Three-dimensional all-dimensional feeding robot

Abstract

The utility model discloses a three-dimensional all-dimensional feeding robot which comprises a base, a first motor is installed on the outer wall of one side of the base, one end of the first motor extends into the base and is provided with a lead screw, a U-shaped nut frame is installed on the outer wall of one side of the lead screw in a threaded mode, and the two ends of the U-shaped nut frame extend out of the base and are provided with bearing tables. Limiting rails are arranged on the two sides of the top end of the base, limiting rollers are rotationally installed on the two sides of the bottom end of the bearing table, the bottom ends of the limiting rollers are slidably connected with the tops of the limiting rails, a lower base body is arranged on one side of the top end of the bearing table, an upper base body is rotationally installed above the lower base body, and a bottom frame is arranged at the top end of the upper base body. According to the feeding robot, the material carrying range is widened when the feeding robot is used, the purpose of automatically clamping and carrying the materials is achieved, all-directional movement of the feeding robot in a three-dimensional space is achieved, and the material carrying effect is guaranteed when the feeding robot is used.

Description

Technical Field

[0001] This utility model relates to the field of automation equipment technology, specifically a three-dimensional omnidirectional feeding robot. Background Technology

[0002] With the continuous improvement of industrial automation, the requirements for the efficiency and precision of material handling on the production line are getting higher and higher. Traditional manual material handling methods are not only inefficient, but also pose safety hazards. Therefore, it is particularly important to develop a three-dimensional omnidirectional material handling robot.

[0003] Referring to the CN204369105U specification, a three-dimensional omnidirectional loading robot includes: a gripper, a rotary joint that drives the gripper to rotate, a servo motor that drives the rotary joint to rotate, a robotic arm connected to the rotary joint, and a pneumatic balancing device for adjusting the lifting and lowering of the robotic arm. The gripper includes several sets of robotic fingers. A combined linkage mechanism and several cylinders are provided between the gripper and the rotary joint. The combined linkage mechanism adjusts the spacing between the robotic fingers by being driven by the cylinders. Several hydraulic buffers are provided next to the pneumatic balancing device. The hydraulic buffers are multi-directional. This loading robot can achieve omnidirectional loading in three-dimensional space through the linkage mechanism, rotary joint, and the power source that drives them. Its loading space is three-dimensional. As can be seen from the above, although this loading robot can be well applied, it is usually installed in a designated area and it is not easy to move its position. This makes the material handling range of this loading robot still have certain limitations, which often troubles users. Utility Model Content

[0004] The purpose of this utility model is to provide a three-dimensional omnidirectional loading robot to solve the problem mentioned in the background art that although loading robots can be well applied, they are usually installed in a designated area and it is not easy to move their position, which makes the range of material handling by the loading robot still somewhat limited.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a three-dimensional omnidirectional loading robot, comprising a base, a first motor mounted on the outer wall of one side of the base, one end of the first motor extending into the interior of the base and provided with a lead screw, a U-shaped nut frame threadedly mounted on the outer wall of one side of the lead screw, both ends of the U-shaped nut frame extending to the exterior of the base and provided with a support platform, limiting rails provided on both sides of the top of the base, limiting rollers rotatably mounted on both sides of the bottom of the support platform, the bottom ends of the limiting rollers slidingly connected to the top of the limiting rails, a lower body provided on one side of the top of the support platform, an upper body rotatably mounted above the lower body, a base frame provided at the top of the upper body, a drive arm rotatably mounted on the inner wall of the base frame, a linkage arm rotatably mounted on the end of the drive arm away from the base frame, and a placement frame rotatably mounted on the end of the linkage arm away from the drive arm.

[0006] Preferably, a vertical shaft is installed at the bottom of the lower seat, the top end of the vertical shaft extends into the interior of the upper seat and is provided with a driven gear, a third motor is provided on one side of the top end of the upper seat, the bottom end of the third motor extends into the interior of the upper seat and is provided with a driving gear, the driving gear meshes with the driven gear, and the third motor is provided to drive the driving gear to rotate.

[0007] Preferably, a second motor is installed on the outer wall of both sides of the base frame. One end of the second motor extends into the interior of the base frame and connects to the outer wall of the drive arm. The second motor is used to drive the drive arm to rotate.

[0008] Preferably, a second limiting arm is rotatably mounted on one side of the outer wall of the upper end of the base frame. The end of the second limiting arm away from the base frame is rotatably connected to the outer wall of the linkage arm and the placement frame, respectively. The movement range of the linkage arm and the placement frame is limited by the setting of the second limiting arm.

[0009] Preferably, a first limiting arm is rotatably mounted on one side of the outer wall of the lower end of the drive arm. One end of the first limiting arm is movably connected to the outer wall of one end of the linkage arm. The setting of the first limiting arm is to limit the movement range of the linkage arm.

[0010] Preferably, a fourth motor is installed at the top of the placement rack, and the bottom end of the fourth motor passes through the placement rack and is provided with a lifting drive component. The bottom end of the lifting drive component is provided with a clamping mechanism, which is used to clamp and transport materials.

[0011] Compared with the prior art, the beneficial effects of this utility model are: the three-dimensional omnidirectional loading robot not only improves the material handling range of the loading robot during use, but also achieves the purpose of automatically gripping and handling materials, and realizes the omnidirectional movement of the loading robot in three-dimensional space, so as to ensure the material handling effect of the loading robot during use.

[0012] (1) The first motor drives the lead screw to rotate, so that the U-shaped nut frame slides on the outer wall of the lead screw, so that the U-shaped nut frame drives the bearing platform to move horizontally above the base, and the bearing platform drives the limit roller to roll and slide on the top of the limit rail, so that the position of the clamping mechanism and other related handling components can be smoothly adjusted, thereby improving the material handling range when the loading robot is used.

[0013] (2) The lower end of the drive arm is driven by the second motor to rotate inside the base frame. After the first limit arm and the second limit arm limit the movement range of the linkage arm and the placement frame, the position of the clamping mechanism can be adjusted. Then the lifting drive component drives the clamping mechanism to lift and lower, and the fourth motor drives the clamping mechanism to rotate horizontally. The clamping mechanism can then conveniently handle the material, thereby achieving the purpose of automated material clamping and handling.

[0014] (3) The drive gear is rotated by the third motor. Since the drive gear and the driven gear mesh with each other and the diameter of the drive gear is smaller than that of the driven gear, the drive gear rotates outside the driven gear and the upper body rotates on top of the lower body. This allows the horizontal angle of the clamping mechanism and other related handling components to be adjusted horizontally, enabling the loading robot to move in all directions in three-dimensional space, meeting the loading needs of various complex scenarios, and thus ensuring the material handling effect of the loading robot when it is used. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a front view structural diagram of the present invention;

[0017] Figure 3 This is a side view of the third motor structure of this utility model;

[0018] Figure 4 This utility model Figure 3 Enlarged structural diagram at point A in the middle.

[0019] In the diagram: 1. Base; 2. First motor; 3. Limiting rail; 4. U-shaped nut frame; 5. Limiting roller; 6. Support platform; 7. Lower seat; 8. Upper seat; 9. Base frame; 10. Second motor; 11. Drive arm; 12. First limiting arm; 13. Linkage arm; 14. Second limiting arm; 15. Placement rack; 16. Fourth motor; 17. Lifting drive component; 18. Clamping mechanism; 19. Third motor; 20. Drive gear; 21. Vertical shaft; 22. Driven gear; 23. Lead screw. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0021] Please see Figure 1-4 An embodiment of this utility model provides a three-dimensional omnidirectional loading robot, including a base 1. A first motor 2 is installed on the outer wall of one side of the base 1. One end of the first motor 2 extends into the interior of the base 1 and is provided with a lead screw 23. A U-shaped nut frame 4 is threaded on the outer wall of one side of the lead screw 23. Both ends of the U-shaped nut frame 4 extend into the exterior of the base 1 and are provided with a support platform 6. Limiting rails 3 are provided on both sides of the top of the base 1. Limiting rollers 5 are rotatably installed on both sides of the bottom of the support platform 6. The bottom of the limiting rollers 5 is slidably connected to the top of the limiting rails 3. A lower body 7 is provided on one side of the top of the support platform 6. A vertical shaft 21 is installed at the bottom of the lower body 7. The top of the vertical shaft 21 extends into the interior of the upper body 8 and is provided with a driven gear 22. A third motor 19 is provided on one side of the top of the upper body 8. The bottom of the third motor 19 extends into the interior of the upper body 8 and is provided with a driving gear 20. The driving gear 20 and the driven gear 22 mesh with each other.

[0022] In use, the third motor 19 is configured to drive the drive gear 20 to rotate;

[0023] An upper seat 8 is rotatably mounted above the lower seat 7. A base frame 9 is provided at the top of the upper seat 8. A second motor 10 is installed on the outer walls of both sides of the base frame 9. One end of the second motor 10 extends into the interior of the base frame 9 and is connected to the outer wall of the drive arm 11.

[0024] In use, the second motor 10 is configured to drive the drive arm 11 to rotate;

[0025] A second limiting arm 14 is rotatably mounted on one side of the outer wall of the upper end of the base frame 9. The end of the second limiting arm 14 away from the base frame 9 is rotatably connected to the outer wall of the linkage arm 13 and the placement rack 15 respectively.

[0026] In use, the second limiting arm 14 is set to limit the movement range of the linkage arm 13 and the placement frame 15;

[0027] A drive arm 11 is rotatably mounted on the inner wall of the base frame 9, and a first limiting arm 12 is rotatably mounted on the outer wall of one side of the lower end of the drive arm 11. One end of the first limiting arm 12 is movably connected to the outer wall of one end of the linkage arm 13.

[0028] In use, the first limiting arm 12 is set to limit the range of motion of the linkage arm 13;

[0029] A linkage arm 13 is rotatably mounted on the end of the drive arm 11 away from the base frame 9. A placement frame 15 is rotatably mounted on the end of the linkage arm 13 away from the drive arm 11. A fourth motor 16 is mounted on the top of the placement frame 15. The bottom end of the fourth motor 16 passes through the placement frame 15 and is provided with a lifting drive component 17. A clamping mechanism 18 is provided at the bottom end of the lifting drive component 17.

[0030] In use, the clamping mechanism 18 is used to clamp and transport materials.

[0031] In this embodiment, the lower end of the drive arm 11 is first driven by the second motor 10 to rotate inside the base frame 9. After the first limiting arm 12 and the second limiting arm 14 limit the movement of the linkage arm 13 and the placement frame 15, the position of the clamping mechanism 18 can be adjusted. Then, the lifting drive 17 drives the clamping mechanism 18 to lift, and the fourth motor 16 drives the clamping mechanism 18 to rotate horizontally, so that the clamping mechanism 18 can easily clamp and transport materials. Afterwards, the third motor 19 drives the drive gear 20 to rotate, so that the drive gear 20 rotates outside the driven gear 22, and the upper seat 8 is located in the lower seat. By rotating the top of component 7, the horizontal angle of the clamping mechanism 18 and other related handling components can be adjusted, thereby enabling the loading robot to move in all directions in three-dimensional space and meet the handling needs in various complex scenarios. Finally, the first motor 2 drives the lead screw 23 to rotate, causing the U-shaped nut frame 4 to slide on the outer wall of the lead screw 23. This allows the U-shaped nut frame 4 to drive the bearing platform 6 to move horizontally above the base 1, and the bearing platform 6 to drive the limiting roller 5 to roll and slide on the top of the limiting rail 3. This allows for the smooth adjustment of the position of the clamping mechanism 18 and other related handling components, thereby expanding the handling range of the loading robot and completing its use.

Claims

1. A three-dimensional omnidirectional feeding robot, characterized by: The utility model provides a kind of automatic loading and unloading device, including base (1), first motor (2) is installed on the outer wall of one side of the base (1), one end of the first motor (2) extends to the inside of base (1) and is equipped with screw rod (23), U-shaped nut holder (4) is threadedly installed on the outer wall of one side of the screw rod (23), both ends of the U-shaped nut holder (4) extend to the outside of base (1) and are equipped with bearing table (6), both sides of the top end of base (1) are equipped with limit rail (3), limit roller (5) is rotatably installed on both sides of the bottom end of bearing table (6), the bottom end of the limit roller (5) is slidably connected with the top of limit rail (3), one side of the top end of bearing table (6) is equipped with lower seat body (7), upper seat body (8) is rotatably installed above the lower seat body (7), bottom frame (9) is equipped on the top end of upper seat body (8), drive arm (11) is rotatably installed on the inner wall of bottom frame (9), linkage arm (13) is rotatably installed on the end of drive arm (11) away from bottom frame (9), placing piece frame (15) is rotatably installed on the end of linkage arm (13) away from drive arm (11).

2. The three-dimensional omnidirectional feeding robot according to claim 1, characterized in that: The bottom of the lower seat body (7) is provided with a vertical shaft (21), the top end of the vertical shaft (21) extends into the inside of the upper seat body (8) and is provided with a driven gear (22), one side of the top end of the upper seat body (8) is provided with a third motor (19), the bottom end of the third motor (19) extends into the inside of the upper seat body (8) and is provided with a driving gear (20), the driving gear (20) and the driven gear (22) are meshed with each other.

3. The three-dimensional omnidirectional feeding robot according to claim 1, wherein: The outer wall of both sides of the bottom frame (9) is provided with a second motor (10), one end of the second motor (10) extends into the inside of the bottom frame (9) and is connected with the outer wall of the drive arm (11).

4. The three-dimensional omnidirectional feeding robot according to claim 1, characterized in that: The outer wall of one side of the upper end of the bottom frame (9) is rotatably provided with a second limiting arm (14), the end of the second limiting arm (14) away from the bottom frame (9) is rotatably connected with the outer wall of the linkage arm (13) and the placing piece frame (15) respectively.

5. The three-dimensional omnidirectional feeding robot according to claim 1, wherein: The outer wall of one side of the lower end of the drive arm (11) is rotatably provided with a first limiting arm (12), one end of the first limiting arm (12) is movably connected with the outer wall of one end of the linkage arm (13).

6. The three-dimensional omnidirectional feeding robot according to claim 1, wherein: The top end of the placing piece frame (15) is provided with a fourth motor (16), the bottom end of the fourth motor (16) penetrates through the placing piece frame (15) and is provided with a lifting driving part (17), the bottom end of the lifting driving part (17) is provided with a clamping mechanism (18).

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