CN111573162A

CN111573162A - Lifting mechanism of transfer robot

Info

Publication number: CN111573162A
Application number: CN202010391063.XA
Authority: CN
Inventors: 李宗钊
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-10-26
Filing date: 2018-10-26
Publication date: 2020-08-25
Also published as: CN111573163A; CN109552816A; CN109552816B

Abstract

The invention discloses a lifting mechanism of a carrying robot, which comprises a base, wherein a mounting plate is fixedly mounted at the top of the base, a sliding groove is formed in one side of the mounting plate, a sliding plate is slidably mounted in the sliding groove, a transverse plate is fixedly mounted on one side of the sliding plate, one side of the transverse plate, which is close to the sliding plate, is in contact with one side of the mounting plate, two first lead screws are rotatably mounted in the sliding groove, the two first lead screws are both in threaded connection with the sliding plate, two second mounting grooves are formed in the inner wall of the top of the sliding groove, and third rotating motors are fixedly mounted on the inner walls of the tops of the two. The invention is convenient for clamping and fixing the goods, increases the stability of the goods during lifting, has the buffer function during clamping, avoids the deformation of the goods caused by overlarge clamping force, is convenient for moving the goods in the horizontal direction, adjusts the lifting position of the goods and increases the flexibility of lifting.

Description

Lifting mechanism of transfer robot

The application is a divisional application, and the patent names of the parent patents are as follows: a transfer robot lifting mechanism is disclosed with the application numbers as follows: 201811256937.X, applied for 10.26.2018.

Technical Field

The invention relates to the technical field of transfer robots, in particular to a lifting mechanism of a transfer robot.

Background

The transfer robot is an industrial robot capable of carrying out automatic transfer operation, the earliest transfer robot is two robots of Versatran and Unimate for the first time, the transfer operation refers to holding a workpiece by one device and moving from one processing position to another processing position, the transfer robot can be provided with different end effectors to finish the transfer operation of workpieces with different shapes and states, the heavy physical labor of human beings is greatly reduced, more than 10 thousands of transfer robots used in the world are widely applied to the loading and unloading of machine tools, the automatic production line of stamping machines, the automatic assembly line, the stacking transfer, the automatic transfer of containers and the like, the maximum limit of manual transfer is set in partially developed countries, the transfer robot is required to be used for completing the manual transfer exceeding the limit, the lifting mechanism of the existing transfer robot has low flexibility and only can move goods in the vertical direction, the lifting device can not move in the horizontal direction, and the goods can not be fixed when lifted, so that the stability of the goods is low, the goods easily slide off, and the actual use requirement can not be met.

Disclosure of Invention

Based on the technical problems in the background art, the invention provides a lifting mechanism of a transfer robot.

The invention provides a lifting mechanism of a carrying robot, which comprises a base, wherein a mounting plate is fixedly arranged at the top of the base, a sliding groove is formed in one side of the mounting plate, a sliding plate is arranged in the sliding groove in a sliding manner, a transverse plate is fixedly arranged on one side of the sliding plate, one side of the transverse plate close to the sliding plate is contacted with one side of the mounting plate, two first lead screws are rotatably arranged in the sliding groove and are in threaded connection with the sliding plate, two second mounting grooves are formed in the inner wall of the top of the sliding groove, third rotating motors are fixedly arranged on the inner walls of the tops of the two second mounting grooves, output shafts of the two third rotating motors are respectively welded with the top ends of the two first lead screws, a moving groove with an opening is formed in one side of the top of the transverse plate, a placing plate is slidably arranged in the moving groove, the top of the placing plate, the top of the placing plate is provided with a groove, two sliding blocks are slidably mounted in the groove, the tops of the two sliding blocks are respectively welded with the bottoms of the two sliding plates, the inner walls of the two sides of the groove are respectively and rotatably provided with a second lead screw, the two second lead screws are respectively in threaded connection with the two sliding blocks, the outer sides of the two second lead screws are respectively provided with external threads, the rotating directions of the two external threads are opposite, one sides of the two second lead screws, which are close to each other, are welded, one side of the placing plate is fixedly provided with a first rotating motor, the output shaft of the first rotating motor is welded with one end of the corresponding second lead screw, the bottom of the placing plate is provided with a rotating groove, a rotating rod is rotatably mounted in the rotating groove, the outer side of the rotating rod is fixedly sleeved with two gears, the inner wall of the bottom, a first mounting groove is formed in the inner wall of one side of the rotating groove, a second rotating motor is fixedly mounted on the inner wall of one side of the first mounting groove, and an output shaft of the second rotating motor is welded with one end of the rotating rod.

Preferably, the slide has been seted up the buffer hole on, and slidable mounting has the buffer board in the buffer hole, has seted up the rectangular hole on the buffer board, and fixed mounting has the rectangular plate in the buffer hole, the lateral wall sliding connection of rectangular plate and.

Preferably, one side that two rectangular plates are close to each other all fixed mounting have the one end of a plurality of springs, and the other end of spring welds with the one side inner wall in rectangular hole mutually.

Preferably, first limiting grooves are formed in the inner walls of the two sides of the sliding groove, first limiting blocks are fixedly mounted on the two sides of the sliding plate, and the two first limiting blocks are connected with the side walls of the two first limiting grooves in a sliding mode respectively.

Preferably, two second spacing grooves are formed in one side of the mounting plate, two second limiting blocks are fixedly mounted on one side, close to the mounting plate, of the transverse plate, and the two second limiting blocks are respectively connected with the side walls of the two second spacing grooves in a sliding mode.

Preferably, the inner walls of the two sides of the moving groove are provided with limiting sliding grooves, the two sides of the placing plate are fixedly provided with limiting sliding blocks, and the two limiting sliding blocks are respectively connected with the side walls of the two limiting sliding grooves in a sliding mode.

Preferably, the side wall welding of recess has the slide rail, and the equal fixed mounting in one side of two sliders has the connecting block, connecting block and slide rail sliding connection.

Preferably, a cylindrical groove is formed in the inner wall of one side of the rotating groove, a cylindrical block is rotatably mounted in the cylindrical groove, and one side of the cylindrical block is welded with one end of the rotating rod.

Preferably, the sliding plate is provided with two first threaded holes, and the two first lead screws are respectively in threaded connection with the two first threaded holes.

Preferably, the two sliding blocks are provided with second threaded holes, and the two second lead screws are respectively in threaded connection with the two second threaded holes.

The invention has the beneficial effects that:

the sliding plate drives the transverse plate to move, and the transverse plate drives the placing plate to slide in the vertical direction, so that the goods are lifted;

the two sliding plates are driven by the first rotating motor to rotate, the external threads on the two second lead screws are opposite in rotation direction, so that the two sliding blocks can be close to each other by the rotation of the two second lead screws, the two sliding plates are driven by the two sliding plates to mutually close, the two sliding plates drive the two buffering plates to clamp the goods, the two buffering plates extrude the springs during clamping, and the effect of buffering can be achieved by the resilience force generated when the springs contract, so that the deformation of the goods caused by overlarge clamping force is avoided until the goods are clamped and fixed by the two buffering plates;

the placing plate, the rotating rod, the gears, the racks, the second rotating motor, the limiting sliding block and the limiting sliding groove are matched, the rotating rod is driven to rotate by the second rotating motor, the rotating rod drives the two gears to roll on the two racks, so that the placing plate is driven to horizontally move, the goods can horizontally move, and the lifting position of the goods is adjusted;

the invention is convenient for clamping and fixing the goods, increases the stability of the goods during lifting, has the buffer function during clamping, avoids the deformation of the goods caused by overlarge clamping force, is convenient for moving the goods in the horizontal direction, adjusts the lifting position of the goods and increases the flexibility of lifting.

Drawings

Fig. 1 is a schematic structural diagram of a lifting mechanism of a transfer robot according to the present invention;

fig. 2 is a schematic structural view of a part a of a transfer robot lifting mechanism according to the present invention;

FIG. 3 is a schematic structural diagram of a portion B of a lift mechanism of a transfer robot according to the present invention;

FIG. 4 is a schematic structural view of a portion C of a lift mechanism of a transfer robot according to the present invention;

fig. 5 is a schematic side view of a connection between a cross plate and a mounting plate of a lifting mechanism of a transfer robot according to the present invention.

In the figure: the device comprises a base 1, a sliding groove 2, a sliding plate 3, a transverse plate 4, a moving groove 5, a placing plate 6, a groove 7, a sliding block 8, a sliding plate 9, a buffer hole 10, a buffer plate 11, a rectangular hole 12, a rectangular plate 13, a spring 14, a second lead screw 15, a first rotating motor 16, a rotating groove 17, a rotating rod 18, a gear 19, a rack 20, a second rotating motor 21, a limiting sliding block 22, a limiting sliding groove 23, a mounting plate 24, a first lead screw 25, a second mounting groove 26 and a third rotating motor 27.

Detailed Description

The present invention will be further illustrated with reference to the following specific examples.

Examples

Referring to fig. 1-5, the embodiment provides a lifting mechanism of a transfer robot, which includes a base 1, a mounting plate 24 is fixedly mounted on the top of the base 1, a sliding groove 2 is formed on one side of the mounting plate 24, a sliding plate 3 is slidably mounted in the sliding groove 2, a transverse plate 4 is fixedly mounted on one side of the sliding plate 3, one side of the transverse plate 4 close to the sliding plate 3 contacts with one side of the mounting plate 24, two first lead screws 25 are rotatably mounted in the sliding groove 2, the two first lead screws 25 are both in threaded connection with the sliding plate 3, two second mounting grooves 26 are formed on the inner wall of the top of the sliding groove 2, third rotating motors 27 are fixedly mounted on the inner wall of the top of the two second mounting grooves 26, output shafts of the two third rotating motors 27 are respectively welded to the top ends of the two first lead screws 25, a moving groove 5 with an opening, a placing plate 6 is slidably mounted in the moving groove 5, the top of the placing plate 6 extends to the upper side of the transverse plate 4 and is slidably mounted with two sliding plates 9, the top of the placing plate 6 is provided with a groove 7, the groove 7 is slidably mounted with two sliding blocks 8, the tops of the two sliding blocks 8 are respectively welded with the bottoms of the two sliding plates 9, the inner walls of the two sides of the groove 7 are respectively rotatably mounted with second lead screws 15, the two second lead screws 15 are respectively in threaded connection with the two sliding blocks 8, the outer sides of the two second lead screws 15 are respectively provided with external threads, the rotating directions of the two external threads are opposite, the sides of the two second lead screws 15 close to each other are welded, one side of the placing plate 6 is fixedly mounted with a first rotating motor 16, the output shaft of the first rotating motor 16 is welded with one end of the corresponding second lead screw 15, the bottom of the placing plate 6 is provided, two gears 19 are fixedly sleeved on the outer side of the rotating rod 18, two racks 20 are fixedly installed on the inner wall of the bottom of the moving groove 5, the two gears 19 are respectively meshed with the two racks 20, a first installation groove is formed on the inner wall of one side of the rotating groove 17, a second rotating motor 21 is fixedly installed on the inner wall of one side of the first installation groove, the output shaft of the second rotating motor 21 is welded with one end of the rotating rod 18, through the cooperation of the sliding plate 3, the transverse plate 4, the moving groove 5, the placing plate 6, the first lead screw 25, the second mounting groove 26 and the third rotating motor 27, the two first lead screws 25 are driven to rotate by the two third rotating motors 27, the sliding plate 3 slides in the vertical direction due to the rotation of the two first lead screws 25, the transverse plate 4 is driven to move by the sliding plate 3, and the placing plate 6 is driven to slide in the vertical direction by the transverse plate 4, so that the goods are lifted; through the sliding blocks 8, the sliding plates 9, the buffer holes 10, the buffer plates 11, the rectangular holes 12, the rectangular plates 13, the springs 14, the second lead screws 15 are matched with the first rotating motor 16, the first rotating motor 16 drives the two second lead screws 15 to rotate, and the external threads on the two second lead screws 15 are opposite in rotation direction, so that the two second lead screws 15 can make the two sliding blocks 8 approach to each other due to rotation, the two sliding blocks 8 drive the two sliding plates 9 to approach to each other, the two sliding plates 9 drive the two buffer plates 11 to clamp the goods, the two buffer plates 11 extrude the plurality of springs 14 during clamping, the rebound force generated when the springs 14 contract can play a role in buffering, the situation that the goods are deformed due to overlarge clamping force is avoided, and the goods are clamped and fixed by the two buffer plates 11; the placing plate 6, the rotating rod 18, the gear 19, the racks 20, the second rotating motor 21, the limiting slide block 22 and the limiting slide groove 23 are matched, the rotating rod 18 is driven to rotate by the second rotating motor 21, the two gears 19 are driven to roll on the two racks 20 by the rotating rod 18, so that the placing plate 6 is driven to move horizontally, the goods can move horizontally, and the lifting position of the goods is adjusted; the invention is convenient for clamping and fixing the goods, increases the stability of the goods during lifting, has the buffer function during clamping, avoids the deformation of the goods caused by overlarge clamping force, is convenient for moving the goods in the horizontal direction, adjusts the lifting position of the goods and increases the flexibility of lifting.

In the embodiment, a buffer hole 10 is formed on the sliding plate 9, a buffer plate 11 is slidably mounted in the buffer hole 10, a rectangular hole 12 is formed on the buffer plate 11, a rectangular plate 13 is fixedly mounted in the buffer hole 10, the side walls of the

rectangular plates

13 and 12 are slidably connected, one side of each of the two rectangular plates 13 close to each other is fixedly provided with one end of a plurality of springs 14, the other end of each spring 14 is welded with the inner wall of one side of the rectangular hole 12, the inner walls of the two sides of the sliding groove 2 are respectively provided with a first limiting groove, the two sides of the sliding plate 3 are respectively fixedly provided with a first limiting block, the two first limiting blocks are respectively slidably connected with the side walls of the two first limiting grooves, one side of the mounting plate 24 is provided with two second limiting grooves, one side of the transverse plate 4 close to the mounting plate 24 is fixedly provided with two second limiting blocks, the two second limiting blocks are respectively slidably connected with the side walls of, two sides of the placing plate 6 are fixedly provided with two limiting slide blocks 22, the two limiting slide blocks 22 are respectively connected with the side walls of two limiting slide grooves 23 in a sliding way, the side wall of the groove 7 is welded with a slide rail, one side of each of the two slide blocks 8 is fixedly provided with a connecting block which is connected with the slide rail in a sliding way, one side inner wall of the rotating groove 17 is provided with a cylindrical groove, the cylindrical groove is internally and rotatably provided with a cylindrical block, one side of the cylindrical block is welded with one end of the rotating rod 18, the sliding plate 3 is provided with two first threaded holes, the two first lead screws 25 are respectively in threaded connection with the two first threaded holes, the two slide blocks 8 are respectively provided with a second threaded hole, the two second lead screws 15 are respectively in threaded connection with the two second threaded holes, the two first lead screws 25 are driven to rotate by the two third rotating motors 27 through the sliding plate 3, the transverse plate 4, the moving groove 5, the, the two first lead screws 25 rotate to enable the sliding plate 3 to slide in the vertical direction, the sliding plate 3 drives the transverse plate 4 to move, and the transverse plate 4 drives the placing plate 6 to slide in the vertical direction, so that the goods are lifted; through the sliding blocks 8, the sliding plates 9, the buffer holes 10, the buffer plates 11, the rectangular holes 12, the rectangular plates 13, the springs 14, the second lead screws 15 are matched with the first rotating motor 16, the first rotating motor 16 drives the two second lead screws 15 to rotate, and the external threads on the two second lead screws 15 are opposite in rotation direction, so that the two second lead screws 15 can make the two sliding blocks 8 approach to each other due to rotation, the two sliding blocks 8 drive the two sliding plates 9 to approach to each other, the two sliding plates 9 drive the two buffer plates 11 to clamp the goods, the two buffer plates 11 extrude the plurality of springs 14 during clamping, the rebound force generated when the springs 14 contract can play a role in buffering, the situation that the goods are deformed due to overlarge clamping force is avoided, and the goods are clamped and fixed by the two buffer plates 11; the placing plate 6, the rotating rod 18, the gear 19, the racks 20, the second rotating motor 21, the limiting slide block 22 and the limiting slide groove 23 are matched, the rotating rod 18 is driven to rotate by the second rotating motor 21, the two gears 19 are driven to roll on the two racks 20 by the rotating rod 18, so that the placing plate 6 is driven to move horizontally, the goods can move horizontally, and the lifting position of the goods is adjusted; the invention is convenient for clamping and fixing the goods, increases the stability of the goods during lifting, has the buffer function during clamping, avoids the deformation of the goods caused by overlarge clamping force, is convenient for moving the goods in the horizontal direction, adjusts the lifting position of the goods and increases the flexibility of lifting.

In this embodiment, in use, a cargo is placed on the placing plate 6, the two third rotating motors 27 are turned on by the motor switches, the two third rotating motors 27 drive the two first screws 25 to rotate, the rotation of the two first screws 25 causes the sliding plate 3 to slide in the vertical direction, the sliding plate 3 drives the transverse plate 4 to move, the transverse plate 4 drives the placing plate 6 to slide in the vertical direction, thereby lifting the cargo, the first rotating motors 16 are turned on by the motor switches, the two second screws 15 are driven to rotate by the first rotating motors 16, the external threads on the two second screws 15 have opposite rotation directions, so that the two second screws 15 rotate to cause the two sliders 8 to approach each other, the two sliders 8 drive the two sliding plates 9 to approach each other, the two sliding plates 9 drive the two sliding plates 11 to clamp the cargo, during clamping, the two buffer plates 11 extrude the plurality of springs 14, bounce that produces when contracting through spring 14 can play the effect of buffering, avoid the too big messenger's goods of clamping-force to warp, fix the goods centre gripping up to two buffer boards 11, open second rotating electrical machines 21 through motor switch, drive dwang 18 through second rotating electrical machines 21 and rotate, dwang 18 drives two gears 19 and rolls at two racks 20, thereby 6 horizontal migration of board is placed in the drive, make the goods can horizontal migration, the position of lifting to the goods is adjusted.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims

1. A lifting mechanism of a carrying robot comprises a base (1) and is characterized in that a mounting plate (24) is fixedly mounted at the top of the base (1), a sliding groove (2) is formed in one side of the mounting plate (24), a sliding plate (3) is slidably mounted in the sliding groove (2), a transverse plate (4) is fixedly mounted on one side of the sliding plate (3), one side, close to the sliding plate (3), of the transverse plate (4) is in contact with one side of the mounting plate (24), two first lead screws (25) are rotatably mounted in the sliding groove (2), the two first lead screws (25) are in threaded connection with the sliding plate (3), two second mounting grooves (26) are formed in the inner wall of the top of the sliding groove (2), third rotating motors (27) are fixedly mounted on the inner wall of the top of the two second mounting grooves (26), output shafts of the two third rotating motors (27) are respectively welded with the top ends of the two first lead screws (25), the top of the transverse plate (4) is provided with a moving groove (5) with one side provided with an opening, a placing plate (6) is arranged in the moving groove (5) in a sliding manner, the top of the placing plate (6) extends to the upper side of the transverse plate (4) and is provided with two sliding plates (9) in a sliding manner, the top of the placing plate (6) is provided with a groove (7), the groove (7) is internally provided with two sliding blocks (8), the tops of the two sliding blocks (8) are respectively welded with the bottoms of the two sliding plates (9), the inner walls of the two sides of the groove (7) are respectively and rotatably provided with second lead screws (15), the two second lead screws (15) are respectively in threaded connection with the two sliding blocks (8), the outer sides of the two second lead screws (15) are respectively provided with external threads, the rotating directions of the two external threads are opposite, the sides, which are close to each other, one side of the two second lead screws (, an output shaft of a first rotating motor (16) is welded with one end of a corresponding second lead screw (15), a rotating groove (17) is formed in the bottom of the placing plate (6), a rotating rod (18) is installed in the rotating groove (17) in a rotating mode, two gears (19) are fixedly sleeved on the outer side of the rotating rod (18), two racks (20) are fixedly installed on the inner wall of the bottom of the moving groove (5), the two gears (19) are respectively meshed with the two racks (20), a first mounting groove is formed in the inner wall of one side of the rotating groove (17), a second rotating motor (21) is fixedly installed on the inner wall of one side of the first mounting groove, and an output shaft of the second rotating motor (21) is welded with one end of the rotating rod (18);

the sliding plate (9) is provided with a buffer hole (10), a buffer plate (11) is arranged in the buffer hole (10) in a sliding mode, the buffer plate (11) is provided with a rectangular hole (12), a rectangular plate (13) is fixedly arranged in the buffer hole (10), and the rectangular plate (13) is connected with the side wall of the rectangular hole (12) in a sliding mode;

first limiting grooves are formed in the inner walls of the two sides of the sliding groove (2), first limiting blocks are fixedly mounted on the two sides of the sliding plate (3), and the two first limiting blocks are respectively connected with the side walls of the two first limiting grooves in a sliding mode;

two second limiting grooves are formed in one side of the mounting plate (24), two second limiting blocks are fixedly mounted on one side, close to the mounting plate (24), of the transverse plate (4), and the two second limiting blocks are respectively connected with the side walls of the two second limiting grooves in a sliding mode;

all seted up spacing spout (23) on the both sides inner wall of shifting chute (5), the equal fixed mounting in both sides of placing board (6) has spacing slider (22), two spacing slider (22) respectively with the lateral wall sliding connection of two spacing spout (23).

2. A transfer robot lifting mechanism as claimed in claim 1, wherein sliding rails are welded to the side walls of the grooves (7), and connecting blocks are fixedly mounted on one side of each of the two sliding blocks (8) and are slidably connected with the sliding rails.

3. The lifting mechanism of a transfer robot as claimed in claim 1, wherein a cylindrical groove is formed on an inner wall of one side of the rotating groove (17), a cylindrical block is rotatably mounted in the cylindrical groove, and one side of the cylindrical block is welded to one end of the rotating rod (18).

4. A transfer robot lifting mechanism as claimed in claim 1, wherein the sliding plate (3) is provided with two first threaded holes, and the two first lead screws (25) are respectively in threaded connection with the two first threaded holes.

5. The lifting mechanism of a transfer robot as claimed in claim 1, wherein the two sliders (8) are each provided with a second threaded hole, and the two second lead screws (15) are respectively in threaded connection with the two second threaded holes.

6. A transfer robot lifting mechanism according to claim 5, characterized in that one ends of a plurality of springs (14) are fixedly mounted on the sides of the two rectangular plates (13) close to each other, and the other ends of the springs (14) are welded to the inner wall of one side of the rectangular hole (12).