Rotary lifting device and transfer robot

Abstract

The utility model belongs to the technical field of carrying devices, and discloses a rotary lifting device and a carrying robot. The rotary lifting device comprises a mounting plate, a reversing mechanism, a first linear driving mechanism and a second linear driving mechanism, a mounting channel extending in the first direction is formed in a moving seat of the reversing mechanism, a mounting groove extending in the second direction is formed in the first side wall of the moving seat, and the mounting groove communicates with the mounting channel; the rotating shaft is rotationally arranged in the mounting channel, transmission teeth of the gear are located in the mounting groove, the cover plate is mounted on the first side wall of the moving seat and covers the mounting groove, and the rack penetrates through the mounting groove and is meshed with the gear; the telescopic end of the first linear driving mechanism is connected with the moving seat; the telescopic end of the second linear driving mechanism is connected with the rack. The lifting mechanism and the swing mechanism do not need to be independently installed, the lifting and rotating functions can be achieved, the structure is compact, and the occupied space is small.

Description

Technical Field

[0001] This utility model relates to the field of handling device technology, and in particular to a rotary lifting device and a handling robot. Background Technology

[0002] In modern manufacturing processes, material handling robots are widely used for logistics transportation between different processing stations. However, in actual production environments, there are often height or angle differences between two adjacent processing stations, which requires the handling robot to have the ability to adjust height and angle to ensure that the material can be accurately connected to the target station. Existing adjustment methods and problems of handling robots: (1) When there is a height difference between two adjacent processing stations (such as the loading and unloading station and the processing table are not on the same horizontal plane), the handling robot needs to use a lifting mechanism (such as electric cylinder, lead screw module or cylinder) to adjust the height of the material so that it can be accurately placed in the target position. For example, in the loading and unloading process of CNC machining center, the material may need to be lifted from the low conveyor belt to the high processing table; in automated assembly line, there may be step height changes between different process stations, requiring the handling robot to have Z-axis lifting capability. The traditional solution is to independently install a linear module or servo lifting mechanism on the handling robot, but this will complicate the robot structure, increase the load on the robotic arm, and affect the motion accuracy and stability. (2) When there is an angle difference between adjacent workstations (such as when materials need to be transferred from a horizontal conveyor belt to an inclined processing table, or when the gripping posture of the materials needs to be adjusted), the handling robot needs to use a swing mechanism (such as a rotary cylinder, harmonic geared motor, or servo rotary module) to adjust the angle of the materials. Typical application scenarios include: sheet metal processing: sheet metal may need to be adjusted from a horizontal state to an inclined state before and after stamping; electronic assembly: PCB boards may need to be rotated at a certain angle to adapt to assembly requirements when entering different processes. Traditional solutions usually use independent rotary joints or additional swing mechanisms, but this not only increases the mechanical complexity of the robot, but may also lead to motion interference and reduce overall reliability.

[0003] Currently, most handling robots, when faced with height and angle adjustment requirements, typically employ independently installed lifting and swing mechanisms. This leads to the following problems: Complex structure and large size: Multiple independent drive mechanisms increase the robot's mechanical complexity, occupy more space, and are not conducive to compact production line layouts. High cost: Both the lifting and rotating modules need to be purchased and installed separately, increasing the robot's manufacturing cost. Utility Model Content

[0004] The purpose of this utility model is to provide a rotary lifting device and a handling robot that not only eliminates the need for separate installation of lifting and swinging mechanisms, thus reducing costs, but also combines lifting and rotating functions, has a compact structure, and occupies little space.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] The rotary lifting device includes:

[0007] Mounting plate;

[0008] A reversing mechanism includes a movable seat, a rotating shaft fitted with a gear, a cover plate, and a rack. The movable seat has an installation channel extending in a first direction, and a first side wall of the movable seat has an installation groove extending in a second direction. The installation groove communicates with the installation channel. The rotating shaft is rotatably disposed in the installation channel, and the transmission teeth of the gear are located in the installation groove. The cover plate is installed on the first side wall of the movable seat and covers the installation groove. The rack passes through the installation groove and meshes with the gear.

[0009] A first linear drive mechanism is disposed on the mounting plate. The telescopic end of the first linear drive mechanism is connected to the movable seat. The first linear drive mechanism is used to drive the movable seat to move along a first direction.

[0010] A second linear drive mechanism is disposed on the cover plate. The telescopic end of the second linear drive mechanism is connected to the rack. The second linear drive mechanism is used to drive the rack to move along a second direction and to rotate the shaft.

[0011] As an optional solution for the rotary lifting device, a transition flange is installed at the end of the rotating shaft away from the first linear drive mechanism. The transition flange is provided with a plurality of first connection holes, which are used to connect with the workpiece.

[0012] As an optional solution for the rotary lifting device, the adapter flange is provided with a first angle limiting part on the side near the movable seat. The first angle limiting part has a strip-shaped structure and extends radially along the adapter flange. The end of the cover plate away from the first linear drive mechanism extends out of the movable seat. The portion of the cover plate extending out of the movable seat is equipped with two first buffers at intervals along the second direction. The first limiting surfaces on both sides of the first angle limiting part stop at the two corresponding first buffers.

[0013] As an optional solution for the rotary lifting device, the adapter flange is provided with two first angle limiting parts on the side near the movable seat. The included angle between the two first angle limiting parts is 0-180°. The first limiting surface of one of the first angle limiting parts stops at one of the first buffers, and the first limiting surface of the other first angle limiting part stops at the other first buffer.

[0014] As an optional solution for the rotary lifting device, the adapter flange is provided with a second angle limiting part on the side near the movable seat. The second angle limiting part has a fan-shaped structure. The end of the cover plate away from the first linear drive mechanism extends out of the movable seat. The part of the cover plate extending out of the movable seat is equipped with two first buffers at intervals along the second direction. The second limiting surfaces on both sides of the second angle limiting part stop at the two corresponding first buffers.

[0015] As an optional solution for the rotary lifting device, the mounting plate is provided with a guide rail and a slider slidably disposed on the guide rail. The guide rail extends along a first direction, and the second side wall of the movable seat is connected to the first end of the slider.

[0016] As an optional solution for the rotary lifting device, the mounting plate is provided with a mounting bracket, the first linear drive mechanism is fixedly mounted on the mounting bracket, the mounting bracket is provided with a guide groove on the side near the mounting plate, and the second end of the slider extends along the first direction and passes through the guide groove.

[0017] As an alternative to the rotary lifting device, a second buffer is installed at the end of the second end of the slider, and the second buffer stops at the mounting bracket.

[0018] As an optional solution for the rotating lifting device, the mounting plate is provided with a number of second connection holes, which are used to connect to the robotic arm of the handling robot.

[0019] A handling robot includes a robotic arm and a rotary lifting device as described in any of the preceding claims, wherein a mounting plate of the rotary lifting device is fixed to the robotic arm.

[0020] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0021] The rotary lifting device provided by this utility model has a first linear drive mechanism that connects its telescopic end to the movable seat, enabling the movable seat to move linearly along a first direction on the mounting plate. The second linear drive mechanism, through its telescopic end connecting to the rack, drives the rack to move linearly along a second direction within the mounting groove. Because the rack meshes with the gear, the rack's movement is converted into gear rotation, which in turn drives the rotating shaft to rotate. By using the first and second linear drive mechanisms to drive the reversing mechanism, the rotating shaft of the rotary lifting device can simultaneously achieve both linear lifting and rotational motion, reducing manufacturing costs and eliminating the need for separate lifting and swing mechanisms. By compactly integrating the movable seat, rotating shaft, cover plate, and rack together, the cover plate not only protects the gear and rack within the mounting groove but also serves as the mounting base for the second linear drive mechanism, ensuring a compact structure for the entire reversing mechanism and reducing its footprint.

[0022] The material handling robot provided by this utility model has a mounting plate of a rotary lifting device fixed on a robotic arm. The rotary lifting device has two modes of motion: lifting and rotation. After the material is fixed on the rotating shaft, it can be lifted and rotated according to the actual situation. Attached Figure Description

[0023] Figure 1 This is a first-view assembly schematic diagram of the rotary lifting device in an embodiment of this utility model;

[0024] Figure 2 This is a second-view assembly diagram of the rotary lifting device in an embodiment of this utility model;

[0025] Figure 3 This is an exploded view of the rotary lifting device in an embodiment of this utility model;

[0026] Figure 4 This is an exploded view of the movable seat, gear, rotating shaft, cover plate and rack in an embodiment of this utility model;

[0027] Figure 5 This is an assembly diagram of the mounting plate and mounting bracket in an embodiment of this utility model;

[0028] Figure 6 This is a schematic diagram of the structure of the adapter flange having a first angle limiting part in an embodiment of this utility model;

[0029] Figure 7 This is a schematic diagram of the structure of the adapter flange having two first angle limiting parts in an embodiment of this utility model;

[0030] Figure 8 This is a schematic diagram of the structure of the adapter flange with a second angle limiting part in an embodiment of this utility model.

[0031] In the picture:

[0032] 1. Mounting plate; 11. Second connecting hole; 2. Reversing mechanism; 3. First linear drive mechanism; 4. Second linear drive mechanism;

[0033] 21. Movable seat; 211. Mounting channel; 212. Mounting groove; 22. Gear; 23. Rotating shaft; 24. Cover plate; 25. Rack; 26. Adapter flange; 261. First angle limiting part; 2611. First limiting surface; 262. Second angle limiting part; 2621. Second limiting surface; 263. First connecting hole; 27. First buffer; 28. Guide rail; 29. ​​Slider; 210. Mounting bracket; 2101. Guide groove; 2111. Second buffer; 212. Bearing; 213. End cover; 214. Adjusting shim; 215. Screw; 216. Flat washer; 217. Sleeve. Detailed Implementation

[0034] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0035] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0037] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0038] To eliminate the need for separate lifting and swing mechanisms, thereby reducing costs, and to achieve both lifting and rotation functions while maintaining a compact structure and small footprint, this embodiment provides a rotary lifting device and a handling robot. The following description, in conjunction with... Figures 1 to 8 The specific content of this embodiment will be described in detail. It should be noted that the first direction mentioned in this embodiment is... Figure 1 The Z direction in this embodiment, and the second direction mentioned in this embodiment are Figure 1 The X direction in the equation.

[0039] likeFigures 1 to 4 As shown, the rotary lifting device in this embodiment includes a mounting plate 1, a reversing mechanism 2, a first linear drive mechanism 3, and a second linear drive mechanism 4. The reversing mechanism 2 includes a movable seat 21, a rotating shaft 23 fitted with a gear 22, a cover plate 24, and a rack 25. The movable seat 21 has a mounting channel 211 extending in a first direction. The first sidewall of the movable seat 21 has a mounting groove 212 extending in a second direction, which communicates with the mounting channel 211. The rotating shaft 23 is rotatably disposed within the mounting channel 211, and the transmission teeth of the gear 22 are located within the mounting groove 212. The cover plate 24 is mounted on the first sidewall of the movable seat 21 and covers the mounting groove 212. The rack 25 passes through the mounting groove 212 and meshes with the gear 22. The first linear drive mechanism 3 is disposed on the mounting plate 1, and its telescopic end is connected to the movable seat 21. The first linear drive mechanism 3 is used to drive the movable seat 21 to move in the first direction. The second linear drive mechanism 4 is disposed on the cover plate 24. The telescopic end of the second linear drive mechanism 4 is connected to the rack 25. The second linear drive mechanism 4 is used to drive the rack 25 to move along the second direction and to rotate the shaft 23.

[0040] The rotary lifting device provided by this utility model has a first linear drive mechanism 3 that connects to the movable seat 21 via its telescopic end, enabling the movable seat 21 to move linearly along a first direction on the mounting plate 1, providing one dimension of position control. The second linear drive mechanism 4 connects to the rack 25 via its telescopic end, driving the rack 25 to move linearly within the mounting groove 212 along a second direction (different from the first direction). Since the rack 25 meshes with the gear 22, the movement of the rack 25 is converted into the rotation of the gear 22, which in turn drives the rotating shaft 23 to rotate. This provides another dimension of control, namely rotational motion. Through the drive of the reversing mechanism 2 by the first linear drive mechanism 3 and the second drive mechanism, the rotating shaft 23 of the rotary lifting device simultaneously achieves both linear lifting and rotational motion, greatly enhancing its functionality and practicality, reducing manufacturing costs, and eliminating the need for independently installed lifting and swing mechanisms. By compactly integrating the movable seat 21, rotating shaft 23, cover plate 24, and rack 25, the design of the reversing mechanism 2 allows for the conversion of linear motion (movement of rack 25 driven by the second linear drive mechanism 4) into rotary motion (rotation of rotating shaft 23), increasing the flexibility of the device. The cover plate 24 not only protects the gear 22 and rack 25 within the mounting slot 212 but also serves as the mounting base for the second linear drive mechanism 4, ensuring a compact structure for the entire reversing mechanism 2, reducing its footprint, and achieving efficient motion conversion within a limited space.

[0041] Optionally, the first linear drive mechanism 3 and the second linear drive mechanism 4 can be, but are not limited to, cylinders, electric actuators, or hydraulic cylinders, etc., without further restrictions. When cylinders are used for the first linear drive mechanism 3 and the second linear drive mechanism 4, cylinders are typically composed of simple components such as cylinder body, piston, and seals, making them easy to install and maintain. Cylinders can operate normally in high and low temperature environments, and have dustproof and waterproof capabilities, thus adapting to various harsh environmental conditions and exhibiting strong adaptability. Due to the high compressibility of gas, cylinders typically have a fast response speed, making them suitable for applications requiring rapid response. When electric actuators are used for the first linear drive mechanism 3 and the second linear drive mechanism 4, electric actuators are characterized by their compact structure and large thrust, making them suitable for applications with limited space and requiring large thrust. Electric actuators typically have a self-locking function, maintaining their current position when power is off, improving safety. Electric actuators are directly driven by a motor, eliminating the need for air or oil pipelines, simplifying the system structure. When hydraulic cylinders are used for the first linear drive mechanism 3 and the second linear drive mechanism 4, hydraulic cylinders can withstand large loads and exhibit smooth and stable characteristics during low-speed operation. Through precise control of the hydraulic system, hydraulic cylinders can achieve high-precision positioning and motion control. In summary, when choosing between pneumatic cylinders, electric actuators, and hydraulic cylinders as the first linear drive mechanism 3 and the second linear drive mechanism 4, each has its unique characteristics. Pneumatic cylinders are suitable for applications requiring rapid response and adaptability to harsh environments; electric actuators are suitable for applications with limited space and requiring large thrust and self-locking functions; while hydraulic cylinders are suitable for applications requiring large loads and precise control. The selection should be based on the specific application scenario and requirements.

[0042] Furthermore, a transition flange 26 is installed at the end of the rotating shaft 23 away from the first linear drive mechanism 3. The transition flange 26 has several first connection holes 263 for connecting to a workpiece via first fasteners. Specifically, the several first connection holes 263 are circumferentially spaced on the transition flange 26. As a connector, the transition flange 26 allows the workpiece (which may be a tool, sensor, actuator, etc.) to be securely connected to the rotating shaft 23 via first fasteners (such as bolts, screws, etc.). This connection ensures that the workpiece maintains stable positioning and reliable connection during rotation or linear movement. When the rotating shaft 23 is driven to rotate by the second linear drive mechanism 4 (or other drive source), the transition flange 26 and the connected workpiece can jointly bear and transmit the resulting power and torque. The first connection holes 263 on the transition flange 26 adopt a standardized layout and size, meaning it is compatible with many different types of workpieces. By changing different workpieces and corresponding fasteners, the versatility and flexibility of the equipment can be easily achieved. When it is necessary to replace, repair, or upgrade the machined parts, this can be easily accomplished simply by loosening the fasteners, making the installation and disassembly of the machined parts simple and quick. The adapter flange 26, acting as a bridge connecting the rotating shaft 23 and the machined parts, not only provides the necessary connection function but also enhances the stability of the entire structure to a certain extent. Especially in applications subjected to large loads or high-speed rotation, the rigid design of the adapter flange 26 helps reduce vibration and deformation, ensuring stable operation of the equipment.

[0043] For example, such as Figure 2 , Figure 3 , Figure 4 Combination Figure 6As shown, a first angle limiting part 261 is provided on the side of the adapter flange 26 near the moving seat 21. The first angle limiting part 261 has a strip-shaped structure and extends radially along the adapter flange 26. The end of the cover plate 24 away from the first linear drive mechanism 3 extends out of the moving seat 21. Two first buffers 27 are installed at intervals along the second direction on the part of the cover plate 24 extending out of the moving seat 21. The first limiting surfaces 2611 on both sides of the first angle limiting part 261 stop at the two corresponding first buffers 27. The first angle limiting part 261 provided on the side of the adapter flange 26 near the moving seat 21, and the two first buffers 27 installed on the part of the cover plate 24 extending out of the moving seat 21, together constitute an angle limiting and buffering system. The first angle limiting part 261 can limit the rotation angle range of the adapter flange 26 (and the workpiece connected to it) within a certain range. When the adapter flange 26 rotates to the preset maximum angle, the first limiting surface 2611 will contact the first buffer 27, thereby preventing it from rotating further. This limiting function helps prevent equipment damage or safety accidents caused by excessive rotation. The first buffer 27, acting as a cushioning element, provides additional protection for the transition flange 26. When the transition flange 26 rotates to its limit position and contacts the first buffer 27, the first buffer 27 absorbs some of the impact force, reducing vibration and noise caused by direct collision. This not only helps protect the structural integrity of the equipment but also improves the smoothness and reliability of its operation. By setting the first angle limiting part 261 and the first buffer 27, wear and impact during equipment operation can be effectively reduced. This helps extend the service life of the equipment and reduce maintenance costs. The presence of the angle limiting and cushioning system, by limiting the rotation angle and absorbing impact force, reduces the risk of equipment damage and personal injury.

[0044] Furthermore, such as Figure 7 As shown, the adapter flange 26 has two first angle limiting parts 261 on the side near the movable seat 21. The included angle between the two first angle limiting parts 261 is 0-180°. The first limiting surface 2611 of one of the first angle limiting parts 261 stops at one of the first buffers 27, and the first limiting surface 2611 of the other first angle limiting part 261 stops at the other first buffer 27. The actual rotational angle range of the rotating shaft 23 is controlled by limiting the included angle between the two first angle limiting parts 261.

[0045] For example, such as Figure 2 , Figure 3 , Figure 4 Combination Figure 7As shown, a second angle limiting part 262 is provided on the side of the transition flange 26 near the moving seat 21. The second angle limiting part 262 has a fan-shaped structure. The end of the cover plate 24 away from the first linear drive mechanism 3 extends out of the moving seat 21. Two first buffers 27 are installed at intervals along the second direction on the part of the cover plate 24 extending out of the moving seat 21. The second limiting surfaces 2621 on both sides of the second angle limiting part 262 stop at the two corresponding first buffers 27. By providing the fan-shaped second angle limiting part 262 on the side of the transition flange 26 near the moving seat 21, and the two first buffers 27 installed on the part of the cover plate 24 extending out of the moving seat 21, another angle limiting and buffering system is formed. The second angle limiting part 262 can limit the rotation angle range of the transition flange 26 (and the connected workpiece) within a certain range. When the transition flange 26 rotates to the preset maximum angle, the second limiting surface 2621 of the second angle limiting part 262 will contact the first buffer 27, thereby preventing it from rotating further. This limiting function helps prevent equipment damage or safety accidents caused by excessive rotation. The first buffer 27, as a cushioning element, provides additional protection for the transition flange 26. When the transition flange 26 rotates to its limit position and contacts the first buffer 27, the first buffer 27 absorbs some of the impact force, reducing vibration and noise caused by direct collision.

[0046] Specifically, such as Figure 7 As shown, in this embodiment, the two first angle limiting portions 261 of the transition flange 26 are at a 90-degree right angle. If the swing angle needs to be adjusted within other ranges, the angular positional relationship of the two first angle limiting portions 261 of the transition flange 26 needs to be changed. For example, if the angle between the two first angle limiting portions 261 is machined to a 60° positional relationship, the swing angle can be adjusted within a range of 120°; if the angle between the two first angle limiting portions 261 is machined to a 0° positional relationship (i.e., the two first angle limiting portions 261 coincide), the swing angle can be adjusted within a range of 180°. Figure 8 As shown, the included angle between the two second limiting surfaces 2621 of the second angle limiting part 262 is 60°.

[0047] Furthermore, such as Figures 1 to 3As shown, the mounting plate 1 is provided with a guide rail 28 and a slider 29 slidably disposed on the guide rail 28. The guide rail 28 extends along a first direction, and the second sidewall of the movable seat 21 is connected to the first end of the slider 29. The combination of the guide rail 28 and the slider 29 provides a precise guiding system for the movable seat 21. The slider 29 slides along the guide rail 28, ensuring that the movable seat 21 can only move along the predetermined first direction without deviation or tilting. The slider 29 not only provides a guiding function but also bears the weight of the movable seat 21 and its connecting components. The sliding of the slider 29 on the guide rail 28 is generally smooth and continuous, which helps to achieve smooth movement of the movable seat 21.

[0048] Furthermore, such as Figure 3 Combination Figure 5 As shown, a mounting bracket 210 is provided on the mounting plate 1, and the first linear drive mechanism 3 is fixedly mounted on the mounting bracket 210. A guide groove 2101 is provided on the side of the mounting bracket 210 closest to the mounting plate 1. The second end of the slider 29 extends along a first direction and passes through the guide groove 2101. The mounting bracket 210 not only provides a mounting base for the first linear drive mechanism 3, but the guide groove 2101 of the mounting bracket 210 also provides a precise sliding path for the slider 29, ensuring that the slider 29 always moves along a predetermined direction (the first direction) during movement, which helps to achieve precise positioning and guiding functions. Through the constraint of the guide groove 2101, the slider 29 is less prone to deviation or wobbling during movement, thereby enhancing the stability of the entire system. The design of the guide groove 2101 effectively prevents the slider 29 from falling off the mounting plate 1 during movement. Even under external force, the slider 29 will only slide along the guide groove 2101 and will not accidentally detach from the system, thus ensuring the safety and reliability of the equipment.

[0049] Optionally, such as Figures 1 to 3 As shown, a second buffer 2111 is installed at the end of the second end of the slider 29, and the second buffer 2111 stops against the mounting bracket 210. When the slider 29 slides in the guide groove 2101 and reaches the predetermined position, the second buffer 2111 can contact the mounting bracket 210 and play a buffering role. This helps to absorb the impact energy generated during the movement of the slider 29, reduce the vibration and noise of the system, and thus protect the system from damage. The presence of the second buffer 2111 can effectively prevent direct collision between the slider 29 and the mounting bracket 210. The buffer can reduce the friction and wear between the slider 29 and the mounting bracket 210, thereby extending their service life.

[0050] Furthermore, such as Figure 5As shown, the mounting plate 1 has several second connection holes 11 for connecting to the robotic arm of the handling robot via second fasteners. Through the standardized second connection holes 11 and second fasteners, the robotic arm of the handling robot can be easily connected to the mounting plate 1 and easily removed. This design simplifies the connection process and improves work efficiency. The multiple second connection holes 11 allow the robotic arm to be connected at different positions on the mounting plate 1, providing greater flexibility. Securely connecting the robotic arm to the mounting plate 1 via the second fasteners ensures the stability and safety of the handling robot during operation. This connection method reduces the risk of the robotic arm falling off or wobbling during movement or operation. The standardized connection hole and fastener design makes it easier to assemble and disassemble the rotary lifting device with the robotic arm of the handling robot. Maintenance personnel can easily disassemble the mounting plate 1 of the rotary lifting device for necessary inspection and maintenance work, and then reinstall it onto the robotic arm.

[0051] Optionally, such as Figure 2 Combination Figure 3 As shown, the reversing mechanism 2 also includes bearings 212, end caps 213, adjusting shims 214, screws 215, flat washers 216, and retaining sleeves 217. Exemplarily, a pair of bearings 212 are mounted at the upper and lower ends of the movable seat 21. These bearings 212 are angular contact ball bearings 212, capable of withstanding both radial and axial loads. A rotating shaft 23 is mounted between the upper and lower bearings 212. A gear 22 is mounted in the middle of the rotating shaft 23, driving the rotating shaft 23 to rotate and oscillate via a flat key. A transition flange 26 is mounted at the lower end of the rotating shaft 23. The transition flange 26 is axially positioned between itself and the bearings 212 via the retaining sleeve 217. The lower end of the transition flange 26 is fixedly connected to the rotating shaft 23 using flat washers and hex socket head cap screws. The upper and lower end caps 213, through the stops on the end caps 213, position the outer ring of the bearing 212. If there are machining errors in terms of dimensions, an adjusting shim 214 can be added to the lower end cap 213 to compensate for the dimensional errors. The rack 25 is installed in the mounting groove 212 in the middle of the moving seat 21, corresponding to the position of the gear 22. The opening side of the mounting groove 212 of the moving seat 21 is equipped with a cover plate 24, and the rack 25 moves within the closed groove formed by the cover plate 24 and the mounting groove 212 on the bearing 212 seat. The first linear drive mechanism 3 (which can be a rotary drive cylinder) is installed on the cover plate 24 and drives the rack 25 to move through a floating joint. The lower end of the cover plate 24 is also equipped with two first buffers 27 (which can be hydraulic buffers) to control the swing angle of the flange of the transition flange 26. Adjusting the extension length of the hydraulic buffer can adjust the rotation angle of the transition flange 26 within a small range; the driven workpiece can be installed at the bottom of the flange of the transition flange 26.

[0052] This embodiment also provides a handling robot, which includes a robotic arm and the aforementioned rotary lifting device. The mounting plate 1 of the rotary lifting device is fixed to the robotic arm. By fixing the mounting plate 1 of the rotary lifting device to the robotic arm, the handling robot can achieve more flexible rotation and lifting operations. The robotic arm can move on a horizontal plane, while the rotary lifting device can rotate and lift on a vertical plane. This multi-dimensional movement mode enables the handling robot to handle more complex handling tasks.

[0053] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A rotary lifting device, characterized in that, include: Mounting plate (1); The reversing mechanism (2) includes a movable seat (21), a rotating shaft (23) fitted with a gear (22), a cover plate (24), and a rack (25). The movable seat (21) has an installation channel (211) extending in a first direction. The first side wall of the movable seat (21) has an installation groove (212) extending in a second direction. The installation groove (212) communicates with the installation channel (211). The rotating shaft (23) is rotatably disposed in the installation channel (211), and the transmission teeth of the gear (22) are located in the installation groove (212). The cover plate (24) is installed on the first side wall of the movable seat (21) and covers the installation groove (212). The rack (25) passes through the installation groove (212) and meshes with the gear (22). A first linear drive mechanism (3) is disposed on the mounting plate (1). The telescopic end of the first linear drive mechanism (3) is connected to the movable seat (21). The first linear drive mechanism (3) is used to drive the movable seat (21) to move along a first direction. A second linear drive mechanism (4) is disposed on the cover plate (24). The telescopic end of the second linear drive mechanism (4) is connected to the rack (25). The second linear drive mechanism (4) is used to drive the rack (25) to move along the second direction and to rotate the shaft (23).

2. The rotary lifting device according to claim 1, characterized in that, A transition flange (26) is installed at one end of the rotating shaft (23) away from the first linear drive mechanism (3). The transition flange (26) is provided with a plurality of first connection holes (263), which are used to connect with the workpiece.

3. The rotary lifting device according to claim 2, characterized in that, The adapter flange (26) is provided with a first angle limiting part (261) on the side near the movable seat (21). The first angle limiting part (261) has a strip-shaped structure and extends radially along the adapter flange (26). The end of the cover plate (24) away from the first linear drive mechanism (3) extends out of the movable seat (21). The part of the cover plate (24) extending out of the movable seat (21) is equipped with two first buffers (27) at intervals along the second direction. The first limiting surfaces (2611) on both sides of the first angle limiting part (261) stop at the two corresponding first buffers (27).

4. The rotary lifting device according to claim 3, characterized in that, The adapter flange (26) is provided with two first angle limiting parts (261) on the side near the movable seat (21). The included angle between the two first angle limiting parts (261) is 0-180°. The first limiting surface (2611) of one of the first angle limiting parts (261) stops at one of the first buffers (27), and the first limiting surface (2611) of the other first angle limiting part (261) stops at the other first buffer (27).

5. The rotary lifting device according to claim 2, characterized in that, The adapter flange (26) is provided with a second angle limiting part (262) on the side near the movable seat (21). The second angle limiting part (262) has a fan-shaped structure. The end of the cover plate (24) away from the first linear drive mechanism (3) extends out of the movable seat (21). The part of the cover plate (24) extending out of the movable seat (21) is equipped with two first buffers (27) at intervals along the second direction. The second limiting surfaces (2621) on both sides of the second angle limiting part (262) stop at the two corresponding first buffers (27).

6. The rotary lifting device according to claim 1, characterized in that, The mounting plate (1) is provided with a guide rail (28) and a slider (29) slidably disposed on the guide rail (28). The guide rail (28) extends along a first direction, and the second side wall of the movable seat (21) is connected to the first end of the slider (29).

7. The rotary lifting device according to claim 6, characterized in that, The mounting plate (1) is provided with a mounting bracket (210), the first linear drive mechanism (3) is fixedly mounted on the mounting bracket (210), the mounting bracket (210) is provided with a guide groove (2101) on the side near the mounting plate (1), and the second end of the slider (29) extends along the first direction and passes through the guide groove (2101).

8. The rotary lifting device according to claim 7, characterized in that, A second buffer (2111) is installed at the end of the second end of the slider (29), and the second buffer (2111) stops at the mounting bracket (210).

9. The rotary lifting device according to any one of claims 1-8, characterized in that, The mounting plate (1) is provided with a plurality of second connection holes (11), which are used to connect to the robotic arm of the handling robot.

10. A transport robot, characterized in that, It includes a robotic arm and a rotary lifting device as described in any one of claims 1-9, wherein the mounting plate (1) of the rotary lifting device is fixed to the robotic arm.

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