A robotic arm for conveying aluminum rods

Abstract

This utility model discloses an aluminum rod conveying robot, including a frame with a guide rail on the frame and several robot units on the guide rail. Each robot unit includes a translation device that can move along the length of the guide rail. The translation device is equipped with a lifting device and an auxiliary device. The lifting device includes a drive unit, a fixed unit, a sliding unit, and a gripper. The auxiliary device includes a connecting seat and a pair of cylinders, which are respectively located on both sides of the fixed unit. By adopting a cylinder gravity balance method and setting an auxiliary device on the translation device, and by adding cylinders on both sides of the lifting device, the force of the cylinders is used to offset the weight of the lifting device, reducing the load on the drive unit, enabling the first servo motor to have a faster response speed, and reducing the load on the gear and rack structure, making the lifting process of the aluminum rod more stable, and greatly increasing the durability and reliability of the robot.

Description

Technical Field

[0001] This utility model relates to the field of aluminum rod processing technology, and more specifically, to an aluminum rod conveying robot. Background Technology

[0002] During the processing of aluminum bars, the workstations change depending on the steps, often requiring the use of conveying robots to grab, lift, and transport the bars to different workstations. Most existing aluminum bar conveying robots use a motor and rack and pinion drive structure for their lifting mechanism. The weight of the lifting structure is entirely borne by the motor, resulting in excessive motor load and preventing it from fully utilizing its performance. Furthermore, the weight of the lifting structure directly acts on the rack and pinion drive mechanism, subjecting it to a large load over a long period. This makes it prone to wear and deformation due to stress concentration, leading to a short service life, high maintenance frequency, and low overall reliability of the conveying robot. Utility Model Content

[0003] This utility model provides an aluminum rod conveying robot to solve the problems mentioned in the background art. To achieve the above objective, this utility model provides the following technical solution: An aluminum rod conveying robot includes a frame, a guide rail on the frame, and a plurality of robot units on the guide rail; each robot unit includes a translation device that can move along the length of the guide rail; the translation device is provided with a lifting device and an auxiliary device; the lifting device includes a driving part, a fixed part, a sliding part, and a gripper; the fixed part is connected to the translation device, the sliding part is slidably disposed in the fixed part, the driving part is connected to the sliding part and drives the sliding part to move; the gripper is disposed at the bottom of the sliding part; the auxiliary device includes a connecting seat and a pair of cylinders, the pair of cylinders being respectively disposed on both sides of the fixed part; the cylinders are connected to the translation device, and their piston rods are rotatably connected to the sliding part; the pair of cylinders are connected through the connecting seat.

[0004] Preferably, the fixing part includes a rectangular frame, which is composed of four side plates spliced ​​together; the sliding part includes a support column and a vertical rack, the support column has a rectangular cross-section, linear guide rails are respectively provided on three sides of the support column, and the vertical rack is installed on the remaining side; the inner wall of the rectangular frame is provided with a plurality of sliders that cooperate with the linear guide rails, and the linear guide rails and the corresponding sliders are slidably connected.

[0005] Preferably, the drive unit includes a first servo motor, a first reducer, and a helical gear; the first reducer is mounted on the outer side of the fixed base, the first servo motor is connected to the first reducer in a transmission manner, the helical gear is disposed on the output shaft of the first reducer, and the vertical rack meshes with the helical gear.

[0006] Preferably, the top and bottom of the support column are provided with multiple limiting mechanisms; the limiting mechanism includes a horizontal plate and two vertical blocks, the vertical blocks are connected to the support column, and the two vertical blocks are connected by the horizontal plate.

[0007] Preferably, the cylinder is of model SC100*1200.

[0008] Preferably, the support column is provided with supports on both sides, and the two supports are respectively configured to cooperate with a pair of cylinders; the piston rod of the cylinder is rotatably connected to the support.

[0009] Preferably, it also includes a distance sensor disposed on the translation device, the distance sensor being configured in conjunction with the sliding part.

[0010] Preferably, the gripper includes a mounting base, and a drive motor, an RV reducer, a transmission mechanism, a movable gripper, and a fixed gripper mounted on the mounting base; the drive motor is connected to the RV reducer, the output end of the RV reducer is connected to the transmission mechanism, the movable gripper is rotatably connected to the mounting base, the transmission mechanism is connected to the movable gripper and drives the movable gripper to rotate; the fixed gripper is located on the side of the mounting base and is positioned opposite to the movable gripper.

[0011] Preferably, the translation device includes a sliding seat, a translation motor, and a lead screw mechanism; the bottom of the sliding seat is provided with a sliding block that cooperates with the guide rail, and the sliding seat is slidably connected to the guide rail through the sliding block; the translation motor is driven to the lead screw mechanism, the lead screw mechanism is connected to the sliding seat, and the translation motor drives the sliding seat to move through the lead screw mechanism.

[0012] Preferably, the translation device includes a support platform and a drive mechanism. The bottom of the support platform is provided with a pulley that cooperates with the guide rail. Anti-detachment plates are provided on both sides of the support platform, and guide wheels are provided on the anti-detachment plates. The axis of the guide wheels is perpendicular to the axis of the pulleys. The drive mechanism includes a drive base, a second reducer, a second servo motor, and a drive shaft. The drive base is connected to the support platform. The second reducer is mounted on the drive base. The second servo motor is mounted on the second reducer, and its output shaft is connected to the second reducer. The drive shaft is drively connected to the second reducer. Drive gears are provided at both ends of the drive shaft. A drive rack that cooperates with the drive gear is provided on the frame. The drive gear and the corresponding drive rack mesh with each other.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows: The aluminum rod manipulator of this utility model adopts the cylinder gravity balance method and sets an auxiliary device on the translation device. By adding cylinders on both sides of the lifting device, the force of the cylinders is used to offset the self-weight of the lifting device, reducing the load on the drive unit, enabling the first servo motor to have a faster response speed, and at the same time reducing the load on the gear and rack structure, making the lifting process of the aluminum rod more stable, and greatly increasing the durability and reliability of the manipulator. Attached Figure Description

[0014] Figure 1 This is a structural diagram of the aluminum rod conveying robot according to an embodiment of the present invention;

[0015] Figure 2 This is a top view of the aluminum rod conveying robot according to an embodiment of the present utility model;

[0016] Figure 3 This is a side view of the aluminum rod conveying robot according to an embodiment of the present utility model;

[0017] Figure 4 This is a structural diagram of the robotic arm unit of the aluminum rod conveying robot according to an embodiment of the present invention, showing the aluminum rod being held in place.

[0018] Figure 5 for Figure 1 Enlarged view of point A in the middle;

[0019] exist Figures 1 to 5 In the diagram, the correspondence between the component names and the drawing numbers is as follows:

[0020] 1--Frame, 2--Guide rail, 3--Robot unit, 31--Translation device, 311--Support platform, 312--Pulley, 313--Anti-detachment plate, 314--Guide wheel, 315--Drive base, 316--Second reducer, 317--Second servo motor, 318--Drive shaft, 319--Drive gear, 32--Lifting device, 321--Drive unit, 3211--First servo motor, 3212--First reducer, 3213--Helical spur gear, 322--Fixing unit, 3221--Side plate, 32 22--Slider, 323--Sliding part, 3231--Support column, 3232--Vertical rack, 3233--Linear guide rail, 3234--Limiting mechanism, 3234a--Horizontal plate, 3234b--Vertical block, 3235--Support, 324--Gripper, 3241--Mounting base, 3242--Drive motor, 3243--RV reducer, 3244--Moving gripper, 3245--Fixed gripper, 33--Auxiliary device, 331--Connecting seat, 332--Cylinder, 4--Drive rack, 5--Aluminum rod. Detailed Implementation

[0021] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this disclosure. The following examples are used to illustrate this utility model, but should not be used to limit the scope of this utility model.

[0022] In the description of this utility model, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. In addition, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0024] Please refer to Figures 1 to 5 This utility model provides an aluminum rod conveying robot, including a frame 1, a guide rail 2 on the frame 1, and a plurality of robot units 3 on the guide rail 2; each robot unit 3 includes a translation device 31, which can move along the length of the guide rail 2; the translation device 31 is provided with a lifting device 32 and an auxiliary device 33; the lifting device 32 includes a driving part 321, a fixing part 322, a sliding part 323, and a gripper 324; the fixing part 322 is connected to the translation device 31, and the sliding part 323 is connected to the lifting device 324. Part 323 is slidably disposed in the fixed part 322. The driving part 321 is connected to the sliding part 323 and drives the sliding part 323 to move. The gripper 324 is disposed at the bottom of the sliding part 323. The auxiliary device 33 includes a connecting seat 331 and a pair of cylinders 332, which are respectively disposed on both sides of the fixed part 322. The cylinders 332 are connected to the translation device 31, and their piston rods are rotatably connected to the sliding part 323. The pair of cylinders 332 are connected to each other through the connecting seat 331.

[0025] In the embodiments of this utility model, multiple independent robotic arm units 3 are set on the frame 1. The number of units can be flexibly adjusted according to the conveying requirements to adapt to conveying scenarios of aluminum rods 5 of different lengths and quantities. The maintenance and replacement of parts are also more convenient in the later stage.

[0026] The robotic arm unit 1 includes a translation device 31, a lifting device 32, and an auxiliary device 33. The translation device 31 is used to achieve horizontal movement along the length of the guide rail 2 of the entire robotic arm unit 3. It can be achieved using a lead screw mechanism or a gear and rack mechanism to transport the aluminum rod 5 to different workstations. The lifting device 32 is mounted on the translation device 31. The translation device 31 has a through slot for the lifting device 32 to be installed. Part of the lifting device 32 can pass through the through slot to clamp the aluminum rod 5 below the through slot. The lifting device 32 drives the sliding part 323 to move through the drive unit 321, realizing the vertical lifting of the gripper 324, which facilitates the gripping and placement of the aluminum rod 5. In the auxiliary device 33, a pair of cylinders 332 are respectively located on both sides of the fixed part 322, forming a symmetrical structure. The cylinders 332 are rotatably connected to the sliding part 323. The linkage design with the connecting seat 331 enhances the stability and rigidity of the overall structure. As a key transmission component for the lifting action, the drive unit 321, through the piston rods of the cylinders 332 on both sides, acts on the sliding part 323. The force of the cylinders 332 counteracts the weight of the lifting device 32, directly reducing the load on the drive unit 321. This allows the motor to respond to control commands more quickly without additional power consumption to overcome its own structural weight, improving the sensitivity and speed of the aluminum rod 5's lifting action, and thus increasing overall conveying efficiency. The load on the drive unit 321 is significantly reduced due to the assistance of the cylinders 332, lowering the mechanical failure rate and greatly improving the durability of the robotic arm. The auxiliary support of the cylinders 332 effectively suppresses any swaying or vibration that may occur during lifting, especially when gripping long, narrow workpieces like the aluminum rod 5. This reduces instability caused by center of gravity shift, making the lifting action smoother and reducing the risk of the aluminum rod 5 falling or being bumped.

[0027] Through the above structural design, the cylinder 332 assists in lifting the aluminum rod 5, forming a coordinated force output mode, thus avoiding the drawbacks of a single drive unit 321 operating at full load for extended periods. When the servo motor or rack and pinion experiences momentary load fluctuations, the cylinder 332 can act as a buffer and adjust mechanism, improving the stability and reliability of the entire robotic arm system. The working process of this embodiment is as follows:

[0028] Overall displacement adjustment: Each robotic arm unit 3 moves along the guide rail 2 on the frame 1 via the translation device 31 to adjust to the target position where the aluminum rod 5 is gripped or placed.

[0029] Grabbing preparation: The lifting device 32 is started, and the drive unit 321 drives the sliding part 323 to slide down along the fixed part 322, so that the bottom gripper 324 approaches the aluminum rod 5 to be grasped; at the same time, the cylinders 332 on both sides move synchronously, and the piston rod extends down with the sliding part 323, and the thrust counteracts the weight of the lifting device 32, assisting the sliding part 323 to descend smoothly.

[0030] Aluminum rod 5 gripping: After the gripper 324 contacts the aluminum rod 5, it closes to firmly clamp the aluminum rod 5.

[0031] Lifting action: The drive unit 321 drives the sliding unit 323 to slide upward, and the gripper 324 lifts the aluminum rod 5; the piston rods of the cylinders 332 on both sides retract synchronously, continuously providing upward auxiliary force, reducing the load on the drive unit 321 and the gear rack, and ensuring a smooth lifting process.

[0032] Conveying and shifting: The translation device 31 moves along the guide rail 2 to convey the aluminum rod 5 to the designated work position.

[0033] Placement operation: The drive unit 321 drives the sliding unit 323 to descend again, and the gripper 324 releases after placing the aluminum rod 5 in the target position; the cylinder 332 extends and retracts in sync to ensure the stability of the descent.

[0034] Reset and standby: The lifting device 32 resets and rises, and the translation device 31 moves to the initial position or the next working position, waiting for the next delivery command.

[0035] Throughout the process, the cylinders 332 on both sides enhance stability through the connecting seat 331, providing a balancing auxiliary force for the lifting and lowering motion, making the aluminum rod 5 conveyed both efficiently and stably.

[0036] Preferably, the fixing part 322 includes a rectangular frame, which is composed of four side plates 3221 spliced ​​together; the sliding part 323 includes a support column 3231 and a vertical rack 3232, the support column 3231 has a rectangular cross-section, and linear guide rails 3233 are respectively provided on three sides of the support column 3231, and the vertical rack 3232 is installed on the remaining side; the inner wall of the rectangular frame is provided with a plurality of sliders 3222 that cooperate with the linear guide rails 3233, and the linear guide rails 3233 and the corresponding sliders 3222 are slidably connected.

[0037] In this embodiment, the rectangular frame and the support column 3231 form a matching rectangular mating structure. Combined with the multiple guidance provided by the linear guides 3233 on the three sides and the sliders 3222 on the inner wall of the rectangular frame, the straightness and stability of the sliding part 323's lifting movement are significantly improved, effectively preventing deviation or swaying during movement. Specifically, linear guides 3233 are provided on the three sides of the support column 3231, and sliders 3222 are respectively provided on the inner sides of the three side plates 3221 corresponding to the rectangular frame. Multiple sliders 3222 are provided on each side to cooperate with the linear guides 3233, ensuring smooth sliding of the support column 3231. The rectangular structure itself has good torsional resistance, and the linear guides 3233 in the three directions distribute the load force, making the force distribution more uniform when the sliding part 323 bears the weight or inertia of the aluminum rod 5, reducing local stress concentration and improving the overall load-bearing capacity of the structure. In terms of transmission, this embodiment adopts a transmission structure in which the vertical rack 3232 meshes with the drive unit 321. Combined with the low-friction sliding of the linear guide rail 3233 and the slider 3222, it not only ensures the accurate transmission of lifting and lowering actions, but also reduces motion resistance, making the power output of the drive unit 321 more efficient and improving the response speed of the robot.

[0038] Preferably, the drive unit 321 includes a first servo motor 3211, a first reducer 3212, and a helical gear 3213; the first reducer 3212 is mounted on the outer side of the fixed base, the first servo motor 3211 is connected to the first reducer 3212 in a transmission connection, the helical gear 3213 is disposed on the output shaft of the first reducer 3212, and the vertical rack 3232 meshes with the helical gear 3213.

[0039] In this embodiment, by employing a first servo motor 3211 in conjunction with a first reducer 3212, precise speed and torque control can be achieved. Combined with the meshing transmission of the helical gear 3213 and the vertical rack 3232, power can be efficiently converted into the lifting and lowering displacement of the sliding part 323, ensuring the positioning accuracy of the aluminum rod 5 during gripping and placement. The first reducer 3212 can reduce the output speed of the first servo motor 3211 and increase the torque, providing a more stable driving force when the drive unit 321 drives the sliding part 323 and the aluminum rod 5 to lift and lower. The helical gear 3213 has a large tooth surface contact area, resulting in smoother meshing and the ability to withstand larger loads, making it suitable for conveying heavy workpieces like the aluminum rod 5. Through the above structural design, the first servo motor 3211 has the characteristics of rapid start-stop and speed adjustment. Combined with the first reducer 3212 with a reasonable reduction ratio, it can achieve rapid response of the sliding part 323 while ensuring output torque, thus improving the working efficiency of the robot.

[0040] Preferably, the top and bottom of the support column 3231 are respectively provided with multiple limiting mechanisms 3234; each limiting mechanism 3234 includes a horizontal plate 3234a and two vertical blocks 3234b, the vertical blocks 3234b being connected to the support column 3231, and the two vertical blocks being connected by the horizontal plate 3234a. In this embodiment, the limiting mechanisms 3234 at the top and bottom of the support column 3231 can act as mechanical blocks when the sliding part 323 rises and falls to its limit position, preventing the sliding part 323 from exceeding its design range due to excessive movement, preventing collisions with other components, and thus protecting core components such as the drive part 321, gear rack, and linear guide rail 3233 from damage. In addition, the limiting mechanism 3234 is composed of two vertical blocks 3234b and the horizontal plate 3234a connecting them, and is rigidly connected to the support column 3231 to form a stable limiting structure, ensuring that the limiting function is reliable and effective for a long time.

[0041] Preferably, the cylinder 332 is of model SC100*1200. In this embodiment, the SC series cylinder 332 is a standard pneumatic actuator. The 100mm cylinder diameter design provides a large thrust, which can effectively counteract the weight of the support column 3231, gripper 324, and aluminum rod 5, meeting the force balance requirements for auxiliary lifting. The 1200mm stroke length is adapted to the working stroke height of the lifting device 32, and can continuously provide auxiliary thrust throughout the entire stroke of the sliding part 323 from bottom to top, ensuring uninterrupted force assistance during lifting and guaranteeing smooth movement.

[0042] Preferably, the support column 3231 is provided with supports 3235 on both sides, and the two supports 3235 are respectively configured to cooperate with a pair of cylinders 332; the piston rod of the cylinder 332 is rotatably connected to the support 3235. In this embodiment, the rotatable connection between the piston rod of the cylinder 332 and the support 3235 is achieved, for example, through a pin, a spherical bearing, etc., which can flexibly adapt to the change in the angle of the cylinder 332 during the lifting and lowering of the sliding part 323. Since the extension and retraction direction of the piston rod of the cylinder 332 will be offset by the change in the position of the support column 3231 when the sliding part 323 moves vertically along the fixed part 322, the rotatable connection can eliminate the rigid tension caused by this angle change and prevent the component from being deformed or damaged due to forced force.

[0043] Preferably, the device further includes a distance sensor mounted on the translation device 31, which is configured in conjunction with the sliding part 323. In this embodiment, by setting a distance sensor to detect the movement position and state of the sliding part 323 in real time, and by combining it with a controller to adjust the output of the cylinder 332 and the drive part 321, the synchronization deviation can be dynamically eliminated, the auxiliary effect of the cylinder 332 can be improved, and the burden on the drive part 321 can be reduced.

[0044] Preferably, the gripper 324 includes a mounting base 3241, and a drive motor 3242, an RV reducer 3243, a transmission mechanism, a movable gripper 3244, and a fixed gripper 3245 disposed on the mounting base 3241; the drive motor 3242 is connected to the RV reducer 3243, the output end of the RV reducer 3243 is connected to the transmission mechanism, the movable gripper 3244 is rotatably connected to the mounting base 3241, the transmission mechanism is connected to the movable gripper 3244 and drives the movable gripper 3244 to rotate; the fixed gripper 3244 is disposed on the side of the mounting base 3241 and is disposed opposite to the movable gripper 3244. In this embodiment, a power combination of drive motor 3242 and RV reducer 3243 is used. The RV reducer 3243 features high precision and high rigidity, accurately transmitting the power of drive motor 3242 to the transmission mechanism. This ensures controllable rotation angle of the movable claw 3244, achieving precise clamping of the aluminum rod 5 and preventing it from falling due to excessive looseness or being damaged due to excessive tightness. The transmission mechanism can use gear transmission, linkage transmission, or cam transmission to drive the movable claw 3244. For example, gear transmission can transmit motion through the meshing of two or more gears, achieving direct transmission of rotational motion, or changing the speed and torque through gear sets. Linkage transmission can consist of several rigid rods connected by hinges, converting rotational motion into oscillating or linear motion. Cam transmission can consist of a cam and a follower (such as a push rod or rocker arm), with the cam's profile curve driving the follower to perform periodic motion. These transmission mechanism examples can all achieve the opening and closing of the movable claw 3244 and the fixed claw 3244.

[0045] Preferably, the translation device 31 includes a sliding seat, a translation motor, and a lead screw mechanism; the bottom of the sliding seat is provided with a sliding block that cooperates with the guide rail 2, and the sliding seat is slidably connected to the guide rail 2 through the sliding block; the translation motor is driven by the lead screw mechanism, the lead screw mechanism is connected to the sliding seat, and the translation motor drives the sliding seat to move through the lead screw mechanism. In the motion drive scheme provided in this embodiment, the translation device 31, through the efficient cooperation of the motor and the lead screw mechanism (not shown in the figure), ensures translation accuracy and stability while taking into account power performance and maintenance convenience, providing a reliable guarantee for the precise displacement of the robot arm unit 3. Specifically, through the transmission method of the translation motor and the lead screw mechanism, the lead screw mechanism has high-precision helical transmission characteristics, which can accurately convert the rotational motion of the motor into the linear displacement of the sliding seat, ensuring the positioning accuracy of the robot arm unit 3 when moving along the guide rail 2, and meeting the strict requirements for station alignment during the conveying of aluminum rod 5. The sliding seat forms a stable sliding engagement with the guide rail 2 through the sliding block. Combined with the uniform speed transmission characteristics of the screw mechanism, the translational movement is smooth and without jamming. The rapid response capability of the translation motor (such as a servo motor) enables the sliding seat to start and stop quickly and adjust its speed, improving the working efficiency of the robot. The multi-point sliding support between the sliding seat and the guide rail 2 and the rigid connection of the screw mechanism enable the entire translation device 31 to stably bear the weight load of the lifting device 32, aluminum rod 5, etc., and is not prone to deformation or vibration during high-speed movement, ensuring operational stability.

[0046] Preferably, the translation device 31 includes a support platform 311 and a drive mechanism. The bottom of the support platform 311 is provided with a pulley 312 that cooperates with the guide rail 2. Anti-detachment plates 313 are respectively provided on both sides of the support platform 311. Guide wheels 314 are provided on the anti-detachment plates 313, and the axis of the guide wheels 314 is perpendicular to the axis of the pulley 312. The drive mechanism includes a drive base 315, a second reducer 316, a second servo motor 317, and a drive shaft 318. The drive base 315 and the guide rail 2 are connected to the guide rail 2. The support platform 311 is connected, the second reducer 316 is mounted on the drive base 315, the second servo motor 317 is mounted on the second reducer 316, and its output shaft is connected to the second reducer 316; the drive shaft 318 is connected to the second reducer 316 in a transmission manner; the two ends of the drive shaft 318 are respectively provided with drive gears 319, and the frame 1 is provided with drive racks 4 that cooperate with the drive gears 319, and the drive gears 319 and the corresponding drive racks 4 mesh with each other.

[0047] In another driving scheme provided in this embodiment, the translation device 31 adopts a gear and rack transmission method. The support platform 311 achieves the main directional control through the cooperation of pulleys 312 and guide rails 2. At the same time, the guide wheels 314 (perpendicular to the axis of pulleys 312) on the anti-detachment plates 313 on both sides provide lateral restraint, forming a dual guiding structure of "main directional control + lateral constraint". This structure can not only slide smoothly along the guide rails 2, but also effectively prevent the support platform 311 from deviating, swaying or derailing during movement, which is especially suitable for long-distance translation scenarios. The contact method between the pulleys 312 and the guide rails 2 can distribute the weight of the support platform 311 and the upper load. With the reinforcement of the anti-detachment plates 313 on both sides, the overall rigidity is improved, which can stably support the weight of the lifting device 32 and the aluminum rod 5, and is not prone to structural deformation during high-speed movement. In terms of transmission, a second servo motor 317 is used in conjunction with a second reducer 316 for drive. This, along with the meshing of the drive gear 319 and the drive rack 4 on the frame 1, efficiently converts power into translational motion. The gear and rack transmission features high rigidity and no slippage. Combined with the precise control of the second servo motor 317, high-precision positioning of the support platform 311 can be achieved. Drive gears 319 are symmetrically arranged at both ends of the drive shaft 318, meshing synchronously with the drive rack 4 on the frame 1. This ensures balanced force on both sides of the support platform 311, avoiding uneven loads caused by unilateral drive, reducing jamming or wear during movement, and extending the service life of components. In this embodiment, the pulley 312, guide wheel 314, gears, and racks are all standardized components, facilitating replacement after wear. The distributed force design reduces the wear rate of individual components, decreasing maintenance frequency and cost.

[0048] Compared with the prior art, the beneficial effects of this utility model are as follows: The aluminum rod manipulator of this utility model adopts the cylinder gravity balance method and sets an auxiliary device on the translation device. By adding cylinders on both sides of the lifting device, the force of the cylinders is used to offset the self-weight of the lifting device, reducing the load on the drive unit, enabling the first servo motor to have a faster response speed, and at the same time reducing the load on the gear and rack structure, making the lifting process of the aluminum rod more stable, and greatly increasing the durability and reliability of the manipulator.

[0049] The embodiments of this utility model are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the utility model to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical applications of this utility model, and to enable those skilled in the art to understand this utility model and design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A robotic arm for conveying aluminum rods, characterized in that, The device includes a frame (1), a guide rail (2) on the frame, and several robotic arm units (3) on the guide rail. Each robotic arm unit includes a translation device (31) that can move along the length of the guide rail. The translation device is equipped with a lifting device (32) and an auxiliary device (33). The lifting device includes a drive unit (321), a fixed part (322), a sliding part (323), and a gripper (324). The fixed part is connected to the translation device, and the sliding part is slidably disposed in the fixed part. The drive unit is connected to the sliding part and drives the sliding part to move. The gripper is disposed at the bottom of the sliding part. The auxiliary device includes a connecting seat (331) and a pair of cylinders (332). The pair of cylinders are respectively disposed on both sides of the fixed part. The cylinders are connected to the translation device, and their piston rods are rotatably connected to the sliding part. The pair of cylinders are connected through the connecting seat.

2. The aluminum rod conveying robot according to claim 1, characterized in that, The fixing part includes a rectangular frame, which is composed of four side plates (3221) spliced ​​together; the sliding part includes a support column (3231) and a vertical rack (3232). The support column has a rectangular cross-section. Linear guide rails (3233) are respectively provided on three sides of the support column, and the vertical rack is installed on the remaining side; the inner wall of the rectangular frame is provided with multiple sliders (3222) that cooperate with the linear guide rails. The linear guide rails and the corresponding sliders are slidably connected.

3. The aluminum rod conveying robot according to claim 2, characterized in that, The drive unit includes a first servo motor (3211), a first reducer (3212), and a helical gear (3213); the first reducer is mounted on the outer side of the fixed part, the first servo motor is connected to the first reducer in a transmission manner, the helical gear is disposed on the output shaft of the first reducer, and the vertical rack meshes with the helical gear.

4. The aluminum rod conveying robot according to claim 3, characterized in that, The top and bottom of the support column are respectively provided with multiple limiting mechanisms (3234); the limiting mechanism includes a horizontal plate (3234a) and two vertical blocks (3234b), the vertical blocks are connected to the support column, and the two vertical blocks are connected by the horizontal plate.

5. The aluminum rod conveying robot according to claim 1, characterized in that, The cylinder used is model SC100*1200.

6. The aluminum rod conveying robot according to claim 2, characterized in that, The support column is provided with supports (3235) on both sides, and the two supports are respectively configured to cooperate with a pair of cylinders; the piston rod of the cylinder is rotatably connected to the support.

7. The aluminum rod conveying robot according to claim 1, characterized in that, It also includes a distance sensor disposed on the translation device, the distance sensor being configured in conjunction with the sliding part.

8. The aluminum rod conveying robot according to claim 1, characterized in that, The gripper includes a mounting base (3241), and a drive motor (3242), an RV reducer (3243), a transmission mechanism, a movable gripper (3244), and a fixed gripper (3245) mounted on the mounting base. The drive motor is connected to the RV reducer, the output end of the RV reducer is connected to the transmission mechanism, the movable gripper is rotatably connected to the mounting base, and the transmission mechanism is connected to the movable gripper and drives the movable gripper to rotate. The fixed gripper is located on the side of the mounting base and is positioned opposite to the movable gripper.

9. The aluminum rod conveying robot according to claim 1, characterized in that, The translation device includes a sliding seat, a translation motor, and a lead screw mechanism; the bottom of the sliding seat is provided with a sliding block that cooperates with the guide rail, and the sliding seat is slidably connected to the guide rail through the sliding block; the translation motor is driven to the lead screw mechanism, the lead screw mechanism is connected to the sliding seat, and the translation motor drives the sliding seat to move through the lead screw mechanism.

10. The aluminum rod conveying robot according to claim 1, characterized in that, The translation device includes a support platform (311) and a drive mechanism. The bottom of the support platform is provided with a pulley (312) that cooperates with the guide rail. Anti-detachment plates (313) are provided on both sides of the support platform. Guide wheels (314) are provided on the anti-detachment plates. The axis of the guide wheel is perpendicular to the axis of the pulley. The drive mechanism includes a drive seat (315), a second reducer (316), a second servo motor (317), and a drive shaft (318). The drive seat is connected to the support platform. The second reducer is located on the drive seat. The second servo motor is mounted on the second reducer. Its output shaft is connected to the second reducer. The drive shaft is connected to the second reducer in a transmission manner. Drive gears (319) are provided at both ends of the drive shaft. A drive rack (4) that cooperates with the drive gear is provided on the frame. The drive gear meshes with the corresponding drive rack.

Images