CN115890635A - Three-degree-of-freedom material box grabbing and lifting robot - Google Patents
Three-degree-of-freedom material box grabbing and lifting robot Download PDFInfo
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- CN115890635A CN115890635A CN202310025470.2A CN202310025470A CN115890635A CN 115890635 A CN115890635 A CN 115890635A CN 202310025470 A CN202310025470 A CN 202310025470A CN 115890635 A CN115890635 A CN 115890635A
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Abstract
The invention belongs to the technical field of truss robots, and relates to a three-degree-of-freedom material box grabbing and lifting robot which comprises a supporting upright post, an X-axis translation mechanism, a Y-axis translation mechanism, a Z-axis lifting mechanism and a grabbing mechanism; the X-axis translation mechanism moves left and right along the X-axis guide rail in the horizontal direction through the guide rail sliding block, and the X-axis guide rail is fixed on the supporting cross beam through a bolt; the Y-axis translation mechanism is connected to a cantilever beam of the X-axis translation mechanism in a sliding manner; the Z-axis lifting mechanism is fixedly connected to the Y-axis translation mechanism; the grabbing mechanism is fixedly connected to one end of the Z-axis lifting mechanism and can be used for compatibly grabbing material boxes with different sizes according to different opening and closing degrees of the clamping jaws. The cantilever type beam design greatly shortens the distance between the conveying line at the entrance and the exit of the automatic warehouse and the wall, reduces the occupied space and can conveniently and quickly transport goods.
Description
Technical Field
The invention belongs to the technical field of truss robots, and particularly relates to a three-degree-of-freedom material box grabbing and lifting robot.
Background
The material is more frequently conveyed between the conveying line of the warehouse-in/out port of the automatic stereoscopic warehouse and the end of the automatic production line, and the requirement on conveying equipment is higher. The existing transportation is mainly carried out by using a forklift or an AGV trolley, the forklift has higher requirements on drivers, the positioning precision required by the AGV trolley is higher, and the goods are larger in the required space at the turning part during transportation. The truss robot is widely applied to the processes of storage, material transfer of production lines, material loading and unloading and the like due to high intelligent degree and high space utilization rate.
Disclosure of Invention
In view of this, the invention aims to provide a three-degree-of-freedom material box grabbing and lifting robot to solve the problem that a large space is required at a corner when materials are transported in an existing warehouse or a factory building.
In order to achieve the purpose, the technical scheme is as follows:
a three-degree-of-freedom material box grabbing and lifting robot comprises: the device comprises a support upright post, an X-axis translation mechanism, a Y-axis translation mechanism, a Z-axis lifting mechanism and a grabbing mechanism;
the X-axis translation mechanism moves left and right along the X-axis guide rail in the horizontal direction through the guide rail sliding block, and the X-axis guide rail is fixed on the supporting cross beam through a bolt;
the Y-axis translation mechanism is connected to a cantilever beam of the X-axis translation mechanism in a sliding manner and can move back and forth on the cantilever beam;
the Z-axis lifting mechanism is fixedly connected to the Y-axis translation mechanism and can move up and down in the vertical direction;
snatch mechanism fixed connection and in Z axle hoist mechanism's one end, it includes the motor mounting panel to snatch the mechanism, main gripper subassembly, side gripper subassembly, the bottom plate, motor erection joint board and promotion motor element, promote motor element's servo motor tee bend and cross the screw fastening on the motor mounting panel, the motor mounting panel passes through screw and motor erection joint board fastening, the screw fastening is on the bottom plate upper surface for the motor erection joint board, surface mounting has two fore-and-aft direction's guide rail one on the bottom plate, two guide rail one are installed side by side to the bottom plate lower surface, guide rail one both ends all are provided with the guide rail dog, on the bottom plate, two rack guide blocks are respectively installed to the lower surface, the direction is parallel with guide rail one respectively.
As a further improvement of the invention, the X-axis translation mechanism comprises a servo motor I, a gear I and a rack I, and realizes the left-right movement of the whole body along an X-axis guide rail;
the first rack is connected to the upper surface of the upper support cross beam through a screw, the first servo motor drives the first gear through an output shaft of the speed reducer, and the first gear is in meshing transmission with the first rack, so that the X-axis translation mechanism moves left and right along the guide rail on the X axis.
As a further improvement of the invention, the Y-axis translation mechanism comprises a second servo motor and a second gear, the second servo motor drives the second gear through an output shaft of a speed reducer, the second gear is meshed with a second rack, the second rack is installed on the cantilever beam to realize the forward and backward movement of the Y-axis translation mechanism along the cantilever beam, a dual-purpose screw of the servo motor is installed on a Y-axis motor installation plate, the Y-axis motor installation plate is fastened with a Y-axis displacement device connection plate through a screw, the two are in a vertical state, the Y-axis displacement device connection plate is connected with a Y-axis sliding block through a screw, the Y-axis sliding block is connected with a Y-axis guide rail in a sliding manner, and the Y-axis guide rail is fixed on the lower surface of the cantilever beam through a bolt;
the lower surface of the Y-axis displacement device connecting plate is fixedly connected with an electric cylinder support through screws, the front surface of the electric cylinder support is connected with an electric cylinder support through screws, one end of an electric cylinder lead screw is fixedly connected with a grabbing mechanism through screws, and an electric cylinder servo motor drives the electric cylinder lead screw to move up and down to drive the grabbing mechanism to move up and down in the vertical direction.
As a further improvement of the invention, the main clamping jaw assembly comprises a main clamping jaw, a main clamping jaw connecting plate reinforcing rib, a first sliding block and a third rack, wherein the lower surface of the main clamping jaw connecting plate is connected with the first sliding block through a screw, the main clamping jaw is vertically arranged with the main clamping jaw connecting plate and is connected with the main clamping jaw connecting plate through the screw, one end of the main clamping jaw connecting plate reinforcing rib is fastened on the lower surface of the main clamping jaw connecting plate through the screw, the other end of the main clamping jaw connecting plate reinforcing rib is fastened on the rear surface of the main clamping jaw through the screw, so that the connecting strength between the main clamping jaw and the main clamping jaw connecting plate is increased, and the third rack is mounted on the lower surface of the main clamping jaw connecting plate through the screw and is meshed with the gear to drive the main clamping jaw assembly to move left and right;
in addition, the main clamping jaw assemblies are arranged in two groups and are symmetrically connected to the first guide rail on the upper surface of the bottom plate through the sliding blocks.
As a further improvement of the invention, the side clamping jaw assembly comprises a side clamping jaw, a side clamping jaw connecting plate, a rack IV, a slide block II, a sensor mounting plate and a sensor mounting bracket, wherein the upper surface of the side clamping jaw connecting plate is connected with the slide block II through a screw, the side clamping jaw and the side clamping jaw connecting plate are fastened and connected through a screw, the sensor mounting bracket is connected to the front surface of the side clamping jaw through a screw, the sensor mounting plate is connected to the right side of the sensor mounting bracket through a screw, a mirror reflection photoelectric sensor is mounted on the sensor mounting plate and used for detecting whether a material box is clamped or not, and the rack IV is fixed on the upper surface of the side clamping jaw connecting plate through a screw and is meshed with a gear for transmission to drive the side clamping jaw assembly to move back and forth;
in addition, the side clamping jaw assemblies are arranged in two groups and are symmetrically connected to a second guide rail on the lower surface of the bottom plate through sliding blocks.
As a further improvement of the invention, the lifting motor assembly comprises a third servo motor, a fourth speed reducer, an upper gear, a gear connecting piece, a lower gear and an end cover, wherein the third servo motor is connected with the upper gear through the output end of the fourth speed reducer to drive the upper gear to rotate synchronously, the gear connecting piece is connected with the upper gear through a long screw, the long screw penetrates through the gear connecting piece and is embedded into the upper gear, the lower gear is arranged at the lower end of the gear connecting piece, the end cover is pressed and buckled at the middle position of the lower end of the lower gear, a screw rod penetrates through the lower gear, and the screw rod sequentially penetrates through the gear connecting piece and the upper gear and is connected with the output end of the fourth speed reducer.
As a further improvement of the invention, the upper gear is meshed with two racks of the main clamping jaw assembly to drive the main clamping jaw assembly to move relatively to each other so as to complete the opening and closing movement of the main clamping jaw, the lower gear is meshed with four racks of the side clamping jaw assembly to drive the side clamping jaw assemblies to move relatively to each other so as to complete the opening and closing movement of the side jaws, and the servo motor drives the upper gear and the lower gear to synchronously rotate so as to control the main clamping jaw assembly and the side clamping jaw assemblies to move simultaneously and complete the grabbing and putting down actions of the material box.
The beneficial effects of the invention are:
the invention discloses a three-degree-of-freedom material box grabbing and lifting robot, which greatly shortens the distance between an automatic warehouse entrance and exit conveying line and a wall through a cantilever type cross beam design, reduces the occupied space and can conveniently and quickly transport goods.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. In the drawings:
FIG. 1 is a schematic structural elevation view of the present invention;
FIG. 2 is a side view schematic of the present invention;
FIG. 3 is a schematic view of the X-axis translation mechanism of the present invention;
FIG. 4 is a schematic view of the Y-axis translation mechanism of the present invention;
FIG. 5 is a schematic view of the Z-axis lift mechanism of the present invention;
FIG. 6 is a schematic view of a magazine grasping mechanism according to the present invention;
FIG. 7 is a schematic view of a base plate according to the present invention;
FIG. 8 is a schematic view of the main jaw assembly of the present invention;
FIG. 9 is a schematic view of a side jaw assembly of the present invention;
FIG. 10 is a schematic view of a lift motor assembly of the present invention;
fig. 11 is an enlarged view of the lifting motor assembly of the present invention.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort shall fall within the protection scope of the present application.
Please refer to fig. 1-11:
a three-degree-of-freedom material box 6 grabbing and lifting robot comprises: the device comprises a support upright 1, an X-axis translation mechanism 2, a Y-axis translation mechanism 3, a Z-axis lifting mechanism 4 and a grabbing mechanism 5;
the X-axis translation mechanism 2 moves left and right along an X-axis guide rail 21 in the horizontal direction through a guide rail slide block, and the X-axis guide rail 21 is fixed on a supporting cross beam through a bolt;
the Y-axis translation mechanism 3 is connected to the cantilever beam 22 of the X-axis translation mechanism 2 in a sliding manner and can move back and forth on the cantilever beam 22;
the Z-axis lifting mechanism 4 is fixedly connected to the Y-axis translation mechanism 3 and can move up and down in the vertical direction;
the grabbing mechanism 5 is fixedly connected to one end of the Z-axis lifting mechanism 4, and the grabbing mechanism 5 can grab the material boxes 6 with different sizes according to different opening and closing degrees of the clamping jaws.
The X-axis translation mechanism 2 comprises a servo motor I23, a gear I24 and a rack I25, and the whole X-axis translation mechanism can move left and right along an X-axis guide rail 21, the servo motor I23 is mounted on a connecting plate 26 of the X-axis translation mechanism 2 through screws, the connecting plate 26 is connected with an X-axis sliding block 271 through screws, the X-axis sliding block 271 is connected with the X-axis guide rail 21 in a sliding manner, the X-axis guide rail 21 comprises an X-axis upper guide rail 211 and an X-axis lower guide rail 212, the X-axis upper guide rail 211 is connected to the upper surface of the supporting upper cross beam 131 through screws, the X-axis lower guide rail 212 is connected to the upper surface of the supporting front cross beam 132 through screws, the supporting front cross beam 132 is connected with a cross beam supporting plate 14 through flanges, and the cross beam supporting plate 14 is connected with flange plates welded to the front surface of the supporting upright 1 through screws;
the first rack 25 is connected to the upper surface of the upper supporting beam 131 through a screw, the first servo motor 23 drives the first gear 24 through an output shaft of the speed reducer, and the first gear 24 is in meshing transmission with the first rack 25, so that the X-axis translation mechanism 2 moves left and right along the X-axis upper guide rail 211.
The Y-axis translation mechanism 3 comprises a servo motor II 31 and a gear II 37, the servo motor II 31 drives the gear II 37 through a reducer output shaft, the gear II 37 is meshed with a rack II 38, the rack II 38 is installed on the cantilever beam 22 to realize the forward and backward movement of the Y-axis translation mechanism 3 along the cantilever beam 22, the servo motor II 31 is installed on a Y-axis motor installation plate 33 through screws, the Y-axis motor installation plate 33 is fastened with a Y-axis displacement device connection plate 34 through screws, the Y-axis displacement device connection plate 34 and the Y-axis displacement device connection plate are in a vertical state, the Y-axis displacement device connection plate 34 is connected with a Y-axis sliding block 35 through screws, the Y-axis sliding block 35 is in sliding connection with a Y-axis guide rail 36, and the Y-axis guide rail 36 is fixed on the lower surface of the cantilever beam 22 through bolts;
the lower surface of the Y-axis displacement device connecting plate 34 is fixedly connected with an electric cylinder support 41 through screws, the front surface of the electric cylinder support 41 is connected with an electric cylinder support 422 through screws, one end of an electric cylinder lead screw 421 is fixedly connected with a grabbing mechanism 5 through screws, and an electric cylinder servo motor 423 drives the electric cylinder lead screw 421 to move up and down to drive the grabbing mechanism 5 to move up and down in the vertical direction.
The grabbing mechanism 5 comprises a motor mounting plate 51, a main clamping jaw assembly 52, a side clamping jaw assembly 53, a bottom plate 54, a motor mounting and connecting plate 55 and a lifting motor assembly 56, three servo motors 561 of the lifting motor assembly 56 are fastened on the motor mounting plate 51 through screws, the motor mounting plate 51 is fastened with the motor mounting and connecting plate 55 through screws, the motor mounting and connecting plate 55 is fastened on the upper surface of the bottom plate 54 through screws, two guide rails one 542 in the front-back direction are mounted on the upper surface of the bottom plate 54, two guide rails one 542 are mounted on the lower surface of the bottom plate 54 side by side, guide rail stoppers 543 are arranged at two ends of each guide rail one 542, two rack guide blocks 544 are mounted on the upper surface and the lower surface of the bottom plate 54 respectively, and the directions of the rack guide blocks are parallel to the guide rails one 542 respectively.
The lifting motor assembly 56 comprises a servo motor three 561, a speed reducer four 562, an upper gear 563, a gear connector 564, a lower gear 565 and an end cover 566, wherein the servo motor three 561 is connected with the upper gear 563 through an output end of the speed reducer four 562 to drive the upper gear 563 to synchronously rotate, the gear connector 564 is connected with the upper gear 563 through a long screw 567, the long screw 567 penetrates through the gear connector 564 to be embedded into the upper gear 563, the lower gear 565 is arranged at the lower end of the gear connector 564, the end cover 566 is pressed and buckled at the middle position of the lower end of the lower gear 565, a screw 568 penetrates through the lower gear 565, and the screw 568 sequentially penetrates through the gear connector 564 and the upper gear 563 to be connected with an output end of the speed reducer four 562.
The upper gear 563 is meshed with the three racks 525 of the main clamping jaw assembly 52 to drive the main clamping jaw assembly 52 to move relatively to each other, so that the opening and closing movement of the main clamping jaw 521 is completed, the lower gear 565 is meshed with the four racks 533 of the side clamping jaw assembly 53 to drive the side clamping jaw assembly 53 to move relatively to each other, so that the opening and closing movement of the side jaws is completed, the three servo motors 561 drive the upper gear 563 and the lower gear 565 to synchronously rotate, the main clamping jaw assembly 52 and the side clamping jaw assembly 53 are controlled to move simultaneously, and the grabbing and the lowering actions of the material box 6 are completed.
The main clamping jaw assembly 52 comprises a main clamping jaw 521, a main clamping jaw connecting plate 522, a main clamping jaw connecting plate reinforcing rib 523, a first sliding block 524 and a third rack 525, wherein the lower surface of the main clamping jaw connecting plate 522 is connected with the first sliding block 524 through a screw, the main clamping jaw 521 is vertically arranged with the main clamping jaw connecting plate 522 and is connected with the main clamping jaw connecting plate 522 through the screw, one end of the main clamping jaw connecting plate reinforcing rib 523 is fastened on the lower surface of the main clamping jaw connecting plate 522 through the screw, the other end of the main clamping jaw connecting plate reinforcing rib is fastened on the rear surface of the main clamping jaw 521 through the screw, so that the connecting strength between the main clamping jaw 521 and the main clamping jaw connecting plate 522 is increased, and the third rack 525 is mounted on the lower surface of the main clamping jaw connecting plate 522 through the screw and is meshed with a gear for transmission to drive the main clamping jaw assembly 52 to move left and right;
in addition, the main jaw assemblies 52 are arranged in two groups and are symmetrically connected to the first guide rail 542 on the upper surface of the base plate 54 through slide blocks.
The side clamping jaw assembly 53 comprises a side clamping jaw 531, a side clamping jaw connecting plate 532, a rack IV 533, a slider II 534, a sensor mounting plate 535 and a sensor mounting bracket 536, wherein the upper surface of the side clamping jaw connecting plate 532 is connected with the slider II 534 through screws, the side clamping jaw 531 is fixedly connected with the side clamping jaw connecting plate 532 through screws, the sensor mounting bracket 536 is connected with the front surface of the side clamping jaw 531 through screws, the sensor mounting plate 535 is connected with the right side of the sensor mounting bracket 536 through screws, a mirror reflection photoelectric sensor is mounted on the sensor mounting plate 535 and used for detecting whether the material box 6 is clamped or not, and the rack IV 533 is fixed on the upper surface of the side clamping jaw connecting plate 532 through screws and meshed with a gear to drive the side clamping jaw assembly 53 to move back and forth;
in addition, two sets of side clamping jaw assemblies 53 are arranged and symmetrically connected to the second guide rail 545 on the lower surface of the bottom plate 54 through the sliding blocks.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. The utility model provides a three degree of freedom material box snatchs lifting robot which characterized in that includes: the device comprises a support upright post (1), an X-axis translation mechanism (2), a Y-axis translation mechanism (3), a Z-axis lifting mechanism (4) and a grabbing mechanism (5);
the X-axis translation mechanism (2) moves left and right along an X-axis guide rail (21) in the horizontal direction through a guide rail sliding block, and the X-axis guide rail (21) is fixed on the supporting cross beam (13) through a bolt;
the Y-axis translation mechanism (3) is connected to a cantilever beam (22) of the X-axis translation mechanism in a sliding manner and can move back and forth on the cantilever beam (22);
the Z-axis lifting mechanism (4) is fixedly connected to the Y-axis translation mechanism (3) and can move up and down in the vertical direction;
snatch mechanism (5) fixed connection in Z axle hoist mechanism (4) one end, it includes motor mounting panel (51) to snatch mechanism (5), main clamping jaw subassembly (52), side clamping jaw subassembly (53), bottom plate (54), motor installation connecting plate (55) and promotion motor assembly (56), servo motor three (561) of promoting motor assembly (56) pass through the screw fastening on motor mounting panel (51), motor mounting panel (51) pass through screw and motor installation connecting plate (55) fastening, motor installation connecting plate (55) are with the screw fastening at bottom plate (54) upper surface, surface mounting has two fore-and-aft direction's guide rail one (542) on bottom plate (54), two guide rail one (542) are installed side by side to bottom plate (54) lower surface, guide rail one (542) both ends all are provided with guide rail dog (543), two rack guide block (544) are respectively installed to bottom plate (54) upper and lower surface, the direction is parallel with guide rail one (542) respectively.
2. The three-degree-of-freedom material box grabbing and lifting robot is characterized in that the X-axis translation mechanism (2) comprises a first servo motor (23), a first gear (24) and a first rack (25) and achieves the left-right movement of the whole body along an X-axis guide rail (21), the first servo motor (23) is installed on a connecting plate (26) of the X-axis translation mechanism (2) through screws, the connecting plate (26) is connected with an X-axis sliding block (271) through screws, the X-axis sliding block (271) is connected with the X-axis guide rail (21) in a sliding mode, the X-axis guide rail (21) comprises an X-axis upper guide rail (211) and an X-axis lower guide rail (212), the X-axis upper guide rail (211) is connected to the upper surface of the supporting upper cross beam (131) through screws, the X-axis lower guide rail (212) is connected to the upper surface of the supporting front cross beam (132) through screws, the supporting front cross beam supporting plate (132) is connected with a cross beam supporting plate (14) through a flange plate screw, and the cross beam supporting plate (14) is connected with a flange plate welded to the front surface of the supporting column (1);
the rack I (25) is connected to the upper surface of the upper supporting beam (131) through a screw, the servo motor I (23) drives the gear I (24) through the output shaft of the speed reducer, and the gear I (24) and the rack I (25) are in meshing transmission, so that the X-axis translation mechanism (2) moves left and right along the X-axis upper guide rail (211).
3. The three-degree-of-freedom material box grabbing and lifting robot is characterized in that the Y-axis translation mechanism (3) comprises a second servo motor (31) and a second gear (37), the second servo motor (31) drives the second gear (37) through a reducer output shaft, the second gear (37) is meshed with a second rack (38), the second rack (38) is installed on the cantilever beam (22) to realize that the Y-axis translation mechanism (3) moves back and forth along the cantilever beam (22), the second servo motor (31) is installed on a Y-axis motor installation plate (33) through screws, the Y-axis motor installation plate (33) is fastened with a Y-axis displacement device connection plate (34) through screws, the two are in a vertical state, the Y-axis displacement device connection plate (34) is connected with a Y-axis sliding block (35) through screws, the Y-axis sliding block (35) is connected with a Y-axis guide rail (36) in a sliding mode, and the Y-axis guide rail (36) is fixed on the lower surface of the cantilever beam (22) through bolts;
the lower surface of the Y-axis displacement device connecting plate (34) is fixedly connected with an electric cylinder support (41) through screws, the front surface of the electric cylinder support (41) is connected with an electric cylinder support (422) through screws, the grabbing mechanism (5) is fixedly connected with one end of an electric cylinder lead screw (421) through screws, and an electric cylinder servo motor (423) drives the electric cylinder lead screw (421) to move up and down to drive the grabbing mechanism (5) to move up and down in the vertical direction.
4. The three-degree-of-freedom material box grabbing and lifting robot is characterized in that the main clamping jaw assembly (52) comprises a main clamping jaw (521), a main clamping jaw connecting plate (522), a main clamping jaw connecting plate reinforcing rib (523), a first sliding block (524) and a third rack (525), wherein the lower surface of the main clamping jaw connecting plate (522) is connected with the first sliding block (524) through a screw, the main clamping jaw (521) and the main clamping jaw connecting plate (522) are vertically placed, one end of the main clamping jaw connecting plate reinforcing rib (523) is fastened to the lower surface of the main clamping jaw connecting plate (522) through a screw, the other end of the main clamping jaw connecting plate reinforcing rib is fastened to the rear surface of the main clamping jaw (521) through a screw, and the third rack (525) is mounted on the lower surface of the main clamping jaw connecting plate (522) through a screw and is in meshing transmission with a gear to drive the main clamping jaw assembly (52) to move left and right;
in addition, the main clamping jaw assemblies (52) are arranged in two groups and are symmetrically connected to the first guide rail (542) on the upper surface of the base plate (54) through sliding blocks.
5. The three-degree-of-freedom material box grabbing and lifting robot is characterized in that the side clamping jaw assembly (53) comprises a side clamping jaw (531), a side clamping jaw connecting plate (532), a rack four (533), a slider two (534), a sensor mounting plate (535) and a sensor mounting bracket (536), wherein the upper surface of the side clamping jaw connecting plate (532) is connected with the slider two (534) through screws, the side clamping jaw (531) is fixedly connected with the side clamping jaw connecting plate (532) through screws, the sensor mounting bracket (536) is connected to the front surface of the side clamping jaw (531) through screws, the sensor mounting plate (535) is connected to the right side of the sensor mounting bracket (536) through screws, a mirror reflection photoelectric sensor is mounted on the sensor mounting plate (535) and used for detecting whether the material box is clamped or not, the rack four (533) is fixed to the upper surface of the side clamping jaw connecting plate (532) through screws and is meshed with a gear for transmission, and the side clamping jaw assembly (53) is driven to move back and forth;
in addition, two sets of side clamping jaw assemblies (53) are arranged and are symmetrically connected to a second guide rail (545) on the lower surface of the bottom plate (54) through sliding blocks.
6. The three-degree-of-freedom material box grabbing lifting robot is characterized in that the lifting motor assembly (56) comprises a servo motor III (561), a speed reducer IV (562), an upper gear (563), a gear connecting piece (564), a lower gear (565) and an end cover (566), the servo motor III (561) is connected with the upper gear (563) through the output end of the speed reducer IV (562) and drives the upper gear (563) to rotate synchronously, the gear connecting piece (564) is connected with the upper gear (563) through a long screw (567), the long screw (567) penetrates through the gear connecting piece (564) and is embedded into the upper gear (563), the lower gear (565) is arranged at the lower end of the gear connecting piece (564), the end cover (566) is pressed at the middle position of the lower end of the lower gear (565), a screw (568) penetrates through the lower gear (565), and the screw (568) sequentially penetrates through the gear connecting piece (564) and the upper gear (563) and is connected with the output end of the speed reducer IV (562).
7. The three-degree-of-freedom material box grabbing and lifting robot according to claim 6 is characterized in that the upper gear (563) is meshed with two racks three (525) of the main clamping jaw assembly (52) to drive the main clamping jaw assembly (52) to move relative to each other to complete opening and closing movement of a main clamping jaw, the lower gear (565) is meshed with two racks four (533) of the side clamping jaw assembly (53) to drive the side clamping jaw assembly (53) to move relative to each other to complete opening and closing movement of a side clamping jaw, and the servo motor three (561) drives the upper gear (563) and the lower gear (565) to rotate synchronously, so that the main clamping jaw assembly (52) and the side clamping jaw assembly (53) are controlled to move simultaneously to complete grabbing and releasing movement of a material box (6).
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| CN202310025470.2A CN115890635B (en) | 2023-01-09 | 2023-01-09 | Three-degree-of-freedom material box grabbing and lifting robot |
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| CN202310025470.2A CN115890635B (en) | 2023-01-09 | 2023-01-09 | Three-degree-of-freedom material box grabbing and lifting robot |
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| CN115890635B CN115890635B (en) | 2023-07-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116673748A (en) * | 2023-08-01 | 2023-09-01 | 朗快智能科技（杭州）有限公司 | Processing equipment, processing system and processing method for small block-shaped parts |
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| CN115890635B (en) | 2023-07-25 |
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