixedly connected to the surface of the first connecting frame, a gear is fixedly connected to the output end of the third driving motor, a rack is fixedly connected to the side, close to the third driving motor, of a second guiding frame, and two first guiding rods are slidably connected into the second guiding frame. The upper end of the base is fixedly connected with a fixing frame; two second guide rods are slidably connected into the fixing frame, the second guide frame moves in the second connecting frame, and the first guide rods and the second guide rods are arranged, so that the second guide frame is conveniently supported and guided in the moving process, and the stability of the second guide frame in the moving process is improved; and the service life of the second guide frame is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to right angle coordinate manipulator technical field, especially in kind right angle coordinate manipulator feeding and discharging device. BACKGROUND

[0002] Now, under the progress of science and technology, the biggest difference between the robot arm and the human arm is flexibility and endurance. That is, the biggest advantage of the robot can repeat the same action and never feel tired under normal circumstances. The robot is a kind of high-tech automatic production equipment developed in recent decades, and the accuracy of operation and the ability to complete the operation in the environment, Chinese utility model patent, authorization announcement number "CN207326978U", discloses a kind of right angle coordinate manipulator carrying feeding and discharging device, including power roller, dialing plate, transmission belt, driven roller, motor, ball screw, hollow cavity, ball nut pair and square plate, the power roller is installed in horizontal plate front end face left side, the driven roller is installed in vertical plate front end face upper side, the power roller is connected with driven roller by transmission belt, the dialing plate is installed in transmission belt outer surface.

[0003] The above technical scheme improves the stability of the utility model, and the utility model is convenient to use, easy to operate, good in stability and high in reliability, but the above technical scheme still has certain defects, the horizontal plate of the coordinate manipulator is only fixed on the vertical plate, the vertical plate will bear the main support and stability, when placing heavy articles on the horizontal moving mechanism, the pressure will be concentrated at the connecting place of vertical plate and horizontal plate and the vertical plate itself, and uneven pressure distribution can cause premature damage of some parts of the vertical plate, affect the service life of the vertical plate and horizontal plate, therefore, the utility model provides a new solution. UTILITY MODEL CONTENT

[0004] The utility model is aimed at at least solving one of the technical problems existing in the prior art, providing a kind of right angle coordinate manipulator feeding and discharging device, can solve when placing heavy articles on the horizontal moving mechanism, the pressure will be concentrated at the connecting place of vertical plate and horizontal plate and the vertical plate itself, and uneven pressure distribution can cause premature damage of some parts of the vertical plate, affect the service life of the vertical plate and horizontal plate.

[0005] To achieve the above object, the utility model provides the following technical scheme: a kind of right angle coordinate manipulator feeding and discharging device, including base, first guide frame and second guide frame;

[0006] Adjusting device, adjusting device is set on first guide frame, adjusting component includes first connecting frame, first connecting frame is slidably connected on the surface of first guide frame, first connecting frame is slidably connected with second guide frame;

[0007] The surface of the first connecting frame is fixedly connected with a third driving motor, the output end of the third driving motor is fixedly connected with a gear, the side close to the third driving motor of the second guide frame is fixedly connected with a rack, the gear is engaged with the rack, and the inside of the second guide frame is slidably connected with two first guide rods;

[0008] The upper end of the base is fixedly connected with two guide rails, the upper end of the base is provided with four guide columns, the four guide columns are fixedly connected with the corresponding first guide rods respectively, and the upper end of the base is fixedly connected with a fixing frame;

[0009] The inside of the fixing frame is slidably connected with two second guide rods, and the two second guide rods are fixedly connected with the corresponding guide columns respectively.

[0010] Preferably, the inside of each of the four guide columns is rotatably connected with a roller.

[0011] Preferably, the inside of the first guide frame is fixedly connected with a first driving motor, the inside of the fixing frame is rotatably connected with two first sprockets, and the surfaces of the two first sprockets are transmissionally sleeved with a first chain.

[0012] The output end of the first driving motor is fixedly connected with the corresponding first sprocket, and the first chain and the first connecting frame are fixed by bolts and connecting buckles.

[0013] Preferably, the inside of the second guide frame is fixedly connected with a second driving motor, the inside of the second guide frame is rotatably connected with two second sprockets, and the surfaces of the two second sprockets are transmissionally sleeved with a second chain.

[0014] The output end of the second driving motor is fixedly connected with the corresponding second sprocket, the surface of the second guide frame is slidably sleeved with a second connecting frame, and the second connecting frame is fixed with the second chain by bolts and connecting buckles.

[0015] Preferably, the upper end of the second connecting frame is fixedly connected with a lifting frame, and the upper end of the lifting frame is fixedly connected with a fourth driving motor.

[0016] The output end of the fourth driving motor is fixedly connected with a threaded rod, the surface of the threaded rod is threadedly sleeved with a movable frame, and the movable frame is slidably connected with the lifting frame.

[0017] Preferably, the inside of the movable frame is fixedly connected with an electric telescopic rod, and the output end of the electric telescopic rod is fixedly installed with a pneumatic clamping assembly.

[0018] Compared with the prior art, the utility model has the advantages that:

[0019] 1. The Cartesian coordinate manipulator feeding and discharging device, through the movement of the second guide frame in the second connecting frame, and through the setting of the first guide rod and the second guide rod, the stability during the movement of the second guide frame is improved, the deviation or shaking caused by external factors is reduced, the accuracy and reliability of the operation are improved, the stable posture is maintained, the service life of the second guide frame is improved, and at the same time, the second guide frame can move in the second connecting frame, the range of the pneumatic clamping assembly for clamping the material is expanded, the practicality and convenience of the manipulator are improved, and the transfer efficiency of the material is improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] The utility model is further illustrated below in combination with the drawings and embodiments:

[0021] Figure 1 It is a Cartesian coordinate manipulator feeding and discharging device structural schematic view of the utility model;

[0022] Figure 2 It is a second guide frame schematic view of the utility model;

[0023] Figure 3 It is a rack schematic view of the utility model;

[0024] Figure 4 It is a first connecting frame schematic view of the utility model;

[0025] Figure 5 It is a pneumatic clamping assembly schematic view of the utility model;

[0026] Figure 6 It is a roller schematic view of the utility model.

[0027] Reference signs: 1, base; 2, guide rail; 3, fixed frame; 4, first guide frame; 5, first connecting frame; 6, second guide frame; 7, second connecting frame; 8, lifting frame; 9, guide column; 10, first guide rod; 11, roller; 12, first drive motor; 13, first sprocket; 14, first chain; 15, second drive motor; 16, second sprocket; 17, second chain; 18, third drive motor; 19, gear; 20, rack; 21, fourth drive motor; 22, threaded rod; 23, movable frame; 24, electric telescopic rod; 25, pneumatic clamping assembly; 26, second guide rod. DETAILED DESCRIPTION

[0028] This part will describe the specific embodiments of the utility model in detail, and the preferred embodiments of the utility model are shown in the drawings, and the drawings are used to supplement the description of the text part in the form of graphics, so that people can intuitively and visually understand each technical feature and the overall technical scheme of the utility model, but it cannot be understood as the limitation of the protection scope of the utility model.

[0029] In the description of the utility model, it needs to be understood that, the orientation description, such as up, down, front, back, left, right and so on the orientation or positional relationship indicated is based on the orientation or positional relationship shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicating or implying that the device or element indicated must have a particular orientation, configuration and operation, therefore it can not be understood as the limitation of the utility model.

[0030] In the description of the utility model, greater than, less than, exceed and the like are understood as not including the number, and above, below, within and the like are understood as including the number.If it is described to the first, second, it is only used for distinguishing technical features for the purpose, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features or implicitly indicating the sequence of indicated technical features.

[0031] In the description of the utility model, unless otherwise explicitly limited, the words such as setting, installation, connection should be broadly understood, and the person skilled in the art can reasonably determine the specific meaning of the above words in the utility model according to the specific content of the technical scheme.

[0032] Please refer to Figures 1-6 The utility model provides a kind of technical scheme: a cartesian coordinate manipulator feeding and discharging device, including base 1, first guide frame 4 and second guide frame 6, adjusting device, adjusting device is set on first guide frame 4, adjusting assembly includes first connecting frame 5, first connecting frame 5 is slidably connected on the surface of first guide frame 4, first connecting frame 5 is slidably connected with second guide frame 6, the surface of first connecting frame 5 is fixedly connected with third drive motor 18, the output end of third drive motor 18 is fixedly connected with gear 19, the side of second guide frame 6 close to third drive motor 18 is fixedly connected with rack 20, gear 19 is engaged with rack 20, the inside of second guide frame 6 is slidably connected with two first guide rods 10, the upper end of base 1 is fixedly connected with two guide rails 2, the upper end of base 1 is provided with four guide columns 9, four guide columns 9 are fixedly connected with corresponding first guide rod 10 respectively, the upper end of base 1 is fixedly connected with fixed frame 3, the inside of fixed frame 3 is slidably connected with two second guide rods 26, two second guide rods 26 are fixedly connected with corresponding guide column 9 respectively.

[0033] The inside of four guide columns 9 is rotatably connected with gyro wheel 11.

[0034] The inner side of the first guide frame 4 is fixedly connected with a first driving motor 12, the inner side of the fixed frame 3 is rotatably connected with two first sprockets 13, the surfaces of the two first sprockets 13 are drivingly sleeved with a first chain 14, the output end of the first driving motor 12 is fixedly connected with a corresponding first sprocket 13, and the first chain 14 and the first connecting frame 5 are fixed by bolts and connecting buckles.

[0035] The inner side of the second guide frame 6 is fixedly connected with a second driving motor 15, the inner side of the second guide frame 6 is rotatably connected with two second sprockets 16, the surfaces of the two second sprockets 16 are drivingly sleeved with a second chain 17, the output end of the second driving motor 15 is fixedly connected with a corresponding second sprocket 16, the surface of the second guide frame 6 is slidingly sleeved with a second connecting frame 7, and the second connecting frame 7 is fixed with the second chain 17 by bolts and connecting buckles.

[0036] The upper end of the second connecting frame 7 is fixedly connected with a lifting frame 8, the upper end of the lifting frame 8 is fixedly connected with a fourth driving motor 21, the output end of the fourth driving motor 21 is fixedly connected with a threaded rod 22, the surface of the threaded rod 22 is threadedly sleeved with a movable frame 23, and the movable frame 23 is slidingly connected with the lifting frame 8.

[0037] The inside of the movable frame 23 is fixedly connected with an electric telescopic rod 24, and the output end of the electric telescopic rod 24 is fixedly installed with a pneumatic clamping assembly 25.

[0038] The pneumatic clamping assembly 25 is of a prior structure, and specifically can refer to the second pneumatic element and the clamping device in the patent "CN215618059U";

[0039] When using the device, first, the first driving motor 12 is started to drive the first sprocket 13 to rotate, the first sprocket 13 drives the first chain 14 to rotate, so that the first chain 14 transmits power through bolts and connecting buckles and drives the first connecting frame 5 to slide on the surface of the first guide frame 4, the first connecting frame 5 drives the second guide frame 6 to slide on the surface of the first guide rod 10, the second driving motor 15 is started to drive the second sprocket 16 to rotate, the second sprocket 16 drives the second chain 17 to rotate, so that the second chain 17 transmits power through bolts and connecting buckles and drives the second connecting frame 7 to slide on the surface of the second guide frame 6, the second connecting frame 7 drives the lifting frame 8 to move, so as to adjust the position of the lifting frame 8 as needed, and move the lifting frame 8 above the material.

[0040] The fourth driving motor 21 is started to drive the threaded rod 22 to rotate inside the lifting frame 8, the lifting frame 8 drives the movable frame 23 to slide inside the lifting frame 8, which facilitates the adjustment of the position of the movable frame 23 and the up-down movement of the movable frame 23, the electric telescopic rod 24 is started to extend to drive the pneumatic clamping assembly 25 to descend, and the pneumatic clamping assembly 25 is connected to an external air source to clamp the material, and the above process is repeated to facilitate the transfer of the material and facilitate the feeding and discharging operation during the processing of the material. By adjusting the position of the lifting frame 8 and the height of the pneumatic clamping assembly 25, the position and height of the pneumatic clamping assembly 25 are adjusted, the mechanical hand can be more flexible to adapt to workpieces at different positions, which enables the mechanical hand to play a role in various operating scenes, not limited to a fixed position or height, ensuring that the mechanical hand can accurately aim at the target position when grabbing, carrying or processing workpieces, thereby improving the accuracy and reliability of the operation. It can realize fast and accurate positioning and operation, reduce unnecessary waiting and moving time, and improve processing efficiency.

[0041] The guide column 9 and the first guide rod 10 are provided to facilitate the support and guidance of the second guide frame 6 during movement. The first guide rod 10 provides a stable movement trajectory for the second guide frame 6 through its support and guidance function. When the second guide frame 6 moves or operates, the first guide rod 10 can ensure that the mechanical hand moves along the predetermined path, reducing deviation or shaking caused by external factors. This stability is particularly important for high-precision positioning operations, significantly improving the accuracy and reliability of the operation, maintaining a stable posture, and avoiding stiffness reduction or deformation problems caused by excessive cantilever length.

[0042] Since some materials are located on both sides of the fixed frame 3, during the feeding and discharging process of the materials, the third driving motor 18 is started to drive the gear 19 to rotate, and through the meshing of the gear 19 and the rack 20, the rack 20 is driven to move, the second guide frame 6 is driven to slide inside the first connecting frame 5, the second guide frame 6 drives the first guide rod 10 and the guide column 9 to move, the guide column 9 drives the second guide rod 26 to slide inside the fixed frame 3. Through the arrangement of the first guide rod 10, the guide column 9 and the second guide rod 26, the second guide frame 6 can be kept stable during movement. Through the driving of the gear 19 and the rack 20, the second guide frame 6 can be moved from the left side of the fixed frame 3 to the right side of the fixed frame 3. The second driving motor 15 is started to drive the second sprocket 16 and the second chain 17 to rotate, thereby driving the second connecting frame 7 to slide on the surface of the second guide frame 6. The second connecting frame 7 drives the lifting frame 8 and the pneumatic clamping assembly 25 to move, facilitating the transfer of the materials from the left side of the fixed frame 3 to the right side of the fixed frame 3, and improving the transfer range of the pneumatic clamping assembly 25, improving the practicality and convenience of the mechanical hand.

[0043] By arranging the rollers 11 inside the guide column 9, the resistance during the movement of the guide column 9 on the surface of the guide rail 2 is reduced, and the stability during the movement is improved. At the same time, since the second guide rod 26 slides inside the fixed frame 3, the second guide frame 6 is also limited by the second guide rod 26 during the movement of the second guide frame 6, so that the second guide frame 6 is guided not only by the second connecting frame 7 but also by the second guide rod 26 during the movement, further improving the stability of the second guide frame 6 during the movement.

[0044] Further, by moving the second guide frame 6 inside the second connecting frame 7 and by arranging the first guide rod 10 and the second guide rod 26, the movement of the second guide frame 6 is supported and guided, the stability during the movement of the second guide frame 6 is improved, the deviation or shaking caused by external factors is reduced, the accuracy and reliability of the operation are improved, and a stable posture is maintained. At the same time, the first guide rod 10 supports the two sides of the second guide frame 6, which can avoid the problem of stiffness reduction or deformation caused by excessive cantilever, further improving the stability of the second guide frame 6 during the movement. At the same time, the second guide frame 6 can move inside the second connecting frame 7, which can expand the range of material clamping by the pneumatic clamping assembly 25, improve the practicability and convenience of the manipulator, and improve the transfer efficiency of the material.

[0045] By adjusting the position and height of the pneumatic clamping assembly 25, the manipulator can work in various operation scenarios, not limited to a fixed position or height, ensuring that the manipulator can accurately align the target position when grabbing, carrying or processing workpieces, thereby improving the accuracy and reliability of the operation. It can realize rapid and accurate positioning and operation, reduce unnecessary waiting and moving time, and improve processing efficiency.

[0046] Structure description: base 1: as the basic support part of the whole device, providing a stable mounting platform for other components;

[0047] First guide frame 4: guiding and supporting the sliding of the first connecting frame 5, and cooperating with the first drive motor 12 to move the first connecting frame 5 through the first chain 14;

[0048] Second guide frame 6: slidingly connected with the first connecting frame 5, and the internal rack 20 is engaged with the gear 19 to realize the movement driven by the third drive motor 18. At the same time, the second guide frame 6 also supports and guides the sliding of the second connecting frame 7;

[0049] Adjusting assembly (mainly including first connecting frame 5, third drive motor 18, gear 19, rack 20, etc.):

[0050] The first connecting frame 5 is slidably connected to the first guide frame 4 and the second guide frame 6, and is a key component for connecting the two and realizing relative movement.

[0051] The third driving motor 18 rotates through the driving gear 19 and engages with the rack 20, thereby driving the second guide frame 6 to slide in the first connecting frame 5.

[0052] The first guide rod 10 is fixedly connected to the guide column 9 and provides stable guidance and support for the movement of the second guide frame 6.

[0053] The second guide rod 26 is fixedly connected to the guide column 9 and slides in the fixed frame 3, further enhancing the stability and guidance of the device.

[0054] The first driving motor 12 drives the first sprocket 13 to rotate and drives the first connecting frame 5 to slide on the first guide frame 4 through the first chain 14.

[0055] The second driving motor 15 drives the second sprocket 16 to rotate and drives the second connecting frame 7 to slide on the second guide frame 6 through the second chain 17.

[0056] The fourth driving motor 21 drives the threaded rod 22 to rotate and realizes the up-down movement of the lifting frame 8 through the movable frame 23 connected by threads.

[0057] The lifting frame 8 is driven to move by the second connecting frame 7 and realizes up-down movement through the driving of the fourth driving motor 21.

[0058] The movable frame 23 is threadedly connected to the threaded rod 22 and is driven to slide in the lifting frame 8 by the fourth driving motor 21, realizing the up-down movement of the pneumatic clamping assembly 25.

[0059] The pneumatic clamping assembly 25 is fixedly connected to the output end of the electric telescopic rod 24, and the pneumatic clamping assembly 25 is a structure known in the art, which can be referred to the second pneumatic element and the clamping device in the patent "CN215618059U".

[0060] The guide column 9 is fixedly connected to the first guide rod 10 and the second guide rod 26, providing support and guidance for the movement of the device.

[0061] The roller 11 is rotatably connected in the guide column 9, reducing friction and improving movement efficiency.

[0062] The above embodiments of the present application are described in detail in combination with the drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present application.

Claims

1. A rectangular coordinate robotic arm loading and unloading device, characterized in that: Includes a base (1), a first guide frame (4), and a second guide frame (6); An adjustment device is provided on the first guide frame (4). The adjustment assembly includes a first connecting frame (5), which is slidably connected to the surface of the first guide frame (4) and slidably connected to the second guide frame (6). The surface of the first connecting frame (5) is fixedly connected to the third drive motor (18), and the output end of the third drive motor (18) is fixedly connected to the gear (19). The second guide frame (6) is fixedly connected to the rack (20) on the side close to the third drive motor (18). The gear (19) meshes with the rack (20). The interior of the second guide frame (6) is slidably connected to two first guide rods (10). The upper end of the base (1) is fixedly connected to two guide rails (2), and the upper end of the base (1) is provided with four guide posts (9). The four guide posts (9) are fixedly connected to the corresponding first guide rods (10) respectively, and the upper end of the base (1) is fixedly connected to a fixing frame (3). The internal sliding connection of the fixed frame (3) has two second guide rods (26), and the two second guide rods (26) are fixedly connected to the corresponding guide posts (9).

2. The rectangular coordinate robot loading and unloading device according to claim 1, characterized in that: Each of the four guide posts (9) is rotatably connected to a roller (11).

3. The rectangular coordinate robot loading and unloading device according to claim 1, characterized in that: The first guide frame (4) is fixedly connected to the inner side of the first drive motor (12), and the inner side of the fixed frame (3) is rotatably connected to two first sprockets (13), and the surfaces of the two first sprockets (13) are connected to the first chain (14). The output end of the first drive motor (12) is fixedly connected to the corresponding first sprocket (13), and the first chain (14) and the first connecting frame (5) are fixed by bolts and connecting buckles.

4. The rectangular coordinate robot loading and unloading device according to claim 1, characterized in that: The inner side of the second guide frame (6) is fixedly connected to a second drive motor (15), and the inner side of the second guide frame (6) is rotatably connected to two second sprockets (16), and the surfaces of the two second sprockets (16) are connected to a second chain (17). The output end of the second drive motor (15) is fixedly connected to the corresponding second sprocket (16). The surface of the second guide frame (6) is slidably fitted with a second connecting frame (7). The second connecting frame (7) and the second chain (17) are fixed by bolts and connecting buckles.

5. The rectangular coordinate robot loading and unloading device according to claim 4, characterized in that: The upper end of the second connecting frame (7) is fixedly connected to the lifting frame (8), and the upper end of the lifting frame (8) is fixedly connected to the fourth drive motor (21); The output end of the fourth drive motor (21) is fixedly connected to a threaded rod (22), and a movable frame (23) is threaded onto the surface of the threaded rod (22). The movable frame (23) is slidably connected to the lifting frame (8).

6. The rectangular coordinate robot loading and unloading device according to claim 5, characterized in that: An electric telescopic rod (24) is fixedly connected inside the movable frame (23), and a pneumatic clamping assembly (25) is fixedly installed at the output end of the electric telescopic rod (24).

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