CN221758827U - Conveying device - Google Patents

Abstract

The utility model discloses a carrying device, which relates to the field of automatic production carrying devices, and comprises: a first linear motion mechanism comprising: a first base unit having a first rail portion extending in a first direction; a moving unit mounted in cooperation with the first rail portion and driven to move in the first rail portion by a linear motor unit; one end of the first mechanical arm is connected with the moving unit through a first driving unit and can rotate around a first rotating shaft; the movable joint is connected with the other end of the first mechanical arm through a second driving unit and can move along a second direction; and the grabbing mechanism is connected to the movable joint and used for grabbing the transported object. The utility model can solve the problem of ensuring the moving speed and the moving precision on the premise of prolonging the carrying distance of the carrying device.

Description

Conveying device

Technical Field

The utility model relates to the field of automatic production and conveying devices, in particular to a conveying device.

Background

Industrial robots are multi-joint manipulators or multi-degree of freedom robots that are oriented in the industrial field. Industrial robots are machine devices that automatically perform work, and are one type of machines that perform various functions by their own power and control capabilities. The robot can be commanded by human beings, can operate according to a preset program, and can also act according to the principle formulated by artificial intelligence technology. SCARA (SELECTIVE COMPLIANCE ASSEMBLY ROBOT ARM, chinese translation: selective compliance assembly robot arm) is a special type of industrial robot of cylindrical coordinates. The SCARA robot has compliance in the X, Y direction and good stiffness in the Z-axis direction, which is particularly suitable for assembly work as well as sorting work.

For a conventional SCARA robot, its working space in the X, Y direction depends on the dimensional length of the two rotating arms. If an object needs to be carried for a long distance in a certain direction along the X, Y direction, the conventional SCARA robot needs to meet the requirement that the sum of the size and the length of two rotating arms is large so as to realize the requirement, but the use of the SCARA robot is obviously not economical.

Disclosure of utility model

In order to overcome the above-mentioned drawbacks of the prior art, an embodiment of the present utility model provides a handling device, which can solve the problem of how to ensure the moving speed and accuracy on the premise of extending the handling distance of the handling device.

The specific technical scheme of the embodiment of the utility model is as follows:

a handling device, the handling device comprising:

a first linear motion mechanism comprising: a first base unit having a first rail portion extending in a first direction; a moving unit mounted in cooperation with the first rail portion and driven to move in the first rail portion by a linear motor unit;

one end of the first mechanical arm is connected with the moving unit through a first driving unit and can rotate around a first rotating shaft;

The movable joint is connected with the other end of the first mechanical arm through a second driving unit and can move along a second direction;

and the grabbing mechanism is connected to the movable joint and used for grabbing the transported object.

Preferably, the linear motor unit includes a stator mounted at the first rail portion of the first base unit, and a rotor mounted on the moving unit.

Preferably, the second direction is parallel to the first rotation axis.

Preferably, the movable joint is rotatable about a second rotational axis by a third drive unit, the second rotational axis being parallel to the first rotational axis.

Preferably, the position of the gripping mechanism is a predetermined distance in the horizontal direction from the movable joint.

Preferably, the handling mechanism further comprises:

A second linear motion mechanism comprising: a second base unit having a second rail portion extending in a third direction; the first base unit is matched with the second guide rail part, mounted and capable of moving in the second guide rail part; the third direction is in a non-parallel state with the first direction.

Preferably, the third direction is perpendicular to the first direction.

Preferably, the first direction, the second direction and the third direction are perpendicular to each other.

Preferably, the object to be conveyed has a start position and a target position, and the object to be conveyed is conveyed from the start position to the target position by the conveying device;

The starting position and the target position are both located on the same side of the first base unit.

Preferably, the carrying device has a first working position and a second working position, and the gripping mechanism is capable of gripping the object to be carried located at the initial position in the first working position; when the second working position is reached, the grabbing mechanism can put down the transported object so that the transported object is located at the target position;

In the first operating position and the second operating position, a position of the moving unit on the first rail portion in the first direction is located between the start position and the target position.

The technical scheme of the utility model has the following remarkable beneficial effects:

1. In the carrying device, the moving unit can quickly move along the first direction in the first guide rail part through the linear motor unit, so that the carrying device can realize long-distance carrying operation in the first direction, and the carrying speed can be further improved.

2. The linear motor unit does not need to pass through an intermediate conversion mechanism to linearly generate linear motion, so that the structure is greatly simplified, the motion inertia is reduced, and the dynamic response performance and the positioning precision are greatly improved; meanwhile, the reliability can be improved, the cost is saved, and the manufacturing and the maintenance are simpler.

3. Compared with other screw rods, synchronous belts and gear rack drives, the linear motor unit has the characteristics of high acceleration and high position precision, and the application can greatly improve the carrying efficiency of the carrying device and the accuracy of positioning the grabbing mechanism.

4. Compared with the traditional SCARA robot, the application adopts the first linear moving mechanism, but can save a rotatable mechanical arm, a corresponding driving unit and a corresponding servo driver, and can save a certain cost and occupied space to a certain extent.

Specific embodiments of the utility model are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the utility model may be employed. It should be understood that the embodiments of the utility model are not limited in scope thereby. Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.

Drawings

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way. In addition, the shapes, proportional sizes, and the like of the respective components in the drawings are merely illustrative for aiding in understanding the present utility model, and are not particularly limited. Those skilled in the art with access to the teachings of the present utility model can select a variety of possible shapes and scale sizes to practice the present utility model as the case may be.

Fig. 1 is a schematic perspective view of a handling device according to a first embodiment of the present utility model;

FIG. 2 is a schematic diagram of a handling device according to a first embodiment of the present utility model;

FIG. 3 is a schematic diagram of a handling device according to a second embodiment of the present utility model;

Fig. 4 is a schematic structural diagram of a first linear motion mechanism according to an embodiment of the present utility model.

Reference numerals of the above drawings:

1. A first linear movement mechanism; 11. a stator; 12. a rotor; 13. a first base unit; 14. a mobile unit; 15. an end plate; 16. a buffer member; 17. a drag chain; 2. a first mechanical arm; 3. moving the joint; 4. a grabbing mechanism; 5. a first rotation shaft; 6. a second rotation shaft; 7. a second linear movement mechanism; 71. a second base unit.

Detailed Description

The details of the utility model will be more clearly understood in conjunction with the accompanying drawings and description of specific embodiments of the utility model. The specific embodiments of the utility model described herein are for purposes of illustration only and are not to be construed as limiting the utility model in any way. Given the teachings of the present utility model, one of ordinary skill in the related art will contemplate any possible modification based on the present utility model, and such should be considered to be within the scope of the present utility model. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, may be in communication with each other in two elements, may be directly connected, or may be indirectly connected through an intermediary, and the specific meaning of the terms may be understood by those of ordinary skill in the art in view of the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

In order to solve the problem of how to ensure the moving speed and the accuracy on the premise of extending the carrying distance of the carrying device, in an embodiment of the present utility model, a carrying device is provided, fig. 1 is a schematic perspective view of a carrying device in a first embodiment of the present utility model, fig. 2 is a schematic view of a carrying device in a first embodiment of the present utility model, and fig. 4 is a schematic view of a first linear moving mechanism in an embodiment of the present utility model, where, as shown in fig. 1, fig. 2 and fig. 4, the carrying device may include: a first linear movement mechanism 1, a first mechanical arm 2, a movement joint 3 and a grabbing mechanism 4.

As shown in fig. 1, 2 and 4, the first linear-motion mechanism 1 may include: a first base unit 13 having a first rail portion extending in a first direction; and a moving unit 14, wherein the moving unit 14 is mounted in cooperation with the first rail portion and is driven to move in the first rail portion by the linear motor unit.

As a possibility, as shown in fig. 4, the linear motor unit may include a stator 11 and a rotor 12, the stator 11 being mounted at a first rail portion of the first base unit 13, the rotor 12 being mounted on the moving unit 14. The stator 11 of linear electric motor unit can form through the mode of concatenation, can change the quantity of linear electric motor unit's stator 11 concatenation at any time according to the length that first guide rail portion needs, when the length of first guide rail portion needs to lengthen again, only need splice stator 11 of a certain quantity can again, so, has with low costs and implements convenient advantage. In other possible embodiments, the rotor 12 may also be mounted at the first rail portion of the first base unit 13, and the stator 11 mounted on the moving unit 14. Both ends of the first rail portion of the first base unit 13 may be provided with end plates 15, respectively, so as to prevent the moving unit 14 from sliding out of the first rail portion. Opposite sides of the two end plates 15 may be provided with a buffer 16 for buffering the moving unit 14. The mobile unit 14 and the first base unit 13 may be electrically connected by a drag chain 17 to transmit control signals and power.

As shown in fig. 1 and 2, one end of the first robot arm 2 is connected to the moving unit 14 through a first driving unit and is rotatable about the first rotation axis 5. The first mechanical arm 2 is rotatable about a first rotation axis 5 under the driving action of a first driving unit. For example, the first drive unit may comprise a servomotor and a mechanical module acting as a transmission, which may be a reduction mechanism.

As shown in fig. 1 and 2, the movable joint 3 is connected to the other end of the first robot arm 2 by a second driving unit and is movable in a second direction. The second direction has a component that only has to be perpendicular to the plane formed by the first direction and the first robot arm 2. For example, the second direction may be parallel to the first rotation axis 5, or may be perpendicular to the first direction or the plane in which the first robot arm 2 rotates. In a specific embodiment, when the plane in which the first robot arm 2 rotates is a horizontal plane, the second direction may be a height direction. The second drive unit may comprise a servo motor and a mechanical module acting as a transmission, which may comprise a reduction mechanism, a pulley, ball spline, etc. Of course, other existing mechanical modules capable of driving the movable joint 3 to move along the second direction may be used as the mechanical module, which is not limited in the present application.

As shown in fig. 1 and 2, the gripping mechanism 4 is for gripping an object to be conveyed, and the gripping mechanism 4 is connected to the movable joint 3. The grabbing mechanism 4 may be a mechanical grabbing structure or a magnetic grabbing structure, which only needs to be capable of grabbing the transported object, and any structure in the prior art may be adopted, and the application is not limited in any way.

The object to be conveyed may have a start position and a target position, and the object to be conveyed may be conveyed from the start position to the target position by the conveyance device. The moving unit 14 moves on the first guide rail portion and the first mechanical arm 2 rotates to enable the moving joint 3 to reach the initial position of the transported object in the rotation plane of the first mechanical arm 2, and then the second driving unit drives the moving joint 3 to move along the second direction so that the grabbing mechanism 4 reaches the transported object in the second direction, and the grabbing mechanism 4 grabs the transported object. After that, the movable joint 3 may be driven by the second driving unit to move in the second direction so that the gripping mechanism 4 gripping the object to be conveyed moves upward, or this operation may not be performed. After the object to be carried is gripped, the movement unit 14 is moved on the first rail portion and the first robot arm 2 is rotated so that the movement joint 3 reaches the target position of the object to be carried in the rotation plane of the first robot arm 2, and then the gripping mechanism 4 releases the object to be carried to place at the target position. If the object to be conveyed needs to be lowered, the second driving unit may be used to drive the moving joint 3 to move in the second direction, so that the object to be conveyed moves down to the target position, and then the grabbing mechanism 4 releases the object to be conveyed to the target position.

In the carrying device of the present application, since the moving unit 14 can be moved rapidly in the first direction by the linear motor unit in the first rail portion, the carrying device can carry out a long distance carrying operation in the first direction, and the carrying speed can be further improved. In addition, the linear motor unit does not need to pass through an intermediate conversion mechanism to linearly generate linear motion, so that the structure is greatly simplified, the motion inertia is reduced, and the dynamic response performance and the positioning precision are greatly improved; meanwhile, the reliability can be improved, the cost is saved, and the manufacturing and the maintenance are simpler. In addition, compared with other screw rods, synchronous belts and gear rack driving, the linear motor unit has the characteristics of high acceleration and high position precision, and the application can greatly improve the carrying efficiency of the carrying device and the accuracy of positioning the grabbing mechanism 4. Finally, compared with the traditional SCARA robot, the application adopts the first linear moving mechanism 1, but can save a rotatable mechanical arm, a corresponding driving unit and a corresponding servo driver, and can save a certain cost and occupied space to a certain extent.

As a possibility, as shown in fig. 1 and 2, the mobile joint 3 can be turned around a second turning axis 6 by means of a third driving unit, the second turning axis 6 being parallel to the first turning axis 5. When the gripping mechanism 4 grips and places the object to be handled, it is necessary to control the circumferential angle of the object to be handled, and it is necessary to control the third driving unit to drive the movable joint 3 to rotate about the second rotation axis 6, thereby realizing the angle at which the gripping mechanism 4 grips and places the object to be handled. For example, the third drive unit may comprise a servomotor and a mechanical module acting as a transmission, which may be a reduction mechanism. The mechanical module may further comprise a spiral rotating ball spline, and the ball spline may be horizontally rotated in cooperation with the second driving unit, so as to control an angle when the gripping mechanism 4 grips and places the object to be handled.

As a possibility, as shown in fig. 1 and 2, the position of the gripping mechanism 4 may have a preset distance in the horizontal direction from the movable joint 3. The position of the gripping mechanism 4 may specifically refer to a gripping point at which the gripping mechanism 4 grips the object to be carried, that is, a gripping point at which the gripping mechanism 4 grips the object to be carried and the second rotation axis 6 of the movable joint 3 have a preset distance therebetween. For example, the number of the gripping mechanisms 4 for gripping the object to be carried connected to the movable joint 3 may be two, and the positions of both the gripping mechanisms 4 may be a predetermined distance in the horizontal direction from the movable joint 3. In other possible embodiments, the position of the gripping means 4 may be in the same position in the horizontal direction as the second rotation axis 6 of the mobile joint 3.

As a possible implementation, fig. 3 is a schematic diagram of a handling device according to a second embodiment of the present utility model, and as shown in fig. 3, in this embodiment, the handling mechanism may include: a second linear movement mechanism 7. The second linear movement mechanism 7 includes: a second base unit 71 having a second rail portion extending in a third direction; and a first base unit 13, wherein the first base unit 13 is mounted in cooperation with the second rail portion and is movable therein. The third direction is not parallel to the first direction. In the above manner, the second linear movement mechanism 7 can be utilized to realize rapid movement in the third direction, so that the carrying device can realize long-distance carrying operation in the third direction, and the carrying speed can be further improved.

As a possibility, the third direction may be perpendicular to the first direction. In this way, the movement of the grasping mechanism 4 between the start position and the target position can be achieved most efficiently by the engagement between the first linear-motion mechanism 1 and the second linear-motion mechanism 7 in the plane formed by the first direction and the third direction.

As a practical matter, the first direction, the second direction and the third direction may be perpendicular to each other. That is, the second direction is perpendicular to a plane formed by the first direction and the third direction.

In order to further increase the speed of the conveyance device for conveying the object to be conveyed from the start position and the target position, both of the start position and the target position are located on the same side of the first base unit 13 as is possible. Therefore, when the object to be carried is carried between the initial position and the target position, the arrangement position of the carrying device is reasonably arranged, so that the required rotation range of the first mechanical arm 2 around the first rotation shaft 5 can be effectively reduced, and the speed of the carrying device for carrying the object to be carried is improved.

As a possibility, further, the carrying device may have a first working position and a second working position, in which the gripping mechanism 4 is capable of gripping the object to be carried located at the home position; in the second working position, the gripping mechanism 4 can put down the object to be carried so as to be located at the target position. In the first operating position and the second operating position, the position of the moving unit 14 on the first rail portion in the first direction is located between the start position and the target position. In this way, when the conveyance device conveys the object to be conveyed between the start position and the target position, the distance that the moving unit 14 moves in the first rail portion can be coordinated with the degree of rotation of the first robot arm 2 about the first rotation axis 5, both of which are relatively small. That is, when the carrying device carries the object to be carried between the initial position and the target position, the time when the moving unit 14 moves in the first rail portion is substantially similar to or as close as possible to the time when the first mechanical arm 2 rotates around the first rotation axis 5, so that the carrying speed of the carrying device can be effectively improved, a great amount of time is still required to wait for one of the moving unit 14 and the first mechanical arm 2 to complete the other to complete the operation, and then the grabbing mechanism 4 can perform the grabbing operation, which certainly wastes some time, and can reduce the carrying speed.

All articles and references, including patent applications and publications, disclosed herein are incorporated by reference for all purposes. The term "consisting essentially of …" describing a combination shall include the identified element, ingredient, component or step as well as other elements, ingredients, components or steps that do not substantially affect the essential novel features of the combination. The use of the terms "comprises" or "comprising" to describe combinations of elements, components, or steps herein also contemplates embodiments consisting essentially of such elements, components, or steps. By using the term "may" herein, it is intended that any attribute described as "may" be included is optional. Multiple elements, components, parts or steps can be provided by a single integrated element, component, part or step. Alternatively, a single integrated element, component, part or step may be divided into separate plural elements, components, parts or steps. The disclosure of "a" or "an" to describe an element, component, section or step is not intended to exclude other elements, components, sections or steps.

The foregoing is merely a few embodiments of the present utility model, and the embodiments disclosed in the present utility model are merely examples which are used for the convenience of understanding the present utility model and are not intended to limit the present utility model. Any person skilled in the art can make any modification and variation in form and detail of the embodiments without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is still subject to the scope of the appended claims.

Claims (10)

1. A handling device, the handling device comprising:

a first linear motion mechanism comprising: a first base unit having a first rail portion extending in a first direction; a moving unit mounted in cooperation with the first rail portion and driven to move in the first rail portion by a linear motor unit;

one end of the first mechanical arm is connected with the moving unit through a first driving unit and can rotate around a first rotating shaft;

The movable joint is connected with the other end of the first mechanical arm through a second driving unit and can move along a second direction;

and the grabbing mechanism is connected to the movable joint and used for grabbing the transported object.

2. The handling device of claim 1, wherein the linear motor unit includes a stator mounted at the first rail portion of the first base unit and a rotor mounted on the moving unit.

3. The handling device of claim 1, wherein the second direction is parallel to the first axis of rotation.

4. The handling device of claim 1, wherein the mobile joint is rotatable about a second axis of rotation by a third drive unit, the second axis of rotation being parallel to the first axis of rotation.

5. The handling device of claim 1, wherein the gripping mechanism is positioned a predetermined distance from the mobile joint in a horizontal direction.

6. The handling device according to claim 1, the carrying device is characterized by further comprising:

A second linear motion mechanism comprising: a second base unit having a second rail portion extending in a third direction; the first base unit is matched with the second guide rail part, mounted and capable of moving in the second guide rail part; the third direction is in a non-parallel state with the first direction.

7. The handling device of claim 6, wherein the third direction is perpendicular to the first direction.

8. The handling device of claim 7, wherein the first direction, the second direction, and the third direction are perpendicular to one another.

9. The carrying device according to claim 1, wherein the object to be carried has a start position and a target position, and the object to be carried is carried by the carrying device from the start position to the target position;

The starting position and the target position are both located on the same side of the first base unit.

10. The carrying device according to claim 9, wherein the carrying device has a first operating position in which the gripping mechanism is capable of gripping the object to be carried in the home position, and a second operating position; when the second working position is reached, the grabbing mechanism can put down the transported object so that the transported object is located at the target position;

In the first operating position and the second operating position, a position of the moving unit on the first rail portion in the first direction is located between the start position and the target position.