CN221758827U - Handling 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

Handling device

Technical Field

The utility model relates to the field of automated production handling devices, in particular to a handling device.

Background Art

Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for the industrial field. Industrial robots are mechanical devices that perform work automatically. They rely on their own power and control capabilities to achieve various functions. They can accept human commands or run according to pre-programmed programs. Modern industrial robots can also act according to the principles and guidelines formulated by artificial intelligence technology. SCARA (Selective Compliance Assembly Robot Arm) is a special type of industrial robot of cylindrical coordinate type. SCARA robots are compliant in the X and Y directions and have good rigidity in the Z axis direction. This feature is particularly suitable for assembly and sorting work.

For conventional SCARA robots, their working space in the X and Y directions depends on the length of the two rotating arms. If an object needs to be transported over a long distance in one of the X and Y directions, the existing SCARA robots need to meet the requirement that the sum of the lengths of the two rotating arms is larger to achieve the above requirement, but the use of such SCARA robots is obviously not economical.

Utility Model Content

In order to overcome the above-mentioned defects of the prior art, the technical problem to be solved by the embodiments of the utility model is to provide a transport device, which can solve the problem of how to ensure the moving speed and accuracy while extending the transport distance of the transport device.

The specific technical solution of the embodiment of the utility model is:

A transport device, comprising:

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

A first mechanical arm, one end of which is connected to the moving unit via a first driving unit and can rotate around a first rotation axis;

A movable joint, wherein the movable joint is connected to the other end of the first mechanical arm through a second driving unit and can move along a second direction;

A grabbing mechanism connected to the moving joint for grabbing the transported object.

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

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

Preferably, the movable joint can rotate around a second rotation axis through a third driving unit, and the second rotation axis is parallel to the first rotation axis.

Preferably, the position of the grasping mechanism has a preset distance from the moving joint in the horizontal direction.

Preferably, the transport mechanism further comprises:

The second linear motion mechanism includes: a second base unit having a second guide rail portion extending along a third direction; the first base unit, the first base unit is installed in cooperation with the second guide rail portion and can move in the second guide rail portion; the third direction is not parallel to 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 transported object has a starting position and a target position, and the transported object is transported from the starting position to the target position by the transport device;

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

Preferably, the transport device has a first working position and a second working position, and when in the first working position, the gripping mechanism can grip the transported object located at the starting position; when in the second working position, the gripping mechanism can put down the transported object so that it is located at the target position;

In the first working position and the second working position, the position of the moving unit on the first guide rail portion in the first direction is between the starting position and the target position.

The technical solution of the utility model has the following significant beneficial effects:

1. Since the moving unit of the transport device in the present application can move quickly along the first direction in the first guide rail portion through the linear motor unit, the transport device can realize long-distance transport operations in the first direction, and the transport speed can be further improved.

2. The linear motor unit does not need to go through an intermediate conversion mechanism to produce linear motion, which greatly simplifies the structure, reduces the motion inertia, and greatly improves the dynamic response performance and positioning accuracy; at the same time, it can also improve reliability, save costs, and make manufacturing and maintenance easier.

3. Compared with other screw, synchronous belt and gear rack drives, a significant advantage is that the linear motor unit has the characteristics of high acceleration and high position accuracy. This application can greatly improve the handling efficiency of the handling device and the accuracy of the positioning of the grasping mechanism.

4. Compared with the traditional SCARA robot, although the present application adopts the first linear motion mechanism, it can save a rotatable robotic arm and the corresponding drive unit and servo drive. Relatively speaking, it can still save certain costs and occupied space to a certain extent.

With reference to the following description and drawings, specific embodiments of the present invention are disclosed in detail, indicating the manner in which the principles of the present invention can be adopted. It should be understood that the embodiments of the present invention are not limited in scope. Features described and/or shown for one embodiment can be used in one or more other embodiments in the same or similar manner, combined with features in other embodiments, or replace features in other embodiments.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the components in the drawings are only for illustration purposes to help understand the present invention, and are not intended to specifically limit the shapes and proportional dimensions of the components of the present invention. Under the guidance of the present invention, those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to specific circumstances.

FIG1 is a schematic diagram of the three-dimensional structure of a transport device in a first embodiment of the present utility model;

FIG2 is a schematic diagram of the principle of the transport device in the first embodiment of the utility model;

FIG3 is a schematic diagram of the principle of the transport device in the second embodiment of the utility model;

FIG. 4 is a schematic structural diagram of a first linear motion mechanism in an embodiment of the present utility model.

Reference numerals of the above drawings:

1. First linear motion mechanism; 11. Stator; 12. Rotor; 13. First base unit; 14. Moving unit; 15. End plate; 16. Buffer; 17. Drag chain; 2. First robot arm; 3. Moving joint; 4. Grasping mechanism; 5. First rotating axis; 6. Second rotating axis; 7. Second linear motion mechanism; 71. Second base unit.

DETAILED DESCRIPTION

In combination with the accompanying drawings and the description of the specific embodiments of the present invention, the details of the present invention can be more clearly understood. However, the specific embodiments of the present invention described herein are only used to explain the purpose of the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be considered to belong to the scope of the present invention. It should be noted that when an element is referred to as "disposed on" another element, it can be directly on the other element or there can also be a central element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be a central element at the same time. The terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, or it can be the internal communication of two elements, it can be directly connected, or it can be indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for illustrative purposes and do not represent the only implementation method.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and/or" used herein includes any and all combinations of one or more related listed items.

In order to solve the problem of how to ensure the moving speed and accuracy while extending the carrying distance of the carrying device, a carrying device is proposed in an embodiment of the present application. Figure 1 is a schematic diagram of the three-dimensional structure of the carrying device in the embodiment of the utility model under the first implementation mode, Figure 2 is a schematic diagram of the principle of the carrying device in the embodiment of the utility model under the first implementation mode, and Figure 4 is a schematic diagram of the structure of the first linear moving mechanism in the embodiment of the utility model. As shown in Figures 1, 2 and 4, the carrying device may include: a first linear moving mechanism 1, a first robotic arm 2, a moving joint 3 and a grasping mechanism 4.

As shown in Figures 1, 2 and 4, the first linear motion mechanism 1 may include: a first base unit 13 having a first guide rail portion extending along a first direction; a moving unit 14, which is installed in cooperation with the first guide rail portion and can be moved in the first guide rail portion by being driven by a linear motor unit.

As a feasible embodiment, as shown in FIG4 , the linear motor unit may include a stator 11 and a rotor 12, wherein the stator 11 is mounted at the first guide rail portion of the first base unit 13, and the rotor 12 is mounted on the mobile unit 14. The stator 11 of the linear motor unit can be formed by splicing, and the number of the stators 11 of the linear motor unit can be changed at any time according to the required length of the first guide rail portion. When the length of the first guide rail portion needs to be extended, only a certain number of stators 11 need to be spliced, so that it has the advantages of low cost and convenient implementation. In other feasible embodiments, the rotor 12 can also be mounted at the first guide rail portion of the first base unit 13, and the stator 11 is mounted on the mobile unit 14. End plates 15 can be respectively provided at both ends of the first guide rail portion of the first base unit 13 to prevent the mobile unit 14 from sliding out of the first guide rail portion. Buffers 16 that buffer the mobile unit 14 can be provided on opposite sides of the two end plates 15. The mobile unit 14 and the first base unit 13 can be electrically connected through a drag chain 17 to transmit control signals and power.

As shown in Figures 1 and 2, one end of the first mechanical arm 2 is connected to the moving unit 14 through the first driving unit and can rotate around the first rotating shaft 5. The first mechanical arm 2 can rotate around the first rotating shaft 5 under the driving action of the first driving unit. For example, the first driving unit may include a servo motor and a mechanical module for transmission, and the mechanical module may be a speed reduction mechanism.

As shown in Figures 1 and 2, the mobile joint 3 is connected to the other end of the first mechanical arm 2 through the second drive unit and can move along the second direction. The component of the second direction only needs to satisfy the plane formed by the first direction and the first mechanical arm 2. For example, the second direction can be parallel to the first rotation axis 5, or it can be perpendicular to the first direction or the plane in which the first mechanical arm 2 rotates. In a specific embodiment, when the plane in which the first mechanical arm 2 rotates is a horizontal plane, the second direction can be a height direction. The second drive unit may include a servo motor and a mechanical module for transmission, and the mechanical module may include a reduction mechanism, a pulley, a ball spline, etc. Of course, the mechanical module may also adopt other existing modules that can drive the mobile joint 3 to move along the second direction, and no limitation is made to it in the present application.

As shown in Figures 1 and 2, the grabbing mechanism 4 is used to grab the transported object, and the grabbing mechanism 4 is connected to the moving joint 3. The grabbing mechanism 4 can adopt a mechanical grabbing structure or a magnetic grabbing structure, which only needs to be able to grab the transported object, and can adopt any structure in the prior art, and is not limited in this application.

The transported object may have a starting position and a target position, and the transported object is transported from the starting position to the target position by the transport device. The moving unit 14 moves on the first guide rail and the first robot 2 rotates so that the moving joint 3 reaches the starting position of the transported object within the rotation plane of the first robot 2, and then the second drive unit drives the moving joint 3 to move in the second direction so that the grasping mechanism 4 reaches the transported object in the second direction, and then the grasping mechanism 4 grasps the transported object. After that, the second drive unit can drive the moving joint 3 to move in the second direction so that the grasping mechanism 4 that grasps the transported object moves up, or this operation may not be performed. After the transported object is grasped, the moving unit 14 moves on the first guide rail and the first robot 2 rotates so that the moving joint 3 reaches the target position of the transported object within the rotation plane of the first robot 2, and then the grasping mechanism 4 releases the transported object and places it at the target position. If the transported object needs to be lowered, the second driving unit can be used to drive the movable joint 3 to move in the second direction so that the transported object moves down to the target position, and then the gripping mechanism 4 releases the transported object and places it at the target position.

Since the mobile unit 14 of the handling device in the present application can be quickly moved along the first direction through the linear motor unit in the first guide rail part, the handling device can realize long-distance handling operation in the first direction, and the handling speed can be further improved. Moreover, the linear motor unit does not need to pass through the intermediate conversion mechanism to produce linear motion in a straight line, which greatly simplifies the structure, reduces the motion inertia, and greatly improves the dynamic response performance and positioning accuracy; at the same time, it can also improve reliability, save costs, and make manufacturing and maintenance simpler. In addition, compared with other lead screws, synchronous belts and gear rack drives, a significant advantage is that the linear motor unit has the characteristics of high acceleration and high position accuracy. The present application can greatly improve the handling efficiency of the handling device and the accuracy of positioning the grasping mechanism 4. Finally, compared with the traditional SCARA robot, although the present application adopts the first linear moving mechanism 1, it can save a rotatable mechanical arm and the corresponding drive unit and servo drive. Relatively speaking, it can still save a certain cost and space to a certain extent.

As feasible, as shown in Figures 1 and 2, the mobile joint 3 can rotate around the second rotation axis 6 through the third drive unit, and the second rotation axis 6 is parallel to the first rotation axis 5. When the grasping mechanism 4 grasps and places the transported object and needs to control the circumferential angle of the transported object, it is necessary to control the third drive unit to drive the mobile joint 3 to rotate around the second rotation axis 6, so as to achieve the angle when the grasping mechanism 4 grasps and places the transported object. For example, the third drive unit may include a servo motor and a mechanical module that plays a transmission role, and the mechanical module may be a speed reduction mechanism. The mechanical module may also include a spiral rotating ball spline, which can rotate the ball spline horizontally in cooperation with the second drive unit, thereby controlling the angle when the grasping mechanism 4 grasps and places the transported object.

As feasible, as shown in FIG. 1 and FIG. 2 , the position of the gripping mechanism 4 may have a preset distance from the moving joint 3 in the horizontal direction. The position of the gripping mechanism 4 may specifically refer to the gripping point where the gripping mechanism 4 grips the transported object, that is, there is a preset distance between the gripping point where the gripping mechanism 4 grips the transported object and the second rotation axis 6 of the moving joint 3. For example, there may be two gripping mechanisms 4 connected to the moving joint 3 for gripping the transported object, and the positions of the two gripping mechanisms 4 are both at a preset distance from the moving joint 3 in the horizontal direction. In other feasible embodiments, the position of the gripping mechanism 4 may be located at the same position as the second rotation axis 6 of the moving joint 3 in the horizontal direction.

As a feasible method, FIG3 is a schematic diagram of the principle of the transport device in the embodiment of the utility model under the second embodiment. As shown in FIG3, in this embodiment, the transport mechanism may include: a second linear motion mechanism 7. The second linear motion mechanism 7 includes: a second base unit 71 having a second guide rail portion extending along a third direction; a first base unit 13, the first base unit 13 is installed in cooperation with the second guide rail portion and can move in the second guide rail portion. The third direction is not parallel to the first direction. In the above manner, the second linear motion mechanism 7 can be used to achieve rapid movement in the third direction, so that the transport device can achieve long-distance transport operations in the third direction, and the transport speed can be further improved.

As feasible, the third direction can be perpendicular to the first direction. In this way, in the plane formed by the first direction and the third direction, the movement of the gripping mechanism 4 between the starting position and the target position can be most efficiently achieved by utilizing the cooperation between the first linear motion mechanism 1 and the second linear motion mechanism 7.

As a feasible method, 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 improve the speed at which the transport device transports the transported object from the starting position and the target position, it is feasible that the starting position and the target position are both located on the same side of the first base unit 13. In this way, when the transported object is transported between the starting position and the target position, the amplitude of the rotation of the first mechanical arm 2 around the first rotation axis 5 can be effectively reduced by reasonably setting the layout position of the transport device, thereby improving the speed at which the transport device transports the transported object.

As a feasible method, further, the transport device may have a first working position and a second working position. In the first working position, the gripping mechanism 4 can grip the transported object at the starting position; in the second working position, the gripping mechanism 4 can put down the transported object so that it is at the target position. In the first working position and the second working position, the position of the moving unit 14 on the first guide rail portion in the first direction is between the starting position and the target position. In the above manner, when the transport device transports the transported object between the starting position and the target position, the distance moved by the moving unit 14 in the first guide rail portion can be coordinated with the degree of rotation of the first robot arm 2 around the first rotation axis 5, and both are relatively small. That is to say, when the transport device transports the transported object between the starting position and the target position, the time it takes for the mobile unit 14 to complete the movement in the first guide rail portion and the time it takes for the first robotic arm 2 to rotate around the first rotating axis 5 are roughly similar or as close as possible. This can effectively improve the transport speed of the transport device and avoid the situation where, after one of the mobile unit 14 or the first robotic arm 2 completes an action, it still takes a lot of time to wait for the other to complete an action before the grasping mechanism 4 can perform the grasping action. This undoubtedly wastes some time and causes the transport speed to decrease.

All articles and references disclosed, including patent applications and publications, are incorporated herein by reference for various purposes. The term "consisting essentially of ... " describing a combination should include determined elements, ingredients, parts or steps and other elements, ingredients, parts or steps that do not substantially affect the basic novel features of the combination. The combination of elements, ingredients, parts or steps described here using the terms "comprising" or "including" also contemplates an embodiment consisting essentially of these elements, ingredients, parts or steps. By using the term "may", it is intended to illustrate that any attribute described that "may" include is optional. Multiple elements, ingredients, parts or steps can be provided by a single integrated element, ingredient, part or step. Alternatively, a single integrated element, ingredient, part or step can be divided into separate multiple elements, ingredients, parts or steps. The disclosure "one" or "one" used to describe an element, ingredient, part or step is not said to exclude other elements, ingredients, parts or steps.

The above are only a few embodiments of the present invention. Although the embodiments disclosed by the present invention are as above, the contents are only embodiments adopted for facilitating the understanding of the present invention and are not used to limit the present invention. Any technician in the technical field to which the present invention belongs can make any modification and change in the form and details of the implementation without departing from the spirit and scope disclosed by the present invention, but the scope of patent protection of the present invention shall still be subject to the scope defined by the attached claims.

Claims (10)

1. A transport device, characterized in that the transport device comprises: The first linear motion mechanism comprises: a first base unit having a first guide rail portion extending in a first direction; a moving unit, the moving unit being mounted in cooperation with the first guide rail portion and being driven by a linear motor unit to move in the first guide rail portion; A first mechanical arm, one end of which is connected to the moving unit via a first driving unit and can rotate around a first rotation axis; A movable joint, wherein the movable joint is connected to the other end of the first mechanical arm through a second driving unit and can move along a second direction; A grabbing mechanism connected to the moving joint for grabbing the transported object. 2 . The transport device according to claim 1 , wherein the linear motor unit comprises a stator and a rotor, the stator is mounted on the first guide rail portion of the first base unit, and the rotor is mounted on the moving unit. 3 . The transport device according to claim 1 , wherein the second direction is parallel to the first rotation axis. 4 . The transport device according to claim 1 , wherein the movable joint can rotate around a second rotation axis through a third driving unit, and the second rotation axis is parallel to the first rotation axis. 5 . The handling device according to claim 1 , wherein the position of the grabbing mechanism and the movable joint have a preset distance in the horizontal direction. 6. The transport device according to claim 1, characterized in that the transport device further comprises: The second linear motion mechanism includes: a second base unit having a second guide rail portion extending along a third direction; the first base unit, the first base unit is installed in cooperation with the second guide rail portion and can move in the second guide rail portion; the third direction is not parallel to the first direction. 7 . The transport device according to claim 6 , wherein the third direction is perpendicular to the first direction. 8 . The transport device according to claim 7 , wherein the first direction, the second direction and the third direction are perpendicular to each other. 9. The transport device according to claim 1, characterized in that the transported object has a starting position and a target position, and the transported object is transported from the starting position to the target position by the transport device; The starting position and the target position are both located on the same side of the first base unit. 10. The transport device according to claim 9, characterized in that the transport device has a first working position and a second working position, and when in the first working position, the gripping mechanism can grip the transported object located at the starting position; when in the second working position, the gripping mechanism can put down the transported object so that it is located at the target position; In the first working position and the second working position, the position of the moving unit on the first guide rail portion in the first direction is between the starting position and the target position.