Adsorbing type truss three-axis robot

Abstract

The utility model relates to three -axis mechanical hand technical field, concretely relates to a kind of adsorption truss three-axis mechanical hand, including position adjusting mechanism, vertical slide rail and suction cup, vertical slide rail is equipped on position adjusting mechanism sliding, and vertical slide rail bottom is equipped with suction cup, further include elevator frame mechanism, elevator frame mechanism includes base, fixed cylinder, lifting rod, rack and rotary connection component, base is fixedly connected with fixed cylinder, and located the bottom of fixed cylinder, lifting rod part is inserted into the inner chamber of fixed cylinder, and is fixedly connected with position adjusting mechanism, rack is fixedly connected with lifting rod, and located the opposite sides of the inner side wall of lifting rod, rotary connection component is engaged with rack, and driving rack moves up and down, obtain the vertical height of entire mechanical hand can be adjusted, to the shortest path to hold workpiece, can shorten the effect of time required to hold workpiece.

Description

Technical Field

[0001] This utility model relates to the field of three-axis manipulator technology, and in particular to an adsorption-type truss three-axis manipulator. Background Technology

[0002] In the production process of flat tubes, the flat tubes need to be transported from the silo to the step conveyor for loading. The existing devices for clamping and transporting flat tubes have structural defects that make them unsuitable for flat tubes of different sizes and shapes. The handling and clamping actions are inaccurate, the degree of automation is low, and manual assistance is required.

[0003] The prior art CN217143935U discloses an adsorption-type truss three-axis manipulator, including a frame. Two parallel left and right bottom tubes are connected to the top of the frame. An X-axis synchronous belt drive mechanism is connected above the left bottom tube, and a slide rail structure is connected above the right bottom tube. The upper surfaces of the X-axis synchronous belt drive mechanism and the slide rail structure are connected to a Y-axis synchronous belt drive mechanism. The power output end of the Y-axis synchronous belt drive mechanism is connected to a Z-axis bracket. The Z-axis bracket is connected to a Z-axis synchronous belt drive mechanism. The Z-axis synchronous belt drive mechanism includes a Z-axis motor, a toothed drive wheel connected to the output end of the Z-axis motor, two independent driven wheels distributed on the upper and lower sides of the toothed drive wheel, a vertical square tube, a second synchronous belt connected to both ends of the vertical square tube, a vertical slide rail fixedly connected to the vertical square tube, and a slider fixedly connected to the Z-axis bracket in cooperation with the vertical slide rail. A suction cup is connected to the bottom of the vertical slide rail.

[0004] However, in the aforementioned technologies, the height of the robot's frame is fixed, making it impossible to adjust the height of the vertical slide rails and suction cups based on the height of the workpiece being handled. This results in the robot being unable to use the shortest path to grip the workpiece during handling, prolonging the time required for gripping and consequently affecting the overall handling efficiency. Utility Model Content

[0005] The purpose of this utility model is to provide an adsorption-type truss three-axis robot, which solves the problem that the height of the robot frame is fixed, and the height of the vertical slide rail and suction cup cannot be adjusted according to the height of the workpiece to be transported and clamped. This results in the robot not being able to clamp the workpiece using the shortest path, thus prolonging the time required to clamp the workpiece.

[0006] To achieve the above objectives, this utility model provides an adsorption-type truss three-axis manipulator, including a position adjustment mechanism, a vertical slide rail, and a suction cup. The vertical slide rail is slidably mounted on the position adjustment mechanism, and the suction cup is located at the bottom of the vertical slide rail.

[0007] It also includes the lifting frame mechanism;

[0008] The lifting frame mechanism includes a base, a fixed cylinder, a lifting rod, a rack, and a rotating connection assembly. The base is fixedly connected to the fixed cylinder and located at the bottom of the fixed cylinder. The lifting rod extends into the inner cavity of the fixed cylinder and is fixedly connected to the position adjustment mechanism. The rack is fixedly connected to the lifting rod and located on opposite sides of the inner wall of the lifting rod. The rotating connection assembly meshes with the rack and drives the rack to move up and down.

[0009] The rotating connection assembly includes a gear, a bearing, and a connecting member. The gear is rotatably connected to the lifting rod via the bearing and is located between the two racks. One side of the bearing is fixedly connected to the gear, and the other side of the bearing is fixedly connected to the lifting rod. The connecting member extends through the fixed cylinder and the lifting rod into the gear and drives the gear to rotate through the connecting member.

[0010] The connecting component includes a hexagonal rotating rod and a limiting collar. The hexagonal rotating rod extends into the gear and engages with it. The limiting collar is fixedly connected to the hexagonal rotating rod and is sleeved on both ends of the hexagonal rotating rod, respectively close to the two fixed cylinders.

[0011] The gear has a limiting connection hole that passes through the gear and engages with the hexagonal rotating rod; the lifting rod has a lifting opening that is located on both sides of the lifting rod and engages with the hexagonal rotating rod; the fixed cylinder has a through hole that passes through both sides of the upper end of the fixed cylinder corresponding to the lifting opening.

[0012] The lifting frame mechanism further includes a limiting block, which is fixedly connected to the lifting rod and located on opposite sides of the lower end of the lifting rod; the fixed cylinder also has a limiting groove, which is disposed on both sides of the inner cavity of the fixed cylinder and cooperates with the limiting block.

[0013] This utility model discloses an adsorption-type truss three-axis manipulator. When the vertical height of the manipulator needs to be adjusted, an external power source drives the rotating connection assembly to rotate. The rotating connection assembly meshes with the rack, and the rotation of the rotating connection assembly is converted into the up and down movement of the rack. This, in turn, drives the lifting rod, which is fixedly connected to the rack, to rise and fall vertically in the inner cavity of the fixed cylinder, thereby realizing the vertical height adjustment of the entire manipulator. This allows for the clamping of the workpiece using the shortest path, reducing the time required to clamp the workpiece. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0015] Figure 1 This is a schematic diagram of the overall structure of the adsorption-type truss three-axis manipulator of this utility model.

[0016] Figure 2 This is a side view connection diagram of the lifting frame mechanism of this utility model.

[0017] Figure 3 This is a partial structural schematic diagram of the lifting frame mechanism of this utility model.

[0018] Figure 4 This is a structural schematic diagram of the lifting frame mechanism of this utility model.

[0019] In the diagram: 101-position adjustment mechanism, 102-vertical slide rail, 103-suction cup, 104-base, 105-fixed cylinder, 106-lifting rod, 107-rack, 108-gear, 109-bearing, 110-hexagonal rotating rod, 111-limiting collar, 112-limiting connecting hole, 113-lifting opening, 114-through hole, 115-limiting block, 116-limiting slide groove. Detailed Implementation

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

[0021] Please see Figures 1 to 4 ,in Figure 1 This is a schematic diagram of the overall structure of the adsorption-type truss three-axis manipulator of this utility model. Figure 2 This is a side view connection diagram of the lifting frame mechanism of this utility model. Figure 3 This is a partial structural diagram of the lifting frame mechanism of this utility model. Figure 4 This is a structural schematic diagram of the lifting frame mechanism of this utility model.

[0022] This utility model discloses an adsorption-type truss three-axis manipulator, comprising a position adjustment mechanism 101, a vertical slide rail 102, a suction cup 103, and a lifting frame mechanism. The lifting frame mechanism includes a base 104, a fixed cylinder 105, a lifting rod 106, a rack 107, a rotating connection assembly, and a limiting block 115. The rotating connection assembly includes a gear 108, a bearing 109, and a connecting component. The connecting component includes a hexagonal rotating rod 110 and a limiting collar 111. The gear 108 has a limiting connection hole 112, the lifting rod 106 has a lifting opening 113, and the fixed cylinder 105 has a through hole 114 and a limiting groove 116. The aforementioned solution addresses the problem that the height of the robot arm's frame is fixed, making it impossible to adjust the height of the vertical slide rail 102 and suction cup 103 according to the height of the workpiece being handled. This prevents the robot arm from using the shortest path to grip the workpiece, thus prolonging the time required to grip the workpiece. It is understood that the aforementioned solution allows the robot arm's height to be adjusted via the lifting frame mechanism, enabling the suction cup 103 to grip the workpiece using the shortest path, thereby shortening the time required to grip the workpiece.

[0023] In this embodiment, the vertical slide rail 102 is slidably mounted on the position adjustment mechanism 101, and the suction cup 103 is located at the bottom of the vertical slide rail 102. The position adjustment mechanism 101 is used to adjust the position of the robot in a plane, the vertical slide rail 102 can slide on the position adjustment mechanism 101, the suction cup 103 is located at the bottom of the vertical slide rail 102 and is used to adsorb the workpiece, and the lifting frame mechanism is used to realize the vertical lifting movement of the entire robot.

[0024] The base 104 is fixedly connected to the fixed cylinder 105 and is located at the bottom of the fixed cylinder 105. The lifting rod 106 extends into the inner cavity of the fixed cylinder 105 and is fixedly connected to the position adjustment mechanism 101. The rack 107 is fixedly connected to the lifting rod 106 and is located on opposite sides of the inner wall of the lifting rod 106. The rotating connection assembly meshes with the rack 107 and drives the rack 107 to move up and down. The base 104 and the fixed cylinder 105 are fixed together by welding. The base 104 provides stable support for the entire lifting frame mechanism. The base 104 has inclined reinforcing ribs on both sides of the fixed cylinder 105, generally with a triangular structure design, to enhance the connection strength and stability between the fixed cylinder 105 and the base 104. Adjusting feet are installed at the four opposite corners of the base 104 via screws. By rotating the screws, the height and level of the entire structure can be adjusted, facilitating precise position calibration and level adjustment during installation. The position adjustment mechanism 101 has two fixed cylinders 105 on each side. A portion of the lifting rod 106 extends into the inner cavity of each fixed cylinder 105. The upper end of the lifting rod 106 is fixedly connected to the position adjustment mechanism 101 by bolts. The racks 107 are fixedly installed on the left and right opposite sides of the inner wall of the lifting rod 106. The racks 107 on both sides mesh with the rotating connection assembly, so that the lifting rod 106 can be driven to move up or down by the rotating connection assembly through meshing with the racks 107. The rotating connection assembly is driven to rotate by an external power source such as a motor. Therefore, when it is necessary to adjust the vertical height of the robot, the rotating connection assembly is driven to rotate by the external power source. The rotating connection assembly meshes with the racks 107, and the rotation of the rotating connection assembly is converted into the up and down movement of the racks 107. This, in turn, drives the lifting rod 106, which is fixedly connected to the racks 107, to move up and down in the vertical direction in the inner cavity of the fixed cylinder 105, so as to realize the vertical height adjustment of the entire robot and clamp the workpiece with the shortest path, which can shorten the time required to clamp the workpiece.

[0025] Secondly, the gear 108 and the lifting rod 106 are rotatably connected via the bearing 109 and are located between the two racks 107; one side of the bearing 109 is fixedly connected to the gear 108, and the other side of the bearing 109 is fixedly connected to the lifting rod 106; the connecting member extends through the fixed cylinder 105 and the lifting rod 106 into the gear 108, driving the gear 108 to rotate via the connecting member. The hexagonal rotating rod 110 partially extends into the gear 108 and engages with it; the limiting collar 111 is fixedly connected to the hexagonal rotating rod 110 and is sleeved on both ends of the hexagonal rotating rod 110, respectively close to the two fixed cylinders 105. The limiting connection hole 112 passes through the gear 108 and is connected to the hexagonal rotating rod 110; the lifting opening 113 is located on both sides opposite to the lifting rod 106 and cooperates with the hexagonal rotating rod 110; the through hole 114 passes through both sides of the upper end of the fixed cylinder 105 corresponding to the lifting opening 113. The gear 108 and the lifting rod 106 are rotatably connected via the bearing 109. The gear 108 is located between the two racks 107 and can mesh with them. One inner ring of the bearing 109 is fixed to the journal of the gear 108 by interference fit or key connection, and the other outer ring is fixed to the corresponding mounting hole on the lifting rod 106 by interference fit or suitable fixing method, ensuring that the gear 108 can rotate flexibly relative to the lifting rod 106. The connecting component consists of the hexagonal rotating rod 110 and the limiting collar 111. The hexagonal rotating rod 110 extends into the gear 108, and its hexagonal shape engages with the limiting connection hole 112 on the gear 108 to achieve power transmission. The limiting collar 111 is fixedly connected to both ends of the hexagonal rotating rod 110 and is respectively sleeved on the hexagonal rotating rod. Position 110 near the two fixed cylinders 105 serves to prevent the hexagonal rotating rod 110 from axially shifting. The through hole 114 on the fixed cylinder 105 corresponds to both sides of the lifting opening 113 on the lifting rod 106. The hexagonal rotating rod 110 can extend into the gear 108 through the through hole 114 and the lifting opening 113. The position and size of the lifting opening 113 on the lifting rod 106 are matched with the hexagonal rotating rod 110 to ensure that the hexagonal rotating rod 110 can pass smoothly and connect with the gear 108, thereby realizing the connection between the two lifting rods 106. The connected gear 108 is driven to rotate by a motor, and the other gear 108 is rotated synchronously through the rotating connection assembly, thereby realizing the synchronous lifting and lowering movement of the two lifting rods 106.

[0026] Meanwhile, the limiting block 115 is fixedly connected to the lifting rod 106 and located on opposite sides of the lower end of the lifting rod 106; the limiting groove 116 is provided on both sides of the inner cavity of the fixed cylinder 105 and cooperates with the limiting block 115. The limiting block 115 is welded to the opposite sides of the lower end of the lifting rod 106. The inner cavity of the fixed cylinder 105 is provided with the limiting groove 116 cooperating with the limiting block 115. The limiting block 115 slides in the limiting groove 116, which serves to guide and prevent the lifting rod 106 from rotating, ensuring that the lifting rod 106 rises and falls smoothly in the vertical direction of the inner cavity of the fixed cylinder 105.

[0027] When using the adsorption-type truss three-axis manipulator of this utility model, when it is necessary to adjust the vertical height of the manipulator, the rotating connection assembly is driven to rotate by an external power source. The rotating connection assembly meshes with the rack 107, and the rotation of the rotating connection assembly is converted into the up and down movement of the rack 107. This, in turn, drives the lifting rod 106, which is fixedly connected to the rack 107, to rise and fall vertically in the inner cavity of the fixed cylinder 105, thereby realizing the vertical height adjustment of the entire manipulator. This allows for the clamping of the workpiece using the shortest path, which can shorten the time required to clamp the workpiece.

[0028] The above-disclosed embodiments are merely one or more preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art can understand that all or part of the processes for implementing the above embodiments and equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

1. An adsorption-type truss three-axis manipulator, comprising a position adjustment mechanism, a vertical slide rail, and a suction cup, wherein the vertical slide rail is slidably mounted on the position adjustment mechanism, and the suction cup is mounted at the bottom of the vertical slide rail, characterized in that, It also includes the lifting frame mechanism; The lifting frame mechanism includes a base, a fixed cylinder, a lifting rod, a rack, and a rotating connection assembly. The base is fixedly connected to the fixed cylinder and located at the bottom of the fixed cylinder. The lifting rod extends into the inner cavity of the fixed cylinder and is fixedly connected to the position adjustment mechanism. The rack is fixedly connected to the lifting rod and located on opposite sides of the inner wall of the lifting rod. The rotating connection assembly meshes with the rack and drives the rack to move up and down.

2. The adsorption-type truss three-axis manipulator as described in claim 1, characterized in that, The rotating connection assembly includes a gear, a bearing, and a connecting member. The gear is rotatably connected to the lifting rod via the bearing and is located between the two racks. One side of the bearing is fixedly connected to the gear, and the other side of the bearing is fixedly connected to the lifting rod. The connecting member extends through the fixed cylinder and the lifting rod into the gear, and drives the gear to rotate through the connecting member.

3. The adsorption-type truss three-axis manipulator as described in claim 2, characterized in that, The connecting component includes a hexagonal rotating rod and a limiting collar. The hexagonal rotating rod extends into the gear and engages with it. The limiting collar is fixedly connected to the hexagonal rotating rod and is sleeved on both ends of the hexagonal rotating rod, respectively close to the two fixed cylinders.

4. The adsorption-type truss three-axis manipulator as described in claim 3, characterized in that, The gear has a limiting connection hole that passes through the gear and engages with the hexagonal rotating rod; the lifting rod has a lifting opening that is located on both sides of the lifting rod and engages with the hexagonal rotating rod; the fixed cylinder has a through hole that passes through both sides of the upper end of the fixed cylinder corresponding to the lifting opening.

5. The adsorption-type truss three-axis manipulator as described in claim 1, characterized in that, The lifting frame mechanism also includes a limiting block, which is fixedly connected to the lifting rod and located on opposite sides of the lower end of the lifting rod; the fixed cylinder also has a limiting groove, which is disposed on both sides of the inner cavity of the fixed cylinder and cooperates with the limiting block.

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