A four-axis handling robot

Abstract

This utility model relates to a four-axis handling robot, which includes a support frame; an X-axis servo linear motion module, which includes an X-axis motion module mounted on the support frame and an X-axis slider slidably mounted on the X-axis motion module; a Y-axis servo linear lifting module, which includes a Y-axis motion module and a Y-axis slider mounted on the Y-axis motion module, the Y-axis slider being connected to the X-axis slider; a horizontal rotary table mounted on the bottom surface of the Y-axis motion module; a horizontal rotating gripper connected to the rotatable surface of the horizontal rotary table; a vertical rotary table connected to the rotatable surface of the horizontal rotary table; and a vertical rotating gripper connected to the rotatable surface of the vertical rotary table. Compared with the prior art, the four-axis handling robot of this utility model can realize multi-directional clamping, handling, and flipping actions of workpieces within a specific spatial position, and meet the production cycle requirements.

Description

Technical Field

[0001] This utility model relates to the field of industrial production technology, and in particular to a four-axis handling robot. Background Technology

[0002] In modern industrial production lines or assembly lines, the efficient, precise, and automated handling of materials or workpieces is a key aspect of improving production efficiency and reducing labor costs. Handling robots, especially those based on the X, Y, and Z axes of a Cartesian coordinate system, have become a common technical solution in industrial production lines due to their significant advantages such as high structural rigidity, high positioning accuracy, and easy-to-program and control motion trajectories. These robots, through the coordinated work of three mutually perpendicular linear motion axes, can achieve flexible grasping, moving, and placing of materials in three-dimensional space.

[0003] However, traditional Cartesian coordinate robots are often bulky and cumbersome, making it impossible to achieve multi-directional movement and flipping within confined spaces. Furthermore, existing standard-designed handling robots have long operating times on long-stroke axes and their motion trajectories are not optimized, resulting in operating times that are increasingly unable to meet the stringent production cycle requirements.

[0004] Therefore, in order to enable workpieces in industrial production to move and flip in multiple directions within a confined space and meet the requirements of production cycle time, it is urgent to develop a new type of handling robot. Utility Model Content

[0005] The purpose of this invention is to overcome at least one of the shortcomings of existing technologies, namely, the difficulty in achieving multi-directional movement and flipping within a limited space and the difficulty in meeting production cycle requirements, and to provide a four-axis handling robot.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] This utility model provides a four-axis handling robot, which includes:

[0008] Support frame;

[0009] The X-axis servo linear motion module includes an X-axis motion module mounted on a support frame and an X-axis slider slidably mounted on the X-axis motion module.

[0010] The Y-axis servo linear lifting module includes a Y-axis moving module and a Y-axis slider disposed on the Y-axis moving module, wherein the Y-axis slider is connected to the X-axis slider.

[0011] A horizontal rotary table is mounted on the bottom surface of the Y-axis moving module;

[0012] A horizontal rotating gripper is connected to the rotatable surface of a horizontal rotating table;

[0013] A vertical rotary table, connected to the rotatable surface of a horizontal rotary table;

[0014] The vertical rotating gripper is connected to the rotatable surface of the vertical rotating table.

[0015] Furthermore, the X-axis moving module is arranged horizontally, and the Y-axis moving module is arranged vertically perpendicular to the X-axis moving module.

[0016] Furthermore, the X-axis servo linear motion module also includes an X-axis servo motor, which drives the lead screw in the X-axis motion module to rotate and thus drive the X-axis slider to slide.

[0017] Furthermore, the Y-axis servo linear lifting module also includes a Y-axis servo motor, which drives the lead screw in the Y-axis moving module to rotate, thereby driving the Y-axis moving module to lift.

[0018] Furthermore, the bottom surface of the Y-axis moving module is provided with a fixed plate, the horizontal plane rotary table is installed on the bottom surface of the fixed plate, and the top surface of the fixed plate is provided with a fixed bracket and a rotary table motor for driving the horizontal plane rotary table to rotate.

[0019] Furthermore, the axis of the horizontal rotating gripper is set perpendicular to the axis of the vertical rotating gripper.

[0020] Furthermore, the horizontal rotating gripper includes a first fixed base, a pair of first grippers disposed opposite to each other on the first fixed base, and a first cylinder for driving the first grippers to move relative to each other.

[0021] Furthermore, the horizontal rotating gripper also includes a connecting arm connected to the horizontal rotating platform.

[0022] Furthermore, the vertical rotating gripper includes a second fixed base, a pair of second grippers disposed opposite to each other on the second fixed base, and a second cylinder for driving the second grippers to move relative to each other.

[0023] Furthermore, the vertical rotating gripper also includes a rotating arm connected to the vertical rotating table.

[0024] Furthermore, the X-axis servo linear motion module, the Y-axis servo linear lifting module, the horizontal rotary table, the horizontal rotary gripper, the vertical rotary table, and the vertical rotary gripper are all connected to the PLC control system.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] (1) The four-axis handling robot of this utility model can drive the horizontal rotating jaw and the vertical rotating jaw to accurately handle the workpiece in the horizontal direction within a limited space by combining the X-axis servo linear motion module and the horizontal rotating table; the Y-axis servo linear lifting module can realize the lifting action of pulling out and inserting during the handling process; and the vertical rotating table can meet the flipping requirements of the vertical rotating jaw during the handling process, and finally realize the clamping, handling and flipping action of the workpiece in a specific spatial position in multiple directions.

[0027] (2) The four-axis handling robot of this utility model cleverly utilizes the slider inverted structure of the Y-axis module, that is, the slider is fixed and the module moves. In a limited space, the two grippers can complete horizontal movement, lifting movement, swinging rotation, flipping and other actions, thereby improving the handling efficiency.

[0028] (3) The four-axis handling robot of this utility model is specifically equipped with two sets of pneumatic grippers: a horizontal rotating gripper and a vertical rotating gripper. The vertical rotating gripper can not only hold the workpiece, but also turn the workpiece 180° in the vertical plane. The horizontal rotating gripper can be prepared to hold the finished product after processing, so as to save handling time, realize the rapid handling of materials, and meet the cycle time requirements.

[0029] (4) The four-axis handling robot of this utility model adopts mature servo motor, linear servo module and rotary table, which are cleverly combined through mechanical structure. The structure is compact and reasonable, with high precision, coordinated and reliable mechanical action, and easy to debug and maintain. It can achieve the purpose of high-speed and reliable handling.

[0030] (5) The four-axis handling robot of this utility model is versatile and can be applied to workpieces of various shapes, which can greatly improve production efficiency and reduce production costs. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the overall structure of the four-axis handling robot of this utility model.

[0032] Figure 2 This is a schematic diagram of the X-axis servo linear motion module of this utility model.

[0033] Figure 3 This is a schematic diagram of the Y-axis servo linear lifting module and the double gripper of this utility model.

[0034] Figure 4 This is a schematic diagram of the specific handling process of the four-axis handling robot in Example 5.

[0035] Explanation of markings in the diagram:

[0036] 1-Support frame;

[0037] 2-X-axis servo linear motion module, 21-X-axis motion module, 22-X-axis slider, 23-X-axis servo motor;

[0038] 3-Y axis servo linear lifting module, 31-Y axis moving module, 32-Y axis slider, 33-Y axis servo motor;

[0039] 4-Horizontal rotary table, 41-Fixed plate, 42-Fixed bracket, 43-Rotary table motor;

[0040] 5-Horizontal plane rotating gripper, 51-First fixed seat, 52-First gripper, 53-Connecting arm;

[0041] 6-Vertical rotary table;

[0042] 7-Vertical rotating gripper, 71-Second fixed seat, 72-Second gripper, 73-Rotating arm;

[0043] 8-Workpiece. Detailed Implementation

[0044] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. This embodiment is based on the technical solution of the present invention and provides detailed implementation methods and specific operating procedures; however, the scope of protection of the present invention is not limited to the following embodiments.

[0045] In this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships 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; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two components. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0046] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0047] Example 1:

[0048] This embodiment provides a four-axis handling robot, such as... Figure 1 As shown, it includes a support frame 1, an X-axis servo linear motion module 2, a Y-axis servo linear lifting module 3, a horizontal rotary table 4, a horizontal rotary gripper 5, a vertical rotary table 6, and a vertical rotary gripper 7.

[0049] The X-axis servo linear motion module 2 of this embodiment includes an X-axis motion module 21 mounted on a support frame 1 and an X-axis slider 22 slidably mounted on the X-axis motion module 21.

[0050] The Y-axis servo linear lifting module 3 of this embodiment includes a Y-axis moving module 31 and a Y-axis slider 32 disposed on the Y-axis moving module 31. The Y-axis slider 32 is connected to the X-axis slider 22.

[0051] In this embodiment, the horizontal rotary table 4 is mounted on the bottom surface of the Y-axis moving module 31, and the horizontal rotating gripper 5 is connected to the rotatable surface of the horizontal rotary table 4. In this embodiment, the vertical rotary table 6 is connected to the rotatable surface of the horizontal rotary table 4, and the vertical rotating gripper 7 is connected to the rotatable surface of the vertical rotary table 6.

[0052] In this embodiment, the combined motion of the X-axis servo linear motion module 2 and the horizontal rotary table 4 drives the horizontal rotating gripper 5 and the vertical rotating gripper 7 to achieve precise handling of the workpiece 8 in the horizontal direction within a limited space; the Y-axis servo linear lifting module 3 realizes the lifting and lowering actions involved in the handling process; and the vertical rotary table 6 meets the flipping requirements of the vertical rotating gripper 7 during the handling process, ultimately realizing the multi-directional clamping, handling, and flipping actions of the workpiece 8 within a specific spatial position.

[0053] Example 2:

[0054] This embodiment provides a four-axis handling robot, which includes a support frame 1, an X-axis servo linear motion module 2, a Y-axis servo linear lifting module 3, a horizontal rotary table 4, a horizontal rotating gripper 5, a vertical rotary table 6, and a vertical rotating gripper 7.

[0055] The difference from Example 1 is that, as Figure 2 As shown, in this embodiment, the X-axis moving module 21 is arranged in the horizontal direction, and the Y-axis moving module 31 is arranged vertically perpendicular to the X-axis moving module 21, so as to realize the horizontal movement and vertical lifting of the Y-axis moving module 31.

[0056] The X-axis servo linear motion module 2 in this embodiment also includes an X-axis servo motor 23, which drives the lead screw in the X-axis motion module 21 to rotate, thereby driving the X-axis slider 22 to slide. The Y-axis servo linear lifting module 3 also includes a Y-axis servo motor 33, which drives the lead screw in the Y-axis motion module 31 to rotate, thereby driving the Y-axis motion module 31 to lift.

[0057] Example 3:

[0058] This embodiment provides a four-axis handling robot, which includes a support frame 1, an X-axis servo linear motion module 2, a Y-axis servo linear lifting module 3, a horizontal rotary table 4, a horizontal rotating gripper 5, a vertical rotary table 6, and a vertical rotating gripper 7.

[0059] The difference from Example 1 is that, as Figure 3 As shown, the bottom surface of the Y-axis moving module 31 in this embodiment is provided with a fixed plate 41, the horizontal rotating table 4 is installed on the bottom surface of the fixed plate 41, and the top surface of the fixed plate 41 is provided with a fixed bracket 42 and a rotating table motor 43 for driving the horizontal rotating table 4 to rotate.

[0060] This embodiment enhances the overall stability of the four-axis handling robot during operation through the cooperation of the fixed plate 41 and the fixed bracket 42.

[0061] Example 4:

[0062] This embodiment provides a four-axis handling robot, which includes a support frame 1, an X-axis servo linear motion module 2, a Y-axis servo linear lifting module 3, a horizontal rotary table 4, a horizontal rotating gripper 5, a vertical rotary table 6, and a vertical rotating gripper 7.

[0063] The difference from Example 1 is that, as Figure 3 As shown, in this embodiment, the axis of the horizontal rotating gripper 5 is set perpendicular to the axis of the vertical rotating gripper 7, that is, at a 90° angle.

[0064] The horizontal rotating gripper 5 of this embodiment includes a first fixed base 51, a pair of first grippers 52 disposed opposite to each other on the first fixed base 51, and a first cylinder for driving the first grippers 52 to move relative to each other. The horizontal rotating gripper 5 also includes a connecting arm 53 connected to the horizontal rotating table 4.

[0065] The vertical rotating gripper 7 of this embodiment includes a second fixed base 71, a pair of second grippers 72 disposed opposite to each other on the second fixed base 71, and a second cylinder for driving the second grippers 72 to move relative to each other. The vertical rotating gripper 7 also includes a rotating arm 73 connected to the vertical rotating table 6.

[0066] In this embodiment, both the horizontal rotating gripper 5 and the vertical rotating gripper 7 are pneumatic grippers. The vertical rotating gripper 7 can not only hold the workpiece 8, but also rotate the workpiece 8 180° in the vertical plane. The horizontal rotating gripper 5 can be used to hold the finished product, so as to save handling time, realize rapid material handling, and meet cycle time requirements.

[0067] Example 5:

[0068] This embodiment provides a four-axis handling robot, which includes a support frame 1, an X-axis servo linear motion module 2, a Y-axis servo linear lifting module 3, a horizontal rotary table 4, a horizontal rotating gripper 5, a vertical rotary table 6, and a vertical rotating gripper 7. The X-axis servo linear motion module 2, the Y-axis servo linear lifting module 3, the horizontal rotary table 4, the horizontal rotating gripper 5, the vertical rotary table 6, and the vertical rotating gripper 7 are all connected to a PLC control system to achieve fully automated control of the entire process.

[0069] Specifically, the X-axis servo linear motion module 2 of this embodiment includes an X-axis motion module 21 mounted on a support frame 1 and an X-axis slider 22 slidably mounted on the X-axis motion module 21. The Y-axis servo linear lifting module 3 includes a Y-axis motion module 31 and a Y-axis slider 32 mounted on the Y-axis motion module 31, with the Y-axis slider 32 connected to the X-axis slider 22. A horizontal rotary table 4 is mounted on the bottom surface of the Y-axis motion module 31, and a horizontal rotating gripper 5 is connected to the rotatable surface of the horizontal rotary table 4. A vertical rotary table 6 is connected to the rotatable surface of the horizontal rotary table 4, and a vertical rotating gripper 7 is connected to the rotatable surface of the vertical rotary table 6.

[0070] In this embodiment, the X-axis servo linear motion module 2 and the Y-axis servo linear lifting module 3 use servo motors and heavy-duty modules to precisely achieve linear motion along the X and Y axes, enabling (interpolation) motion and shortening the production cycle. The horizontal rotary table 4, as a horizontal servo rotation mechanism, uses a servo motor instead of a precision rotary table, achieving precise indexing. In conjunction with the aforementioned servo linear motion module, it can precisely control the movement of workpiece 8 within a limited space. The vertical rotary table 6, as a vertical servo flipping mechanism, uses a servo motor instead of a precision rotary table, achieving precise indexing on the vertical plane. Mounted on the horizontal rotary table 4, it can simultaneously achieve the flipping of workpiece 8 during transport, resulting in a simple mechanism with accurate flipping.

[0071] This embodiment is specifically equipped with two sets of pneumatic grippers: a horizontal rotating gripper 5 and a vertical rotating gripper 7. The vertical rotating gripper 7 can not only hold the workpiece 8, but also rotate the workpiece 8 180° in the vertical plane. The horizontal rotating gripper 5 can be prepared to hold the finished product, so as to save handling time, realize rapid material handling, and meet cycle time requirements.

[0072] The specific handling points of the four-axis handling robot in this embodiment are as follows: Figure 4 As shown, the specific handling process is as follows:

[0073] The vertical rotating jaw 7 picks up the workpiece 8 from point A, rotates it 180°, and places it at point C. Then, through the rotation of the horizontal rotating table 4, the horizontal rotating jaw 5 is driven to pick up the workpiece from point C and place it at point D for processing. After the workpiece is processed, the horizontal rotating jaw 5 picks up the processed workpiece from point D and places it at point C. Then the vertical rotating jaw 7 picks up the workpiece from point C, rotates it 180°, and places it at point B. This cycle repeats until the vertical rotating jaw 7 returns to point A to pick up the workpiece.

[0074] The above description of the embodiments is provided to enable those skilled in the art to understand and use the utility model. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present utility model is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present utility model without departing from its scope should be within the protection scope of the present utility model.

Claims

1. A four-axis handling robot, characterized in that include: Support frame (1); X-axis servo linear motion module (2), which includes an X-axis motion module (21) mounted on a support frame (1) and an X-axis slider (22) slidably mounted on the X-axis motion module (21); Y-axis servo linear lifting module (3) includes a Y-axis moving module (31) and a Y-axis slider (32) disposed on the Y-axis moving module (31), wherein the Y-axis slider (32) is connected to the X-axis slider (22); A horizontal rotary table (4) is installed on the bottom surface of the Y-axis moving module (31); The horizontal rotating gripper (5) is connected to the rotatable surface of the horizontal rotating table (4); A vertical rotary table (6) is connected to the rotatable surface of a horizontal rotary table (4); The vertical rotating gripper (7) is connected to the rotatable surface of the vertical rotating table (6).

2. The four-axis handling robot according to claim 1, characterized in that The X-axis moving module (21) is set in the horizontal direction, and the Y-axis moving module (31) is set in the vertical direction perpendicular to the X-axis moving module (21).

3. The four-axis handling robot according to claim 1, characterized in that The X-axis servo linear motion module (2) also includes an X-axis servo motor (23) for driving the lead screw in the X-axis motion module (21) to rotate and thus drive the X-axis slider (22) to slide. The Y-axis servo linear lifting module (3) also includes a Y-axis servo motor (33) for driving the lead screw in the Y-axis moving module (31) to rotate, thereby driving the Y-axis moving module (31) to lift.

4. The four-axis handling robot according to claim 1, characterized in that The bottom surface of the Y-axis moving module (31) is provided with a fixed plate (41), and the horizontal rotating table (4) is installed on the bottom surface of the fixed plate (41). The top surface of the fixed plate (41) is provided with a fixed bracket (42) and a rotating table motor (43) for driving the horizontal rotating table (4) to rotate.

5. The four-axis handling robot according to claim 1, characterized in that The axis of the horizontal rotating gripper (5) is set perpendicular to the axis of the vertical rotating gripper (7).

6. The four-axis handling robot according to claim 1, characterized in that The horizontal rotating gripper (5) includes a first fixed base (51), a pair of first grippers (52) disposed opposite to each other on the first fixed base (51), and a first cylinder for driving the first grippers (52) to move relative to each other.

7. A four-axis handling robot according to claim 6, characterized in that The horizontal rotating gripper (5) also includes a connecting arm (53) connected to the horizontal rotating table (4).

8. The four-axis handling robot according to claim 1, characterized in that The vertical rotating gripper (7) includes a second fixed seat (71), a pair of second grippers (72) disposed opposite to each other on the second fixed seat (71), and a second cylinder for driving the second grippers (72) to move relative to each other.

9. The four-axis handling robot according to claim 8, characterized in that The vertical rotating gripper (7) also includes a rotating arm (73) connected to the vertical rotating table (6).

10. The four-axis handling robot according to claim 1, characterized in that The X-axis servo linear motion module (2), Y-axis servo linear lifting module (3), horizontal rotary table (4), horizontal rotary gripper (5), vertical rotary table (6), and vertical rotary gripper (7) are all connected to the PLC control system.

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