Mechanical arm transfer device

Abstract

The utility model relates to the technical field of mechanical arm transfer, in particular to a mechanical arm transfer device which comprises a base, a sliding seat and a base column, the sliding seat is installed on the base in a sliding mode, and the base column is installed on the sliding seat in a rotating mode. Two transverse columns are arranged on the base column, and the two transverse columns can move up and down in the height direction of the base column; the sliding seat comprises a base frame, a bottom plate rotationally arranged above the base frame and a driving part arranged on the bottom plate, the driving part comprises a first motor fixedly arranged on the bottom plate, an output shaft of the first motor penetrates through the bottom plate to be connected with a driving gear, a driven gear is fixedly connected to the base frame, and the driving gear is connected with a driving motor. And the driving gear is meshed with the driven gear, so that the problem that materials are inconvenient to transfer when the materials are transferred between adjacent conveying lines and conveying lines with different heights is solved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm transfer technology, specifically to a robotic arm transfer device. Background Technology

[0002] In the field of industrial automation, efficient material transfer between conveyor lines is a core element in ensuring continuous production. However, existing transfer devices are difficult to adapt to the dynamic needs under complex working conditions. For adjacent conveyor lines arranged in parallel, traditional equipment often requires additional transfer platforms or manual handling due to a lack of flexible extension capabilities. This not only significantly increases equipment investment costs and maintenance complexity but also leads to longer material flow paths and reduced production efficiency. In contrast, in three-dimensional conveyor systems, material transfer between conveyor lines at different heights requires a combination of multiple elevators and conveyor belts. This results in problems such as low docking accuracy, low transfer efficiency, and complex control logic. Furthermore, the equipment combination occupies a large amount of space, making it difficult to meet the requirements of modern industry for compact layouts.

[0003] Therefore, the inventors have proposed a robotic arm transfer device to solve the aforementioned technical problems. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm transfer device to solve the problem of inconvenient material transfer between adjacent conveyor lines and conveyor lines at different heights.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A robotic arm transfer device includes a base, a slide, and a base column. The slide is slidably mounted on the base, and the base column is rotatably mounted on the slide. Two horizontal columns are provided on the base column, and the two horizontal columns can move up and down along the height direction of the base column.

[0007] The slide includes a base frame, a base plate rotatably mounted above the base frame, and a driving component mounted on the base plate. The driving component includes a first motor fixedly mounted on the base plate. The output shaft of the first motor passes through the base plate and is connected to a drive gear. A driven gear is fixedly connected to the base frame. The drive gear meshes with the driven gear.

[0008] According to the above technical solution, the first motor starts synchronously and drives the base column to rotate around the center of the slide to a preset angle through the meshing of the active gear under the base plate and the driven gear of the base frame; the second motor at the top of the base column drives the screw to rotate, so that the two horizontal columns complete the lifting and positioning along the first guide rail; the third motor inside the horizontal column drives the pulley tensioning belt system to adjust the gripping posture of the robotic arm or suction claw; finally, through visual recognition or sensor feedback, the gripper or vacuum suction cup completes the material gripping, and the material is transported to the target position through the three-axis linkage motion. The whole process does not require transfer equipment, realizing efficient and flexible transfer across production lines and floors.

[0009] Furthermore, a second motor is fixedly installed on the top of the base column, and a screw is coaxially connected to the output shaft of the second motor. The screw passes through the horizontal column and is threadedly connected to the horizontal column.

[0010] The base column is provided with a first guide rail, and the cross column is provided with a first slider, which is slidably connected to the first guide rail.

[0011] According to the above technical solution, when the second motor starts, its output shaft drives the coaxial screw to rotate. The thread machined inside the horizontal column and the screw form a helical pair. During the rotation of the screw, the horizontal column moves along the axial direction of the base column under the action of the thread meshing force. At the same time, the first guide rail arranged on the surface of the base column and the first slider on the side of the horizontal column form a sliding pair, which not only ensures the straightness of the lifting motion, but also significantly improves the load-bearing stability. When the motor stops, the horizontal column is kept in a fixed position, providing motion control for material gripping.

[0012] Furthermore, the crossbar includes a rectangular shell and two pulleys rotatably connected inside the rectangular shell. A tension belt is provided between the two pulleys. A first connecting plate and a second connecting plate are connected to the tension belt. The first connecting plate and the second connecting plate are respectively installed on the upper and lower sides of the tension belt.

[0013] A third motor is provided on one side of the crossbar, and the output shaft of the third motor is coaxially connected to one of the pulleys.

[0014] According to the above technical solution, when the third motor drives one of the pulleys to rotate, the tension belt generates a closed-loop motion under the action of the pulley friction, which drives the first and second connecting plates arranged above and below to move synchronously along the length of the horizontal column. This translation mechanism enables the robotic arm or suction claw to adjust its position in the axial direction of the horizontal column. Combined with the lifting of the base column and the horizontal movement of the slide, it forms a complete three-dimensional spatial position adjustment capability, which is particularly suitable for multi-station collaborative operation or precise gripping of long strip materials.

[0015] Furthermore, the top and bottom of the rectangular shell are provided with slots that allow the first connecting plate and the second connecting plate to pass through;

[0016] A robotic arm is detachably connected to the first connecting plate, and an adsorption claw is installed on the second connecting plate.

[0017] According to the above technical solution, the slot is designed to facilitate the passage of the first connecting plate and the second connecting plate.

[0018] Furthermore, the adsorption claw includes a rotary cylinder fixedly mounted on the second connecting plate, a support frame is mounted on the rotary cylinder, a plurality of suction cups are mounted on the support frame, and the suction cups are connected to a negative pressure pump.

[0019] According to the above technical solution, when it is necessary to handle smooth plates or fragile items, the rotary cylinder on the second connecting plate drives the support frame to rotate to a suitable angle, so that the suction cup array closely adheres to the surface of the material; after the negative pressure pump is started, the negative pressure environment formed in the suction cup cavity, the atmospheric pressure difference causes the suction cup to generate a strong adsorption force, stably gripping the material; during the handling process, the rotary cylinder can dynamically adjust the angle of the suction cup, and cooperate with the compound motion of the robotic arm to achieve the adjustment of the material's posture; after placement is completed, the negative pressure pump reverses the air intake to break the vacuum state and achieve rapid release. This design is particularly suitable for the non-destructive transfer of fragile parts such as precision instrument panels and photovoltaic glass.

[0020] Furthermore, a rack is provided inside the base, and a fourth motor is fixedly installed inside the slide. The output shaft of the fourth motor is connected to a first gear, which meshes with the rack.

[0021] Furthermore, the base is symmetrically provided with second guide rails on both sides, and the slide block is fixedly provided with second sliders on both sides, the second sliders slidingly engaging with the second guide rails.

[0022] According to the above technical solution, when the fourth motor drives the first gear to mesh with the rack embedded in the base, the rotational motion is converted into the linear displacement of the slide through the first gear and rack mechanism. Together with the second guide rails on both sides of the base and the second slider of the slide forming a sliding pair, a double motion constraint is formed, so that the motion process has both high rigidity and low friction characteristics, which is particularly suitable for heavy-duty transfer scenarios that require frequent reciprocating positioning.

[0023] Furthermore, the crossbar is provided with weight-reducing holes, which are spaced apart along the length of the crossbar.

[0024] According to the above technical solution, the weight-reducing holes are arranged at intervals along the length of the horizontal column to reduce the mass of the horizontal column and meet the requirements of lightweight design.

[0025] Furthermore, a robotic arm is detachably connected to the first connecting plate.

[0026] Furthermore, the base has several mounting blocks at its bottom, and the mounting blocks have mounting holes.

[0027] According to the above technical solution, by opening mounting holes, bolts can pass through the mounting holes to fix the base to the ground, avoiding the trouble of tipping over.

[0028] The beneficial effects of this utility model are:

[0029] This invention achieves horizontal movement through the meshing transmission of a base rack and pinion and a first gear on the slide. Combined with a screw at the top of the base column driving the synchronous lifting and lowering of the horizontal column, it provides vertical adjustment capability. Internal pulleys on the horizontal column drive the first and second connecting plates for fine-tuning, thus constructing a three-dimensional precise positioning system. The slide's built-in rotary motor drives the rotation of the base column via the first gear set, enabling multi-angle coverage of the conveyor line. This allows for material transfer between high and low conveyor lines, as well as cross-transfer operations between adjacent conveyor lines. The horizontal column is equipped with a liftable robotic arm and a vacuum suction cup dual-grip system, gripping materials from multiple directions. A rotary cylinder adjusts the angle of the suction cup array to achieve adaptive adsorption on the material surface. Combined with a negative pressure pump for rapid pick-and-place, this eliminates the need for a transfer platform between parallel conveyor lines and replaces the traditional lifting platform combination with a compact three-dimensional motion structure. The structure is compact, highly practical, and significantly improves transfer efficiency and space utilization under complex working conditions.

[0030] Other advantages, objectives, and features of this application will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from practice of this application. The objectives and other advantages of this application may be realized and obtained through the detailed embodiments described below. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of the robotic arm transfer device of this utility model from one direction.

[0032] Figure 2 This is a schematic diagram of the structure of the robotic arm transfer device of this utility model from another direction;

[0033] Figure 3 This is a partial schematic diagram of the robotic arm transfer device of this utility model;

[0034] Figure 4 This is a partial structural diagram of the base column and cross column of the robotic arm transfer device of this utility model;

[0035] Figure 5 This is a schematic diagram of the disassembled structure of the horizontal column in the robotic arm transfer device of this utility model;

[0036] Figure 6 In the robotic arm transfer device of this utility model Figure 5Enlarged diagram of part B;

[0037] Figure 7 In the robotic arm transfer device of this utility model Figure 2 A schematic diagram of part A of the structure.

[0038] The components include: base 1, slide 2, base frame 21, base plate 22, first motor 23, driving gear 24, driven gear 25, base column 3, first guide rail 31, first slider 32, horizontal column 4, rectangular shell 41, slot 411, weight reduction hole 412, pulley 42, tension belt 43, first connecting plate 44, second connecting plate 45, third motor 46, second motor 5, screw 6, suction claw 7, rotary cylinder 71, support frame 72, suction cup 73, second guide rail 81, second slider 82, rack 83, fourth motor 84, first gear 85, robotic arm 9, mounting block 10, mounting hole 101, and conveyor line 11. Detailed Implementation

[0039] The embodiments of this utility model will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be understood that the preferred embodiments are only for illustrating this utility model and not for limiting the scope of protection of this utility model.

[0040] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0041] This embodiment proposes a robotic arm transfer device, installed between two conveyor lines 11, such as... Figures 1 to 7 As shown, it includes a base 1, a slide 2 and a base column 3. The slide 2 is slidably mounted on the base 1, and the base column 3 is mounted on the slide 2. Two horizontal columns 4 are symmetrically arranged on the base column 3, and both horizontal columns 4 can move up and down along the height direction of the base column 3.

[0042] like Figure 1 , Figure 2 and Figure 7As shown, the slide 2 includes a base frame 21, a base plate 22 rotatably mounted above the base frame 21, and a driving component mounted on the base plate 22. The driving component includes a first motor 23 fixedly mounted on the base plate 22. The output shaft of the first motor 23 passes downward through the base plate 22 and is connected to a drive gear 24. A driven gear 25 is fixedly connected to the base frame 21, and the drive gear 24 meshes with the driven gear 25. When the first motor 23 starts, the drive gear 24 located below the base plate 22 meshes with the driven gear 25 of the base frame 21, driving the base column 3 to rotate around the center of the slide 2.

[0043] As a preferred embodiment, such as Figures 1 to 4 As shown, a second motor 5 is fixedly installed on the top of the base column 3. A screw 6 is coaxially connected to the output shaft of the second motor 5. The screw 6 passes through the horizontal column 4 and is threadedly connected to the horizontal column 4. A first guide rail 31 is provided on the base column 3, and a first slider 32 is provided on the horizontal column 4. The first slider 32 is slidably connected to the first guide rail 31. When the second motor 5 is started, its output shaft drives the coaxial screw 6 to rotate. The thread machined inside the horizontal column 4 forms a helical pair with the screw 6. During the rotation of the screw 6, the horizontal column 4 moves along the axial direction (i.e., the vertical direction) of the base column 3 under the action of the thread meshing force. At the same time, the first guide rail 31 arranged on the side of the base column 3 and the first slider 32 on the side of the horizontal column 4 form a sliding pair, which not only ensures the straightness of the lifting movement, but also improves the load-bearing stability and facilitates the gripping operation of materials.

[0044] like Figure 5 and Figure 6 As shown, the horizontal column 4 includes a rectangular shell 41 and two pulleys 42 rotatably connected inside the rectangular shell 41. A tension belt 43 is provided between the two pulleys 42. A first connecting plate 44 and a second connecting plate 45 are connected to the tension belt 43. The first connecting plate 44 and the second connecting plate 45 are respectively installed on the upper and lower sides of the tension belt 43.

[0045] A third motor 46 is installed on one side of the horizontal column 4, and the output shaft of the third motor 46 is coaxially connected to one of the pulleys 42. When the third motor 46 drives one of the pulleys 42 to rotate, the tension belt 43 generates a closed-loop motion under the friction of the pulley 42, which drives the first connecting plate 44 and the second connecting plate 45 arranged vertically to move synchronously along the length of the horizontal column 4. This enables the robotic arm or suction claw 7 to adjust its position in the horizontal direction of the horizontal column 4. Combined with the lifting of the base column 3 and the movement of the slide 2, it forms a complete three-dimensional spatial position adjustment capability, which is particularly suitable for multi-station collaborative operations.

[0046] The top and bottom of the rectangular shell 41 are provided with slots 411 for the first connecting plate 44 and the second connecting plate 45 to pass through. The slots 411 are provided to facilitate the passage of the first connecting plate 44 and the second connecting plate 45. The first connecting plate 44 is detachably connected to the robot arm 9 by bolts, and the second connecting plate 45 is equipped with an adsorption claw 7.

[0047] like Figure 7 As shown, the suction claw 7 includes a rotary cylinder 71 fixedly mounted on the second connecting plate 45. A support frame 72 is mounted on the rotary cylinder 71. Several suction cups 73 are mounted on the bottom of the support frame 72. The suction cups 73 are connected to a negative pressure pump.

[0048] When it is necessary to transfer smooth plates or fragile items from one conveyor line 11 to another, the rotary cylinder 71 on the second connecting plate 45 drives the support frame 72 to rotate to a suitable angle, so that the array of suction cups 73 closely adheres to the surface of the material. After the negative pressure pump is started, the negative pressure environment formed in the cavity of the suction cup 73, the atmospheric pressure difference causes the suction cup 73 to generate a strong adsorption force and stably grasp the material. During the handling process, the rotary cylinder 71 is a conventional component. The rotary cylinder 71 is connected to an air pump to adjust the rotation angle of the rotary cylinder 71 and adjust the posture of the adsorbed material. After placement is completed, the negative pressure pump reverses the air intake to break the vacuum state and achieve rapid release. This design is particularly suitable for the transfer of fragile parts such as precision instrument panels and photovoltaic glass.

[0049] As a preferred embodiment, such as Figure 3 As shown, a rack 83 is installed inside the base 1, and a fourth motor 84 is fixedly installed inside the slide 2. The output shaft of the fourth motor 84 is connected to a first gear 85, which meshes with the rack 83. Second guide rails 81 are symmetrically arranged on both sides of the base 1, and second sliders 82 are fixedly installed on both sides of the slide 2, slidingly engaging with the second guide rails 81. When the fourth motor 84 drives the first gear 85 to mesh with the rack 83 embedded in the base 1, the rotational motion is converted into linear displacement of the slide 2 through the first gear 85 and rack 83 mechanism. This, combined with the sliding pair formed by the second guide rails 81 on both sides of the base 1 and the second sliders 82 of the slide 2, creates a double motion constraint, giving the motion process both high rigidity and low friction characteristics. This is particularly suitable for heavy-duty transport scenarios requiring frequent reciprocating positioning.

[0050] In a preferred embodiment, a plurality of weight-reducing holes 412 are provided on the horizontal column 4. The weight-reducing holes 412 are spaced apart along the length of the horizontal column 4. The weight-reducing holes 412 are provided to reduce the mass of the horizontal column 4 and meet the requirements of lightweight design.

[0051] Furthermore, a plurality of mounting blocks 10 are provided at the bottom of the base 1, and mounting holes 101 are provided on the mounting blocks 10.

[0052] According to the above technical solution, by opening the mounting hole 101, bolts can pass through the mounting hole 101 to fix the base 1 to the ground and prevent it from tipping over.

[0053] This invention utilizes the meshing transmission between the rack 83 of the base 1 and the first gear 85 of the slide 2 to achieve horizontal movement. Combined with the screw 6 at the top of the base column 3 driving the synchronous lifting and lowering of the cross column 4, it forms a vertical adjustment capability. Furthermore, the internal pulley 42 of the cross column 4 drives the first connecting plate 44 and the second connecting plate 45 for horizontal fine-tuning, thus constructing a three-dimensional precise positioning system. The slide 2's built-in rotary motor drives the rotation of the base column 3 via the first gear 85 set, achieving multi-angle coverage of the conveyor line 11. This enables material transfer between high and low conveyor lines 11, as well as cross-transfer operations between adjacent conveyor lines 11. The cross column 4 is equipped with a liftable robotic arm and a dual-grip system with vacuum suction cups 73, gripping materials from multiple directions. The rotary cylinder 71 adjusts the angle of the suction cup array 73 to achieve adaptive adsorption on the material surface. Combined with a negative pressure pump for rapid pick-and-place, this eliminates the need for a transfer platform between parallel conveyor lines 11 and replaces the traditional lifting mechanism with a compact three-dimensional motion structure. The structure is compact, highly practical, and significantly improves transfer efficiency and space utilization under complex working conditions. The above embodiments are merely preferred embodiments provided to fully illustrate the present utility model, and the protection scope of the present utility model is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present utility model are all within the protection scope of the present utility model.

Claims

1. A robotic arm transfer device, installed between two conveyor lines (11), characterized in that, include: The base (1), slide (2) and base column (3) are provided. The slide (2) is slidably mounted on the base (1), and the base column (3) is rotatably mounted on the slide (2). Two horizontal columns (4) are provided on the base column (3), and the two horizontal columns (4) can move up and down along the height direction of the base column (3). The slide (2) includes a base frame (21), a base plate (22) rotatably disposed above the base frame (21), and a driving component disposed on the base plate (22). The driving component includes a first motor (23) fixedly disposed on the base plate (22). The output shaft of the first motor (23) passes through the base plate (22) and is connected to a drive gear (24). A driven gear (25) is fixedly connected to the base frame (21). The drive gear (24) meshes with the driven gear (25).

2. The robotic arm transfer device according to claim 1, characterized in that: A second motor (5) is fixedly installed on the top of the base column (3). A screw (6) is coaxially connected to the output shaft of the second motor (5). The screw (6) passes through the horizontal column (4) and is threadedly connected to the horizontal column (4). The base column (3) is provided with a first guide rail (31), and the cross column (4) is provided with a first slider (32), which is slidably connected to the first guide rail (31).

3. The robotic arm transfer device according to claim 2, characterized in that: The horizontal column (4) includes a rectangular shell (41) and two pulleys (42) rotatably connected inside the rectangular shell (41). A tension belt (43) is provided between the two pulleys (42). A first connecting plate (44) and a second connecting plate (45) are connected to the tension belt (43). The first connecting plate (44) and the second connecting plate (45) are respectively installed on the upper and lower sides of the tension belt (43). A third motor (46) is provided on one side of the crossbar (4), and the output shaft of the third motor (46) is coaxially connected to one of the pulleys (42).

4. The robotic arm transfer device according to claim 3, characterized in that: The top and bottom of the rectangular shell (41) are provided with slots (411) through which the first connecting plate (44) and the second connecting plate (45) can pass; an adsorption claw (7) is installed on the second connecting plate (45).

5. The robotic arm transfer device according to claim 4, characterized in that: The suction claw (7) includes a rotary cylinder (71) fixedly installed on the second connecting plate (45), a support frame (72) is installed on the rotary cylinder (71), a plurality of suction cups (73) are installed on the support frame (72), and the suction cups (73) are connected to a negative pressure pump.

6. The robotic arm transfer device according to claim 1, characterized in that: A rack (83) is provided inside the base (1), and a fourth motor (84) is fixedly provided inside the slide (2). The output shaft of the fourth motor (84) is connected to a first gear (85), and the first gear (85) meshes with the rack (83).

7. The robotic arm transfer device according to claim 6, characterized in that: The base (1) is symmetrically provided with second guide rails (81) on both sides, and the slide block (2) is fixedly provided with second sliders (82) on both sides, and the second sliders (82) slide in cooperation with the second guide rails (81).

8. The robotic arm transfer device according to claim 1, characterized in that: The horizontal column (4) is provided with weight reduction holes (412), and the weight reduction holes (412) are spaced apart along the length direction of the horizontal column (4).

9. The robotic arm transfer device according to claim 4, characterized in that: A robotic arm (9) is detachably connected to the first connecting plate (44).

10. The robotic arm transfer device according to any one of claims 1 to 9, characterized in that: The base (1) has several mounting blocks (10) at its bottom, and the mounting blocks (10) have mounting holes (101).

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