Three-axis feeding and discharging conveying device of truss manipulator

Abstract

The utility model relates to the technical field of conveying devices, in particular to a three-shaft feeding and discharging conveying device of a truss manipulator, which comprises a manipulator and a conveying assembly, and the conveying assembly comprises a three-shaft driving mechanism and four supporting parts. The supporting component comprises a stand column, a sliding sleeve piece, a mounting plate, a mounting bolt, a connecting bolt, a mounting part and a rolling wheel. A worker slides the sliding sleeve piece upwards along the stand column, the connecting bolt is screwed into the first screw hole, then the stand column is pushed, the stand column and the mechanical arm can be conveniently moved by means of rolling of the rolling wheels, and when the mechanical arm is moved to a needed working area, the sliding sleeve piece is moved downwards to enable the mounting plate to fall on the ground, so that the working efficiency is improved. Connecting bolts are screwed into second screw holes, then mounting bolts are screwed into threaded holes formed in the mounting plate and the ground, and adjustment of the position of the manipulator is completed; according to the utility model, the working area of the manipulator can be conveniently moved and adjusted.

Description

TECHNICAL FIELD

[0001] The utility model relates to conveying device technical field especially relates to a truss mechanical hand's three -axis feeding and discharging conveying device. BACKGROUND

[0002] Truss mechanical hand is a kind of full-automatic industrial equipment that is established on the basis of right-angle X, Y, Z three coordinate system, and it carries out station adjustment to workpiece, or realizes the trajectory movement of workpiece, however, the traditional truss mechanical hand is difficult to adapt to the clamping of carton product, and it is easy to clamp the product, which affects the appearance of product.

[0003] The prior art CN215789858U discloses a feeding and discharging truss mechanical hand, which comprises a main support, a Y-axis linear drive module, an X-axis linear drive module, a Z-axis linear drive module, a rotating device and a clamping device.

[0004] However, the main support of the truss mechanical hand is fixed, and it is connected with the ground by screw thread, so it lacks the moving function and is inconvenient for the staff to move and adjust the working area of the truss mechanical hand. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a truss mechanical hand's three -axis feeding and discharging conveying device, which can conveniently move and adjust the working area of the truss mechanical hand.

[0006] To achieve the above object, the utility model provides a truss mechanical hand's three -axis feeding and discharging conveying device, which comprises a mechanical hand and a conveying assembly, the conveying assembly comprises a three -axis drive mechanism and four supporting parts.

[0007] The three-axis driving mechanism is arranged at the side of the mechanical arm; four support components are respectively arranged at the bottom of the three-axis driving mechanism, and the support components comprise a stand, a sliding sleeve, a mounting plate, a mounting bolt, a connecting bolt, a mounting part and a roller; the stand is arranged at the bottom of the three-axis driving mechanism, and the side of the stand is provided with a first screw hole and a second screw hole, the second screw hole being below the first screw hole; the sliding sleeve is in sliding connection with the stand and is arranged outside the stand; the mounting plate is fixedly connected with the sliding sleeve and is arranged at the side of the sliding sleeve; the mounting bolt is in threaded connection with the mounting plate and is arranged at the side of the mounting plate; the connecting bolt is in threaded connection with the sliding sleeve and is arranged at the side of the sliding sleeve; the mounting part is arranged at the bottom of the stand, and the roller is arranged at the bottom of the mounting part.

[0008] The conveying assembly further comprises a plurality of reinforcing crossbeams, each of which is fixedly connected between two adjacent stands.

[0009] The three-axis driving mechanism comprises two Y-axis linear driving modules, an X-axis linear driving module and a Z-axis linear driving module; the two Y-axis linear driving modules are respectively arranged at the top of two adjacent stands; the X-axis linear driving module is arranged on the two Y-axis linear driving modules; and the Z-axis linear driving module is arranged between the X-axis linear driving module and the mechanical arm.

[0010] The mounting part comprises a spring shock absorber, a sliding block and a rotating member; the spring shock absorber is fixedly connected with the stand and is arranged inside the stand; the sliding block is fixedly connected with the spring shock absorber and is in sliding connection with the stand, and is arranged inside the stand; and the rotating member is arranged between the sliding block and the roller.

[0011] The rotating member comprises a bearing, a rotating shaft and a rotating frame; the outer ring of the bearing is fixedly connected with the sliding block and is arranged at the bottom of the sliding block; the rotating shaft is fixedly connected with the inner ring of the bearing and is arranged inside the bearing; the rotating frame is fixedly connected with the rotating shaft and is in rotating connection with the roller, and is arranged between the rotating shaft and the roller.

[0012] This utility model discloses a three-axis loading and unloading conveying device for a truss robot. In use, threaded holes are drilled in the ground of the working area where the robot is to be used. The mounting bolts are tightened into the threaded holes on the mounting plate and the ground, thereby fixing the position of the column. The robot grips materials, and the three-axis drive mechanism drives the robot to move, enabling loading, unloading, and conveying of materials. When the working area of ​​the robot needs to be changed, the operator first unscrews the mounting bolts from the mounting plate, then unscrews the connecting bolts from the second threaded hole, and then slides the sliding assembly upwards along the column to connect the bolts. When the bolt is screwed into the first screw hole, the mounting plate will move away from the ground. Then, the operator can push the column, and the position of the column and the robot can be easily moved by the rolling of the rollers. When the robot is moved to the required working area, first unscrew the connecting bolt from the first screw hole, then lower the sliding kit to let the mounting plate fall to the ground, then screw the connecting bolt into the second screw hole, and then tighten the mounting bolt into the threaded holes opened on the mounting plate and the ground, thereby completing the adjustment of the robot's position. In this way, it is easy to move and adjust the working area of ​​the robot. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0015] Figure 2 This is a structural schematic diagram of the support component of this utility model.

[0016] Figure 3 This is a cross-sectional view of the support component of this utility model.

[0017] Figure 4 yes Figure 3 A magnified view of detail A.

[0018] Figure 5 This is a structural schematic diagram of the column, connecting bolts, mounting part and roller of this utility model.

[0019] 101-Manipulator, 102-Three-axis drive mechanism, 103-Support component, 104-Column, 105-Sliding kit, 106-Mounting plate, 107-Mounting bolt, 108-Connecting bolt, 109-Mounting part, 110-Roller, 111-First screw hole, 112-Second screw hole, 113-Reinforcing beam, 114-X-axis linear drive module, 115-Y-axis linear drive module, 116-Z-axis linear drive module, 117-Spring shock absorber, 118-Slider, 119-Rotating component, 120-Bearing, 121-Rotating shaft, 122-Rotating frame. Detailed Implementation

[0020] The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, but should not be construed as limiting the present invention.

[0021] Please see Figures 1-5 ,in, Figure 1 This is a schematic diagram of the overall structure of this utility model. Figure 2 This is a structural schematic diagram of the support component of this utility model. Figure 3 This is a cross-sectional view of the support component of this utility model. Figure 4 yes Figure 3 A magnified view of detail A. Figure 5 This is a structural schematic diagram of the column, connecting bolts, mounting part and roller of this utility model.

[0022] This utility model provides a three-axis loading and unloading conveying device for a gantry robot, including a robot 101 and a conveying assembly. The conveying assembly includes a three-axis drive mechanism 102, four support components 103, and a reinforcing beam 113. The support components 103 include a column 104, a sliding kit 105, a mounting plate 106, mounting bolts 107, connecting bolts 108, a mounting part 109, and rollers 110. The three-axis drive mechanism 102 includes two Y-axis linear drive modules 115, an X-axis linear drive module 114, and a Z-axis linear drive module 116. The mounting part 109 includes a spring shock absorber 117, a slider 118, and a rotating component 119. The rotating component 119 includes a bearing 120, a rotating shaft 121, and a rotating frame 122. The aforementioned solution facilitates the movement and adjustment of the working area of ​​the gantry robot 101.

[0023] In this specific embodiment, the three-axis drive mechanism 102 is disposed on the side of the robot arm 101; four support components 103 are respectively located at the bottom of the three-axis drive mechanism 102, and each support component 103 includes a column 104, a sliding assembly 105, a mounting plate 106, mounting bolts 107, connecting bolts 108, a mounting part 109, and rollers 110; the column 104 is disposed at the bottom of the three-axis drive mechanism 102, and a first screw hole 111 and a second screw hole 112 are provided on the side of the column 104, with the second screw hole 112 located within the first screw hole 111. Below 1; the sliding kit 105 and the column 104 are slidably connected and located outside the column 104; the mounting plate 106 and the sliding kit 105 are fixedly connected and located on the side of the sliding kit 105; the mounting bolt 107 and the mounting plate 106 are threadedly connected and located on the side of the mounting plate 106; the connecting bolt 108 and the sliding kit 105 are threadedly connected and located on the side of the sliding kit 105; the mounting part 109 is disposed at the bottom of the column 104, and the roller 110 is disposed at the bottom of the mounting part 109. The lower surface of the mounting plate 106 is flush with the lower surface of the roller 110. In use, threaded holes are made in the ground of the working area where the robot arm 101 is to be used. The mounting bolts 107 are tightened into the threaded holes on the mounting plate 106 and the ground, thereby fixing the position of the column 104. The robot arm 101 is used to grasp materials, and the robot arm 101 is driven to move by the three-axis drive mechanism 102, enabling material loading, unloading, and conveying. When the working area of ​​the robot arm 101 needs to be changed, the operator first unscrews the mounting bolts 107 from the mounting plate 106, then unscrews the connecting bolts 108 from the second threaded hole 112, and then slides the sliding kit 105 upwards along the column 104 to tighten the connecting bolts 108. Screw the mounting plate 106 into the first screw hole 111. At this time, the mounting plate 106 will be away from the ground. Then, the operator can push the column 104. The position of the column 104 and the robot 101 can be easily moved by the rolling of the roller 110. When the robot 101 is moved to the required working area, first unscrew the connecting bolt 108 from the first screw hole 111, then move the sliding kit 105 down to make the mounting plate 106 fall to the ground, then screw the connecting bolt 108 into the second screw hole 112, and then tighten the mounting bolt 107 into the threaded holes opened on the mounting plate 106 and the ground, thereby completing the adjustment of the position of the robot 101. In the above way, it is convenient to move and adjust the working area of ​​the robot 101.

[0024] The reinforcing beams 113 are multiple in number, and each reinforcing beam 113 is fixedly connected between two adjacent columns 104. The reinforcing beams 113 improve the connection stability between the four columns 104.

[0025] Secondly, the two Y-axis linear drive modules 115 are respectively disposed on the top of the two adjacent columns 104; the X-axis linear drive module 114 is disposed on the two Y-axis linear drive modules 115; and the Z-axis linear drive module 116 is disposed between the X-axis linear drive module 114 and the robot arm 101. The X-axis linear drive module 114 drives the Z-axis linear drive module 116 to move along the X-axis direction. When the Z-axis linear drive module 116 moves, it drives the robot arm 101 to move along the Z-axis direction. The Y-axis linear drive module 115 drives the X-axis linear drive module 114 to move along the Y-axis direction. When the X-axis linear drive module 114 moves, it drives the Z-axis linear drive module 116 and the robot arm 101 to move along the Y-axis direction. The Z-axis linear drive module 116 drives the robot arm 101 to move along the Z-axis direction, thereby enabling the robot arm 101 to move along the X, Y, and Z axes. The three-axis drive mechanism 102 drives the robot arm 101 to move to the material loading position, where the robot arm 101 grabs the material. Subsequently, the three-axis drive mechanism 102 drives the robot arm 101 to transport the material to the unloading position, thereby realizing the loading, unloading, and conveying of materials. The X-axis linear drive module 114, the Y-axis linear drive module 115, and the Z-axis linear drive module 116 are all existing technologies. For example, they can be the "X-axis linear drive module, Y-axis linear drive module, and Z-axis linear drive module" in a loading and unloading gantry robot 101 disclosed in CN215789858U. The robot 101 is also existing technology. For example, it can be the "clamping device" in a loading and unloading gantry robot 101 disclosed in CN215789858U.

[0026] Meanwhile, the spring shock absorber 117 is fixedly connected to the column 104 and located inside the column 104; the slider 118 is fixedly connected to the spring shock absorber 117 and slidably connected to the column 104, and located inside the column 104; the rotating component 119 is disposed between the slider 118 and the roller 110. The inner side of the column 104 is provided with a groove adapted to the slider 118. When encountering bumps during the movement of the column 104, the roller 110 transmits the vibration force to the spring shock absorber 117 via the rotating component 119 and the slider 118. The spring shock absorber 117 provides a shock absorption effect, preventing damage to the three-axis drive mechanism 102 and the robotic arm 101.

[0027] In addition, the outer ring of the bearing 120 is fixedly connected to the slider 118 and located at the bottom of the slider 118; the rotating shaft 121 is fixedly connected to the inner ring of the bearing 120 and located inside the bearing 120; the rotating frame 122 is fixedly connected to the rotating shaft 121 and rotatably connected to the roller 110, and located between the rotating shaft 121 and the roller 110. The rotating frame 122 is used to support and mount the roller 110, and the rotating frame 122 and the roller 110 can rotate through the bearing 120 and the rotating shaft 121, facilitating steering during the movement of the column 104.

[0028] When using this utility model, threaded holes are made in the ground of the working area where the robot arm 101 is to be used, and the mounting bolts 107 are tightened into the threaded holes in the mounting plate 106 and the ground to fix the position of the column 104. The three-axis drive mechanism 102 drives the robot arm 101 to move to the material loading position, where the robot arm 101 grabs the material. Then, the three-axis drive mechanism 102 drives the robot arm 101 to transport the material to the unloading position, thereby realizing the loading, unloading and conveying of materials. When the working area of ​​the robotic arm 101 needs to be changed, the operator first unscrews the mounting bolt 107 from the mounting plate 106, then unscrews the connecting bolt 108 from the second screw hole 112, and then slides the sliding kit 105 upward along the column 104 to screw the connecting bolt 108 into the first screw hole 111. At this time, the mounting plate 106 will be away from the ground, and the operator can then push the column 104. The rolling of the roller 110 facilitates the movement of the column 104 and the robotic arm. The position of the robot arm 101 is moved. When the robot arm 101 is moved to the required working area, the connecting bolt 108 is first unscrewed from the first screw hole 111, and then the sliding kit 105 is moved down so that the mounting plate 106 falls to the ground. Then the connecting bolt 108 is screwed into the second screw hole 112, and then the mounting bolt 107 is tightened into the threaded holes opened on the mounting plate 106 and the ground, thereby completing the adjustment of the position of the robot arm 101. In the above way, it is convenient to move and adjust the working area of ​​the robot arm 101.

[0029] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. A three-axis loading and unloading conveying device for a gantry robot, comprising a robot, characterized in that, It also includes conveyor components; The conveying assembly includes a three-axis drive mechanism and four support components; The three-axis drive mechanism is located on the side of the robot arm; four support components are respectively located at the bottom of the three-axis drive mechanism. Each support component includes a column, a sliding assembly, a mounting plate, mounting bolts, connecting bolts, a mounting part, and rollers. The column is located at the bottom of the three-axis drive mechanism, and a first screw hole and a second screw hole are provided on the side of the column, with the second screw hole located below the first screw hole. The sliding assembly is slidably connected to the column and is located outside the column. The mounting plate is fixedly connected to the sliding assembly and is located on the side of the sliding assembly. The mounting bolts are threadedly connected to the mounting plate and are located on the side of the mounting plate. The connecting bolts are threadedly connected to the sliding assembly and are located on the side of the sliding assembly. The mounting part is located at the bottom of the column, and the rollers are located at the bottom of the mounting part.

2. The three-axis loading and unloading conveying device for a gantry robot as described in claim 1, characterized in that, The conveying assembly also includes reinforcing beams; there are multiple reinforcing beams, and each reinforcing beam is fixedly connected between two adjacent columns.

3. The three-axis loading and unloading conveying device for a gantry robot as described in claim 2, characterized in that, The three-axis drive mechanism includes two Y-axis linear drive modules, an X-axis linear drive module, and a Z-axis linear drive module; the two Y-axis linear drive modules are respectively disposed on the top of two adjacent columns; the X-axis linear drive module is disposed on the two Y-axis linear drive modules; and the Z-axis linear drive module is disposed between the X-axis linear drive module and the robotic arm.

4. The three-axis loading and unloading conveying device for a gantry robot as described in claim 3, characterized in that, The mounting part includes a spring damper, a slider, and a rotating component; the spring damper is fixedly connected to the column and located inside the column; the slider is fixedly connected to the spring damper and slidably connected to the column and located inside the column; the rotating component is disposed between the slider and the roller.

5. The three-axis loading and unloading conveying device for a gantry robot as described in claim 4, characterized in that, The rotating component includes a bearing, a rotating shaft, and a rotating frame; the outer ring of the bearing is fixedly connected to the slider and located at the bottom of the slider; the rotating shaft is fixedly connected to the inner ring of the bearing and located inside the bearing; the rotating frame is fixedly connected to the rotating shaft and rotatably connected to the roller, and located between the rotating shaft and the roller.

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