CN216731819U

CN216731819U - Column type coordinate robot

Info

Publication number: CN216731819U
Application number: CN202123277651.XU
Authority: CN
Inventors: 董玉
Original assignee: Benson Intelligent Equipment Shandong Co ltd
Current assignee: Benson Intelligent Equipment Shandong Co ltd
Priority date: 2021-12-24
Filing date: 2021-12-24
Publication date: 2022-06-14
Anticipated expiration: 2031-12-24

Abstract

The utility model relates to the technical field of industrial robots, in particular to a column type coordinate robot, which comprises a column mechanism, a gripper walking mechanism, a main body walking mechanism and a gripper mechanism; the gripper travelling mechanism, the main body travelling mechanism and the upright post mechanism are in three-dimensional shapes limited in an x-y-z coordinate space; the gripper walking mechanism is arranged on the upright post mechanism in a sliding manner and is driven by the upper and lower driving components; the upright post mechanism is arranged on the main body travelling mechanism in a sliding manner and is driven by the left and right driving components; the gripper mechanism is arranged on the traveling mechanism in a sliding manner and is driven by the front and rear driving components; and the travelling mechanism is also provided with a rotary driving assembly for driving the gripper mechanism to rotate. The utility model discloses easily processing and operation have improved work efficiency, have reduced workman's intensity of labour, and the material resources of using manpower sparingly reduce the possibility that the workman took place the accident, can save the processing cost when guaranteeing pile up neatly efficiency.

Description

Column type coordinate robot

Technical Field

The utility model relates to an industrial robot technical field specifically relates to a column coordinate robot.

Background

Traditional pile up neatly generally relies on that artifical inefficiency, intensity of labour are big, the cost of labor is high, operational environment is abominable and leads to workman's health to obtain the guarantee. With the rapid development of modern industry, enterprises are gradually realizing mechanized production, wherein upright column robots, high-level stacking machines, connecting rod robots and coordinate type stacking machines are widely applied. The existing stacking machine still has some problems, such as high efficiency of some stacking machines, high processing cost, low price and low working efficiency, and the processing cost can not be reduced while the efficiency is ensured.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the shortcoming that prior art exists, propose and design a column coordinate robot, easily processing and operation can also guarantee the efficiency of pile up neatly work when saving the cost.

The utility model provides a technical scheme that its technical problem adopted is:

a column type coordinate robot comprises a column mechanism, a gripper travelling mechanism, a main body travelling mechanism and a gripper mechanism; the gripper travelling mechanism, the main body travelling mechanism and the upright post mechanism are in three-dimensional shapes limited in an x-y-z coordinate space; the gripper travelling mechanism is arranged on the upright post mechanism in a sliding manner, is driven by the upper and lower driving components and moves up and down on the upright post mechanism; the upright post mechanism is arranged on the main body travelling mechanism in a sliding manner, is driven by the left-right driving assembly and moves left and right on the main body travelling mechanism; the gripper mechanism is arranged on the travelling mechanism in a sliding manner, is driven by the front and rear driving assembly and moves back and forth on the travelling mechanism; and the gripper mechanism is also provided with a rotary driving assembly for driving the gripper mechanism to rotate.

Further, the up-down driving assembly comprises a first sliding rail, a first rack, a first sliding block, a first motor and a first gear; the first sliding rail and the first rack are vertically arranged on one side face of the stand column mechanism, the first sliding block, the first motor and the first gear are arranged at one end of the gripper travelling mechanism, the first sliding block is connected with the first sliding rail in a sliding mode, the first motor is connected with the first gear, and the first gear is meshed with the first rack. The first gear is driven to rotate through the first motor, and the first gear is meshed with the first rack, so that the gripper travelling mechanism is driven to slide up and down on the upright post mechanism.

Further, the left and right driving assembly comprises a second sliding block, a second gear, a second motor, a second rack and a second sliding rail; the second sliding rail and the second rack are horizontally arranged on the main body travelling mechanism, the second sliding block, the second motor and the second gear are arranged at the bottom end of the stand column mechanism, the second sliding block is connected with the second sliding rail in a sliding mode, the second motor is connected with the second gear, and the second gear is meshed with the second rack. The second gear is driven to rotate through the second motor, and the second gear is meshed with the second rack, so that the stand column mechanism is driven to slide left and right on the main body travelling mechanism.

Further, the front and rear driving assembly comprises a rack III, a gear III and a motor III; the third rack is arranged on the traveling mechanism, the third motor and the third gear are both arranged at the upper end of the gripper mechanism, the third motor is connected with the third gear, and the third gear is meshed with the third rack. The third gear is driven by the third motor to rotate, and the third gear is meshed with the third rack, so that the gripper mechanism is driven to slide back and forth on the gripper travelling mechanism.

Further, the rotary driving assembly comprises a first air cylinder, a fourth gear and a fourth rack; the first air cylinder, the fourth gear and the fourth rack are all installed on the gripper mechanism, the first air cylinder is connected with the fourth rack, the fourth rack is meshed with the fourth gear, and the fourth gear is connected with the gripper mechanism through a rotating shaft. And when the cylinder is started, the push-out (contraction) rack drives the gear to rotate, so that the gripper mechanism is driven to rotate to grip the material.

Further, the upright post mechanism comprises a base plate and an upright post frame arranged on the base plate; the sliding block II is arranged at the bottom of the base plate, the sliding rail I and the rack I are vertically arranged on one side of the stand column frame, and the electric box is arranged on the other side of the stand column frame.

Further, the hand grip travelling mechanism comprises a hand grip travelling mechanism frame; the rack III is arranged on one side of the gripper travelling mechanism frame, and the sliding block I, the motor I and the gear I are all arranged at the end part of the gripper travelling mechanism frame.

Furthermore, the main body walking mechanism comprises a main body walking frame, and the second sliding rail and the second rack are horizontally arranged on the main body walking frame.

Further, the gripper mechanism comprises a gripper and a mounting plate arranged on the top of the gripper; the mounting plate is connected with the inner side surface of the gripper travelling mechanism frame in a front-back sliding manner; the rotary driving component is arranged on the mounting plate.

The technical effects of the utility model:

compared with the prior art, the utility model discloses a column coordinate robot, easily processing and operation have improved work efficiency, have reduced workman's intensity of labour, and the material resources of using manpower sparingly reduce the possibility of workman's occurence of failure, have promoted the economic benefits of mill, can save the processing cost when guaranteeing pile up neatly efficiency.

Drawings

FIG. 1 is a schematic view of the main structure of the column coordinate robot of the present invention;

FIG. 2 is a schematic view of the column mechanism of the present invention;

FIG. 3 is a schematic view of another angle structure of the column mechanism of the present invention;

fig. 4 is a schematic structural view of the gripper walking mechanism of the present invention;

fig. 5 is a schematic view of another angle structure of the gripper walking mechanism of the present invention;

fig. 6 is a schematic view of another angle structure of the gripper walking mechanism of the present invention;

fig. 7 is a schematic structural view of the main body traveling mechanism of the present invention.

In the figure, an upright post mechanism 1, a gripper traveling mechanism 2, a main body traveling mechanism 3, an upright post frame 4, a first slide rail 5, a first rack 6, a base plate 7, a second slide block 8, an electric box 9, a second gear 10, a second motor 11, a first slide block 12, a gripper traveling mechanism frame 13, a first motor 14, a first cylinder 15, a gripper mechanism 16, a third rack 17, a fourth gear 18, a third gear 19, a fourth rack 20, a third motor 21, a first gear 22, a second rack 23, a second slide rail 24, a main body traveling frame 25, a gripper 26 and a mounting plate 27.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings of the specification.

Example 1:

as shown in fig. 1 to 7, the column coordinate robot according to the present embodiment includes a column mechanism 1, a gripper traveling mechanism 2, a main body traveling mechanism 3, and a gripper mechanism 16; the gripper travelling mechanism 2, the main body travelling mechanism 3 and the upright post mechanism 1 are in three-dimensional shapes limited in an x-y-z coordinate space; the upright post mechanism 1 comprises a base plate 7 and an upright post frame 4 arranged on the base plate 7; the gripper travelling mechanism 2 comprises a gripper travelling mechanism frame 13; the main body traveling mechanism 3 includes a main body traveling frame 25; the gripper mechanism 16 comprises a gripper 26 and a mounting plate 27 arranged on the top of the gripper 26; the mounting plate 27 is connected with the inner side surface of the gripper travelling mechanism frame 13 in a front-back sliding manner.

As shown in fig. 1 and 4-6, the gripper traveling mechanism 2 is slidably disposed on the column mechanism 1, and is driven by the up-down driving assembly to move up and down on the column mechanism 1. Specifically, the up-down driving assembly comprises a first sliding rail 5, a first rack 6, a first sliding block 12, a first motor 14 and a first gear 22; the sliding rail I5 and the rack I6 are both vertically arranged on one side of the upright post frame 4, and the electric box 9 is arranged on the other side of the upright post frame 4; the first sliding block 12, the first motor 14 and the first gear 22 are all arranged at the end part of the gripper travelling mechanism frame 13; the first sliding block 12 is connected with the first sliding rail 5 in a sliding mode, the first motor 14 is connected with the first gear 22, and the first gear 22 is meshed with the first rack 6. The first gear 22 is driven to rotate by the first motor 14, and the first gear 22 is meshed with the first rack 6, so that the gripper travelling mechanism 2 is driven to slide up and down on the upright post mechanism 1.

As shown in fig. 1-3 and 7, the upright post mechanism 1 is slidably disposed on the main body traveling mechanism 3, and is driven by the left and right driving assembly to move left and right on the main body traveling mechanism 3. Specifically, the left and right driving assembly comprises a second sliding block 8, a second gear 10, a second motor 11, a second rack 23 and a second sliding rail 24; the second sliding block 8 is arranged at the bottom of the base plate 7, and the second sliding rail 24 and the second rack 23 are horizontally arranged on the main body walking frame 25; the second sliding block 8, the second motor 11 and the second gear 10 are all arranged at the bottom end of the upright post mechanism 1, the second sliding block 8 is in sliding connection with the second sliding rail 24, the second motor 11 is connected with the second gear 10, and the second gear 10 is meshed with the second rack 23. The second gear 10 is driven to rotate by the second motor 11, and the second gear 10 is meshed with the second rack 23, so that the upright post mechanism 1 is driven to slide left and right on the main body travelling mechanism 3.

As shown in fig. 1 and 4, the gripper mechanism 16 is slidably disposed on the traveling mechanism 2, and is driven by the front-rear driving assembly to move forward and backward on the traveling mechanism 2. Specifically, the front and rear driving assembly comprises a rack III 17, a gear III 19 and a motor III 21; the third rack 17 is arranged on one side of the gripper travelling mechanism frame 13; the motor III 21 and the gear III 19 are both arranged at the upper end of the gripper mechanism 16, the motor III 21 is connected with the gear III 19, and the gear III 19 is meshed with the rack III 17. The gear three 19 is driven to rotate by the motor three 21, and the gear three 19 is meshed with the rack three 17, so that the gripper mechanism 16 is driven to slide back and forth on the gripper travelling mechanism 2.

As shown in fig. 1 and 4-6, the gripper mechanism 16 is provided with a rotation driving assembly for driving the gripper mechanism 16 to rotate. Specifically, the rotary driving assembly comprises a first air cylinder 15, a fourth gear 18 and a fourth rack 20; the first air cylinder 15 and the third motor 21 are both fixedly arranged on the mounting plate 26; the fourth gear 18 is arranged on the mounting plate 27 through a rotating shaft, the rotating shaft penetrates through the mounting plate 27, and the bottom of the rotating shaft is connected with the hand grip 26; the rack four 20 is connected with the mounting plate 26 in a front-back sliding manner; the first air cylinder 15 is connected with a fourth rack 20, the fourth rack 20 is meshed with a fourth gear 18, and the fourth gear 18 is connected with the gripper mechanism 16 through a rotating shaft. The first air cylinder 15 starts to push out (contract) the rack four 20 to drive the gear four 18 to rotate, so that the gripper mechanism 16 is driven to rotate to grip materials.

The working principle is as follows: a 14 functions of motor, and it is rotatory to drive a gear 22, and a 22 normal running fit rack of gear 6 drives tongs running gear 2 and relies on stand mechanism 1 to reciprocate. The second motor 11 operates to drive the second gear 10 to rotate, and the second gear 10 is rotationally matched with the second rack 23 to drive the upper upright post mechanism 1 to move left and right. The third motor 21 operates to drive the third gear 19 to rotate, and the third gear 19 is rotationally matched with the third rack 17 to drive the lower gripper mechanism 16 to move back and forth. The first air cylinder 15 starts to push out (contract) the rack four 20 to drive the gear four 18 to rotate, and the lower hand grip 26 is driven to rotate to grip materials. After the materials are grabbed, the first motor 14 starts to control the gripper travelling mechanism 2 to ascend, the second motor 11 operates to drive the stand column mechanism 1 to move to the stacking position, the third motor 21 adjusts the front and rear positions of the gripper 26, and the first cylinder 15 operates to control the gripper 26 to rotate, so that the materials are placed at the stacking position. The utility model discloses greatly reduced cost of labor.

The above embodiments are only specific ones of the present invention, and the protection scope of the present invention includes but is not limited to the above embodiments, any changes or modifications properly made by those skilled in the art according to the claims of the present invention and the appended claims should fall within the protection scope of the present invention.

Claims

1. The utility model provides a column coordinate robot which characterized in that: the gripper walking mechanism comprises a stand column mechanism, a gripper walking mechanism, a main body walking mechanism and a gripper mechanism; the gripper travelling mechanism, the main body travelling mechanism and the upright post mechanism are in three-dimensional shapes limited in an x-y-z coordinate space; the gripper walking mechanism is arranged on the upright post mechanism in a sliding manner, is driven by the up-and-down driving assembly and moves up and down on the upright post mechanism; the upright post mechanism is arranged on the main body travelling mechanism in a sliding manner, is driven by the left and right driving assembly and moves left and right on the main body travelling mechanism; the gripper mechanism is arranged on the travelling mechanism in a sliding manner, is driven by the front and rear driving assembly and moves back and forth on the travelling mechanism; and the gripper mechanism is also provided with a rotary driving assembly for driving the gripper mechanism to rotate.

2. The post coordinate robot of claim 1, wherein: the upper and lower driving assembly comprises a first sliding rail, a first rack, a first sliding block, a first motor and a first gear; the first sliding rail and the first rack are vertically arranged on one side face of the stand column mechanism, the first sliding block, the first motor and the first gear are arranged at one end of the gripper travelling mechanism, the first sliding block is connected with the first sliding rail in a sliding mode, the first motor is connected with the first gear, and the first gear is meshed with the first rack.

3. The post coordinate robot of claim 2, wherein: the left and right driving assembly comprises a second sliding block, a second gear, a second motor, a second rack and a second sliding rail; the second sliding rail and the second rack are horizontally arranged on the main body travelling mechanism, the second sliding block, the second motor and the second gear are arranged at the bottom end of the stand column mechanism, the second sliding block is connected with the second sliding rail in a sliding mode, the second motor is connected with the second gear, and the second gear is meshed with the second rack.

4. The post coordinate robot of claim 2, wherein: the front and rear driving assembly comprises a rack III, a gear III and a motor III; the third rack is arranged on the traveling mechanism, the third motor and the third gear are both arranged at the upper end of the gripper mechanism, the third motor is connected with the third gear, and the third gear is meshed with the third rack.

5. The post coordinate robot of claim 1, wherein: the rotary driving assembly comprises a first air cylinder, a fourth gear and a fourth rack; the first air cylinder, the fourth gear and the fourth rack are all installed on the gripper mechanism, the first air cylinder is connected with the fourth rack, the fourth rack is meshed with the fourth gear, and the fourth gear is connected with the gripper mechanism through a rotating shaft.

6. The post coordinate robot of claim 3, wherein: the upright post mechanism comprises a base plate and an upright post frame arranged on the base plate; the second sliding block is arranged at the bottom of the base plate, and the first sliding rail and the first rack are vertically arranged on one side of the stand column frame.

7. The post coordinate robot of claim 6, wherein: and an electric box is arranged on the other side of the upright post frame.

8. The post coordinate robot of claim 4, wherein: the gripper travelling mechanism comprises a gripper travelling mechanism frame; the rack III is arranged on one side of the gripper travelling mechanism frame, and the sliding block I, the motor I and the gear I are all arranged at the end part of the gripper travelling mechanism frame.

9. The post coordinate robot of claim 3, wherein: the main body walking mechanism comprises a main body walking frame, and the second sliding rail and the second rack are horizontally arranged on the main body walking frame.

10. The post coordinate robot of claim 8, wherein: the gripper mechanism comprises a gripper and a mounting plate arranged at the top of the gripper; the mounting plate is connected with the inner side surface of the gripper travelling mechanism frame in a front-back sliding manner; the rotary driving component is arranged on the mounting plate.