Multi-head manipulator convenient for grabbing materials

Abstract

The utility model relates to the technical field of manipulators, in particular to a multi-head manipulator convenient for grabbing materials, which comprises a frame and a plurality of suction nozzles, the frame is provided with a plurality of groups of moving structures for respectively driving the plurality of suction nozzles to move independently, each moving structure comprises a lifting mechanism for driving the suction nozzles to lift and a rotating mechanism for driving the suction nozzles to rotate, the multiple lifting mechanisms are arranged in an upper row and a lower row in a staggered mode, the multiple rotating mechanisms are distributed in a row at intervals, the lifting mechanisms with the number equal to that of the suction nozzles are used for controlling lifting of each mechanical suction nozzle, and therefore the suction nozzles can move without being limited by other suction nozzles; in addition, the lifting mechanisms are arranged in an adjacent up-and-down staggered mode, transmission with the suction nozzles is carried out through the synchronous belts with different lengths, the space is also saved, and due to the fact that the actions of the multiple suction nozzles do not affect one another, more diversified actions can be achieved, the crystal suction time is shortened, and the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of quartz crystal production, in particular to a multi-head manipulator which is convenient for grabbing materials. Background Art

[0002] In the process of quartz crystal production, transfer is a very important production process. Through the transfer mechanism, the crystal on a tray of one specification can be transferred to a tray of another specification, or disordered bulk materials can be placed in the tray. The manipulator is the key structure of the transfer mechanism and the entire transfer machine, and it directly affects the performance and efficiency of the mechanism. In the above process, the manipulator is directly responsible for sucking and moving the crystal on one side to the other side of the swing plate, so the working efficiency of the manipulator directly affects the production efficiency of the transfer mechanism and even the whole machine. The traditional crystal industry manipulator mainly uses one motor to control the up and down movement of two adjacent manipulators, which reduces the number of motors and saves space. The disadvantage is that the two adjacent suction nozzles can only move in a way of one side descending and the other side rising under the control of the same motor. For example, when the No. 1 suction nozzle descends to prepare for suction, the No. 2 suction nozzle controlled by the same motor can only be in a state of rising and lifting in the opposite direction, and it is impossible to ensure that each suction nozzle does not affect each other. Utility Model Content

[0003] 1. Technical issues to be solved

[0004] In view of the deficiencies in the prior art, the utility model provides a multi-head manipulator which is convenient for grasping materials. It uses lifting mechanisms equal to the number of suction nozzles to control the lifting and lowering of each mechanical suction nozzle, so that the suction nozzle can move without being restricted by other suction nozzles. Moreover, the lifting mechanisms are arranged in an adjacent and staggered manner, and synchronous belts of unequal lengths are used to transmit the power to the suction nozzles, which also saves space. Since the actions of the multiple suction nozzles do not affect each other, more diversified actions can be achieved, thereby reducing the time for sucking crystals and improving production efficiency.

[0005] (II) Technical solution

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-head manipulator that is convenient for grasping materials, including a frame and multiple suction nozzles, the frame is equipped with multiple groups of movable structures that drive the multiple suction nozzles to move independently, the movable structures include a lifting mechanism that drives the suction nozzles to rise and fall and a rotating mechanism that drives the suction nozzles to rotate, the multiple lifting mechanisms are staggered in two rows, and the multiple rotating mechanisms are distributed in a row at intervals.

[0007] Preferably, it also includes a plurality of power source mechanisms for providing negative pressure power to a plurality of suction nozzles respectively, and the plurality of power source mechanisms are all mounted on the frame.

[0008] Preferably, the rotating mechanism includes a lifting slide that cooperates with the frame to slide up and down and a rotating motor fixedly mounted on the lifting slide, and the suction nozzle is vertically fixedly mounted to the bottom output end of the rotating motor.

[0009] Preferably, the lifting mechanism includes a lifting motor and a synchronous belt, the lifting motor is fixedly mounted on the frame, a rotating shaft rotatably connected to the frame is provided at the bottom of the lifting motor, synchronous wheels are fixedly mounted on the output shaft and the rotating shaft of the lifting motor, the synchronous belt is sleeved on two synchronous wheels, the lifting slide is fixedly connected to one side of the synchronous belt, the lifting motors in the multiple lifting mechanisms are staggered in two rows, the rotating shafts in the multiple lifting mechanisms are all located at the same height, and the synchronous belts in two adjacent lifting mechanisms are set with unequal lengths.

[0010] Preferably, the power source mechanism includes a vacuum generator and a vacuum valve, the vacuum generator is fixedly mounted on the top of the frame, one end of the vacuum valve is fixedly connected to the output end of the vacuum generator, and the other end of the vacuum valve is fixedly connected to the suction nozzle through a vacuum hose.

[0011] Preferably, the plurality of suction nozzles are set to six.

[0012] (III) Beneficial effects

[0013] Compared with the prior art, the utility model provides a multi-head manipulator that is convenient for grabbing materials and has the following beneficial effects:

[0014] 1. The multi-head manipulator, which is convenient for grasping materials, has precise coordination between various mechanisms. Through relatively simple mechanical principles, it can smoothly realize the important action of the transfer mechanism - moving the crystal product from the feeding side to the storage side according to the rules. Compared with the existing traditional transfer robot technology, the multi-head manipulator proposed in this study increases the number of control motors. A lifting mechanism controls the lifting of a manipulator, and realizes that the actions of each suction nozzle are independent and do not affect each other. There will be no similar phenomenon such as one suction nozzle descending and the other suction nozzle must rise. More diversified actions can be realized, the time for sucking crystals is reduced, and the production efficiency of the transfer mechanism and even the whole machine is improved.

[0015] 2. Although the multi-head manipulator for grabbing materials adopts the scheme of increasing the number of control motors to achieve the solution of non-interference of the actions of each suction nozzle, the actual volume does not increase. The multiple lifting mechanisms are staggered in two rows, and the multiple rotating mechanisms are distributed in a row. In the transfer mechanism, the volume of the manipulator is required to be as small as possible and not too large. The present mechanism cleverly divides the lifting mechanisms into two rows, and staggers them. The lifting mechanisms of two adjacent suction nozzles are moved up and down, and the length of the synchronous belt of the transmission is changed at the same time, so that more lifting mechanisms can be arranged in a limited space, and the transmission reliability is ensured while the total volume does not increase. The design of the whole process is simple, compact and precise, and can well achieve the required effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0017] Figure 2 It is a schematic diagram of the structure of the utility model as a whole from the left;

[0018] Figure 3 It is a schematic diagram of the overall front view of the utility model.

[0019] Markings in the attached figure: 1. lifting motor; 2. rotating motor; 3. vacuum valve; 4. vacuum generator; 5. synchronous belt; 6. suction nozzle. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] Example:

[0022] See also Figure 1-3, a multi-head manipulator convenient for grabbing materials, including a frame and a plurality of suction nozzles 6, the frame is equipped with a plurality of moving structures that respectively drive the plurality of suction nozzles 6 to move independently, the moving structures include a lifting mechanism for driving the suction nozzles 6 to lift and a rotating mechanism for driving the suction nozzles 6 to rotate, the plurality of lifting mechanisms are staggered in two rows, and the plurality of rotating mechanisms are spaced apart in a row. Compared with the traditional multi-head manipulator, the control method of the motor is changed, and each suction nozzle 6 uses two separate lifting mechanisms and rotating mechanisms to respectively control its up and down height movement and rotation movement, so that each suction nozzle 6 can operate independently without affecting each other, thereby improving the production efficiency of the transfer mechanism. At the same time, it also maintains a small volume, ensuring that the space occupied by the transfer action is as small as possible; the various mechanisms of the present invention are precisely coordinated with each other, and through relatively simple mechanical principles, the important action of the transfer mechanism can be smoothly realized - moving the crystal product from the feeding side to the storage side according to the rules. Compared with the existing traditional transfer robot technology, the multi-head robot proposed in this study increases the number of control motors, and one motor controls the lifting and lowering of one robot, so that the actions of each suction nozzle 6 are independent and do not affect each other, and there will be no similar phenomena such as one suction nozzle 6 descending and the other suction nozzle 6 must rise. More diversified actions can be realized, the time for sucking crystals is reduced, and the production efficiency of the transfer mechanism and even the whole machine is improved; although the multi-head robot that is easy to grasp materials adopts a solution of increasing the number of control motors to achieve that the actions of each suction nozzle 6 do not affect each other, the actual volume has not increased.

[0023] Specifically, it also includes multiple groups of power source mechanisms that provide negative pressure power to multiple suction nozzles 6 respectively. The multiple groups of power source mechanisms are all installed on the frame to ensure the adsorption force of the adsorption claw crystal of the suction nozzle 6.

[0024] Specifically, the rotating mechanism includes a lifting slide that slides up and down with the frame and a rotating motor 2 fixedly installed on the lifting slide. The suction nozzle 6 is vertically fixedly installed to the bottom output end of the rotating motor 2, and at the same time, the output shaft of the rotating motor 2 rotates clockwise or counterclockwise, so as to drive the suction nozzle 6 to rotate synchronously clockwise or counterclockwise.

[0025] Specifically, the lifting mechanism includes a lifting motor 1 and a synchronous belt 5. The lifting motor 1 is fixedly installed on the frame. A rotating shaft connected to the frame for rotation is arranged at the bottom of the lifting motor 1. Synchronous wheels are fixedly installed on the output shaft and the rotating shaft of the lifting motor 1. The synchronous belt 5 is sleeved on two synchronous wheels. The lifting slide is fixedly connected to one side of the synchronous belt 5. The lifting motors 1 in the multiple lifting mechanisms are staggered in two rows, and the rotating shafts in the multiple lifting mechanisms are located at the same height. The synchronous belts 5 in the two adjacent lifting mechanisms are set at unequal lengths. In the transfer mechanism, the volume of the manipulator is required to be as small as possible and cannot be too large. This mechanism The plurality of lifting motors 1 are cleverly divided into two rows and arranged alternately. The lifting motors 1 of two adjacent suction nozzles 6 are moved up and down one by one, and the length of the transmission synchronous belt 5 is changed at the same time, so that more motors can be arranged in a limited space, and the transmission reliability is ensured while the total volume does not increase. The design of the whole process is simple, compact and precise, and can well achieve the required effect. The lifting motor 1 is started, and the output shaft of the lifting motor 1 rotates clockwise or counterclockwise, thereby driving the synchronous belt 5 to rotate clockwise or counterclockwise, thereby driving the lifting slide to rise or fall, and the synchronous belt 5 drives the suction nozzle 6 to rise or fall.

[0026] Specifically, the power source mechanism includes a vacuum generator 4 and a vacuum valve 3. The vacuum generator 4 is fixedly installed on the top of the frame. One end of the vacuum valve 3 is fixedly connected to the output end of the vacuum generator 4, and the other end of the vacuum valve 3 is fixedly connected to the suction nozzle 6 through a vacuum hose. The vacuum valve 3 controls the vacuum generator 4 to generate negative pressure in the suction nozzle 6. After the suction nozzle 6 absorbs the crystal through the negative pressure, the vacuum valve 3 controls the cancellation of the negative pressure in the vacuum generator 4 and the suction nozzle 6 chamber, the suction force disappears, and the suction nozzle 6 drops the crystal to the target position.

[0027] Specifically, the plurality of suction nozzles 6 are set to six, and the number of the suction nozzles 6 can be increased according to demand.

[0028] During use, since the actions of each suction nozzle 6 do not affect each other, taking the action of one suction nozzle 6 as an example, under the control of the lifting motor 1, the suction nozzle 6 of the multi-head manipulator descends from the specified position to the specified height, and the vacuum valve 3 controls the vacuum generator 4 to generate negative pressure in the suction nozzle 6. The suction nozzle 6 absorbs the crystal through the negative pressure and then rises. In the middle, the suction nozzle 6 is compensated and turned by the CCD mechanism image recognition and the rotating motor 2 controlled to rotate, and then moves along the track as a whole to the vicinity of the target position, and then the lifting motor 1 controls the suction nozzle 6 to descend to the specified position to the specified height, and then the vacuum valve 3 controls the cancellation of the negative pressure in the vacuum generator 4 and the suction nozzle 6 chamber, the suction force disappears, and the suction nozzle 6 drops the crystal to the target position. When all the multiple suction nozzles 6 work at the same time, that is, multiple crystals are sucked in sequence on the feeding side, and then the crystals are placed in the specified position of the specified tray in sequence.

[0029] It should be noted that the phrases "one embodiment", "an embodiment", "an exemplary embodiment", "some embodiments", etc. mentioned in the specification indicate that the described embodiments may include certain features, structures or characteristics, but not every embodiment may include the certain features, structures or characteristics. In addition, such phrases do not necessarily refer to the same embodiment. In addition, when describing certain features, structures or characteristics in conjunction with an embodiment, it is within the knowledge of those skilled in the art to implement such features, structures or characteristics in conjunction with other embodiments, whether explicitly or not explicitly described.

[0030] It should be easily understood that “on,” “above,” and “over” in the present disclosure should be interpreted in the broadest manner, so that “on” not only means “directly on something,” but also includes the meaning of “on something” with intervening features or layers therebetween, and “above” or “over” not only includes the meaning of “above” or “over,” but also may include the meaning of “above” or “over something” with no intervening features or layers therebetween (i.e., directly on something).

[0031] In addition, spatially relative terms, such as "below," "below," "beneath," "above," "above," etc., may be used herein for ease of description to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. The device may have other orientations (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein may likewise be interpreted accordingly.

[0032] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A multi-head manipulator for grabbing materials, characterized by: The invention comprises a frame and a plurality of suction nozzles (6), wherein the frame is equipped with a plurality of movable structures for driving the plurality of suction nozzles (6) to move independently, wherein the movable structures comprise a lifting mechanism for driving the suction nozzles (6) to rise and fall and a rotating mechanism for driving the suction nozzles (6) to rotate, wherein the plurality of lifting mechanisms are arranged alternately in two rows, upper and lower, and the plurality of rotating mechanisms are arranged in a row with intervals.

2. The multi-head manipulator for grabbing materials according to claim 1 is characterized in that: It also includes a plurality of power source mechanisms for providing negative pressure power to the plurality of suction nozzles respectively, and the plurality of power source mechanisms are all mounted on the frame.

3. The multi-head manipulator for grabbing materials according to claim 2 is characterized in that: The rotating mechanism comprises a lifting slide which cooperates with the frame to slide up and down and a rotating motor (2) fixedly mounted on the lifting slide, and the suction nozzle (6) is vertically fixedly mounted on the bottom output end of the rotating motor (2).

4. The multi-head manipulator for grabbing materials according to claim 3 is characterized in that: The lifting mechanism comprises a lifting motor (1) and a synchronous belt (5); the lifting motor (1) is fixedly mounted on a frame; a rotating shaft rotatably connected to the frame is arranged at the bottom of the lifting motor (1); synchronous wheels are fixedly mounted on the output shaft and the rotating shaft of the lifting motor (1); the synchronous belt (5) is sleeved on two synchronous wheels; and the lifting slide is fixedly connected to one side of the synchronous belt (5).

5. The multi-head manipulator for grabbing materials according to claim 4 is characterized in that: The power source mechanism comprises a vacuum generator (4) and a vacuum valve (3); the vacuum generator (4) is fixedly mounted on the top of the frame; one end of the vacuum valve (3) is fixedly connected to the output end of the vacuum generator (4); and the other end of the vacuum valve (3) is fixedly connected to the suction nozzle (6) via a vacuum hose.

6. The multi-head manipulator for grabbing materials according to claim 5 is characterized in that: The plurality of suction nozzles (6) are arranged in six numbers.

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