A two-way mechanical hand for automatic aging machine

Abstract

The utility model relates to manipulator technical field especially is related to a kind of two-way manipulator for automatic aging machine, including gantry frame, Z-axis power mechanism is provided in the inside of gantry frame, Z-axis power mechanism is connected with Z-axis support on power, at least one Y-axis power mechanism is horizontally installed on Z-axis support;Y-axis power mechanism includes Y-axis linear module fixedly installed on Z-axis support, lifting and placing carrier power connected on Y-axis linear module, and two Y-axis guide groups fixedly installed on Z-axis support and located Y-axis linear module both sides;By design two can be by Y-axis linear module to the same position docking jig bottom plate's hook bracket, successfully realized the two-way transfer function to the both sides of track conveying mechanism storage location, need not to use the multi-axis manipulator of high cost, while reducing the overall cost of equipment, avoid the precision fluctuation and stability hidden danger brought by high complexity of multi-axis structure.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a bidirectional robotic arm for an automatic aging machine. Background Technology

[0002] In the production and testing phase of new energy vehicle electronic control products, automatic aging machines are key equipment for verifying product reliability. One of their core functions is to accurately transport the new energy vehicle electronic control products to be tested (hereinafter referred to as "test objects") to the corresponding storage location and complete the subsequent aging test process. In this transportation process, palletizers are widely used as the core execution equipment. The mainstream structure of existing palletizers is a rail conveyor mechanism that transports a robotic arm. That is, the robotic arm moves in space through the rail conveyor mechanism, and at the same time, the robotic arm performs the grasping and placement of the test objects. The two work together to realize the transfer of the test objects between different workstations and test storage locations.

[0003] Specifically, the structural design of the robotic arms in existing palletizing machines mainly revolves around two core actions: lifting and translation. Since the test objects do not require complex posture adjustments such as turning or flipping during the transfer process, the structural composition of the robotic arms is relatively fixed, usually including three core components: the Z-axis power mechanism, the horizontal transfer mechanism, and the conveying platform. The Z-axis power mechanism, as the core component for height adjustment, can drive the entire load to move up and down according to the longitudinal height requirements of the test location. The horizontal transfer mechanism is installed at the output end of the Z-axis power mechanism, and its main function is to provide horizontal driving force. The conveyor platform is connected to the output end of the horizontal transfer mechanism and can extend and retract under the drive of the horizontal transfer mechanism. When it is necessary to place the test object, the conveyor platform can be pushed outward by the drive of the horizontal transfer mechanism. At this time, the operator can place the test object on the conveyor platform manually, or the test object can be automatically loaded by the matching loading machine. After the test object is placed, the horizontal transfer mechanism drives the conveyor platform to retract, so that the test object returns to the designated position directly above the track conveyor mechanism along with the conveyor platform. At this time, the track conveyor mechanism can drive the entire robot (including the test object) to move to the corresponding lateral position of the target test location.

[0004] If the target test location is not at the same height as the current conveyor platform (in practical applications, to improve space utilization, test locations are usually arranged in a matrix layout combining horizontal and vertical elements, meaning there are multiple locations with different horizontal positions and vertical heights), the Z-axis power mechanism is activated, driving the horizontal transfer mechanism, the conveyor platform, and the test object to rise and fall together to a position matching the height of the target location. Subsequently, the horizontal transfer mechanism drives the conveyor platform to push outward again, allowing the conveyor platform to carry the test object into the target location. To ensure that the test object can be accurately placed in the designated test position within the location, existing designs include corresponding docking mechanisms (such as positioning pins, guide rails, limit blocks, etc.) at the connection between the conveyor platform and the location. Through the positioning and guiding function of the docking mechanism, the test object is accurately placed within the location. After the aging test is completed, the robot arm performs the reverse process described above to remove the test object from the location and transfer it to the next workstation.

[0005] However, existing palletizing machine robotic arms have obvious technical limitations in practical applications: their horizontal transfer mechanism usually only pushes the conveyor platform in a single direction (i.e., it can only push it to one side of the track conveyor mechanism). This means that the loading position of the test object and all test storage positions must be concentrated on the same side of the track conveyor mechanism. If, in actual production scenarios, due to space layout, production process optimization, or other needs, test storage positions need to be set on both sides of the track conveyor mechanism (or the loading position and some storage positions are located on both sides of the track conveyor mechanism), then the existing single-direction horizontal transfer mechanism cannot meet the usage requirements.

[0006] To address this issue, existing technologies typically employ multi-axis robotic arms to replace traditional unidirectional horizontal transfer mechanisms. The multi-axis robotic arms utilize their multi-degree-of-freedom motion capabilities to dock the storage locations on both sides of the track conveyor. However, this approach has significant drawbacks: Firstly, the manufacturing and procurement costs of multi-axis robotic arms are far higher than those of traditional unidirectional horizontal transfer mechanisms, significantly increasing the overall equipment cost of the palletizer and hindering large-scale application. Secondly, the motion accuracy and operational stability of multi-axis robotic arms are greatly affected by factors such as the number of axes, transmission structure, and control system complexity. The test objects (new energy vehicle electronic control products) typically contain precision electronic components, requiring extremely high positional accuracy and stability during transport. During multi-degree-of-freedom motion switching, the multi-axis robotic arm is prone to decreased positioning accuracy or operational instability due to factors such as transmission backlash, load changes, and inertial impacts. This can lead to collisions or damage to the test objects, or prevent precise docking at storage locations, thus affecting the normal conduct of aging tests.

[0007] In summary, existing automatic aging machine palletizers face technical dilemmas when dealing with application scenarios where storage positions need to be set on both sides of the track conveyor mechanism. These dilemmas include the insufficient functionality of traditional unidirectional horizontal transfer mechanisms and the high cost and poor stability of multi-axis robotic arm solutions. There is an urgent need for a palletizer structural design scheme that can achieve docking of storage positions on both sides of the track conveyor mechanism while ensuring controllable cost, stable operation, and accurate positioning. Utility Model Content

[0008] To overcome the shortcomings mentioned above, this utility model aims to provide a technical solution that can solve the above problems.

[0009] A bidirectional robotic arm for an automatic aging machine includes a gantry frame. A Z-axis power mechanism is disposed inside the gantry frame, and a Z-axis bracket is poweredly connected to the Z-axis power mechanism. At least one Y-axis power mechanism is horizontally mounted on the Z-axis bracket. The Y-axis power mechanism includes a Y-axis linear module fixedly mounted on the Z-axis bracket, a lifting and placing vehicle poweredly connected to the Y-axis linear module, and two Y-axis guide groups fixedly mounted on the Z-axis bracket and located on both sides of the Y-axis linear module. The lifting and placing vehicle can be driven by the Y-axis linear module to extend in front and behind the two Y-axis guide groups. The lifting and placing carrier includes a vertical plate powered by a Y-axis linear module, lifting and placing power mechanisms installed at the front and rear positions of the vertical plate, hook frames powered by two lifting and placing power mechanisms, and a fixture base plate for carrying the product to be tested. The fixture base plate is mounted on two Y-axis guide groups, and hook holes that mate with the hook frames are provided on the fixture base plate. The hook frame moves to directly below the fixture base plate via the Y-axis linear module. The lifting mechanism then moves upward to the hook hole position on the fixture base plate, lifting the fixture base plate from the Y-axis guide group. The Y-axis linear module then moves the fixture base plate a unit distance. After moving a unit distance, the lifting mechanism lowers the fixture base plate. During this process, the Y-axis linear module can sequentially move two hook frames to the same position to align with the fixture base plate, allowing the fixture base plate to extend in front of and behind the two Y-axis guide groups.

[0010] Preferably, the Z-axis power mechanism includes two Z-axis linear modules fixedly installed on both sides of the gantry frame. Each Z-axis linear module includes a Z-axis linear guide rail and a Z-axis lead screw power assembly installed on the gantry frame. The Z-axis linear module also includes a Z-axis slider slidably connected to the Z-axis linear guide rail. The Z-axis slider is poweredly connected to the Z-axis lead screw power assembly. The Z-axis bracket is fixedly connected between the Z-axis sliders of the two Z-axis linear modules.

[0011] Preferably, three Y-axis power mechanisms are provided, and a reinforcing block is connected between two adjacent Y-axis power mechanisms through a Y-axis guide group.

[0012] Preferably, the Y-axis linear module includes a Y-axis base plate fixed on the Z-axis bracket, a Y-axis linear guide rail mounted on the Y-axis base plate, and a Y-axis lead screw power assembly mounted on the Y-axis base plate. The vertical plate slider is connected to the Y-axis linear guide rail, and the vertical plate is poweredly connected to the Y-axis lead screw power assembly.

[0013] Preferably, the Y-axis guide assembly includes a raised plate fixedly mounted on the Z-axis bracket, a right-angled strip fixedly mounted on the raised plate, and multiple rollers movably connected along the length of the right-angled strip. The fixture base plate is constrained between two right-angled strips and is mounted on the rollers.

[0014] Preferably, secondary product positioning cylinder assemblies are also installed at the front and rear positions of the raised long plate.

[0015] Preferably, the lifting and lowering power mechanism includes two lifting linear guide rails fixedly installed on the upright plate, two lifting cylinders fixedly installed on the upright plate and corresponding to the two lifting linear guide rails, and a lifting frame with a slider connected to the two lifting linear guide rails and poweredly connected to the two lifting cylinders, and a hook frame fixedly connected to the lifting frame.

[0016] Preferably, the hook frame includes an H-shaped bracket fixedly connected to the lifting frame and a pin installed at the end of the H-shaped bracket. The pin is aligned with the hook hole, and the H-shaped bracket is used to support the base plate of the fixture.

[0017] Preferably, the H-shaped bracket has two pins at its end, and the fixture base plate has two hook holes corresponding to the two pins at both the front and rear positions, and the length between the hook holes at the front and rear positions of the fixture base plate is consistent with the length of the unit distance.

[0018] Compared with the prior art, the beneficial effects of this utility model are: By designing two hook-shaped frames that can be driven to the same position by a Y-axis linear module to dock with the fixture base plate, a bidirectional transfer function to the storage locations on both sides of the track conveyor mechanism was successfully achieved. This eliminates the need for costly multi-axis robots, reducing overall equipment costs and avoiding the precision fluctuations and stability risks associated with the high complexity of multi-axis structures. This ensures the safe transport of precision test items such as new energy vehicle electronic control products. Furthermore, throughout the entire workflow, the lateral movement of the track conveyor mechanism, the height adjustment of the Z-axis power mechanism, and the bidirectional transfer of the Y-axis power mechanism are seamlessly integrated. The hook-shaped frames precisely align with the hook holes on the fixture base plate, working in conjunction with the Y-axis guide assembly to ensure proper docking. The base plate provides support and guidance, ensuring the positioning accuracy of the test items during transport and effectively preventing test delays or product damage caused by docking deviations. Furthermore, the robotic arm can be directly mounted on the support platform of a traditional rail conveyor mechanism, eliminating the need for large-scale modifications to the existing rail system. This strong compatibility reduces the cost and difficulty of equipment upgrades for enterprises. Therefore, the bidirectional transport capability breaks the limitations of traditional unidirectional transport on warehouse layout, allowing test warehouses to be flexibly arranged on both sides according to workshop space, improving space utilization. It also provides a more efficient path for the batch transport of test items, contributing to improved overall testing efficiency of the automatic aging machine.

[0019] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the structure of this utility model mounted on a track conveying mechanism; Figure 2 This is a schematic diagram of the structure of this utility model; Figure 3 This is a schematic diagram of the structure of this utility model after the gantry frame has been removed; Figure 4 This is a structural schematic diagram of the Y-axis power mechanism of this utility model in its first state; Figure 5 This is a structural schematic diagram of the Y-axis power mechanism of this utility model in its second state; Figure 6 This is a structural schematic diagram of the Y-axis power mechanism of this utility model in its third state; Figure 7 This is a structural schematic diagram of the Y-axis power mechanism of this utility model in its fourth state; Figure 8 This is a structural schematic diagram of the Y-axis power mechanism of this utility model in its fifth state; Figure 9 This is a structural schematic diagram of the Y-axis linear module and the lifting and placing vehicle in this utility model; Figure 10 This is a structural schematic diagram of the neutral plate, lifting and lowering power mechanism, and hook frame of this utility model; Figure 11 This is a schematic diagram of the Y-axis guide assembly and fixture base plate in this utility model.

[0022] The reference numerals and names in the figure are as follows: 10. Gantry frame, 20. Z-axis power mechanism, 21. Z-axis linear guide, 22. Z-axis lead screw power assembly, 23. Z-axis slider, 30. Y-axis support, 40. Y-axis power mechanism, 41. Y-axis linear module, 411. Y-axis base plate, 412. Y-axis linear guide, 413. Y-axis lead screw power assembly, 42. Lifting carrier, 421. Vertical plate, 422. Lifting power mechanism, 422. Lifting linear guide, 4221. Lifting cylinder, 4222. Lifting frame, 4223. Hook frame, 423. H-type support, 4231. Pin, 4232. Fixture base plate, 424. Hook hole, 4241. Y-axis guide assembly, 43. Lifting long plate, 431. Right angle bar, 432. Roller, 433. Secondary product positioning cylinder assembly, 434. Reinforcing block, 44. Track conveying mechanism, 50. Ground rail, 51. Rack, 52. Support platform, 53. Geared servo drive motor assembly, 54. Detailed Implementation

[0023] The technical solutions in the embodiments of this utility model will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0024] Please see Figure 1-11In this embodiment of the present invention, a bidirectional robotic arm for an automatic aging machine is mounted on a track conveying mechanism 50. Combined with the track conveying mechanism 50, the object to be tested is transported to the corresponding test location for testing. The track conveying mechanism 50 adopts a traditional mechanism, mainly comprising a ground rail 51, a rack 52 parallel to the ground rail 51, a support platform 53 slidably connected to the ground rail 51, and a geared servo drive motor assembly 54 mounted on the support platform 53. The geared servo drive motor assembly 54 meshes with the rack 52, thereby driving the support platform 53 to slide along the ground rail 51. The bidirectional manipulator is mounted on the support platform 53. Specifically, the bidirectional manipulator includes a gantry frame 10. A Z-axis power mechanism 20 is provided inside the gantry frame 10. A Z-axis support 30 is poweredly connected to the Z-axis power mechanism 20. At least one Y-axis power mechanism 40 is horizontally mounted on the Z-axis support 30. Preferably, three Y-axis power mechanisms 40 are provided, and a reinforcing block 44 is connected between two adjacent Y-axis power mechanisms 40 through a Y-axis guide group 43. This can enhance the overall structural rigidity and stability, improve the efficiency of multi-station synchronous transfer, and extend the service life of the equipment by distributing the load.

[0025] The Y-axis power mechanism 40 includes a Y-axis linear module 41 fixedly mounted on the Z-axis bracket 30, a lifting and lowering vehicle 42 powered on the Y-axis linear module 41, and two Y-axis guide groups 43 fixedly mounted on the Z-axis bracket 30 and located on both sides of the Y-axis linear module 41. The lifting and lowering vehicle 42 can be driven by the Y-axis linear module 41 to extend in front and behind the two Y-axis guide groups 43. The lifting and placing carrier 42 includes a vertical plate 421 powered by the Y-axis linear module 41, lifting and placing power mechanisms 422 respectively installed at the front and rear positions of the vertical plate 421, hook frames 423 powered by the two lifting and placing power mechanisms 422 respectively, and a fixture base plate 424 for carrying the product to be tested. The fixture base plate 424 is mounted on two Y-axis guide groups 43, and the fixture base plate 424 is provided with hook holes 4241 that mate with the hook frames 423. In this process, the hook frame 423 moves to directly below the fixture base plate 424 via the Y-axis linear module 41. The lifting power mechanism 422 then moves upward to the hook hole 4241 that aligns with the fixture base plate 424, lifting the fixture base plate 424 from the Y-axis guide group 43. The Y-axis linear module 41 then drives the fixture base plate 424 to move a unit distance. After moving a unit distance, the lifting power mechanism 422 lowers the fixture base plate 424. During this process, the Y-axis linear module 41 can sequentially drive the two hook frames 423 to the same position to align with the fixture base plate 424, allowing the fixture base plate 424 to extend forward and backward between the two Y-axis guide groups 43 via the movement of the two hook frames 423.

[0026] During operation, the overall position transfer is first completed by the track conveying mechanism 50: the geared servo drive motor 54 meshes with the rack 52 to drive the support platform 53, which is slidably connected to the ground rail 51, to slide along the ground rail 51, thereby accurately conveying the bidirectional robot arm installed on the support platform 53 to the workstation next to the object to be picked up or placed for testing. Then the bidirectional robot arm starts working. If the height of the fixture base plate 424 to be picked up or placed does not match the current height of the Y-axis power mechanism 40, the Z-axis power mechanism 20 inside the gantry frame 10 drives the Z-axis bracket 30 to move up and down, thereby adjusting the Y-axis power mechanism 40 installed on the Z-axis bracket 30 to a height that matches the fixture base plate 424. Next, the Y-axis power mechanism 40 starts operating. The Y-axis linear module 41 first moves the upright plate 421 of the lifting carrier 42, causing the hook frame 423 on the upright plate 421, which is closest to the fixture base plate 424, to move directly below the fixture base plate 424. Then, the lifting power mechanism 422 drives the hook frame 423 to move upward, so that it precisely aligns with the hook hole 4241 on the fixture base plate 424, and lifts the fixture base plate 424 from the workstation. After that, the Y-axis linear module 41 drives the upright plate 421, the hook frame 423, and the fixture base plate 424 to move laterally a unit distance until the fixture base plate 424 moves above the Y-axis guide group 43. After moving into position, the lifting power mechanism 422 drives the hook frame 423 to descend, placing the fixture base plate 424 stably on the Y-axis guide group 43. After the fixture base plate 424 is received, the geared servo drive motor 54 is driven again. Combined with the height adjustment of the Z-axis power mechanism 20, the bidirectional manipulator carrying the test object is moved to the corresponding test storage position. If the test storage position is on the same side of the track conveyor mechanism 50 as the initial work position, the hook frame 423 used for picking up the material is used to repeat the "lift-move-lower" action to move the fixture base plate 424 to the test storage position. If the test storage position and the initial work position are located on opposite sides of the track conveyor mechanism 50, the Y-axis linear module 41 can be used to drive the two hook frames 423 to move to the same position to connect with the fixture base plate 424. The other hook frame 423 is used to perform the "lift-move-lower" action to move the fixture base plate 424 to the corresponding test storage position.

[0027] In the above technical solution, by designing two hook frames 423 that can be driven by the Y-axis linear module 41 to the same position to dock with the fixture base plate 424, the bidirectional transfer function to the storage positions on both sides of the track conveying mechanism 50 is successfully realized. This eliminates the need for costly multi-axis robotic arms, reducing the overall equipment cost while avoiding the precision fluctuations and stability risks caused by the high complexity of multi-axis structures, thus ensuring the safe transfer of precision test objects such as new energy vehicle electronic control products. Furthermore, throughout the entire workflow, the lateral movement of the track conveying mechanism 50, the height adjustment of the Z-axis power mechanism 20, and the bidirectional transfer of the Y-axis power mechanism 40 are closely integrated, and the hook holes 4241 of the hook frames 423 and the fixture base plate 424 are precisely aligned. The precise docking, combined with the support and guidance of the Y-axis guide group 43 for the fixture base plate 424, ensures the positioning accuracy of the test object during the transfer process, effectively avoiding test delays or product damage caused by docking deviations. In addition, the robot can be directly installed on the support platform 53 of the traditional track conveying mechanism 50 without the need for large-scale modification of the existing track system, which is highly compatible and reduces the cost and difficulty of upgrading enterprise equipment. Therefore, the bidirectional transfer capability breaks the limitation of traditional unidirectional transfer on the storage layout, allowing the test storage to be flexibly arranged on both sides according to the workshop space, improving space utilization, and also providing a more efficient path for the batch transfer of test objects, which helps to improve the overall testing efficiency of the automatic aging machine.

[0028] Please see Figure 1-2The Z-axis power mechanism 20 includes two Z-axis linear modules fixedly installed on both sides of the gantry frame 10. Each Z-axis linear module includes a Z-axis linear guide rail 21 and a Z-axis lead screw power assembly 22 mounted on the gantry frame 10. The Z-axis linear module also includes a Z-axis slider 23 slidably connected to the Z-axis linear guide rail 21. The Z-axis slider 23 is poweredly connected to the Z-axis lead screw power assembly 22. A Z-axis bracket 30 is fixedly connected between the Z-axis sliders 23 of the two Z-axis linear modules. This design creates a symmetrical synchronous drive structure for the Z-axis power mechanism 20. Compared to a single Z-axis drive, the synchronously operating Z-axis lead screw power assembly 22 on both sides can drive the Z-axis bracket 30 to achieve smooth lifting and lowering, effectively avoiding the off-center loading and tilting problems that may occur with single-sided drive, and significantly improving the height adjustment in the Z-axis direction. The stability of the joint is improved; at the same time, the guiding effect of the Z-axis linear guide 21 on the Z-axis slider 23, combined with the high precision characteristics of the lead screw drive itself, further improves the positioning accuracy of the Z-axis support 30 during the lifting process, ensuring that the Y-axis power mechanism 40 can accurately connect to workstations and storage locations of different heights, meeting the stringent requirements for height adaptation during the transfer of test objects; in addition, the dual-module support structure can distribute the overall load of the Z-axis support 30, the Y-axis power mechanism 40 and the fixture base plate 424, reducing the stress load on a single module, which not only extends the service life of the Z-axis linear module, but also enhances the load-bearing capacity of the entire Z-axis power mechanism 20, providing a structural basis for adapting to test objects of greater weight or increasing the number of Y-axis power mechanisms 40, and improving the overall applicability and durability of the bidirectional robot.

[0029] Please see Figure 3 , Figure 9 and Figure 11 The Y-axis linear module 41 includes a Y-axis base plate 411 fixed on the Z-axis bracket 30, a Y-axis linear guide rail 412 mounted on the Y-axis base plate 411, and a Y-axis lead screw power assembly 413 mounted on the Y-axis base plate 411. A slider of a vertical plate 421 is connected to the Y-axis linear guide rail 412, and the vertical plate 421 is poweredly connected to the Y-axis lead screw power assembly 413. The Y-axis base plate 411 provides a stable mounting foundation for the entire module, ensuring the installation accuracy of the Y-axis linear guide rail 412 and the Y-axis lead screw power assembly 413. The Y-axis linear guide rail 412 provides precise guidance for the slider of the vertical plate 421, cooperating with the Y-axis linear guide rail 412 to move along the Y-axis linear guide rail 411. The rigid connection between the lead screw power assembly 413 and the upright plate 421 enables the upright plate 421 to achieve high-precision linear motion when driving the hook frame 423 to move, effectively reducing swaying and offset during the lateral transfer process and improving the positional accuracy of the fixture base plate 424 in bidirectional transfer. At the same time, the combination of the smoothness of the lead screw drive and the constraint of the guide rail can reduce the deviation when the hook frame 423 docks with the hook hole 4241 of the fixture base plate 424, ensuring the continuity of lifting and transfer actions, further enhancing the stability and reliability of power transmission in the Y-axis direction, and providing structural protection for the safe and efficient transfer of the test object.

[0030] Please see Figure 11 The Y-axis guide assembly 43 includes a raised plate 431 fixedly mounted on the Z-axis bracket 30, a right-angled strip 432 fixedly mounted on the raised plate 431, and multiple rollers 433 movably connected along the length of the right-angled strip 432. A fixture base plate 424 is constrained between the two right-angled strips 432 and is mounted on the rollers 433. Secondary product-retrieving positioning cylinder assemblies 434 are also installed at the front and rear positions of the raised plate 431. This design elevates the long plate 431, maintaining a reasonable distance between the fixture base plate 424 and the Z-axis support 30, preventing interference with other components during transport. The right-angle strip 432 provides lateral restraint to the fixture base plate 424. Combined with multiple rollers 433 connected along the length of the right-angle strip 432, the sliding friction between the fixture base plate 424 and the Y-axis guide assembly 43 is converted into rolling friction, significantly reducing the resistance during transport and ensuring smoother, more stable bidirectional movement. This minimizes wear or displacement of the fixture base plate 424 due to excessive friction. The system can simultaneously lift the product positioning cylinder assembly 434, which is installed at the front and rear positions of the raised long plate 431. After the fixture base plate 424 is moved to the target position, the cylinder extension and retraction action can perform secondary positioning calibration on the fixture base plate 424, further correcting any possible positional deviations. This ensures that the hook frame 423 and the hook hole 4241 of the fixture base plate 424 are precisely aligned, or that the fixture base plate 424 is precisely adapted to the storage location or workstation. This effectively avoids the impact of positioning errors on the picking, placing, and transferring of the test object, providing a more reliable guarantee for the efficient and precise operation of the entire bidirectional robot.

[0031] Please see Figure 9-10 The lifting and lowering power mechanism 422 includes two lifting linear guide rails 4221 fixedly mounted on the upright plate 421, two lifting cylinders 4222 fixedly mounted on the upright plate 421 and corresponding to the two lifting linear guide rails 4221, and a lifting frame 4223 with a slider connected to the two lifting linear guide rails 4221 and poweredly connected to the two lifting cylinders 4222. The hook frame 423 is fixedly connected to the lifting frame 4223. The hook frame 423 includes an H-shaped bracket 4231 fixedly connected to the lifting frame 4223 and a pin 4232 installed at the end of the H-shaped bracket 4231. The pin 4232 is mated with the hook hole 4241. The H-shaped bracket 4231 is used to support the fixture base plate 424.

[0032] In the above technical solution, the lifting and lowering power mechanism 422 forms a double-sided guide for the lifting and lowering frame 4223 through two lifting and lowering linear guide rails 4221, and works in sync with two lifting and lowering cylinders 4222 to ensure that the lifting and lowering frame 4223 drives the hook frame 423 to rise and fall smoothly, avoiding tilting caused by unilateral force; the hook frame 423 adopts an H-shaped bracket 4231 design, and its two pins 4232 at the end are connected to the corresponding hook holes 4241 at the front and rear positions of the fixture base plate 424. It not only achieves reliable positioning through the pins 4232, but also uses the structural characteristics of the H-shaped bracket 4231 to provide stable support for the fixture base plate 424, distribute the load pressure, and effectively prevent the fixture base plate 424 from shaking, shifting or even falling off during lifting or transfer; In addition, such as Figure 10-11 As shown, the H-shaped bracket 4231 has two pins 4232 at its end, and the fixture base plate 424 has two hook holes 4241 corresponding to the two pins 4232 at both the front and rear positions, and the length between the hook holes 4241 at the front and rear positions of the fixture base plate 424 is consistent with the length of the unit distance; as shown Figure 4-8 The diagram shows five states in which the fixture base plate 424 is moved from one side of the track conveying mechanism 50 to the other side of the track conveying mechanism. Figure 4 This can be considered as aligning the H-shaped bracket 4231 with the hook hole 4241 located at the rear of the fixture base plate 424 of the feeding mechanism. Figure 5 It can be considered as being in Figure 4 In this state, the fixture base plate 424 is pushed between the feeding mechanism and the Y-axis guide group 43. Figure 6 In this state, it can be assumed that after the H-shaped bracket 4231 aligns with the hook hole 4241 at the front of the fixture base plate 424, the fixture base plate 424 is further pushed onto the Y-axis guide assembly 43. Figure 7 In this state, it can be assumed that after another H-shaped bracket 4231 is connected to the hook hole 4241 at the rear of the fixture base plate 424, the fixture base plate 424 is further pushed between the test compartment and the Y-axis guide group 43. Figure 7In this state, it can be considered that after another H-shaped bracket 4231 aligns with the hook hole 4241 at the front of the fixture base plate 424, the fixture base plate 424 is further pushed into the test compartment. The entire process involves a five-unit step-by-step push of the fixture base plate, enabling precise relay transfer of the fixture base plate 424 by the hook frame 423. This size-matching design ensures seamless connection between the two hook frames 423 during alternating actions, realizing the transport of the fixture base plate 424 from one side of the track conveying mechanism 50 to the test compartment. The operation of sending the object to the other side of the track conveying mechanism; at the same time, the unified size standard makes the bidirectional transfer process of the fixture base plate 424 more regular and controllable, improving the transfer efficiency and accuracy, and further ensuring the smoothness and stability of the transfer of the test object between the storage positions on both sides of the track; therefore, this multi-support, symmetrical structural design greatly reduces the risk of damage to the test object caused by unstable lifting and placing, while ensuring the repeatability of the hook frame 423 and the fixture base plate 424, providing a key guarantee for the efficient and stable operation of the bidirectional robot.

[0033] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention.

Claims

1. A bidirectional robotic arm for an automatic aging machine, characterized in that, The system includes a gantry frame (10), a Z-axis power mechanism (20) is provided inside the gantry frame (10), a Z-axis support (30) is poweredly connected to the Z-axis power mechanism (20), and at least one Y-axis power mechanism (40) is horizontally installed on the Z-axis support (30). The Y-axis power mechanism (40) includes a Y-axis linear module (41) fixedly installed on the Z-axis support (30), a lifting and lowering vehicle (42) poweredly connected to the Y-axis linear module (41), and two Y-axis guide groups (43) fixedly installed on the Z-axis support (30) and located on both sides of the Y-axis linear module (41). The lifting and lowering vehicle (42) can be driven by the Y-axis linear module (41) to the front and rear extending between the two Y-axis guide groups (43). The lifting and placing carrier (42) includes a vertical plate (421) powered to the Y-axis linear module (41), lifting and placing power mechanisms (422) installed at the front and rear positions of the vertical plate (421), hook frames (423) powered to the two lifting and placing power mechanisms (422), and a fixture base plate (424) for carrying the product to be tested. The fixture base plate (424) is mounted on two Y-axis guide groups (43), and the fixture base plate (424) is provided with hook holes (4241) that are connected to the hook frames (423). The hook frame (423) moves to the underside of the fixture base plate (424) via the Y-axis linear module (41). The lifting power mechanism (422) moves upward to the hook hole (4241) that mates with the fixture base plate (424), lifting the fixture base plate (424) from the Y-axis guide assembly (43). Then, driven by the Y-axis linear module (41), the fixture base plate (424) moves a unit distance. After the base plate (424) moves a unit distance, the jig base plate (424) is lowered by the lowering action of the lifting power mechanism (422); during this process, the Y-axis linear module (41) can sequentially drive the two hook frames (423) to move to the same position to connect with the jig base plate (424), so that the jig base plate (424) can extend in front of and behind the two Y-axis guide groups (43) by the drive of the two hook frames (423).

2. The bidirectional robotic arm for an automatic aging machine according to claim 1, characterized in that, The Z-axis power mechanism (20) includes two Z-axis linear modules fixedly installed on both sides of the gantry frame (10). The Z-axis linear module includes a Z-axis linear guide rail (21) and a Z-axis lead screw power assembly (22) installed on the gantry frame (10). The Z-axis linear module also includes a Z-axis slider (23) slidably connected to the Z-axis linear guide rail (21). The Z-axis slider (23) is poweredly connected to the Z-axis lead screw power assembly (22). The Z-axis bracket (30) is fixedly connected between the Z-axis sliders (23) of the two Z-axis linear modules.

3. The bidirectional robotic arm for an automatic aging machine according to claim 1, characterized in that, There are three Y-axis power mechanisms (40), and a reinforcing block (44) is connected between two adjacent Y-axis power mechanisms (40) through a Y-axis guide group (43).

4. The bidirectional robotic arm for an automatic aging machine according to claim 1, characterized in that, The Y-axis linear module (41) includes a Y-axis base plate (411) fixed on the Z-axis bracket (30), a Y-axis linear guide rail (412) mounted on the Y-axis base plate (411), and a Y-axis lead screw power assembly (413) mounted on the Y-axis base plate (411). The slider of the upright plate (421) is connected to the Y-axis linear guide rail (412), and the upright plate (421) is poweredly connected to the Y-axis lead screw power assembly (413).

5. The bidirectional robotic arm for an automatic aging machine according to claim 1, characterized in that, The Y-axis guide assembly (43) includes a raised plate (431) fixedly mounted on the Z-axis bracket (30), a right-angled strip (432) fixedly mounted on the raised plate (431), and a plurality of rollers (433) movably connected along the length of the right-angled strip (432). The fixture base plate (424) is constrained between the two right-angled strips (432) and the fixture base plate (424) is mounted on the rollers (433).

6. The bidirectional robotic arm for an automatic aging machine according to claim 5, characterized in that, Secondary product positioning cylinder groups (434) are also installed at the front and rear positions of the raised long plate (431).

7. The bidirectional robotic arm for an automatic aging machine according to claim 1, characterized in that, The lifting and lowering power mechanism (422) includes two lifting and lowering linear guide rails (4221) fixedly installed on the upright plate (421), two lifting and lowering cylinders (4222) fixedly installed on the upright plate (421) and corresponding to the two lifting and lowering linear guide rails (4221), and a lifting and lowering frame (4223) with a slider connected to the two lifting and lowering linear guide rails (4221) and poweredly connected to the two lifting and lowering cylinders (4222). The hook frame (423) is fixedly connected to the lifting and lowering frame (4223).

8. The bidirectional robotic arm for an automatic aging machine according to claim 7, characterized in that, The hook frame (423) includes an H-shaped bracket (4231) fixedly connected to the lifting frame (4223) and a pin (4232) installed at the end of the H-shaped bracket (4231). The pin (4232) is connected to the hook hole (4241). The H-shaped bracket (4231) is used to support the fixture base plate (424).

9. A bidirectional robotic arm for an automatic aging machine according to claim 8, characterized in that, The H-shaped bracket (4231) has two pins (4232) at its end. The fixture base plate (424) has two hook holes (4241) corresponding to the two pins (4232) at both the front and rear positions. The length between the hook holes (4241) at the front and rear positions of the fixture base plate (424) is consistent with the length of the unit distance.

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