Composite multi-axis drive handling robot

Abstract

The utility model relates to the technical field of carrying manipulator, disclose compound multi -shaft drive carrying manipulator, including support frame no.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, and in particular to a composite multi-axis driven material handling robot. Background Technology

[0002] A material handling robot is an automated mechanical device that can mimic human hand movements to grasp, move, and place objects. Material handling robots are widely used in various fields such as industrial production, logistics and warehousing, food processing, and electronics manufacturing. They can replace manual labor in repetitive and high-intensity handling tasks, improve production efficiency and reduce labor costs, and ensure personnel safety in some dangerous and harsh working environments.

[0003] A composite multi-axis driven handling robot is an automated mechanical device that combines multiple drive methods and multi-axis motion capabilities, integrating various technologies or methods to fully leverage the advantages of different drive methods and meet different work requirements. Through the coordinated movement of multiple axes, the robot can flexibly move and position the end effector in three-dimensional space to reach different positions and postures, completing complex handling tasks. However, due to the complexity of the mechanical structure and drive system, the overall load capacity of existing composite multi-axis driven handling robots is limited, especially when it is necessary to handle extremely heavy items, which cannot meet the requirements. Under high load conditions, it will also affect the robot's motion accuracy and speed. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a composite multi-axis driven handling robot, which aims to improve the problem that the overall load capacity of the existing technology is limited and cannot meet the requirements, and under high load conditions, it will also affect the movement accuracy and speed of the robot.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a composite multi-axis driven handling robot, including a support frame one, a motor one fixedly connected to the left side of the outer wall of the support frame one, a rotating shaft fixedly connected to the output end of the motor one, a rope fixedly connected to one end of the outer wall of the rotating shaft, and a fixing claw fixedly connected to the other end of the rope; a motor two fixedly connected to the top of the inner wall of the support frame one, a gear two fixedly connected to the output end of the motor two, the gear two rotatably connected to the top of the inner wall of the support frame one; and a fixing frame two rotatably connected to the top right side of the support frame one. Gear 3 is fixedly connected to the left side of the outer wall of fixed frame 2. Gear 2 and gear 3 are meshed together. A sliding groove is opened in the middle of the inner wall of fixed frame 2. A motor is slidably connected to the middle of the inner wall of the sliding groove. A roller is fixedly connected to the output end of the motor. A movable frame is rotatably connected to the top of the outer wall of the roller. The movable frame is slidably connected to the middle of the inner wall of fixed frame 2. Fixed frame 3 is fixedly connected to the bottom right side of fixed frame 2. A rotating wheel 1 is rotatably connected to the top of the outer wall of the movable frame. An adjustment mechanism is fixedly connected to the bottom of the outer wall of support frame 1. The adjustment mechanism is used to adjust the height of the robot arm.

[0006] As a further description of the above technical solution:

[0007] The adjusting mechanism includes a telescopic rod, which is fixedly connected to the bottom of the outer wall of the support frame. A spring is fixedly connected to the side of the telescopic rod adjacent to the inner wall of the support frame. A rack is fixedly connected to one side of the outer wall of the telescopic rod. A fixed frame is fixedly connected to the left side of the outer wall of the support frame. The rack is slidably connected to the middle of the inner wall of the fixed frame. A handle is rotatably connected to the rear side of the outer wall of the fixed frame. A gear is fixedly connected to the front side of the outer wall of the handle. The gear meshes with the rack.

[0008] As a further description of the above technical solution:

[0009] A wear-resistant wheel is rotatably connected to the bottom of the outer wall of the motor, and a guide wheel is rotatably connected to the middle of the inner wall of the fixing frame three.

[0010] As a further description of the above technical solution:

[0011] A connecting frame is fixedly connected to the top of the outer wall of the chute, and a connecting rod is fixedly connected to the adjacent side of the inner wall of the connecting frame.

[0012] As a further description of the above technical solution:

[0013] Support frame 2 is fixedly connected to the top left side of support frame 1, and a rotating wheel 2 is rotatably connected to the middle of the inner wall of support frame 2.

[0014] As a further description of the above technical solution:

[0015] Support frame 2 is fixedly connected to the top left side of support frame 1, and a rotating wheel 2 is rotatably connected to the middle of the inner wall of support frame 2.

[0016] As a further description of the above technical solution:

[0017] A base is fixedly connected to the bottom of the outer wall of the fixing plate, and bolts are fixedly connected to the outer wall of the base around its perimeter.

[0018] As a further description of the above technical solution:

[0019] Bolt 2 is rotatably connected to the four corners at the bottom of Bolt 1, and a pulley is fixedly connected to the middle of the inner wall of Bolt 2.

[0020] This utility model has the following beneficial effects:

[0021] 1. In this utility model, when the composite multi-axis driven handling robot is working, motor one drives the rotating shaft and rope to realize the lifting and lowering of the connecting parts. Motor two drives gear two and gear three to mesh, driving the fixed frame two to rotate and adjust the working direction. At the same time, the motor slides in the slide groove, and its driving roller pushes the moving frame to move horizontally. The rotating wheel one on the top of the moving frame can adjust the angle of the handling tool. The multi-axis drive works together to achieve flexible and precise handling.

[0022] 2. In this utility model, in the adjustment mechanism, the telescopic rod is connected to the bottom of the support frame, and the two are connected by a spring, which plays a buffering role. The rack fixed on the outer wall of the telescopic rod can slide inside the fixed frame. Rotating the handle on the rear side of the fixed frame drives the gear to rotate. Through meshing with the rack, the rack drives the telescopic rod to extend and retract, thereby adjusting the height of the handling robot. The spring assists in ensuring smooth adjustment. Attached Figure Description

[0023] Figure 1 This is a perspective view of the composite multi-axis driven handling robot proposed in this utility model;

[0024] Figure 2 This is a front view of the composite multi-axis driven handling robot proposed in this utility model;

[0025] Figure 3 This is a partial structural schematic diagram of the composite multi-axis driven handling robot proposed in this utility model;

[0026] Figure 4 This is a partial structural exploded view of the composite multi-axis driven handling robot proposed in this utility model;

[0027] Figure 5 This is an exploded view of the adjustment mechanism of the composite multi-axis driven handling robot proposed in this utility model.

[0028] Legend:

[0029] 1. Support frame one; 2. Adjustment mechanism; 201. Telescopic rod; 202. Spring; 203. Rack; 204. Fixed frame one; 205. Gear one; 206. Thruster; 3. Motor one; 4. Rotating shaft; 5. Rope; 6. Motor two; 7. Gear two; 8. Fixed frame two; 9. Gear three; 10. Slide groove; 11. Moving frame; 12. Motor; 13. Fixed claw; 14. Rotary wheel one; 15. Fixed frame three; 16. Wear-resistant wheel; 17. Guide wheel; 18. Connecting frame; 19. Connecting rod; 20. Support frame two; 21. Rotary wheel two; 22. Bearing; 23. Fixed plate; 24. Base; 25. Bolt one; 26. Pulley; 27. Bolt two; 28. Roller. Detailed Implementation

[0030] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0031] Reference Figure 1 , Figure 3 and Figure 4 This utility model provides an embodiment of a composite multi-axis driven handling robot, comprising a support frame 1, a motor 3 fixedly connected to the left side of the outer wall of the support frame 1, a rotating shaft 4 fixedly connected to the output end of the motor 3, a rope 5 fixedly connected to one end of the outer wall of the rotating shaft 4, and a fixing claw 13 fixedly connected to the other end of the rope 5. A motor 6 fixedly connected to the top of the inner wall of the support frame 1, a gear 7 fixedly connected to the output end of the motor 6, and the gear 7 rotatably connected to the top of the inner wall of the support frame 1. A fixed frame 8 rotatably connected to the top right side of the support frame 1, and a gear 9 fixedly connected to the left side of the outer wall of the fixed frame 8, with the gear 7 and gear 9 meshing together. Next, a sliding groove 10 is provided in the middle of the inner wall of the second fixed frame 8. A motor 12 is slidably connected to the middle of the inner wall of the sliding groove 10. A roller 28 is fixedly connected to the output end of the motor 12. A movable frame 11 is rotatably connected to the top of the outer wall of the roller 28. The movable frame 11 is slidably connected to the middle of the inner wall of the second fixed frame 8. A third fixed frame 15 is fixedly connected to the bottom right side of the second fixed frame 8. A rotating wheel 14 is rotatably connected to the top of the outer wall of the movable frame 11. An adjustment mechanism 2 is fixedly connected to the bottom of the outer wall of the first support frame 1. The adjustment mechanism 2 is used to adjust the height of the robot. A wear-resistant wheel 16 is rotatably connected to the bottom of the outer wall of the motor 12. A guide wheel 17 is rotatably connected to the middle of the inner wall of the third fixed frame 15.

[0032] Specifically, after motor 3 starts, it drives the rotating shaft 4 and rope 5 to move, realizing the lifting and lowering of the connecting parts. Motor 6 starts, and through the meshing of gear 7 and gear 9, it causes the fixed frame 8 to rotate, adjusting the direction of the handling robot. Motor 12 slides in the slide groove 10, controlling the horizontal movement and positioning of the moving frame 11. The rotating wheel 14 connects to the handling tool or clamp, and the fixed claw 13 adjusts its angle to grasp the item. The coordinated work of these components enables the composite multi-axis drive handling robot to handle items flexibly and accurately. The adjustment mechanism 2 at the bottom of the support frame 1 can adjust the internal components. In conjunction with height adjustment, the height of the robotic arm can be precisely adjusted according to actual needs. The wear-resistant wheel 16, which is rotatably connected to the bottom of the motor 12, can be driven to rotate by the motor 12 when the device needs to move. The friction between the wear-resistant wheel 16 and the ground is used to move the device. The guide wheel 17, which is rotatably connected to the middle of the inner wall of the fixed frame 3 15, mainly plays a guiding role. When the rope 5 passes through the guide wheel 17, the guide wheel 17 can rotate freely, reducing the friction between the rope 5 and the fixed frame 3 15, and changing the direction of movement of the rope 5, so that the rope 5 can stably transmit power and pull objects along a predetermined path.

[0033] Reference Figure 1 , Figure 2 and Figure 5 The adjustment mechanism 2 includes a telescopic rod 201, which is fixedly connected to the bottom of the outer wall of the support frame 1. A spring 202 is fixedly connected to the side of the telescopic rod 201 adjacent to the inner wall of the support frame 1. A rack 203 is fixedly connected to one side of the outer wall of the telescopic rod 201. A fixed frame 204 is fixedly connected to the left side of the outer wall of the support frame 1. The rack 203 is slidably connected to the middle of the inner wall of the fixed frame 204. A handle 206 is rotatably connected to the rear side of the outer wall of the fixed frame 204. A gear 205 is fixedly connected to the front side of the outer wall of the handle 206. The gear 205 meshes with the rack 203. A connecting frame 18 is fixedly connected to the top of the outer wall of the slide groove 10. A connecting rod 19 is fixedly connected to the side of the inner wall of the connecting frame 18. A support frame 20 is fixedly connected to the top left side of the support frame 1. A rotating wheel 21 is rotatably connected to the middle of the inner wall of the support frame 20.

[0034] Specifically, the telescopic rod 201 is connected to the bottom of the support frame 1 via a spring 202. The spring 202 provides cushioning and auxiliary movement, ensuring stability and reducing vibration. A rack 203 is mounted on the outer side of the telescopic rod 201, allowing it to slide within the fixed frame 204, which is fixed to the left side of the outer wall of the support frame 1, guiding the rack 203's movement. A handle 206 is connected to the rear side of the fixed frame 204, with its front gear 205 meshing with the rack 203. Rotating the handle 206 causes the gear 205 to rotate, thereby driving the rack 203 to move linearly, achieving the extension and retraction of the telescopic rod 201 and adjusting the height of the handling robot. The spring 202 undergoes elastic deformation during the extension and retraction process, ensuring a smooth adjustment process and avoiding impact and vibration. In this way, the height of the handling robot is adjusted. The slide 10 provides a connection base for the entire structure via a connecting frame 18 fixedly connected to the top. The connecting rod 19 fixed between the inner walls of the adjacent connecting frame 18 enhances the stability and structural strength of the connecting frame 18, ensuring the overall stability of the connection. The support frame 20 fixedly connected to the top left of the support frame 1 provides an installation support point for the rotating wheel 21. The rotating wheel 21 is rotatably connected to the middle of the inner wall of the support frame 20 and can rotate freely under a certain external force. When the power rope 5 is applied to the rotating wheel 21 and wrapped around it, the rotating wheel 21 can rotate flexibly around its rotation point on the inner wall of the support frame 20, which can be used to realize the functions of transporting and turning items. The slide 10 provides guidance and sliding space for the moving component 11 that cooperates with it. When the moving component slides in the slide 10, the structure composed of the connecting frame 18 and the connecting rod 19 can stably support and guide the moving component 11, making the operation of the entire device more stable and orderly.

[0035] Reference Figure 1 , Figure 2 and Figure 3 Bearings 22 are fixedly connected to the front and rear sides of the outer wall of the rotating shaft 4. A fixing plate 23 is fixedly connected to the bottom of the outer wall of the telescopic rod 201. A base 24 is fixedly connected to the bottom of the outer wall of the fixing plate 23. Bolt 1 25 is fixedly connected to the four sides of the outer wall of the base 24. Bolt 27 is rotatably connected to the four corners at the bottom of Bolt 1 25. A pulley 26 is fixedly connected to the middle of the inner wall of Bolt 27.

[0036] Specifically, the rotating shaft 4, through the bearings 22 fixedly connected to the front and rear sides of the outer wall, can rotate flexibly, providing support and stability for the rotational movement of related components. The telescopic rod 201 can be extended and retracted within a certain range. The fixed plate 23 at the bottom of its outer wall serves as a support and connection, firmly connecting the telescopic rod 201 to the base 24. The base 24, through bolts 25 fixedly connected around its perimeter, can fix the entire structure in a designated position, providing a reliable support foundation. Bolts 27, which are rotatably connected at the four corners of the bottom of bolts 25, allow the pulley 26 to rotate freely in the middle of the inner wall of bolt 27. When the entire device needs to be moved, the pulley 26 can roll on the ground, reducing friction and facilitating the movement and position adjustment of the device. If movement is not required, the pulley 26 can be lifted off the ground by adjusting bolts 27, and the base 24 can provide stable support, ensuring the stability of the device during operation.

[0037] Working principle: Motor 3 serves as the power source. After starting, its output end drives the rotating shaft 4 to rotate. The rotating shaft 4 then drives the rope 5 fixed to one end of its outer wall to move. The other end of the rope 5 is connected to the fixed frame 15. By extending and retracting the rope 5, the lifting and lowering movement of the components connected to the fixed frame 15 can be achieved. This allows the gripping part of the robot arm to be connected, enabling the lifting and lowering of items. The output end of motor 6 is connected to gear 7. When motor 6 starts, it drives gear 7 to rotate. Since gear 7 meshes with gear 9 on the fixed frame 8, the rotation of gear 7 will drive gear 9 to rotate, thereby causing the fixed frame 8 to rotate around its rotational connection point with the support frame 1, achieving angle adjustment to change the working direction of the handling robot arm. A sliding groove 10 is provided in the middle of the inner wall of the fixed frame 8, and motor 12 can slide in the sliding groove 10. After motor 12 starts, its output end drives the... The rotating roller 28 pushes the movable frame 11 to slide in the middle of the inner wall of the fixed frame 2 8. By controlling the rotation direction and speed of the motor 12, the position of the movable frame 11 in the slide 10 can be precisely controlled, thereby realizing the movement and positioning of the robot in the horizontal direction. The top of the outer wall of the movable frame 11 is rotatably connected to the first rotating wheel 14. The first rotating wheel 14 can rotate under the drive of the movable frame 11. When it is necessary to move items, the corresponding handling tools or clamps can be connected through the first rotating wheel 14. The rotation of the first rotating wheel 14 can be used to adjust the angle of the handling tools or clamps so as to better grasp and move items. Through the coordinated work of the first motor 3, the second motor 6 and the motor 12, as well as the transmission and connection relationship between the various components, the composite multi-axis drive handling robot can realize the handling operation of items in different positions and angles, with high flexibility and precision.

[0038] The telescopic rod 201 is fixed to the bottom of the outer wall of the support frame 1. A spring 202 connects the two adjacent sides. The spring 202 may be in a pre-tensioned state initially, its function being to buffer and assist the movement of the telescopic rod 201, ensuring the smoothness of its movement and also mitigating the impact of external vibrations on the telescopic rod 201 to some extent. A rack 203 is fixed to one side of the outer wall of the telescopic rod 201, and the rack 203 can slide in the middle of the inner wall of the fixed frame 204. The fixed frame 204 is fixed to the left side of the outer wall of the support frame 1, serving to guide and support the rack 203, ensuring that the rack 203 moves along a predetermined path. A throttle 206 is rotatably connected to the rear side of the outer wall of the fixed frame 204. A gear 205 is fixed to the front side of the throttle 206, and the gear 205 interacts with the rack 203. When the operator turns the handle 206, it drives the gear 205 to rotate as well. Due to the meshing relationship between the gear 205 and the rack 203, the rotation of the gear 205 is converted into the linear motion of the rack 203. When the gear 205 rotates clockwise, the rack 203 slides upward along the inner wall of the fixed frame 204, thereby causing the telescopic rod 201 to extend upward, thus raising the overall height of the handling robot. The spring 202 undergoes elastic deformation as the telescopic rod 201 extends and retracts, further ensuring the smoothness of the adjustment process and avoiding impacts and vibrations caused by improper operation or external factors. In summary, by turning the handle 206 and utilizing the meshing transmission between the gear 205 and the rack 203, the extension and retraction of the telescopic rod 201 is achieved, thereby completing the height adjustment of the handling robot.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A composite multi-axis driven handling robot, comprising a support frame (1), characterized in that: A motor (3) is fixedly connected to the left side of the outer wall of the support frame 1 (1). A rotating shaft (4) is fixedly connected to the output end of the motor (3). A rope (5) is fixedly connected to one end of the outer wall of the rotating shaft (4). A fixing claw (13) is fixedly connected to the other end of the rope (5). A motor (6) is fixedly connected to the top of the inner wall of the support frame 1 (1). A gear (7) is fixedly connected to the output end of the motor (6). The gear (7) is rotatably connected to the top of the inner wall of the support frame 1 (1). A fixing frame (8) is rotatably connected to the top right side of the support frame 1 (1). A gear (9) is fixedly connected to the left side of the outer wall of the fixing frame (8). The gear (7) and the gear (9) are connected to each other. Wheel 3 (9) is engaged. A groove (10) is provided in the middle of the inner wall of the fixed frame 2 (8). A motor (12) is slidably connected in the middle of the inner wall of the groove (10). A roller (28) is fixedly connected to the output end of the motor (12). A movable frame (11) is rotatably connected to the top of the outer wall of the roller (28). The movable frame (11) is slidably connected in the middle of the inner wall of the fixed frame 2 (8). A fixed frame 3 (15) is fixedly connected to the bottom right side of the fixed frame 2 (8). A rotating wheel 1 (14) is rotatably connected to the top of the outer wall of the movable frame (11). An adjustment mechanism (2) is fixedly connected to the bottom of the outer wall of the support frame 1 (1). The adjustment mechanism (2) is used to adjust the height of the robot arm.

2. The compound multi-axle drive handling robot according to claim 1, characterized in that: The adjustment mechanism (2) includes a telescopic rod (201), which is fixedly connected to the bottom of the outer wall of the support frame (1). A spring (202) is fixedly connected to the side of the telescopic rod (201) adjacent to the inner wall of the support frame (1). A rack (203) is fixedly connected to one side of the outer wall of the telescopic rod (201). A fixing frame (204) is fixedly connected to the left side of the outer wall of the support frame (1). The rack (203) is slidably connected to the middle of the inner wall of the fixing frame (204). A handle (206) is rotatably connected to the rear side of the outer wall of the fixing frame (204). A gear (205) is fixedly connected to the front side of the outer wall of the handle (206). The gear (205) meshes with the rack (203).

3. The compound multi-axle drive handling robot according to claim 1, characterized in that: The bottom of the outer wall of the motor (12) is rotatably connected to a wear-resistant wheel (16), and the middle of the inner wall of the fixing frame three (15) is rotatably connected to a guide wheel (17).

4. The compound multi-axle drive handling robot according to claim 1, characterized in that: A connecting frame (18) is fixedly connected to the top of the outer wall of the slide (10), and a connecting rod (19) is fixedly connected to the adjacent side of the inner wall of the connecting frame (18).

5. The compound multi-axle drive handling robot according to claim 1, wherein: Support frame 2 (20) is fixedly connected to the top left side of support frame 1 (1), and a rotating wheel 2 (21) is rotatably connected to the middle of the inner wall of support frame 2 (20).

6. The compound multi-axle drive handling robot of claim 2, wherein: The outer wall of the rotating shaft (4) is fixedly connected to the front and rear sides of the bearing (22), and the bottom of the outer wall of the telescopic rod (201) is fixedly connected to the fixing plate (23).

7. The compound multi-axle drive handling robot according to claim 6, characterized in that: The bottom of the outer wall of the fixing plate (23) is fixedly connected to the base (24), and the outer wall of the base (24) is fixedly connected to the bolts (25).

8. The compound multi-axle drive handling robot according to claim 7, characterized in that: Bolt 2 (27) is rotatably connected to the four corners at the bottom of Bolt 1 (25), and a pulley (26) is fixedly connected to the middle of the inner wall of Bolt 2 (27).

Images