Manipulator material taking mechanism

Abstract

A mechanical arm material taking mechanism is used for picking up material discs and comprises a mechanical arm, a mechanism body frame, a rotating shaft and a rotating motor. The mechanical arm drives the mechanism body frame to get close to the material disc, the rotating shaft is installed on the mechanism body frame, and the rotating motor drives the rotating shaft to rotate so as to penetrate into the material disc to complete picking of the material disc. According to the utility model, the rotary motor drives the rotating shaft to rotate, so that the material tray can be easily picked up, the material tray can be simultaneously placed in the material picking process, and the material tray can be released in the process of moving the material tray to a specified area, and the material tray picking device is simple in structure and operation, and the cost is reduced.

Description

Technical Field

[0001] The utility model relates to the field of automation, in particular to a manipulator material taking mechanism. Background Art

[0002] In today's automation field, the positioning and handling of products are often involved. The industry's usual practice is to achieve product positioning and handling through a tray operating mechanism. The tray operating mechanism includes a base plate, an operating assembly and a clamping assembly. The clamping assembly includes a fixed block, a clamping claw cylinder and two clamping members. The fixed block is connected to the operating assembly and allows the two clamping members to slide; the clamping claw cylinder is fixed to the fixed block, and the driving shaft on it acts on the two clamping members to push the two clamping members outward to clamp the tray. The clamping assembly also includes a reset spring, which is arranged between the two clamping members, and its two ends are respectively connected to the two clamping members to accelerate the rapid reset of the two clamping members after pushing. The existing tray operating mechanism uses the clamping claw cylinder as a power source to push the two clamping members outward to clamp the tray, and uses a reset spring arranged between the two clamping members to accelerate the rapid reset of the two clamping members after pushing, resulting in complex structure, complex operation and high cost. Utility Model Content

[0003] The utility model aims to provide a manipulator material taking mechanism, which has a simple structure and is easy to operate, thereby reducing costs.

[0004] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a manipulator material picking mechanism, used for picking up a material tray, which includes a manipulator, a main frame of the mechanism, a rotating shaft and a rotating motor. The manipulator drives the main frame of the mechanism to approach the material tray, the rotating shaft is installed on the main frame of the mechanism and the rotating motor drives the rotation of the rotating shaft to penetrate into the material tray to complete the picking of the material tray.

[0005] As a further improved technical solution of the utility model, a spring and a metal sheet are installed on the rotating shaft, and the spring is clamped between the inner wall surface of the rotating shaft and the metal sheet. After the material tray is picked up to the rotating shaft and under the action of the elastic force of the spring, the metal sheet can be embedded in the material tray.

[0006] As a further improved technical solution of the utility model, it also includes a blocking piece with an initial state and a blocking state. The blocking piece is in the initial state before the rotating shaft picks up the material tray to make way for the material tray, and the blocking piece is in the blocking state after the rotating shaft picks up the material tray to clamp and position the material tray.

[0007] As a further improved technical solution of the utility model, it also includes a rotating motor, which drives the blocking plate to switch between the initial state and the blocking state.

[0008] As a further improved technical solution of the utility model, there are two blocking plates and they are respectively pivoted to the sides of the rotating shaft, there are two rotating motors and each rotating motor has an output shaft, each blocking plate is provided with a pivot portion, and each blocking plate is fixedly connected to the output shaft of the corresponding rotating motor through its own pivot portion.

[0009] As a further improved technical solution of the utility model, the projections of the output shafts and the rotating shafts of the two rotating motors on the vertical plane are arranged in a triangle.

[0010] As a further improved technical solution of the utility model, the output directions of the output shafts of the two rotating motors are opposite.

[0011] As a further improved technical solution of the utility model, a laser measuring sensor is provided on the main frame of the mechanism for judging the distance between the manipulator and the material tray.

[0012] As a further improved technical solution of the utility model, a visual guidance mechanism is provided on the main frame of the mechanism, and the visual guidance mechanism is used for visually guiding and compensating the material tray.

[0013] As a further improved technical solution of the utility model, a compensation light source is provided on the main frame of the mechanism, and the compensation light source is used to provide light source for the visual guidance mechanism.

[0014] Compared with the prior art, the manipulator material picking mechanism of the utility model includes a manipulator, a main frame of the mechanism, a rotating shaft and a rotating motor. The manipulator drives the main frame of the mechanism to approach the material tray. The rotating shaft is installed on the main frame of the mechanism and the rotating motor drives the rotation of the rotating shaft to penetrate into the material tray. The manipulator material picking mechanism of the utility model can easily realize the picking of the material tray by driving the rotation of the rotating shaft by the rotating motor. The material can be released at the same time during the material picking process. When the material tray moves to the designated area, the material tray is released. The utility model has a simple structure and simple operation, which reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional combination diagram of the material taking mechanism of the manipulator of the utility model;

[0016] Figure 2 yes Figure 1 A magnified view of part A;

[0017] Figure 3 It is a three-dimensional composite diagram of the utility model in which the manipulator material taking mechanism picks up the material tray but the blocking piece is still in the initial state;

[0018] Figure 4 It is a three-dimensional combined diagram of the utility model in which the manipulator material taking mechanism picks up the material tray and the blocking piece is in a blocking state;

[0019] Figure 5It is a three-dimensional exploded view of the blocking piece and its pivot part of the material taking mechanism of the utility model robot arm separated from other parts;

[0020] Figure 6 yes Figure 5 A magnified view of part B;

[0021] Figure 7 yes Figure 5 A front view of the material taking mechanism of the manipulator of the utility model, excluding the blocking piece and the other parts of the pivot part;

[0022] Figure 8 It is a three-dimensional combination diagram of the material taking mechanism of the utility model manipulator from another angle;

[0023] Fig. 9 It is a three-dimensional exploded view of the material picking mechanism of the manipulator of the utility model and the material tray picked up by it;

[0024] Fig.10 This is a three-dimensional exploded view of the material picking mechanism of the manipulator of the utility model and the material tray it picks up from another angle;

[0025] Fig.11 It is a three-dimensional diagram of a material tray picked up by the material taking mechanism of the manipulator of the utility model. DETAILED DESCRIPTION

[0026] The exemplary embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. If there are several embodiments, the features of these embodiments can be combined with each other without conflict. When the description refers to the drawings, unless otherwise specified, the same numbers in different drawings represent the same or similar elements. The contents described in the following exemplary embodiments do not represent all embodiments consistent with the present invention; on the contrary, they are merely examples of devices, products and / or methods that are consistent with some aspects of the present invention and are recorded in the claims of the present invention.

[0027] The terms used in the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the scope of protection of the present invention. The singular forms "a", "said" or "the" used in the specification and claims of the present invention are also intended to include plural forms, unless the context clearly indicates other meanings.

[0028] It should be understood that the words used in the specification and claims of the present invention, such as "first", "second" and similar words, do not indicate any order, quantity or importance, but are only used to distinguish the names of features. Similarly, words such as "one" or "an" do not indicate a quantitative limitation, but indicate the existence of at least one. Unless otherwise specified, words such as "front", "rear", "upper", "lower" and similar words appearing in the present invention are only for the convenience of description and are not limited to a specific position or a spatial orientation. Words such as "include" or "comprise" are an open-ended expression, meaning that the elements appearing before "include" or "comprise" include the elements appearing after "include" or "comprise" and their equivalents, which does not exclude that the elements appearing before "include" or "comprise" may also include other elements. If "several" appears in the present invention, it means two or more.

[0029] Please refer to Figures 1 to 11 As shown, the utility model discloses a manipulator material picking mechanism 100, which is used for picking up a material tray 200. The manipulator material picking mechanism 100 of the utility model comprises a manipulator (not shown), a main frame 1 of the mechanism, a rotating shaft 2 and a rotating motor 3. The manipulator drives the main frame 1 of the mechanism to approach the material tray 200, the rotating shaft 2 is mounted on the main frame 1 of the mechanism and the rotating motor 3 drives the rotating shaft 2 to rotate so as to penetrate into the material tray 200 and complete the picking up of the material tray 200. The manipulator material picking mechanism 100 of the utility model can easily pick up the material tray 200 by driving the rotating shaft 2 to rotate by the rotating motor 3, and the utility model has the beneficial effects of simple structure, simple operation and reduced cost.

[0030] Please refer to Figure 1 , Figure 2 , Figures 9 to 11 , a spring 4 and a metal sheet 5 are installed on the rotating shaft 2. The spring 4 is clamped between the inner wall surface of the rotating shaft 2 and the metal sheet 5. After the material tray 200 is picked up to the rotating shaft 2 and under the elastic force of the spring 4, the metal sheet 5 can be embedded in the positioning groove 201 on the material tray 200. Such a configuration, that is, the spring 4 and the metal sheet 5 are installed inside the rotating shaft 2, can ensure that the material tray 200 will not rotate when there is no power source.

[0031] Please refer to Figure 3 and Figure 4 , and also includes a blocking sheet 6 having an initial state and a blocking state. The blocking sheet 6 is in the initial state before the rotating shaft 2 picks up the material tray 200 to make way for the material tray 200, and the blocking sheet 6 is in the blocking state after the rotating shaft 2 picks up the material tray 200 to clamp and position the material tray 200. This arrangement, on the one hand, provides a clearance space for the rotating shaft 2 to penetrate into the material tray 200, and on the other hand, after the rotating shaft 2 rotates to penetrate into the material tray 200, the material tray 200 is clamped and positioned to prevent the material tray 200 from shaking and falling.

[0032] Please refer to Figure 1 The manipulator material taking mechanism 100 of the utility model further includes a rotating motor 7. The rotating motor 7 drives the blocking piece 6 to switch between the initial state and the blocking state. In this way, the rotating motor 7 can provide the blocking piece 6 with a driving force for switching between the initial state and the blocking state, completing the entire operation of the rotating shaft 2 penetrating into the material tray 200 and then the blocking piece 6 clamping and positioning the material tray 200.

[0033] Please refer to Figure 1 , Figure 3 , Figure 4 and Figure 7 , there are two blocking pieces 6 and they are pivotally connected to the sides of the rotating shaft 2. The "side" here specifically refers to the upper left side and the upper right side. There are two rotating motors 7 and each rotating motor 7 has an output shaft 70. Each blocking piece 6 is provided with a pivot portion 60, and each blocking piece 6 is fixedly connected to the output shaft 70 of the corresponding rotating motor 7 through its own pivot portion 60. Such an arrangement can effectively ensure that the driving force of the rotating motor 7 is transmitted to the blocking piece 6. It can be understood that the blocking piece 6 uses a fan-shaped structure and is driven by two low-power rotating motors 7, which can reduce the space occupied compared to being driven by a cylinder.

[0034] Please refer to Figure 7 The projections of the output shafts 70 of the two rotating motors 7 and the rotating shaft 2 on the vertical plane are arranged in a triangle. It is still necessary to emphasize that there are two blocking pieces 6 which are respectively pivotally connected to the upper left side and the upper right side of the rotating shaft 2, so as to provide a holding force in a balanced manner on the upper left side and the upper right side of the rotating shaft 2.

[0035] Optional, please refer to Figure 4 , the output directions of the output shafts 70 of the two rotating motors 7 are opposite. In this arrangement, when the blocking piece 6 on the upper left side deflects counterclockwise to the right around its own pivot portion 60 and blocks the material tray 200, the blocking piece 6 on the upper right side deflects clockwise to the left around its own pivot portion 60 and also blocks the material tray 200. Therefore, the two blocking pieces 6 on the left and right sides can be driven separately and independently without interfering with each other, ensuring the smooth operation of the entire manipulator material taking mechanism 100.

[0036] Please refer to Figure 1 The manipulator material picking mechanism 100 of the present invention is also provided with a laser measurement sensor 8, which is located on the main frame 1 of the mechanism and is arranged above the rotating shaft 2, and is used to determine the distance between the manipulator and the material tray 200.

[0037] For further information, please refer to Figure 1The manipulator material picking mechanism 100 of the utility model is also provided with a visual guidance mechanism 9, which is located on the main frame 1 of the mechanism and is arranged above the main frame 1 of the mechanism, and is used for visual guidance and compensation of the material tray 200.

[0038] Further references Figure 1 Combined with Figure 8 The main frame 1 of the mechanism is provided with a compensation light source 10, and the compensation light source 10 is used to provide light source for the visual guidance mechanism 9.

[0039] The actuation process of the utility model is as follows: the material picking mechanism 100 of the manipulator of the utility model is installed on the head of the manipulator through the connecting plate 101, and the manipulator drives the whole mechanism to move to the end face close to the material tray 200. At this time, the laser measurement sensor 8 measures the distance from the material tray 200, and the compensation light source 10 and the visual guidance mechanism 9 perform visual scanning and taking pictures for visual guidance, so that the rotating shaft 2 is coaxial with the material tray 200, and the material tray 200 is loaded into the rotating shaft 2, and then the two rotating motors 7 on both sides respectively drive the two blocking plates 6 to the blocking position, that is, when the blocking plate 6 changes from the initial state to the blocking state, the manipulator can take away the material tray 200; the rotating motor 3 of the material picking mechanism 100 of the manipulator of the utility model drives the material tray 200 to rotate again through the rotating shaft 2 at the designated area, so that the material belt is released in the process of placing the material tray 200 in place, that is, the material picking mechanism 100 of the manipulator of the utility model completes the operation.

[0040] The manipulator material picking mechanism 100 of the utility model uses a rotating shaft 2 for the material picking tray to replace the traditional clamping claw cylinder for grasping action, that is, the utility model can easily realize the picking up of the material tray 200 by driving the rotation of the rotating shaft 2 through the rotating motor 3. The utility model has the beneficial effects of simple structure, simple operation and reduced cost.

[0041] The above implementation modes are only used to illustrate the present invention and are not intended to limit the technical solutions described in the present invention. The understanding of the present invention should be based on the technical personnel in the relevant technical field. Although the present invention has been described in detail in this specification with reference to the above implementation modes, ordinary technical personnel in the field should understand that the technical personnel in the relevant technical field can still modify or make equivalent substitutions to the present invention, and all technical solutions and improvements thereof that do not depart from the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A manipulator material picking mechanism, used for picking up a material tray (200), comprising a manipulator, a mechanism main body frame (1), a rotating shaft (2) and a rotating motor (3), characterized in that: The robot drives the main frame (1) of the mechanism to approach the material tray (200), the rotating shaft (2) is installed on the main frame (1) of the mechanism, and the rotary motor (3) drives the rotating shaft (2) to rotate so as to penetrate into the material tray (200) and complete the picking of the material tray (200).

2. The manipulator material taking mechanism according to claim 1, characterized in that: A spring (4) and a metal sheet (5) are mounted on the rotating shaft (2); the spring (4) is clamped between the inner wall surface of the rotating shaft (2) and the metal sheet (5); after the material tray (200) is picked up by the rotating shaft (2) and under the elastic force of the spring (4), the metal sheet (5) can be embedded in the material tray (200).

3. The manipulator material taking mechanism according to claim 2, characterized in that: It also includes a blocking sheet (6) having an initial state and a blocking state. Before the rotating shaft (2) picks up the material tray (200), the blocking sheet (6) is in the initial state to make way for the material tray (200). After the rotating shaft (2) picks up the material tray (200), the blocking sheet (6) is in the blocking state to clamp and position the material tray (200).

4. The manipulator material taking mechanism according to claim 3, characterized in that: It also includes a rotating motor (7), which drives the blocking plate (6) to switch between the initial state and the blocking state.

5. The manipulator material taking mechanism according to claim 4, characterized in that: There are two blocking pieces (6) and they are respectively pivotally connected to the sides of the rotating shaft (2); there are two rotating motors (7) and each of the rotating motors (7) has an output shaft (70); each blocking piece (6) is provided with a pivot portion (60); each blocking piece (6) is fixedly connected to the output shaft (70) of the corresponding rotating motor (7) through its respective pivot portion (60).

6. The manipulator material taking mechanism according to claim 5, characterized in that: The projections of the output shafts (70) of the two rotating motors (7) and the rotating shaft (2) on a vertical plane are arranged in a triangle.

7. The manipulator material taking mechanism according to claim 5, characterized in that: The output directions of the output shafts (70) of the two rotating motors (7) are opposite.

8. The manipulator material taking mechanism according to any one of claims 1 to 7, characterized in that: The main frame (1) of the mechanism is provided with a laser measurement sensor (8) for determining the distance between the robot arm and the material tray (200).

9. The manipulator material taking mechanism according to any one of claims 1 to 7, characterized in that: The main frame (1) of the mechanism is provided with a visual guidance mechanism (9), and the visual guidance mechanism (9) is used to perform visual guidance and compensation on the material tray (200).

10. The manipulator material taking mechanism according to claim 9, characterized in that: The main body frame (1) of the mechanism is provided with a compensation light source (10), and the compensation light source (10) is used to provide light source for the visual guidance mechanism (9).

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