Rotary carrying manipulator

Abstract

The utility model relates to the technical field of carrying manipulators, and discloses a rotary carrying manipulator which comprises a support, a first shaft plate is installed on the top of the support, a first horizontal driving assembly is arranged on the first shaft plate, and a second shaft plate is installed at the driving end of the first horizontal driving assembly. A second horizontal driving assembly is arranged on the second shaft plate, the second shaft plate is driven to move horizontally through the arranged first horizontal driving assembly, then the second horizontal driving assembly drives the mounting frame to move, and the clamping jaw assembly on the mounting frame is driven to ascend and descend. The clamping jaw assembly can be driven by the rotary driving device to rotate so as to adjust the angle of product grabbing and meet the diversified requirements of assembly, a large rotary module is not needed through the arranged direct-drive connecting assembly, the size of the rotary driving device is reduced, and the assembly efficiency is improved. The problem that in the prior art, the effective traveling stroke of the carrying manipulator is affected is solved.

Description

Technical Field

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

[0002] A material handling manipulator is an automated device that uses mechanical structures, drive systems, and control technologies to grasp, move, and place objects. Its core function is to replace manual labor in repetitive, high-intensity material handling tasks, and it is widely used in industrial manufacturing, logistics warehousing, medical surgery, and other fields.

[0003] In the existing technology, a rotary motor can be installed to drive the handling robot to rotate. However, because traditional rotary motors are too large, they will affect the effective travel of the handling robot and have a slow dynamic response. Utility Model Content

[0004] The purpose of this utility model is to solve the problems existing in the prior art by proposing a rotary handling robot.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A rotary handling robot includes a support, a first shaft plate mounted on the top of the support, a first horizontal drive assembly disposed on the first shaft plate, a second shaft plate mounted on the drive end of the first horizontal drive assembly, and a second horizontal drive assembly disposed on the second shaft plate.

[0007] The second horizontal drive assembly has a mounting bracket installed at its drive end. A rotary drive device is mounted on the mounting bracket. A direct-drive connection assembly is installed at the drive end of the rotary drive device. A gripper assembly is mounted on the rotary drive device through the direct-drive connection assembly.

[0008] Preferably, the direct-drive connection assembly includes a coupling disposed at the drive end of the rotary drive device and a shaft disposed at the top of the gripper assembly. A shaft seat is mounted on the mounting bracket, and the shaft movably passes through the shaft seat. The drive end of the rotary drive device is connected to the shaft via the coupling.

[0009] Preferably, the coupling is mounted on the drive end of the rotary drive device via a mounting flange.

[0010] Preferably, the first horizontal drive assembly includes two first slide rails disposed on a first shaft plate and two first sliders slidably disposed on the corresponding first slide rails. A first cylinder is mounted on one side of the first shaft plate, and one side of each of the two first sliders is fixedly connected to one side of a second shaft plate. The drive end of the first cylinder moves through the first shaft plate and is fixedly connected to the second shaft plate.

[0011] Preferably, two buffer limiting mechanisms are installed on the first shaft plate, and the two buffer limiting mechanisms are arranged on both sides of the second shaft plate.

[0012] Preferably, the buffer limiting mechanism is a hydraulic buffer.

[0013] Preferably, the second horizontal drive assembly includes two second slide rails disposed on one side of the second shaft plate and two second sliders slidably disposed on the corresponding second slide rails. The mounting bracket is disposed on one side of the two second sliders. A second cylinder is mounted on the top of the second shaft plate, and the drive end of the second cylinder is connected to the mounting bracket.

[0014] Preferably, a mounting block is installed on the top of the support, and a plurality of mounting holes are provided on one side of the first shaft plate for mounting the first shaft plate by threading bolts through the mounting holes and connecting them to the mounting block.

[0015] Preferably, a base is installed at the bottom of the support, and the base is provided with a plurality of fixing holes.

[0016] Preferably, it also includes two solenoid valves and a PLC controller installed on the corresponding first cylinder and second cylinder. The PLC controller is connected to the rotary drive device via a wire and is used to control the opening and closing of the rotary drive device and the corresponding solenoid valves, so that the first cylinder and the second cylinder drive the gripper assembly to move.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] This invention uses a first horizontal drive component to drive a second shaft plate to move horizontally, and then uses a second horizontal drive component to drive a mounting frame to move, which in turn drives the gripper assembly on the mounting frame to rise and fall. After gripping a product, a rotary drive device can be used to drive the gripper assembly to rotate, thereby adjusting the angle of gripping the product to meet diverse assembly needs. Furthermore, the direct-drive connection component eliminates the need for a large rotary module, reducing the size of the rotary drive device and solving the problem of the effective travel distance of the handling robot in the prior art. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a rotary handling robot proposed in this utility model;

[0020] Figure 2 This is a side view of a rotary handling robot proposed in this utility model;

[0021] Figure 3 This utility model proposes a shaft seat for a rotary handling robot.

[0022] Figure 4 This is a schematic diagram of a direct-drive connection component for a rotary handling robot proposed in this utility model.

[0023] In the diagram: 1. Support; 2. First shaft plate; 3. Second shaft plate; 4. Mounting bracket; 5. Rotary drive device; 6. Gripper assembly; 7. Coupling; 8. Shaft; 9. Shaft seat; 10. First slide rail; 11. First slider; 12. First cylinder; 13. Buffer limiting mechanism; 14. Second slide rail; 15. Second slider; 16. Second cylinder; 17. Mounting block; 18. Mounting hole; 19. Base; 20. Fixing hole. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0025] Reference Figures 1 to 4 A rotary handling robot includes a support 1, a first shaft plate 2 is mounted on the top of the support 1, a first horizontal drive assembly is provided on the first shaft plate 2, a second shaft plate 3 is mounted on the drive end of the first horizontal drive assembly, and a second horizontal drive assembly is provided on the second shaft plate 3.

[0026] The second horizontal drive assembly has a mounting bracket 4 installed at its drive end. A rotary drive device 5 is mounted on the mounting bracket 4. A direct drive connection assembly is installed at the drive end of the rotary drive device 5. A gripper assembly 6 is mounted on the rotary drive device 5 through the direct drive connection assembly.

[0027] The rotary drive device 5 is a rotary motor, and the gripper assembly 6 is a cylinder gripper in the prior art, which will not be described in detail here.

[0028] When in use, this device can drive the second shaft plate 3 to move horizontally, and then drive the mounting frame 4 to move through the second horizontal drive component, which in turn drives the gripper assembly 6 on the mounting frame 4 to rise and fall. After gripping the product, the gripper assembly 6 can be rotated through the rotary drive device 5 to adjust the angle of gripping the product, thus meeting the diverse needs of assembly. Moreover, through the set direct drive connection component, a large rotary module is not required, which reduces the size of the rotary drive device 5 and solves the problem of the effective travel of the handling robot in the prior art.

[0029] Furthermore, the direct-drive connection assembly includes a coupling 7 disposed at the drive end of the rotary drive device 5 and a shaft 8 disposed at the top of the gripper assembly 6. A bearing seat 9 is mounted on the mounting bracket 4, and the shaft 8 movably passes through the bearing seat 9. The drive end of the rotary drive device 5 is connected to the shaft 8 through the coupling 7, so that the rotary drive device 5 directly drives the gripper assembly 6 through the shaft 8 and the coupling 7. There is no need to install additional gearboxes, belts, or other reduction mechanisms to amplify torque and occupy additional space, thereby achieving the effect of reducing the load of the rotary drive device 5. Moreover, the rotation axis coincides with the center of mass of the gripper assembly 6, and the coupling 7 compensates for radial deviation.

[0030] Furthermore, the coupling 7 is mounted on the drive end of the rotary drive device 5 via a mounting flange.

[0031] Furthermore, the first horizontal drive assembly includes two first slide rails 10 disposed on the first shaft plate 2 and two first sliders 11 slidably disposed on the corresponding first slide rails 10. A first cylinder 12 is mounted on one side of the first shaft plate 2, and one side of the two first sliders 11 is fixedly connected to one side of the second shaft plate 3. The drive end of the first cylinder 12 moves through the first shaft plate 2 and is fixedly connected to the second shaft plate 3. Through the first cylinder 12, the second shaft plate 3 can be driven to move along the two first slide rails 10 via the first sliders 11 to adjust the position of the gripper assembly 6.

[0032] Furthermore, two buffer limiting mechanisms 13 are installed on the first shaft plate 2. The two buffer limiting mechanisms 13 are located on both sides of the second shaft plate 3. The buffer limiting mechanisms 13 are hydraulic buffers. The hydraulic buffers prevent the second shaft plate 3 from colliding with the end of the first slide rail 10 when it moves, thus preventing the first slide rail 10, the first slider 11, or the first cylinder 12 from deforming or being damaged due to overload caused by impact force. This achieves emergency stop protection.

[0033] Furthermore, the second horizontal drive assembly includes two second slide rails 14 disposed on one side of the second shaft plate 3 and two second sliders 15 slidably disposed on the corresponding second slide rails 14. The mounting bracket 4 is disposed on one side of the two second sliders 15. A second cylinder 16 is mounted on the top of the second shaft plate 3. The drive end of the second cylinder 16 is connected to the mounting bracket 4. Through the second cylinder 16, the mounting bracket 4 can be driven to move along the second slide rails 14 via the second sliders 15 to adjust the height of the gripper assembly 6.

[0034] Furthermore, a mounting block 17 is installed on the top of the support 1, and a plurality of mounting holes 18 are provided on one side of the first shaft plate 2 for mounting the first shaft plate 2 by threading bolts through the mounting holes 18 and connecting them to the mounting block 17. In this way, the first shaft plate 2 can be installed on one side of the mounting block 17.

[0035] Furthermore, a base 19 is installed at the bottom of the support 1. The base 19 is provided with a plurality of fixing holes 20. Through the plurality of fixing holes 20 provided on the base 19, bolts can be passed through the corresponding fixing holes 20 and threadedly screwed into the threaded holes on the frame to complete the fixing of the support 1.

[0036] Furthermore, it also includes two solenoid valves and a PLC controller mounted on the corresponding first cylinder 12 and second cylinder 16. The PLC controller is connected to the rotary drive device 5 via a wire and is used to control the opening and closing of the rotary drive device 5 and the corresponding solenoid valves, so that the first cylinder 12 and the second cylinder 16 drive the gripper assembly 6 to move. Under the control of the PLC controller, in use, the first cylinder 12 first drives the second shaft plate 3 to move to its original position, and then the second cylinder 16 drives the gripper assembly 6 to move down to grab the product. After the product is grabbed, the second cylinder 16 drives the gripper assembly 6 to move up, while the first cylinder 12 drives the second shaft plate 3 to move horizontally. The rotary drive device 5 drives the gripper assembly 6 to rotate. When the first cylinder 12 drives the second shaft plate 3 to its position, the second cylinder 16 drives the gripper assembly 6 to move down to place the product.

[0037] When in use, the PLC controller can send a signal to the relay set on the side of the corresponding solenoid valve to realize the movement of the first cylinder 12 and the second cylinder 16. The solenoid valve is a three-position five-way valve (neutral position closed / venting), which can realize the cylinder stopping or emergency reset in the middle.

[0038] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A rotary handling robot, comprising a support, characterized in that: A first shaft plate is installed on the top of the support, a first horizontal drive assembly is provided on the first shaft plate, a second shaft plate is installed on the drive end of the first horizontal drive assembly, and a second horizontal drive assembly is provided on the second shaft plate. The second horizontal drive assembly has a mounting bracket installed at its drive end. A rotary drive device is mounted on the mounting bracket. A direct-drive connection assembly is installed at the drive end of the rotary drive device. A gripper assembly is mounted on the rotary drive device through the direct-drive connection assembly.

2. The rotary handling robot according to claim 1, characterized in that: The direct-drive connection assembly includes a coupling disposed at the drive end of the rotary drive device and a shaft disposed at the top of the gripper assembly. A shaft seat is mounted on the mounting bracket, and the shaft extends through the shaft seat. The drive end of the rotary drive device is connected to the shaft via the coupling.

3. A rotary handling robot according to claim 2, characterized in that: The coupling is mounted on the drive end of the rotary drive unit via a mounting flange.

4. A rotary handling robot according to claim 2, characterized in that: The first horizontal drive assembly includes two first slide rails disposed on a first shaft plate and two first sliders slidably disposed on the corresponding first slide rails. A first cylinder is mounted on one side of the first shaft plate. One side of each of the two first sliders is fixedly connected to one side of a second shaft plate. The drive end of the first cylinder moves through the first shaft plate and is fixedly connected to the second shaft plate.

5. A rotary handling robot according to claim 1, characterized in that: Two buffer limiting mechanisms are installed on the first shaft plate, and the two buffer limiting mechanisms are arranged on both sides of the second shaft plate.

6. A rotary handling robot according to claim 5, characterized in that: The buffer limiting mechanism is a hydraulic buffer.

7. A rotary handling robot according to claim 1, characterized in that: The second horizontal drive assembly includes two second slide rails disposed on one side of the second shaft plate and two second sliders slidably disposed on the corresponding second slide rails. The mounting bracket is disposed on one side of the two second sliders. A second cylinder is mounted on the top of the second shaft plate, and the drive end of the second cylinder is connected to the mounting bracket.

8. A rotary handling robot according to claim 1, characterized in that: The support is equipped with a mounting block on its top, and a number of mounting holes are provided on one side of the first shaft plate for mounting the first shaft plate by threading bolts through the mounting holes and connecting them to the mounting block.

9. A rotary handling robot according to claim 1, characterized in that: The support is fitted with a base at its bottom, and the base has several fixing holes.

10. A rotary handling robot according to claim 1, characterized in that: It also includes two solenoid valves and a PLC controller installed on the corresponding first and second cylinders. The PLC controller is connected to the rotary drive device via a wire and is used to control the opening and closing of the rotary drive device and the corresponding solenoid valves, so that the first and second cylinders drive the gripper assembly to move.

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