WO2020248502A1 - 一种矗立式下件机械手的搬运传动装置 - Google Patents

一种矗立式下件机械手的搬运传动装置 Download PDF

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Publication number
WO2020248502A1
WO2020248502A1 PCT/CN2019/118502 CN2019118502W WO2020248502A1 WO 2020248502 A1 WO2020248502 A1 WO 2020248502A1 CN 2019118502 W CN2019118502 W CN 2019118502W WO 2020248502 A1 WO2020248502 A1 WO 2020248502A1
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WO
WIPO (PCT)
Prior art keywords
sliding seat
buckle module
standing
sliding
transmission device
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PCT/CN2019/118502
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English (en)
French (fr)
Inventor
赫英强
刘吉
郑恒飞
Original Assignee
苏州哈工众志自动化科技有限公司
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Publication of WO2020248502A1 publication Critical patent/WO2020248502A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements

Definitions

  • the utility model belongs to the field of manipulators, in particular to a conveying and transmission device for a standing lower part manipulator.
  • Manipulator which can imitate certain motion functions of human hands and arms, and is used as an automatic operating device for grasping, transporting objects or operating tools according to a fixed program.
  • Manipulators are the earliest industrial robots, as well as the earliest modern robots. They can replace human labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, they are widely used in machinery manufacturing, metallurgy, Departments of electronics, light industry and atomic energy.
  • the standing lower part manipulator After taking the material, it needs to move to a designated position along the length of the stand to complete the handling process of the workpiece.
  • the commonly used method is to form a guide rail extending along the length of the stand on the stand.
  • the manipulator is slidably erected on the guide rail from the sliding seat. At the same time, it is pulled by the wire rope or belt that can be rolled and cooperated with the sensor. Displacement monitoring to realize the robot's handling of workpieces.
  • the technical problem to be solved by the utility model is to overcome the shortcomings of the prior art and provide an improved handling and transmission device for the standing lower part manipulator.
  • the present utility model adopts the following technical solutions:
  • a conveying and transmission device for a standing lower part manipulator which includes a standing frame formed with a sliding rail, a sliding seat that is slidably matched with the sliding rail, and a driving mechanism for traction of the sliding seat to move on the sliding rail.
  • the conveying transmission device also includes an anti-falling component arranged on the sliding seat and linked with the driving mechanism, wherein the anti-falling component includes a card that cooperates with the slot
  • the buckle module and the driver that drive the buckle module out of and extend into the card slot.
  • the driver is linked with the drive mechanism.
  • the driver drives the buckle module and the card slot on the moving path of the sliding seat to hold Disengaged state; when the driving mechanism loses force on the sliding seat, the driver drives the buckle module to move and extend into the slot on the sliding seat's fall path that is closest to the position where the force is lost, so as to limit the free fall of the sliding seat on the slide rail .
  • a mounting frame is formed on the sliding seat, and the buckle module is rotatably arranged on the mounting frame along a rotation axis perpendicular to the moving direction of the sliding seat, and the driver can drive the buckle module to tilt outward or inward around the rotation axis It is set to move in the direction of the card slot.
  • the driver includes a mounting seat arranged on the sliding seat on the same side of the mounting frame, and a telescopic cylinder whose two ends are respectively connected to the mounting seat and the buckle module, wherein the telescopic cylinder and the driving mechanism The linkage is set.
  • the driving mechanism exerts a force on the sliding seat
  • the telescopic cylinder stretches and drives the buckle module to tilt outwards, and the buckle module and the groove are in a disengaged state
  • the force applied by the driving mechanism to the sliding seat disappears,
  • the telescopic cylinder contracts and drives the buckle module to move inward, and the buckle module and the card slot are in a locked state.
  • the mounting seat includes a fixed rod with one end fixed on the sliding seat, and a connecting frame provided at the other end of the fixed rod, and both ends of the telescopic cylinder are rotatably connected to the connecting frame and the buckle module.
  • the fixed rod is arranged in parallel with the slide rail and is fixed on the sliding seat from the upper end
  • the connecting frame is located at the lower end of the fixed rod and below the buckle module
  • the upper end of the telescopic cylinder is rotatably connected to the buckle module
  • the lower end The part is rotatably connected to the connecting frame; and the two rotation points at the two ends of the telescopic cylinder and the rotation point where the rotation shaft is located constitute three vertices of the triangle.
  • the mounting frame includes two mounting plates arranged at the lower part of the sliding seat and extending along the length direction of the sliding rail, wherein the two mounting plates are arranged in parallel with the buckle module, and Clamped on the opposite sides of the buckle module, the rotating shaft traverses the mounting plate and the buckle module, and the mounting plate and the buckle module are rotated and connected.
  • the sliding rails are symmetrically distributed on opposite sides of the standing frame, and the clamping grooves are distributed between the two sliding rails and correspondingly arranged on the shell panel of the standing frame.
  • a plurality of card slots are evenly spaced distributed on the shell panel.
  • the vertical frame corresponding to the upper and lower ends of the slide rail are respectively provided with an upward limiting rod and a downward limiting rod.
  • the standing frame is in the shape of a square column
  • the slot and the slide rail are distributed on the same side surface
  • the conveying transmission device further includes a travel rail arranged on the other side of the square column and parallel to the slide rail, which can be slid up and down.
  • the travel monitor on the travel track.
  • the commonly used stroke monitor adopts the cooperation of sensors and sensors to accurately learn the movement state and movement position of the sliding seat, which is more conducive to the control of the operating state of the manipulator.
  • the utility model can effectively prevent the occurrence of falling accidents caused by accidental breakage of the steel wire rope or belt through the arrangement of the anti-falling component, and eliminate the hidden safety hazards of the standing lower part manipulator in handling the workpiece.
  • the structure is simple, the implementation is convenient, and the cost is low.
  • Figure 1 is a schematic diagram of the three-dimensional structure of the conveying and transmission device of the standing lower part manipulator of the utility model (when engaged);
  • Figure 2 is a schematic front view of Figure 1;
  • Fig. 3 is a schematic left view of Fig. 1;
  • first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present application, "a plurality of” means at least two, such as two, three, etc., unless specifically defined otherwise.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection , Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified The limit.
  • installed can be a fixed connection or a detachable connection , Or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, it can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified The limit.
  • the specific meanings of the above terms in this application can be understood according to specific circumstances.
  • the “on” or “under” of the first feature on the second feature may be in direct contact with the first and second features, or indirectly through an intermediary. contact.
  • the "above”, “above” and “above” of the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the level of the first feature is higher than the second feature.
  • the “below”, “below” and “below” of the second feature of the first feature may mean that the first feature is directly below or obliquely below the second feature, or it simply means that the level of the first feature is smaller than the second feature.
  • the handling and transmission device of the standing lower part manipulator includes a standing frame 1 formed with a sliding rail 10, a sliding seat 2 slidably engaged with the sliding rail 10, and a traction sliding seat 2 on the sliding rail
  • the driving mechanism 3 moving on 10, the anti-falling component 4 arranged on the sliding seat 2 and linked with the driving mechanism 3.
  • the stand frame 1 is in the shape of a square column, and there are two slide rails 10, which are correspondingly arranged on the shell panel on the front of the stand frame 1, and at the same time, on the shell panel corresponding to the two slide rails 10
  • a plurality of card slots 1a are distributed, and the plurality of card slots 1a are evenly spaced along the length direction of the stand 1.
  • the anti-falling component 4 includes a buckle module 40 that is matched with the slot 1a, a driver 41 that drives the buckle mold 40 to disengage and extend into the slot 1a.
  • the driver 41 is linked with the drive mechanism 3. When the drive mechanism 3 slides When the seat 2 exerts a force, the driver 41 drives the buckle module 40 to remain separated from the slot on the movement path of the slide 2; when the driving mechanism 3 loses the force on the slide 2, the driver 41 drives the buckle module 40 to move and The sliding seat 2 extends into the slot 1 a closest to the position where the force is lost on the falling path of the sliding seat 2 to limit the free falling of the sliding seat 2 on the sliding rail 10.
  • a mounting frame 5 is formed on the sliding seat 2.
  • the buckle module 40 is rotatably arranged on the mounting frame 5 along a rotating shaft 42 perpendicular to the moving direction of the sliding seat 2.
  • the driver 41 can drive the buckle module 40 outwards around the rotating shaft 42 It is tilted or moved inwardly into the card slot 1a.
  • the driver 41 includes a mounting seat 410 arranged on the sliding seat 2 on the same side of the mounting frame 5, and a telescopic cylinder 411 whose two ends are respectively connected to the mounting seat 410 and the buckle module 40, wherein the telescopic cylinder 411 and the driving mechanism 3
  • the driving mechanism 3 exerts a force on the sliding seat 2
  • the telescopic cylinder 411 extends and drives the buckle module 40 to tilt outward, and the buckle module 40 is in a disengaged state from the groove 1a
  • the telescopic cylinder 411 contracts and drives the buckle module 40 to move inward, and the buckle module 40 and the groove 1a are in an engaged state.
  • the mounting base 410 includes a fixed rod a with one end fixed on the sliding base 2 and a connecting frame b provided at the other end of the fixed rod a.
  • the two ends of the telescopic cylinder 411 are respectively rotatably connected to the connecting frame b and the buckle module 40 .
  • the fixed rod a is arranged parallel to the slide rail 10, and is fixed on the sliding seat 2 from the upper end, the connecting frame b is located at the lower end of the fixed rod a and below the buckle module 40, and the upper end of the telescopic cylinder 411
  • the lower end is rotatably connected to the buckle module 40, and the lower end is rotatably connected to the connecting frame b; and the two rotation points at both ends of the telescopic cylinder 411 and the rotation point where the rotation shaft 42 is located constitute three vertices of the triangle.
  • the mounting frame 5 includes two mounting plates 50 arranged at the lower part of the sliding seat 2 and extending along the length direction of the sliding rail 10.
  • the two mounting plates 50 are arranged in parallel with the buckle module 40 and are clamped in the buckle module 40.
  • the rotating shaft 42 traverses the mounting plate 50 and the buckle module 40, and the mounting plate 50 and the buckle module 40 are rotatably connected.
  • the advantage of this arrangement is to limit the range of movement of the buckle module 40, thereby improving the accuracy and stability of the cooperation between the buckle module 40 and the groove 1a.
  • an up-limiting rod 6 and a down-limiting rod 7 are respectively provided on the standing frame 1 corresponding to the upper and lower ends of the slide rail 10.
  • the above-mentioned conveyance transmission device further includes a stroke track 8 arranged on the left side of the square column and parallel to the slide rail 10, and a stroke monitor 9 which is slidably arranged on the stroke track 8 up and down.
  • the commonly used stroke monitor 9 adopts the cooperation of sensors and sensors to accurately learn the movement state and movement position of the sliding seat, which is more conducive to the control of the operating state of the manipulator. For example: There are multiple sensors distributed on the travel track 8, and a sensor matching the sensor is provided on the sliding seat 2.
  • the sensors are divided into a sensor group for setting the moving distance of the sliding seat 2 and a sensor group for monitoring the sliding seat
  • the sensor group that monitors the motion state within the set movement stroke in this way, ensures that the sliding seat moves within the set stroke range, and can also observe the position of the sliding seat in the stroke at any time, thereby facilitating some emergencies Strain adjustment under conditions provides convenience for manipulators to carry workpieces.
  • the driving mechanism 3 in this example adopts the pulley winding mode commonly used in the art to realize the up and down movement of the sliding seat, which will not be described in detail here.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Seats For Vehicles (AREA)
  • Manipulator (AREA)

Abstract

矗立式下件机械手的搬运传动装置，其包括形成有滑轨（10）的矗立架（1）、与滑轨（10）滑动配合的滑座（2）、牵引滑座（2）在滑轨（10）上运动的驱动机构（3），在矗立架（1）上分布有多个卡槽（1a），且多个卡槽（1a）沿着矗立架（1）长度方向间隔分布，搬运传动装置还包括设置在滑座（2）上且与驱动机构（3）联动的防坠落部件（4），其中防坠落部件（4）包括与卡槽（1a）相配合的卡扣模块（40）、驱动卡扣模块（40）脱离和伸入卡槽（1a）内的驱动器（41），该驱动器（41）与驱动机构（3）联动，当驱动机构（3）对滑座（2）施加作用力时，驱动器（41）驱使卡扣模块（40）与滑座（2）移动路径上的卡槽（1a）保持脱离状态；当驱动机构（3）失去对滑座（2）作用力时，驱动器（41）驱使卡扣模块（40）运动并伸入滑座（2）坠落路径上最接近失去作用力位置的卡槽（1a）中，以限制滑座（2）在滑轨（10）上的自由坠落，消除工件搬运中的安全隐患。

Description

一种矗立式下件机械手的搬运传动装置 技术领域
本实用新型属于机械手领域，具体涉及一种矗立式下件机械手的搬运传动装置。
背景技术
机械手，其能模仿人手和臂的某些动作功能，用以按固定程序抓取、搬运物件或操作工具的自动操作装置。机械手是最早出现的工业机器人，也是最早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化和自动化，能在有害环境下操作以保护人身安全，因而广泛应用于机械制造、冶金、电子、轻工和原子能等部门。
同时，针对矗立式下件机械手而言，其在取料后，需要沿着矗立架长度方向运动至指定位置，以完成工件的搬运过程。目前，常用的方式是在矗立架上形成有沿着矗立架长度方向延伸的导轨，机械手自滑座滑动地架设在导轨上，同时在能够卷放的钢丝绳或皮带的牵引下，并配合传感器进行位移监控，以实现机器人对工件的搬运。
然而，在上述下件机械手的工作过程中，例如：钢丝绳或皮带牵引突然发生意外时，机器人在矗立架上失去限制，会沿着矗立架长度方向自由坠落，造成工件搬运过程中安全事故的发生，存在了很大的安全隐患。
发明内容
本实用新型所要解决的技术问题是克服现有技术的不足，提供一种改进的矗立式下件机械手的搬运传动装置。
为解决上述技术问题，本实用新型采取如下技术方案：
一种矗立式下件机械手的搬运传动装置，其包括形成有滑轨的矗立架、与滑轨滑动配合的滑座、牵引滑座在滑轨上运动的驱动机构，在矗立架上分布有多个卡槽，且多个卡槽沿着矗立架长度方向间隔分布，搬运传动装置还包括设置在滑座上且与驱动机构联动的防坠落部件，其中防坠落部件包括与卡槽相配合的卡扣模块、驱动卡扣模块脱离和伸入卡槽内的驱动器，该驱动器与驱动机构联动，当驱动机构对滑座施加作用力时，驱动器驱使卡扣模块与滑座移动路径上的卡槽保持脱离状态；当驱动机构失去对滑座作用力时，驱动器驱使卡扣模块运动并伸入滑座坠落路径上最接近失去作用力位置的卡槽 中，以限制滑座在滑轨上的自由坠落。
优选地，在滑座上形成有安装架，卡扣模块沿着垂直于滑座移动方向的转轴转动地设置在安装架上，驱动器能够驱动卡扣模块绕着转轴向外翘起或向内卡入卡槽方向运动设置。
根据本实用新型的一个具体实施和优选方面，驱动器包括设置在安装架同侧滑座上的安装座、两端部分别连接在安装座和卡扣模块上的伸缩气缸，其中伸缩气缸与驱动机构联动设置，当驱动机构对滑座施加作用力时，伸缩气缸伸长并驱使卡扣模块向外翘起，卡扣模块与卡槽处于脱离状态；当驱动机构对滑座施加作用力消失时，伸缩气缸收缩并驱使卡扣模块向内运动，卡扣模块与卡槽处于卡合状态。
优选地，安装座包括一端部固定在滑座上的固定杆、设置在固定杆另一端部的连接架，伸缩气缸的两端部分别转动连接在连接架和卡扣模块上。
进一步的，固定杆与滑轨平行设置，且自上端部固定在滑座上，连接架位于固定杆的下端部且位于卡扣模块的下方，伸缩气缸上端部转动连接在卡扣模块上，下端部转动连接在连接架上；且伸缩气缸两端部的两个转动点与转轴所在的转动点构成三角形的三个顶点。这样一来，不管在什么状态，都不会出现气缸无法运动的可能，从而确保卡扣模块能够正常地转动调节。
根据本实用新型的又一具体实施和优选方面，安装架包括设置在滑座的下部且沿着滑轨的长度方向延伸的两块安装板，其中两块安装板与卡扣模块平行设置、且夹持在卡扣模块的相对两侧，转轴横穿安装板和卡扣模块、并将安装板和卡扣模块相转动接设置。这样设置的好处是限制卡扣模块的运动范围，从而提高卡扣模块和卡槽配合的精准性和稳定性。
优选地，滑轨对称地分布在矗立架的相对两侧，卡槽分布在两侧滑轨之间且对应设置在矗立架的壳面板上。
具体的，多个卡槽均匀间隔的分布在壳面板上。
此外，在滑轨的上下两端部所对应的矗立架上分别设有上行限位杆件和下行限位杆件。当滑座上行至极限位置时，由上行限位杆件与滑座抵触；当滑座下行至极限位置时，由下行限位杆件与滑座抵触。
优选地，矗立架呈方柱形，卡槽和滑轨分布在同一侧面上，搬运传动装置还包括设置在方柱形另一侧面且与滑轨平行设置的行程轨道、能够上下滑动 地设置在行程轨道上的行程监控器。常用的行程监控器采用传感器和感应器的配合，以准确地获悉滑座的运动状态和运动位置等信息，从而更有利于机械手运行状态的掌控。
由于以上技术方案的实施，本实用新型与现有技术相比具有如下优点：
本实用新型通过防坠落部件的设置，能够有效地防止钢丝绳或皮带意外绷断后而引发坠落事故的发生，消除矗立式下件机械手在搬运工件中的安全隐患，同时结构简单，实施方便，且成本低。
附图说明
下面结合附图和具体的实施例对本实用新型做进一步详细的说明。
图1为本实用新型矗立式下件机械手的搬运传动装置的立体结构示意图(卡合时)；
图2为图1的主视示意图；
图3为图1的左视示意图；
其中：1、矗立架；10、滑轨；1a、卡槽；2、滑座；3、驱动机构；4、防坠落部件；40、卡扣模块；41、驱动器；410、安装座；a、固定杆；b、连接架；411、伸缩气缸；42、转轴；5、安装架；50、安装板；6、上行限位杆件；7、下行限位杆件；8、行程轨道；9、行程监控器。
具体实施方式
为使本申请的上述目的、特征和优点能够更加明显易懂，下面结合附图对本申请的具体实施方式做详细的说明。在下面的描述中阐述了很多具体细节以便于充分理解本申请。但是本申请能够以很多不同于在此描述的其它方式来实施，本领域技术人员可以在不违背本申请内涵的情况下做类似改进，因此本申请不受下面公开的具体实施例的限制。
在本申请的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相 对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少一个该特征。在本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
在本申请中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
在本申请中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。需要说明的是，当元件被称为“固定于”或“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“上”、“下”、“左”、“右”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方式。
参见图1所示，按照本实施例矗立式下件机械手的搬运传动装置，其包括形成有滑轨10的矗立架1、与滑轨10滑动配合的滑座2、牵引滑座2在滑轨10上运动的驱动机构3、设置在滑座2上且与驱动机构3联动的防坠落部件4。
结合图2所示，矗立架1呈方柱形，滑轨10有两条，且对应设置在矗立架1正面的壳面板上，同时，在两条滑轨10之间所对应的壳面板上分布有多个卡槽1a，其中多个卡槽1a沿着矗立架1长度方向均匀间隔分布。
防坠落部件4包括与卡槽1a相配合的卡扣模块40、驱动卡扣模40块脱离和伸入卡槽1a内的驱动器41，该驱动器41与驱动机构3联动，当驱动机构3对滑座2施加作用力时，驱动器41驱使卡扣模块40与滑座2移动路径上的卡槽保持脱离状态；当驱动机构3失去对滑座2作用力时，驱动器41驱使卡扣模 块40运动并伸入滑座2坠落路径上最接近失去作用力位置的卡槽1a中，以限制滑座2在滑轨10上的自由坠落。
在滑座2上形成有安装架5，卡扣模块40沿着垂直于滑座2移动方向的转轴42转动地设置在安装架5上，驱动器41能够驱动卡扣模块40绕着转轴42向外翘起或向内卡入卡槽1a方向运动设置。
具体的，驱动器41包括设置在安装架5同侧滑座2上的安装座410、两端部分别连接在安装座410和卡扣模块40上的伸缩气缸411，其中伸缩气缸411与驱动机构3联动设置，当驱动机构3对滑座2施加作用力时，伸缩气缸411伸长并驱使卡扣模块40向外翘起，卡扣模块40与卡槽1a处于脱离状态；当驱动机构3对滑座2施加作用力消失时，伸缩气缸411收缩并驱使卡扣模块40向内运动，卡扣模块40与卡槽1a处于卡合状态。
安装座410包括一端部固定在滑座2上的固定杆a、设置在固定杆a另一端部的连接架b，伸缩气缸411的两端部分别转动连接在连接架b和卡扣模块40上。
结合图3所示，固定杆a与滑轨10平行设置，且自上端部固定在滑座2上，连接架b位于固定杆a的下端部且位于卡扣模块40的下方，伸缩气缸411上端部转动连接在卡扣模块40上，下端部转动连接在连接架b上；且伸缩气缸411两端部的两个转动点与转轴42所在的转动点构成三角形的三个顶点。这样一来，不管在什么状态，都不会出现气缸无法运动的可能，从而确保卡扣模块40能够正常地转动调节。
安装架5包括设置在滑座2的下部且沿着滑轨10的长度方向延伸的两块安装板50，其中两块安装板50与卡扣模块40平行设置、且夹持在卡扣模块40的相对两侧，转轴42横穿安装板50和卡扣模块40、并将安装板50和卡扣模块40相转动接设置。这样设置的好处是限制卡扣模块40的运动范围，从而提高卡扣模块40和卡槽1a配合的精准性和稳定性。
此外，在滑轨10的上下两端部所对应的矗立架1上分别设有上行限位杆件6和下行限位杆件7。当滑座2上行至极限位置时，由上行限位杆件6与滑座2抵触；当滑座2下行至极限位置时，由下行限位杆件7与滑座2抵触。
本例中，上行限位杆件6有一根，对应设置两条滑轨10之间的中部，下行限位杆件7有两根，且对称设置在滑轨10下端部的相对两侧。
同时，上述的搬运传动装置还包括设置在方柱形左侧面且与滑轨10平行设置的行程轨道8、能够上下滑动地设置在行程轨道8上的行程监控器9。常用的行程监控器9采用传感器和感应器的配合，以准确地获悉滑座的运动状态和运动位置等信息，从而更有利于机械手运行状态的掌控。例如：在行程轨道8上分布有多个传感器，在滑座2上设有与传感器匹配的感应器，其中传感器分为用于设定滑座2移动行程的传感器组和用于监控滑座在所设定的移动行程内运动状态监控的传感器组，这样一来，确保了滑座在设定的行程范围内运动，而且还能够随时观察出滑座在行程中的位置，进而方便一些突发状况下应变调节，为机械手搬运工件提供方便。
最后，本例中的驱动机构3采用本领域常用的皮带轮卷放的模式实现滑座的上下运动，在此不对其进行详细描述。
以上对本实用新型做了详尽的描述，其目的在于让熟悉此领域技术的人士能够了解本实用新型的内容并加以实施，并不能以此限制本实用新型的保护范围，且本实用新型不限于上述的实施例，凡根据本实用新型的精神实质所作的等效变化或修饰，都应涵盖在本实用新型的保护范围。

Claims (13)

  1. 一种矗立式下件机械手的搬运传动装置，其包括形成有滑轨的矗立架、与所述的滑轨滑动配合的滑座、牵引所述的滑座在所述滑轨上运动的驱动机构，其特征在于：在所述的矗立架上分布有多个卡槽，且多个所述卡槽沿着所述矗立架长度方向间隔分布，所述的搬运传动装置还包括设置在所述滑座上且与所述的驱动机构联动的防坠落部件，其中所述防坠落部件包括与所述卡槽相配合的卡扣模块、驱动所述的卡扣模块脱离和伸入所述卡槽内的驱动器，所述的驱动器与所述驱动机构联动，当所述驱动机构对所述滑座施加作用力时，所述的驱动器驱使所述的卡扣模块与所述滑座移动路径上的所述卡槽保持脱离状态；当所述驱动机构失去对所述滑座作用力时，所述的驱动器驱使所述卡扣模块运动并伸入所述滑座坠落路径上最接近失去作用力位置的所述卡槽中，以限制所述滑座在所述滑轨上的自由坠落。
  2. 根据权利要求1所述的矗立式下件机械手的搬运传动装置，其特征在于：在所述的滑座上形成有安装架，所述卡扣模块沿着垂直于所述滑座移动方向的转轴转动地设置在所述安装架上，所述的驱动器能够驱动所述卡扣模块绕着所述的转轴向外翘起或向内卡入所述卡槽方向运动设置。
  3. 根据权利要求2所述的矗立式下件机械手的搬运传动装置，其特征在于：所述的驱动器包括设置在所述安装架同侧所述滑座上的安装座、两端部分别连接在所述安装座和所述卡扣模块上的伸缩气缸，其中所述的伸缩气缸与所述驱动机构联动设置，当所述驱动机构对所述滑座施加作用力时，所述伸缩气缸伸长并驱使所述卡扣模块向外翘起，所述卡扣模块与所述卡槽处于脱离状态；当所述驱动机构对所述滑座施加作用力消失时，所述伸缩气缸收缩并驱使所述卡扣模块向内运动，所述卡扣模块与所述卡槽处于卡合状态。
  4. 根据权利要求3所述的矗立式下件机械手的搬运传动装置，其特征在于：所述的安装座包括一端部固定在所述滑座上的固定杆、设置在所述固定杆另一端部的连接架，所述伸缩气缸的两端部分别转动连接在所述连接架和所述卡扣模块上。
  5. 根据权利要求4所述的矗立式下件机械手的搬运传动装置，其特征在于：所述固定杆与所述滑轨平行设置，且自上端部固定在所述滑座上。
  6. 根据权利要求5所述的矗立式下件机械手的搬运传动装置，其特征在于：所述的连接架位于所述固定杆的下端部且位于所述卡扣模块的下方，所 述的伸缩气缸上端部连接在所述卡扣模块上，下端部连接在所述连接架上。
  7. 根据权利要求6所述的矗立式下件机械手的搬运传动装置，其特征在于：所述伸缩气缸两端部的两个转动点与所述转轴所在的转动点构成三角形的三个顶点。
  8. 根据权利要求2所述的矗立式下件机械手的搬运传动装置，其特征在于：所述的安装架包括设置在所述滑座的下部且沿着所述滑轨的长度方向延伸的两块安装板，其中两块所述安装板与所述卡扣模块平行设置、且夹持在所述卡扣模块的相对两侧，所述的转轴横穿所述安装板和所述卡扣模块、并将所述安装板和所述卡扣模块相转动接设置。
  9. 根据权利要求1所述的矗立式下件机械手的搬运传动装置，其特征在于：所述的滑轨对称地分布在所述矗立架的相对两侧，所述的卡槽分布在两侧所述滑轨之间且对应设置在所述矗立架的壳面板上。
  10. 根据权利要求9所述的矗立式下件机械手的搬运传动装置，其特征在于：多个所述卡槽均匀间隔的分布在所述壳面板上。
  11. 根据权利要求1所述的矗立式下件机械手的搬运传动装置，其特征在于：在所述滑轨的上下两端部所对应的所述矗立架上分别设有上行限位杆件和下行限位杆件。
  12. 根据权利要求1所述的矗立式下件机械手的搬运传动装置，其特征在于：所述的矗立架呈方柱形，所述的卡槽和滑轨分布在同一侧面上，所述的搬运传动装置还包括设置在方柱形另一侧面且与所述滑轨平行设置的行程轨道、能够上下滑动地设置在所述行程轨道上的行程监控器。
  13. 根据权利要求1所述的矗立式下件机械手的搬运传动装置，其特征在于：在所述的滑座上形成有安装架，所述卡扣模块沿着垂直于所述滑座移动方向的转轴转动地设置在所述安装架上，所述的驱动器能够驱动所述卡扣模块绕着所述的转轴向外翘起或向内卡入所述卡槽方向运动设置；
    所述的驱动器包括设置在所述安装架同侧所述滑座上的安装座、两端部分别连接在所述安装座和所述卡扣模块上的伸缩气缸，其中所述的伸缩气缸与所述驱动机构联动设置，当所述驱动机构对所述滑座施加作用力时，所述伸缩气缸伸长并驱使所述卡扣模块向外翘起，所述卡扣模块与所述卡槽处于脱离状态；当所述驱动机构对所述滑座施加作用力消失时，所述伸缩气缸收缩 并驱使所述卡扣模块向内运动，所述卡扣模块与所述卡槽处于卡合状态；
    所述的安装座包括一端部固定在所述滑座上的固定杆、设置在所述固定杆另一端部的连接架，所述伸缩气缸的两端部分别转动连接在所述连接架和所述卡扣模块上；
    所述固定杆与所述滑轨平行设置，且自上端部固定在所述滑座上；
    所述的连接架位于所述固定杆的下端部且位于所述卡扣模块的下方，所述的伸缩气缸上端部连接在所述卡扣模块上，下端部连接在所述连接架上；
    所述伸缩气缸两端部的两个转动点与所述转轴所在的转动点构成三角形的三个顶点；
    所述的安装架包括设置在所述滑座的下部且沿着所述滑轨的长度方向延伸的两块安装板，其中两块所述安装板与所述卡扣模块平行设置、且夹持在所述卡扣模块的相对两侧，所述的转轴横穿所述安装板和所述卡扣模块、并将所述安装板和所述卡扣模块相转动接设置；
    所述的滑轨对称地分布在所述矗立架的相对两侧，所述的卡槽分布在两侧所述滑轨之间且对应设置在所述矗立架的壳面板上；
    多个所述卡槽均匀间隔的分布在所述壳面板上；
    在所述滑轨的上下两端部所对应的所述矗立架上分别设有上行限位杆件和下行限位杆件；
    所述的矗立架呈方柱形，所述的卡槽和滑轨分布在同一侧面上，所述的搬运传动装置还包括设置在方柱形另一侧面且与所述滑轨平行设置的行程轨道、能够上下滑动地设置在所述行程轨道上的行程监控器。
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