Material taking device

Abstract

The utility model discloses a material taking device which is characterized in that the material taking device comprises a material accumulating mechanism, a material taking mechanism and a material taking mechanism, the material taking translation mechanism comprises a translation guide rail and a material taking arm capable of horizontally moving on the translation guide rail, and the material taking arm can take out at least one carrier disc from the material accumulating mechanism and translate the at least one carrier disc to a set position; and the material taking mechanical arm is used for clamping the carrier disc located on the material taking moving mechanism, and the material taking mechanical arm comprises at least two clamping arms which are symmetrically arranged and can move oppositely or reversely. According to the utility model, the carrier discs are sequentially placed on the material accumulating mechanism, the material taking translation mechanism takes out at least one carrier disc from the material accumulating mechanism to a set position through horizontal movement, and then the material taking manipulator moves to the set position to take away the carrier discs, so that the problems encountered in the prior art are solved, and the automation degree is high.

Description

Technical Field

[0001] The utility model relates to a material taking device. Background Art

[0002] A material taking device in the prior art places materials in the holes on the carrier plate in sequence, and takes out the carrier plate when taking materials. This material taking device has a low automation level and poor position accuracy of taking materials. Utility Model Content

[0003] The purpose of the utility model is to provide a material taking device.

[0004] In order to solve the above problems, the utility model provides a material taking device, which is characterized by comprising:

[0005] The material accumulation mechanism is loaded with a plurality of carrier plates, and the carrier plates are loaded with a plurality of materials;

[0006] A material fetching translation mechanism, comprising a translation guide rail and a material fetching arm capable of horizontally moving on the translation guide rail, wherein the material fetching arm can fetch at least one carrier plate from the material accumulation mechanism and translate it to a set position;

[0007] The material picking robot is used to clamp the carrier plate located on the material picking translation mechanism, and the material picking robot includes at least two clamping arms that are symmetrically arranged and can move relative to or in opposite directions.

[0008] As a further improvement of the utility model,

[0009] The accumulating mechanism is provided with a plurality of horizontally placed carrier plates from top to bottom, and the carrier plates are driven by the accumulating driving device to perform lifting motion. The accumulating mechanism is provided with a plurality of accumulating chutes, and each of the carrier plates is arranged in one of the accumulating chutes, and the accumulating chutes are provided with openings for the carrier plates to slide out horizontally;

[0010] The material taking arm comprises a material supporting portion which is arranged horizontally, and an extending portion which is arranged on the material supporting portion and at least partially extends upward.

[0011] As a further improvement of the present invention, the material picking robot includes a robot mounting seat and a robot lifting mechanism for driving the robot mounting seat to rise and fall. The upper end of the clamping arm is rotatably mounted on an adjusting arm that can move horizontally or vertically, and its lower end is a free end for clamping the carrier plate. There is a position between the upper end of the clamping arm and its free end that is rotatably mounted on the robot mounting seat through a rotating shaft.

[0012] As a further improvement of the utility model, a centering mechanism for centering the carrier plate before grabbing it is provided under the manipulator mounting seat.

[0013] As a further improvement of the present invention, the centering mechanism includes at least four vertically arranged guide blocks, and the guide blocks are respectively used to contact four vertically arranged edges of the carrier plate.

[0014] As a further improvement of the present invention, at least two material-retrieving manipulators are provided and both are installed on a linear guide rail, and the material-retrieving manipulators can move along the linear guide rail.

[0015] The beneficial effect of the utility model is that, in the utility model, the carrier trays are placed on the material accumulation mechanism in sequence, the material picking translation mechanism takes out at least one carrier tray from the material accumulation mechanism to a set position through horizontal movement, and then the material picking robot moves to the set position to take away the carrier tray. The utility model solves the problems encountered in the prior art and has a high degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 yes Figure 1 Structural diagram of the medium accumulating mechanism;

[0018] Figure 3 yes Figure 1 Structural schematic diagram of the center-loading material translation mechanism;

[0019] Figure 4 yes Figure 1 A partial schematic diagram of the center-loading translation mechanism;

[0020] Figure 5 yes Figure 1 Schematic diagram of the structure of the middle material taking robot

[0021] In the figure: 100-material accumulation mechanism; 102-carrier plate; 103-translation guide rail; 104-material picking translation mechanism; 105-material picking arm; 106-material picking robot; 108-clamping arm; 110-material supporting part; 112-extending part; 114-material accumulation chute; 116-robot mounting seat; 118-robot lifting mechanism; 120-guide block; 122-linear guide rail. DETAILED DESCRIPTION

[0022] The technical solution of the utility model is further explained below with reference to the accompanying drawings and through specific implementation methods. Example

[0023] like Figure 1-5The present embodiment includes a material accumulation mechanism 100 of a frame structure, and the material accumulation mechanism 100 is provided with a plurality of parallel material accumulation chutes 114 from top to bottom, and the carrier plate 102 is installed in the material accumulation chutes 114; the material taking arm 105 in the material taking translation mechanism 104 moves along the translation guide rail 103 to the position directly below the carrier plate 102 of the material accumulation mechanism 100, and the material accumulation mechanism 100 causes the carrier plate 102 to move downward until the upper surface of the supporting portion 110 contacts the lower surface of the carrier plate 102, and the material taking arm 105 moves horizontally, and the extension portion 112 drives the entire carrier plate 102 to move out of the material accumulation chute 114 to a set position; the material taking manipulator 106 moves to the carrier plate 102 Directly above, the manipulator lifting mechanism 118 drives the manipulator mounting seat 116 to move downward. The material picking manipulator 106 is provided with a centering mechanism, namely four guide blocks 120, which contact the four sides of the carrier plate 102 during the downward movement to center the carrier plate 102, ensuring the position of the carrier plate 102 after being grasped by the material picking manipulator 106. After the centering is completed, the upper ends of the four clamping arms 108 rotate to connect the adjusting arms to drive the upper ends of the clamping arms 108 to move horizontally. At this time, the clamping arms 108 rotate around the middle rotating shaft, so that the two relatively arranged clamping arms 108 clamp the carrier plate 102, and the material picking manipulator 106 rises to complete the material picking action. Example

[0024] The difference between this embodiment and the first embodiment is that two groups of material picking robots 106 are provided, one of which takes out the carrier tray 102 from the material accumulation mechanism 100, and the other material picking robot 106 puts the processed carrier tray 102 back into the material accumulation mechanism 100 through the material picking translation mechanism 104, and the material picking robots 106 are moved to the set positions of the translation guide rails 103 through linear guide rails.

[0025] The technical principle of the present invention is described above in combination with specific embodiments. These descriptions are only for explaining the principle of the present invention and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on the explanations here, technicians in this field can think of other specific implementation methods of the present invention without creative work, and these methods will fall within the protection scope of the present invention.

Claims

1. A material taking device, characterized in that: include: The material accumulation mechanism (100) is loaded with a plurality of carrier trays (102), and a plurality of materials are loaded on the carrier trays (102); A material fetching translation mechanism (104), comprising a translation guide rail (103) and a material fetching arm (105) capable of horizontally moving on the translation guide rail (103), wherein the material fetching arm (105) is capable of fetching at least one carrier plate (102) from the material accumulating mechanism (100) and translationally moving it to a set position; The material picking robot (106) is used to clamp the carrier plate (102) located on the material picking translation mechanism (104), and the material picking robot (106) comprises at least two clamping arms (108) that are symmetrically arranged and can move relative to or in opposite directions.

2. A material taking device according to claim 1, characterized in that: The material accumulation mechanism (100) is provided with a plurality of horizontally placed carrier plates (102) from top to bottom, the carrier plates (102) are driven by a material accumulation driving device to perform lifting motion, the material accumulation mechanism (100) is provided with a plurality of material accumulation chutes (114), each of the carrier plates (102) is arranged in one of the material accumulation chutes (114), and the material accumulation chutes (114) are provided with an opening for the carrier plates (102) to slide out horizontally; The material taking arm (105) comprises a material supporting portion (110) arranged horizontally, and an extending portion (112) arranged on the material supporting portion (110) and at least partially extending upward.

3. A material taking device according to claim 2, characterized in that: The material picking robot (106) includes a robot mounting seat (116) and a robot lifting mechanism (118) for driving the robot mounting seat (116) to rise and fall. The upper end of the clamping arm (108) is rotatably mounted on an adjustment arm that can move horizontally or vertically, and its lower end is a free end for clamping the carrier plate (102). There is a position between the upper end of the clamping arm (108) and its free end that is rotatably mounted on the robot mounting seat (116) via a rotating shaft.

4. A material taking device according to claim 3, characterized in that: A centering mechanism for centering the carrier plate (102) before grabbing it is provided below the robot mounting seat (116).

5. A material taking device according to claim 4, characterized in that: The centering mechanism comprises at least four vertically arranged guide blocks (120), and the guide blocks (120) are respectively used to contact four vertically arranged edges of the carrier plate (102).

6. A material taking device according to claim 5, characterized in that: At least two of the material-retrieving manipulators (106) are provided, and both are mounted on a linear guide rail (122); the material-retrieving manipulators (106) are capable of moving along the linear guide rail (122).

Images