End picking device and single-arm carrying manipulator

Abstract

The utility model provides an end picking device and a single-arm carrying manipulator, and relates to the technical field of automatic production lines. The end picking device comprises a connecting arm and a picking component, and the picking component is rotationally connected with the connecting arm. The picking part comprises a first rotating shaft and a picking assembly. The first rotating shaft is rotationally connected with the connecting arm. The picking assembly comprises a mounting main rod and a vacuum suction cup, and the mounting main rod is connected with the first rotating shaft. And a first driving part is arranged between the connecting arm and the picking part. The single-arm carrying manipulator comprises a vertical beam and a large swing arm. A slide carriage is slidably arranged on the vertical beam, and a second driving component is arranged between the slide carriage and the vertical beam. One end of the large swing arm is rotationally connected with the slide carriage, and a third driving component is arranged between the slide carriage and the large swing arm. An end picking device is rotationally arranged at the other end of the large swing arm, and a fourth driving component is arranged between the large swing arm and the connecting arm. The end part picking device and the single-arm carrying manipulator can adapt to a working occasion with a narrow space.

Description

Technical Field

[0001] This utility model relates to the field of automated production line technology, specifically to an end-effector picking device and a single-arm handling robot. Background Technology

[0002] End-effectors are specialized tools at the end of industrial automation equipment (such as robotic arms, robots, or conveyor systems). They are typically installed at the end of industrial automation equipment to grip or move workpieces, quickly transfer workpieces or products, and reduce production cycle time.

[0003] In actual production, sometimes it is necessary to flip the workpiece during the handling process to meet the requirements of the next process. Using robots to flip the workpiece is a common method. However, due to the limitations of its own mechanical structure, the robot needs a large amount of space to move when performing the flipping operation, so it is not suitable for some confined spaces. Utility Model Content

[0004] To address the aforementioned problems, this application provides an end-effector pickup device capable of flipping the workpiece during transport, thus adapting to confined workspaces. This application also provides a single-arm handling robot utilizing this end-effector pickup device, achieving similar technical effects.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] An end-effector pickup device includes a connecting arm and a pickup component, wherein the pickup component is rotatably connected to the connecting arm, and the rotation axis of the pickup component is perpendicular to the connecting arm.

[0007] The pickup component includes a first rotating shaft and a pickup assembly;

[0008] The first rotating shaft is rotatably connected to the connecting arm;

[0009] The pickup assembly includes a mounting rod and a vacuum suction cup, and the mounting rod is connected to the first rotating shaft;

[0010] A first driving component is provided between the connecting arm and the picking component.

[0011] Furthermore, the first driving component includes a drive shaft and a first drive motor. The drive shaft is rotatably connected to the connecting arm. One end of the drive shaft is connected to the power output shaft of the first drive motor, and the other end of the drive shaft is connected to the first rotating shaft through a first transmission mechanism.

[0012] Furthermore, a reduction mechanism is provided between the drive shaft and the first drive motor, the reduction mechanism including a large gear on the drive shaft and a small gear on the power output shaft of the first drive motor.

[0013] Furthermore, the connecting arm includes a connecting cylinder, one end of which is provided with a mounting cylinder arranged perpendicularly to the connecting cylinder, and the other end of which is provided with a reduction gearbox. The first rotating shaft is rotatably disposed within the mounting cylinder, and the drive shaft is rotatably disposed within the connecting cylinder. One end of the drive shaft extends into the mounting cylinder, and the other end extends into the reduction gearbox. The first drive motor is disposed on the reduction gearbox, and a mounting box is disposed on the reduction gearbox. The first drive motor is located within the mounting box.

[0014] Furthermore, the pickup component includes two pickup assemblies, and the two pickup assemblies are respectively connected to both ends of the first rotating shaft via air slip rings. The air slip ring includes a fixed cylinder, the inner end of which is connected to the connecting arm. A rotating core is disposed inside the fixed cylinder, the inner end of which is connected to the first rotating shaft, and the outer end of which is connected to the mounting main rod. A groove is provided on the side of the rotating core. The fixed cylinder and the rotating core together form an annular air cavity. A first air port communicating with the air cavity is provided on the fixed cylinder, and a second air port communicating with the air cavity is provided on the rotating core outside the fixed cylinder.

[0015] Furthermore, a tension bolt is provided between the rotating cores of the two air slip rings, and a first clearance hole is provided on the first rotating shaft to accommodate the tension bolt.

[0016] Furthermore, the mounting main rod is fixedly connected to the rotating core via a manual quick-change mechanism. The second air port includes a first air passage extending axially and a second air passage extending radially. The inner end of the first air passage is connected to the air chamber, and a plug is provided at the outer end opening of the first air passage. The second air passage is located outside the fixed cylinder. The quick-change socket of the manual quick-change mechanism is fixedly installed on the outer end face of the rotating core in a detachable manner. The mounting main rod is coaxially arranged with the first rotating shaft.

[0017] A single-arm handling robot includes a vertical beam and a large swing arm;

[0018] A slide plate is slidably mounted on the vertical beam, and a second driving component for driving the slide plate to move up and down is provided between the slide plate and the vertical beam;

[0019] One end of the large swing arm is rotatably connected to the slide, and a third driving component for driving the large swing arm to rotate is provided between the slide and the large swing arm.

[0020] The other end of the large swing arm is provided with an end-picking device. The large swing arm is rotatably connected to the connecting arm of the end-picking device. A fourth driving component for driving the connecting arm to rotate is provided between the large swing arm and the connecting arm.

[0021] Furthermore, it also includes a balancing component, which includes a traction member and a first support wheel disposed at the upper end of the vertical beam. One end of the traction member is connected to the slide, and the other end of the traction member extends to the side of the vertical beam opposite to the slide after passing around the first support wheel. A balancing mechanism is provided on the side of the vertical beam opposite to the slide, and the balancing mechanism can apply an upward force to the slide through the traction member.

[0022] Furthermore, the balancing mechanism includes a sliding plate and a cylinder for driving the sliding plate to move up and down. The sliding plate is provided with a second support wheel. The other end of the traction member passes around the first support wheel and the second support wheel in sequence and is fixedly connected to the vertical beam through a connecting frame.

[0023] The beneficial effects of this utility model are:

[0024] 1. The end-feed pickup device provided in this application embodiment can flip the workpiece during the transportation process. Since the workpiece is close to the axis of rotation when flipped, the required space is small and it can adapt to the working environment with limited space.

[0025] 2. This application also provides a single-arm handling robot, which adopts the end-effector described above and achieves the same technical effect of adapting to confined working spaces and simplifying the air circuit.

[0026] 3. The single-arm handling robot provided in this application embodiment also has the advantages of lightweight overall structure, compact structure, fast handling speed and low cost. Since the driving part for driving the first rotating shaft is set at the end of the connecting arm away from the first rotating shaft (i.e., the far end), the connecting arm can be designed to be thinner, thinner and lighter overall, and faster. It can replace the traditional robot to grasp small plates and is suitable for small and medium-sized plate production lines where the requirements for the trajectory of the handling work and the posture of the workpiece are not high. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of an end-capture pickup device provided in an embodiment of this application;

[0028] Figure 2 for Figure 1A magnified structural diagram of part A in the middle;

[0029] Figure 3 This is a cross-sectional view of the connection structure at one end of the drive shaft;

[0030] Figure 4 This is a cross-sectional view of the connection structure at the other end of the drive shaft;

[0031] Figure 5 A three-dimensional structural diagram of a single-arm handling robot provided in an embodiment of this application;

[0032] Figure 6 A three-dimensional structural diagram of the vertical beam assembly;

[0033] Figure 7 Rear view of the vertical beam assembly;

[0034] Figure 8 for Figure 7 AA section view in the middle;

[0035] Figure 9 for Figure 7 A magnified structural diagram of part B in the middle section;

[0036] Figure 10 for Figure 8 A magnified structural diagram of section C;

[0037] Figure 11 for Figure 8 A magnified structural diagram of part D in the middle.

[0038] In the diagram: 1. Connecting arm; 11. Mounting cylinder; 111. Second clearance hole; 12. Connecting cylinder; 121. First flange; 13. Gearbox; 131. Cylinder body; 132. First end plate; 133. Second end plate; 14. Mounting box;

[0039] 2. Pickup component; 21. First rotating shaft; 211. First clearance hole; 22. Pickup assembly; 221. Mounting main rod; 222. Mounting support rod; 223. Vacuum suction cup; 23. First bearing assembly; 24. Air slip ring; 241. Fixed cylinder; 2411. First air port; 2412. Second flange; 242. Rotating core; 2421. First air passage; 2422. Second air passage; 243. Air chamber; 244. Plug; 245. Sealing ring; 25. Tensioning bolt; 26. Locking screw; 27. Manual quick change; 271. Quick change socket; 272. Quick change plug;

[0040] 31. Drive shaft; 311. Driving bevel gear; 312. Large gear; 32. First drive motor; 321. Small gear; 33. Second bearing assembly; 34. Driven bevel gear;

[0041] 41. Vertical beam; 411. First guide rail; 412. Second guide rail; 42. Slide; 421. First slider; 422. First pressure plate; 431. First driving pulley; 432. First driven pulley; 433. First synchronous belt; 434. Second drive motor;

[0042] 51. Large swing arm; 52. Third drive component; 53. Fourth drive component;

[0043] 61. Traction component; 62. First support wheel; 631. Slide plate; 6311. Second slider; 632. Cylinder; 633. Second support wheel; 6331. Wheel axle; 634. Connecting frame; 6341. First connecting plate; 6342. Second connecting plate; 6343. Vertical plate; 6344. Second pressure plate; 64. Third pressure plate. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings. The described embodiments are merely a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort should fall within the protection scope of this application.

[0045] To facilitate understanding of the specific embodiments of this application, the coordinate system for a single-arm handling robot is defined as follows: Figure 5 As shown, the left and right directions are horizontal, the front and back directions are vertical, and the up and down directions are vertical.

[0046] Example 1

[0047] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an end-effector pickup device includes a connecting arm 1 and a pickup component 2 disposed at one end of the connecting arm 1. The pickup component 2 is rotatably connected to the connecting arm 1, and a first driving component for driving the pickup component 2 to rotate is disposed between the connecting arm 1 and the pickup component 2, and the rotation axis of the pickup component 2 is perpendicular to the connecting arm 1.

[0048] The pickup component 2 includes a first rotating shaft 21 and a pickup assembly 22.

[0049] The first rotating shaft 21 is perpendicular to the connecting arm 1, and the first rotating shaft 21 is rotatably connected to the connecting arm 1 through the first bearing assembly 23.

[0050] The pickup assembly 22 includes a mounting main rod 221, one end of which is detachably connected to the end of the first rotating shaft 21. The mounting main rod 221 can rotate synchronously under the drive of the first rotating shaft 21. Several detachable mounting support rods 222 are axially arranged on the mounting main rod 221, and each mounting support rod 222 is equipped with a detachable vacuum suction cup 223. In one specific embodiment, the mounting main rod 221 in this embodiment has three mounting support rods 222, and each mounting support rod 222 is equipped with a vacuum suction cup 223.

[0051] The first driving component includes a drive shaft 31 and a first drive motor 32 for driving the drive shaft 31 to rotate. The drive shaft 31 is parallel to the connecting arm 1 and is rotatably connected to the connecting arm 1 via a second bearing assembly 33. One end of the drive shaft 31 is connected to the power output shaft of the first drive motor 32, and the other end of the drive shaft 31 is connected to the first rotating shaft 21 via a first transmission mechanism. For example, the first transmission mechanism employs gear transmission, including a driving bevel gear 311 disposed on the drive shaft 31, and a driven bevel gear 34 meshing with the driving bevel gear 311 disposed on the first rotating shaft 21.

[0052] Furthermore, a reduction mechanism is provided between the drive shaft 31 and the first drive motor 32. The reduction mechanism includes a large gear 312 disposed on the drive shaft 31 and a small gear 321 disposed on the power output shaft of the first drive motor 32.

[0053] Furthermore, a slip ring 24 is provided between the first rotating shaft 21 and the pickup assembly 22.

[0054] The air slip ring 24 includes a fixed cylinder 241, the inner end of which (with the end facing the connecting arm 1 as the inner end) is detachably fixedly connected to the connecting arm 1. A rotating core 242 is disposed inside the fixed cylinder 241, the inner end of which (with the end facing the first rotating shaft 21 as the inner end) is detachably connected to the end face of the first rotating shaft 21, and the outer end of which (with the end facing away from the first rotating shaft 21 as the outer end) is detachably fixedly connected to the mounting main rod 221 of the pickup assembly 22. A ring-shaped groove is provided on the cylindrical side of the rotating core 242. The fixed cylinder 241 and the rotating core 242 together form a ring-shaped air cavity 243, and the air cavity 243 is coaxially arranged with the rotating core 242. The fixed cylinder 241 is provided with a first air port 2411 that communicates with the air chamber 243. The first air port 2411 is connected to a vacuum device (not shown in the figure) through a pipeline (not shown in the figure). The rotating core 242 is provided with a second air port on the outer side of the fixed cylinder 241 (with the side away from the mounting cylinder 11 as the outer side) that communicates with the air chamber 243. The vacuum suction cups 223 of the pickup assembly 22 are connected to the second air ports through pipelines (not shown in the figure).

[0055] By installing air slip rings, the air path can be simplified, and air entanglement can be avoided during operation.

[0056] Furthermore, the pickup component 2 includes two pickup assemblies 22, which are respectively located at both ends of the first rotating shaft 21. Correspondingly, both ends of the first rotating shaft 21 are provided with air slip rings 24, and the rotating core 242 and the mounting main rod 221 located on the same side of the first rotating shaft 21 are detachably connected and fixed.

[0057] Furthermore, a tensioning bolt 25 is provided between the rotating cores 242 of the two air slip rings 24. One side of the air slip ring 24 has a connecting through hole for accommodating the tensioning bolt 25, and the other side has a threaded hole that mates with the tensioning bolt 25. The first rotating shaft 21 has a first clearance hole 211 for accommodating the tensioning bolt 25. Preferably, the first clearance hole 211 is coaxially arranged with the first rotating shaft 21.

[0058] In one specific embodiment, the inner end of the rotating core 242 is fixedly connected to the first rotating shaft 21 by a plurality of locking screws 26, and the plurality of locking screws 26 are evenly arranged in the circumferential direction around the axis of the first rotating shaft 21.

[0059] Furthermore, sealing rings 245 are respectively provided on both sides of the groove between the fixed cylinder 241 and the rotating core 242.

[0060] Furthermore, the inner end of the mounting rod 221 of the pickup assembly 22 is fixedly connected to the rotating core 242 via a manual quick-change 27.

[0061] Further, the second air port includes a first air passage 2421 and a second air passage 2422 that are connected. The first air passage 2421 extends axially, and its inner end is connected to the air chamber 243. A plug 244 is provided at the outer end opening of the first air passage 2421. For example, the plug 244 is a screw plug. The second air passage 2422 extends radially and is located on the outer side of the fixed cylinder 241 (with the side away from the connecting arm 1 as the outer side). The quick-change socket 271 of the manual quick-change 27 is detachably fixed to the outer end face of the rotating core 242, and the quick-change plug 272 of the manual quick-change 27 is detachably fixed to the inner end of the mounting main rod 221. The mounting main rod 221 of the pickup assembly 22 is coaxially arranged with the first rotating shaft 21.

[0062] Furthermore, both the first rotating shaft 21 and the drive shaft 31 are located within the connecting arm 1.

[0063] As one specific implementation method, such as Figure 2 , Figure 3 and Figure 4 As shown, the connecting arm 1 in this embodiment includes a connecting cylinder 12. One end of the connecting cylinder 12 is provided with a mounting cylinder 11 arranged perpendicularly to the connecting cylinder 12, and the other end of the connecting cylinder 12 is provided with a reduction gearbox 13. A second clearance hole 111 is provided on the side wall of the mounting cylinder 11 within the inner hole of the connecting cylinder 12, and the internal space of the connecting cylinder 12 is connected to the mounting cylinder 11 through the second clearance hole 111. The reduction gearbox 13 has a cylindrical structure arranged coaxially with the connecting cylinder 12, including a cylinder body 131. A first end plate 132 is fixedly provided on the end of the cylinder body 131 facing the connecting cylinder 12 by bolts, and a second end plate 133 is fixedly provided on the end of the cylinder body 131 facing away from the connecting cylinder 12 by welding. The connecting cylinder 12 is fixedly connected to the first end plate 132 by welding, and a third clearance hole is provided on the first end plate 132 inside the inner hole of the connecting cylinder 12. The internal space of the connecting cylinder 12 is connected to the internal space of the gearbox 13 through the third clearance hole.

[0064] The first rotating shaft 21 is disposed inside the mounting cylinder 11 and is rotatably connected to the mounting cylinder 11 via the first bearing assembly 23. The drive shaft 31 is located inside the connecting cylinder 12 and is rotatably connected to the connecting cylinder 12 via the second bearing assembly 33. One end of the drive shaft 31 extends through the second clearance hole 111 into the mounting cylinder 11 and is connected and fixed to the drive bevel gear 311 inside the mounting cylinder 11. The other end of the drive shaft 31 extends through the third clearance hole into the reduction gearbox 13 and is connected and fixed to the large gear 312 inside the reduction gearbox 13. The first drive motor 32 is detachably fixed to the second end plate 133. The power output shaft of the first drive motor 32 extends through the second end plate 133 into the reduction gearbox 13 and is connected and fixed to the small gear 321 inside the reduction gearbox 13.

[0065] In one specific embodiment, the connecting cylinder 12 in this embodiment is provided with a first flange 121 at one end facing the mounting cylinder 11, and the first flange 121 is fixedly connected to the mounting cylinder 11 by bolts.

[0066] In one specific embodiment, the inner end of the fixing cylinder 241 is inserted into the inner hole of the mounting cylinder 11. A second flange 2412 is provided on the fixing cylinder 241 on the outer side of the mounting cylinder 11. The second flange 2412 is fixedly connected to the mounting cylinder 11 by screws.

[0067] Furthermore, a detachable mounting box 14 is fixedly provided on the second end plate 133 of the gearbox 13, and the first drive motor 32 is located inside the mounting box 14.

[0068] like Figure 5 As shown, a single-arm handling robot includes a vertical beam 41. A slide 42, capable of moving vertically relative to the vertical beam 41, is mounted on the vertical beam 41. A second driving component is disposed between the slide 42 and the vertical beam 41 to drive the slide 42 to move vertically relative to the vertical beam 41. A large swing arm 51 is mounted on the slide 42. The upstream end of the large swing arm 51 (with the end closer to the slide 42 as the upstream end) is rotatably connected to the slide 42. A third driving component 52 is disposed between the slide 42 and the large swing arm 51 to drive the large swing arm 51 to rotate relative to the slide 42. An end-feeding device is mounted on the downstream end of the large swing arm 51 (with the end furthest from the slide 42 as the downstream end). One end of the connecting arm 1 of the end-feeding device, facing away from the picking component 2, is rotatably connected to the large swing arm 51. A fourth driving component 53 is disposed between the large swing arm 51 and the connecting arm 1 to drive the connecting arm 1 to rotate relative to the large swing arm 51.

[0069] The axis of rotation of the large swing arm 51 relative to the slide plate 42 is perpendicular to the sliding direction of the slide plate 42, that is, the axis of rotation of the large swing arm 51 relative to the slide plate 42 is located in the horizontal plane, and its extension direction in the horizontal plane is arbitrary. The axis of rotation of the connecting arm 1 relative to the large swing arm 51, and the axis of rotation of the picking component 2 relative to the connecting arm 1, are both parallel to the axis of rotation of the large swing arm 51 relative to the slide plate 42.

[0070] As one specific implementation method, according to Figure 5 In the coordinate system shown, the slide 42 described in this embodiment is located on the front side of the vertical beam 41. The axis of rotation of the large swing arm 51 relative to the slide 42, the axis of rotation of the connecting arm 1 relative to the large swing arm 51, and the axis of rotation of the picking component 2 relative to the connecting arm 1 all extend in the front-back direction.

[0071] As one specific implementation method, such as Figure 6 As shown, in this embodiment, the left and right sides of the front side of the vertical beam 41 are respectively provided with first guide rails 411 extending in the vertical direction, and the left and right ends of the slide plate 42 facing the vertical beam 41 are respectively provided with first sliders 421 that cooperate with the first guide rails 411.

[0072] As one specific implementation method, such as Figure 7 , Figure 8 and Figure 10 As shown, the second driving component in this embodiment includes a first driving pulley 431 and a first driven pulley 432 rotatably disposed at both ends of the vertical beam 41. A first synchronous belt 433 is disposed between the first driving pulley 431 and the first driven pulley 432. The slide plate 42 is detachably fixedly connected to the first synchronous belt 433. For example, a first pressure plate 422 is disposed on the inner side of the first synchronous belt 433. The first pressure plate 422 is fixedly connected to the slide plate 42 by screws (not shown in the figure), and the first synchronous belt 433 is clamped and fixed between the first pressure plate 422 and the slide plate 42. A second drive motor 434 is disposed on the vertical beam 41, and the power output shaft of the second drive motor 434 is connected to the first driving pulley 431. For example, the first driving pulley 431 is located at the upper end of the vertical beam 41, the first driven pulley 432 is located at the lower end of the vertical beam 41, and correspondingly, the second drive motor 434 is located at the upper end of the vertical beam 41.

[0073] In one specific embodiment, the first drive pulley 431 is rotatably connected to the vertical beam 41 via a second rotating shaft, and both ends of the second rotating shaft extend through the sidewalls of the vertical beam 41 to the outside of the vertical beam 41. Two second drive motors 434 are mounted on the upper end of the vertical beam 41, located on the left and right sides of the vertical beam 41 respectively. The second drive motors 434 are fixedly connected to the vertical beam 41 via motor mounts, and the power output shafts of the two second drive motors 434 are connected to both ends of the second rotating shaft via couplings.

[0074] like Figure 5 As shown, the third drive component 52 includes a reducer and a servo motor, wherein the reducer is an RV reducer. The power output shaft of the servo motor is connected to the power input end of the reducer. The housing of the servo motor is fixedly connected to the housing of the reducer. The housing of the reducer is detachably fixedly connected to the large swing arm 51, and the power output end of the reducer is detachably connected to the slide plate 42. A mounting through hole for accommodating the reducer is provided on the upstream end of the large swing arm 51.

[0075] The fourth drive component 53 has the same structure as the third drive component 52, also including a reducer and a servo motor. The reducer in the fourth drive component 53 is also an RV reducer, and the connection relationship between the reducer and the servo motor in the fourth drive component 53 is the same as that in the third drive component 52. The difference between the fourth drive component 53 and the third drive component 52 is that the housing of the reducer in the fourth drive component 53 is detachably fixedly connected to the large swing arm 51, and the power output end of the reducer in the fourth drive component 53 is detachably connected to the mounting box 14 of the connecting arm 1. The downstream end of the large swing arm 51 is provided with a mounting through hole for accommodating the reducer of the fourth drive component 53.

[0076] The structure of the end-effector pickup device is the same as that of the end-effector pickup device described above, and will not be repeated here.

[0077] Furthermore, a balancing component is also provided on the vertical beam 41.

[0078] like Figure 6 , Figure 7 , Figure 8 , Figure 9 , Figure 10 and Figure 11As shown, the balancing component includes a traction member 61 and a first support wheel 62 disposed on the upper end of the vertical beam 41. One end of the traction member 61 is detachably connected and fixed to the slide plate 42, and the other end of the traction member 61 extends from the top, around the first support wheel 62, to the side of the vertical beam 41 opposite to the slide plate 42. The side of the vertical beam 41 opposite to the slide plate 42 (according to...) Figure 5 The coordinate system shown is located on the rear side of the vertical beam 41. A balancing mechanism is provided. The balancing mechanism can apply an upward force to the slide plate 42 through the traction member 61, thereby balancing the weight of the slide plate 42 and the components installed on the slide plate 42, so as to reduce the load on the second drive motor 434.

[0079] In one specific embodiment, the balancing mechanism described in this example includes a sliding plate 631 located behind the vertical beam 41, capable of sliding up and down relative to the vertical beam 41, and a cylinder 632 for driving the sliding plate 631 to move up and down relative to the vertical beam 41. A second support wheel 633 is provided on the sliding plate 631. The other end of the traction member 61 passes sequentially around the first support wheel 62 and the second support wheel 633 and is fixedly connected to the vertical beam 41 via a connecting frame 634, which is located above the sliding plate 631. Thus, the second support wheel 633, acting as a movable pulley, can reduce the stroke by half; that is, when the stroke of the slide plate 42 is L, the stroke of the sliding plate 631 is only 1 / 2L, thereby providing space for the installation of the cylinder 632.

[0080] In one specific embodiment, a cylinder 632 is respectively provided on the left and right sides of the traction member 61 between the slide plate 631 and the vertical beam 41. The cylinder body of the cylinder 632 is fixedly connected to the vertical beam 41 through the cylinder 632 seat, and the piston rod end of the cylinder 632 is detachably connected to the wheel axle 6331 of the second support wheel 633.

[0081] In one specific embodiment, the slide plate 631 is slidably connected to the vertical beam 41 via a linear guide rail pair. The linear guide rail pair includes second guide rails 412 disposed at the left and right ends of the rear side of the vertical beam 41, and second sliders 6311 that cooperate with the second guide rails 412 are respectively disposed at the left and right ends of the slide plate 631 facing the vertical beam 41.

[0082] In one specific embodiment, the connecting frame 634 in this embodiment includes a first connecting plate 6341 and a second connecting plate 6342 in sequence along the direction away from the vertical beam 41. The first connecting plate 6341 and the second connecting plate 6342 are arranged in parallel, and the first connecting plate 6341 is fixedly connected to the vertical beam 41. Two upright plates 6343 are provided between the first connecting plate 6341 and the second connecting plate 6342, and the upright plates 6343, the first connecting plate 6341 and the second connecting plate 6342 together form a square through hole. The other end of the traction member 61 passes downward through the square through hole and extends from the bottom around the second support wheel 633 to the side of the second connecting plate 6342 opposite to the first connecting plate 6341. A second pressure plate 6344 is provided on the side of the second connecting plate 6342 opposite to the first connecting plate 6341. The second pressure plate 6344 is connected and fixed to the second connecting plate 6342 by bolts (not shown in the figure). The other end of the traction member 61 is clamped and fixed between the second pressure plate 6344 and the second connecting plate 6342.

[0083] In one specific embodiment, a third pressure plate 64 is provided on the side of the slide 42 facing the vertical beam 41. The third pressure plate 64 is fixedly connected to the slide 42 by bolts (not shown in the figure), and one end of the traction member 61 is clamped and fixed between the third pressure plate 64 and the slide 42.

[0084] Example 2

[0085] In the fourth drive component 53, the housing of the reducer is detachably fixedly connected to the mounting box 14 of the connecting arm 1, and the power output end of the reducer is detachably connected to the large swing arm 51. The mounting box of the connecting arm 1 is provided with a mounting through hole for accommodating the reducer.

[0086] The rest of the structure is the same as in Example 1.

[0087] Example 3

[0088] The balancing mechanism includes a sliding plate 631 located behind the vertical beam 41 and capable of sliding up and down relative to the vertical beam 41. A counterweight is mounted on the sliding plate 631 and is detachably fixed to it. The other end of the traction member 61 passes around the first support wheel 62 and is fixedly connected to the sliding plate 631 via a fourth pressure plate. In actual operation, the counterweight can be adjusted by replacing the counterweight or changing its number to balance the weight of the slide plate 42 on the other side and the components mounted on it.

[0089] The rest of the structure is the same as in Example 1.

[0090] Other embodiments obtained by those skilled in the art based on the embodiments provided in this application by combining, splitting, or reorganizing the embodiments of this application do not exceed the protection scope of this application.

[0091] The above detailed embodiments have provided a detailed explanation of the purpose, technical solutions, and beneficial effects of the embodiments of this application. The above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. That is, any modifications, equivalent substitutions, improvements, etc., made on the basis of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. An end-effector pickup device, comprising a connecting arm (1) and a pickup component (2), characterized in that: The pickup component (2) is rotatably connected to the connecting arm (1), and the rotation axis of the pickup component (2) is perpendicular to the connecting arm (1); The pickup component (2) includes a first rotating shaft (21) and a pickup assembly (22); The first rotating shaft (21) is rotatably connected to the connecting arm (1); The pickup assembly (22) includes a mounting rod (221) and a vacuum suction cup (223), and the mounting rod (221) is connected to the first rotating shaft (21); A first driving component is provided between the connecting arm (1) and the picking component (2).

2. The end-capsule pickup device according to claim 1, characterized in that: The first driving component includes a drive shaft (31) and a first drive motor (32). The drive shaft (31) is rotatably connected to the connecting arm (1). One end of the drive shaft (31) is connected to the power output shaft of the first drive motor (32), and the other end of the drive shaft (31) is connected to the first rotating shaft (21) through a first transmission mechanism.

3. The end-cap pickup device according to claim 2, characterized in that: A reduction mechanism is provided between the drive shaft (31) and the first drive motor (32). The reduction mechanism includes a large gear (312) on the drive shaft (31) and a small gear (321) on the power output shaft of the first drive motor (32).

4. The end-capsule pickup device according to claim 3, characterized in that: The connecting arm (1) includes a connecting cylinder (12), one end of which is provided with an mounting cylinder (11) arranged perpendicularly to the connecting cylinder (12), and the other end of which is provided with a reduction gearbox (13). The first rotating shaft (21) is rotatably disposed in the mounting cylinder (11), and the drive shaft (31) is rotatably disposed in the connecting cylinder (12). One end of the drive shaft (31) extends into the mounting cylinder (11), and the other end of the drive shaft (31) extends into the reduction gearbox (13). The first drive motor (32) is disposed on the reduction gearbox (13), and the reduction gearbox (13) is provided with a mounting box (14). The first drive motor (32) is located in the mounting box (14).

5. The end-cap pickup device according to claim 1, characterized in that: The pickup component (2) includes two pickup assemblies (22), and the two pickup assemblies (22) are respectively connected to both ends of the first rotating shaft (21) through air slip rings (24). The air slip ring (24) includes a fixed cylinder (241), the inner end of which is connected to the connecting arm (1). A rotating core (242) is provided inside the fixed cylinder (241), and the inner end of the rotating core (242) is connected to the first rotating shaft (21). 42) The outer end is connected to the mounting main rod (221). The rotating core (242) has a groove on its side. The fixed cylinder (241) and the rotating core (242) together form an annular air cavity (243). The fixed cylinder (241) is provided with a first air port (2411) that communicates with the air cavity (243). The rotating core (242) is provided with a second air port that communicates with the air cavity (243) on the outside of the fixed cylinder (241).

6. The end-cap pickup device according to claim 5, characterized in that: A tensioning bolt (25) is provided between the rotating cores (242) of the two air slip rings (24), and a first clearance hole (211) is provided on the first rotating shaft (21) for accommodating the tensioning bolt (25).

7. An end-capsule pickup device according to claim 5, characterized in that: The mounting rod (221) is fixedly connected to the rotating core (242) via a manual quick-change (27). The second air port includes a first air passage (2421) extending axially and a second air passage (2422) extending radially. The inner end of the first air passage (2421) is connected to the air chamber (243). A plug (244) is provided at the outer end opening of the first air passage (2421). The second air passage (2422) is located outside the fixed cylinder (241). The quick-change socket (271) of the manual quick-change (27) is fixedly installed on the outer end face of the rotating core (242) in a detachable manner. The mounting rod (221) is coaxially arranged with the first rotating shaft (21).

8. A single-arm handling robot, characterized in that: Includes vertical beam (41) and large swing arm (51); A slide plate (42) is slidably disposed on the vertical beam (41), and a second driving component for driving the slide plate (42) to move up and down is disposed between the slide plate (42) and the vertical beam (41); One end of the large swing arm (51) is rotatably connected to the slide (42), and a third driving component (52) for driving the large swing arm (51) to rotate is provided between the slide (42) and the large swing arm (51). The other end of the large swing arm (51) is provided with an end-picking device as described in any one of claims 1-7. The large swing arm is rotatably connected to the connecting arm (1) of the end-picking device. A fourth driving component (53) for driving the connecting arm (1) to rotate is provided between the large swing arm (51) and the connecting arm (1).

9. A single-arm handling robot according to claim 8, characterized in that: It also includes a balancing component, which includes a traction member (61) and a first support wheel (62) disposed on the upper end of the vertical beam (41). One end of the traction member (61) is connected to the slide (42), and the other end of the traction member (61) extends to the side of the vertical beam (41) opposite to the slide (42) after passing around the first support wheel (62). A balancing mechanism is provided on the side of the vertical beam (41) opposite to the slide (42). The balancing mechanism can apply an upward force to the slide (42) through the traction member (61).

10. A single-arm handling robot according to claim 9, characterized in that: The balancing mechanism includes a slide plate (631) and a cylinder (632) for driving the slide plate (631) to move up and down. The slide plate (631) is provided with a second support wheel (633). The other end of the traction member (61) passes around the first support wheel (62) and the second support wheel (633) in sequence and is fixedly connected to the vertical beam (41) through a connecting frame (634).

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