Stable material moving device

Abstract

The utility model relates to a stable type material moving device which comprises a three-axis moving platform and a material grabbing assembly, the three-axis moving platform is provided with a moving end, the material grabbing assembly comprises a base plate, a fixing plate, a shifting plate, a driving piece and a bearing piece, the base plate is connected with the moving end of the three-axis moving platform, and the fixing plate is connected with the moving end of the three-axis moving platform. The fixing plate is fixedly connected with the base plate, a fixing end abutting against the bottom of one side of an object is formed on the fixing plate, the shifting plate is slidably connected with the base plate in the direction close to or away from the fixing plate, and a shifting end abutting against the top of the other side of the object is formed on the shifting plate. The driving part is connected with the base plate, the output end of the driving part is connected with the shifting plate, and the bearing part is connected with the base plate and can move to the position below the space between the fixing plate and the shifting plate. Compared with a clamping type material moving device, the material moving device has the advantages that the objects are transferred in a bearing mode, and the objects cannot be damaged.

Description

Technical Field

[0001] The utility model relates to the technical field of material moving equipment, in particular to a stable material moving device. Background Art

[0002] The material transfer device includes a conveyor belt, a robot, etc., wherein the robot usually grabs the object by clamping the object or by suction cup adsorption, and moves the object to a specified position.

[0003] For example, a material moving mechanism proposed in the utility model patent with application number CN202121421327.8 includes a Y-axis linear module, a Z-axis linear module and a manipulator, and the manipulator realizes forward and backward movement in the Y-axis direction and up and down movement in the Z-axis direction through the Y-axis linear module and the Z-axis linear module. It is characterized in that the manipulator includes a clamp arm, a connecting plate installed on the clamp arm, a clamp cylinder installed on the connecting plate, a first clamp and a second clamp, the connecting plate and the clamp cylinder are successively located below the clamp arm, the first clamp and the second clamp are respectively installed on both sides of the clamp cylinder and are arranged opposite to each other, and the clamp cylinder is used to drive the first clamp and the second clamp to clamp or open.

[0004] However, when the clamping material transfer device grabs a heavier object, it needs to apply a greater pressure to the object, which can easily cause the object to deform. Utility Model Content

[0005] In view of this, it is necessary to provide a stable material moving device to solve the problem that when a clamping material moving device grabs a heavier object, it needs to apply a greater pressure to the object, which easily causes the object to deform.

[0006] The utility model provides a stable material moving device, including a three-axis mobile platform and a material grabbing assembly, the three-axis mobile platform has a mobile end, the material grabbing assembly includes a base plate, a fixed plate, a toggle plate, a driving member and a bearing member, the base plate is connected to the mobile end of the three-axis mobile platform, the fixed plate is fixedly connected to the base plate, a fixed end abutting against the bottom of one side of an object is formed on the fixed plate, the toggle plate is slidably connected to the base plate in a direction approaching or away from the fixed plate, a toggle end abutting against the top of the other side of the object is formed on the toggle plate, the driving member is connected to the base plate and the output end is connected to the toggle plate, the bearing member is connected to the base plate and can be moved to a position below the space between the fixed plate and the toggle plate.

[0007] Furthermore, a first spherical block is fixedly connected to the bottom of the fixing plate on one side close to the toggle plate, and the first spherical block forms the fixing end.

[0008] Furthermore, a second spherical block is fixedly connected to the bottom of the toggle plate on one side close to the fixed plate, and the second spherical block forms the toggle end.

[0009] Furthermore, the fixing plate and the shifting plate are arranged in parallel.

[0010] Furthermore, the fixing plate is arranged to be inclined downward in a direction close to the shifting plate.

[0011] Furthermore, the shifting plate is arranged to be inclined downward in a direction away from the fixing plate.

[0012] Furthermore, the driving member includes a motor, a screw, a threaded sleeve and a slider, the motor is installed on the substrate, the output end of the motor is connected to the screw, the screw is rotatably connected to the substrate, the threaded sleeve is arranged on the screw, the bottom of the threaded sleeve is slidably connected to a slide groove opened on the substrate via the slider, and the slider is fixedly connected to the toggle plate.

[0013] Furthermore, the bearing member includes a bearing plate and a push-pull member, the bearing plate is horizontally arranged and slidably connected to the base plate in a horizontal direction, the push-pull member is fixedly connected to the base plate, and the output end of the push-pull member is connected to the bearing plate to drive the bearing plate to slide.

[0014] Furthermore, the carrier also includes a plurality of guide plates arranged in parallel, the tops of the guide plates are fixedly connected to the base plate, and the carrier plate is arranged to pass through the guide grooves on the plurality of guide plates.

[0015] Furthermore, the three-axis mobile platform includes an X-axis moving part, a Y-axis moving part and a Z-axis moving part. The output end of the X-axis moving part is connected to the Y-axis moving part to drive the Y-axis moving part to move in a first direction. The output end of the Y-axis moving part is connected to the Z-axis moving part to drive the Z-axis moving part to move in a second direction. The output end of the Z-axis moving part is connected to the substrate to drive the substrate to move in a third direction. The first direction, the second direction and the third direction are arranged perpendicular to each other.

[0016] Compared with the prior art, the substrate is first moved to the top of the object to be grasped, so that the fixed plate and the toggle plate are located on both sides of the object, and the position of the substrate is adjusted so that the fixed end of the fixed plate abuts against the bottom of one side of the object, and the toggle plate is driven by the driving member to move in the direction approaching the object, and the toggle end on the toggle plate abuts against the top of the other side of the object. As the toggle end continues to move, the other side of the object is tilted with the fixed end as the base point. At this time, the carrier can be moved to the bottom of the object, and the toggle plate moves in the direction away from the object. The object finally falls on the carrier, and the three-axis movable platform can move the object to the target position, and finally the carrier can be pulled out. Compared with the clamping material moving device, the transfer of the object is achieved by supporting, and no damage is caused to the object. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the overall structure of a stable material moving device provided in an embodiment of the utility model;

[0018] Figure 2 A schematic diagram of the structure of a material grabbing assembly in a stable material moving device provided in an embodiment of the utility model;

[0019] Figure 3 A schematic diagram of the structure of an object tilting in a stable material moving device provided by an embodiment of the utility model;

[0020] Figure 4 A schematic structural diagram of a support member in a stable material moving device provided in an embodiment of the utility model moving to the bottom of an object. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the present application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0022] like Figure 1-4As shown, the utility model provides a stable material moving device, including a three-axis mobile platform 100 and a material grabbing assembly 200, the three-axis mobile platform 100 has a mobile end, the material grabbing assembly 200 includes a base plate 210, a fixed plate 220, a toggle plate 230, a driving member 240 and a supporting member 250, the base plate 210 is connected to the mobile end of the three-axis mobile platform 100, the fixed plate 220 is fixedly connected to the base plate 210, a fixed end 221 abutting against the bottom of one side of an object is formed on the fixed plate 220, the toggle plate 230 is slidably connected to the base plate 210 in a direction approaching or away from the fixed plate 220, a toggle end 231 abutting against the top of the other side of the object is formed on the toggle plate 230, the driving member 240 is connected to the base plate 210 and the output end is connected to the toggle plate 230, the supporting member 250 is connected to the base plate 210 and can be moved to a position below the space between the fixed plate 220 and the toggle plate 230.

[0023] During implementation, the base plate 210 is first moved to the top of the object to be grasped, so that the fixed plate 220 and the toggle plate 230 are located on both sides of the object, and the position of the base plate 210 is adjusted so that the fixed end 221 of the fixed plate 220 abuts against the bottom of one side of the object, and the toggle plate 230 is driven by the driving member 240 to move in the direction close to the object, and the toggle end 231 on the toggle plate 230 abuts against the top of the other side of the object. As the toggle end 231 continues to move, the other side of the object is tilted with the fixed end 221 as the base point. At this time, the supporting member 250 can be moved to the bottom of the object, and the toggle plate 230 moves in the direction away from the object. The object finally falls on the supporting member 250, and the three-axis moving platform 100 can move the object to the target position. Finally, the supporting member 250 can be pulled out. Compared with the clamping type material moving device, the transfer of the object is achieved by supporting, and no damage to the object is caused.

[0024] It should be noted that the above-mentioned objects require a larger clamping force to grasp the objects due to their large weight. However, this cannot be applied in some specific scenarios. For example, if the object is a box body, a larger clamping force may easily cause the box body to deform. For another example, if the box body is filled with black powder, a small amount of black powder may inevitably adhere to the outer wall of the box body, so that in the process of grasping the box body, the surface contact becomes point contact, and the box body is easy to fall off. Therefore, the present application solves the above-mentioned problem by changing the way of grasping the box body.

[0025] The three-axis moving platform 100 in this embodiment includes an X-axis moving part, a Y-axis moving part and a Z-axis moving part. The output end of the X-axis moving part is connected to the Y-axis moving part to drive the Y-axis moving part to move in a first direction. The output end of the Y-axis moving part is connected to the Z-axis moving part to drive the Z-axis moving part to move in a second direction. The output end of the Z-axis moving part is connected to the substrate 210 to drive the substrate 210 to move in a third direction. The first direction, the second direction and the third direction are arranged perpendicular to each other.

[0026] It is understandable that the three-axis mobile platform 100 is a structure that can be thought of by those skilled in the art, and no further elaboration and explanation will be given here.

[0027] The grabbing assembly 200 in this embodiment is a supporting grabbing structure, which includes a base plate 210, a fixed plate 220, a toggle plate 230, a driving member 240 and a supporting member 250. The base plate 210 is connected to the moving end of the three-axis moving platform 100, the fixed plate 220 is fixedly connected to the base plate 210, and a fixed end 221 is formed on the fixed plate 220 to abut against the bottom of one side of the object. The toggle plate 230 is slidably connected to the base plate 210 in a direction approaching or away from the fixed plate 220, and a toggle end 231 is formed on the toggle plate 230 to abut against the top of the other side of the object. The driving member 240 is connected to the base plate 210 and the output end is connected to the toggle plate 230. The supporting member 250 is connected to the base plate 210 and can be moved to a position below the space between the fixed plate 220 and the toggle plate 230.

[0028] In one embodiment, a first spherical block is fixedly connected to the bottom of the fixed plate 220 near the toggle plate 230, and the first spherical block forms the fixed end 221. A second spherical block is fixedly connected to the bottom of the toggle plate 230 near the fixed plate 220, and the second spherical block forms the toggle end 231.

[0029] In one embodiment, the fixed plate 220 and the shifting plate 230 are arranged in parallel.

[0030] To prevent the object from interfering with the fixing plate 220 during the tilting process, in another embodiment, the fixing plate 220 is tilted downwardly in a direction close to the shifting plate 230. Similarly, the shifting plate 230 is tilted downwardly in a direction away from the fixing plate 220.

[0031] Of course, in other embodiments, the problem of interference between the object and the fixed plate 220 and the toggle plate 230 can be avoided by changing the shapes of the fixed plate 220 and the toggle plate 230 .

[0032] In one embodiment, the driving member 240 includes a motor, a screw, a threaded sleeve and a slider. The motor is installed on the substrate 210, the output end of the motor is connected to the screw, the screw is rotatably connected to the substrate 210, the threaded sleeve is arranged on the screw, the bottom of the threaded sleeve is slidably connected to the slide groove opened on the substrate 210 via the slider, and the slider is fixedly connected to the toggle plate 230.

[0033] In one embodiment, the bearing member 250 includes a bearing plate 251 and a push-pull member 252. The bearing plate 251 is horizontally arranged and connected to the base plate 210 in a sliding manner in the horizontal direction. The push-pull member 252 is fixedly connected to the base plate 210. The output end of the push-pull member 252 is connected to the bearing plate 251 to drive the bearing plate 251 to slide. The push-pull member 252 can be implemented by a structure such as a gas rod.

[0034] In one embodiment, the carrier 250 further includes a plurality of parallel guide plates 253 , the tops of the guide plates 253 are fixedly connected to the base plate 210 , and the carrier plate 251 is disposed through guide grooves on the plurality of guide plates 253 .

[0035] Compared with the prior art: first, the base plate 210 is moved to the top of the object to be grasped, so that the fixed plate 220 and the toggle plate 230 are located on both sides of the object, and the position of the base plate 210 is adjusted so that the fixed end 221 of the fixed plate 220 abuts against the bottom of one side of the object, and the toggle plate 230 is driven by the driving member 240 to move in the direction close to the object, and the toggle end 231 on the toggle plate 230 abuts against the top of the other side of the object. As the toggle end 231 continues to move, the other side of the object is tilted with the fixed end 221 as the base point. At this time, the supporting member 250 can be moved to the bottom of the object, and the toggle plate 230 moves in the direction away from the object. The object finally falls on the supporting member 250, and the three-axis moving platform 100 can move the object to the target position. Finally, the supporting member 250 can be pulled out. Compared with the clamping type material moving device, the transfer of the object is achieved by supporting, and no damage to the object will be caused.

[0036] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by any technician familiar with the technical field within the technical scope disclosed in the present invention should be included in the protection scope of the present invention.

Claims

1. A stable material transfer device, characterized in that: include: A three-axis mobile platform having a mobile end; The material grabbing assembly includes a base plate, a fixed plate, a toggle plate, a driving member and a supporting member, wherein the base plate is connected to the moving end of the three-axis movable platform, the fixed plate is fixedly connected to the base plate, a fixed end abutting against the bottom of one side of an object is formed on the fixed plate, the toggle plate is slidably connected to the base plate in a direction approaching or moving away from the fixed plate, a toggle end abutting against the top of the other side of the object is formed on the toggle plate, the driving member is connected to the base plate and the output end is connected to the toggle plate, and the supporting member is connected to the base plate and can be moved to a position below the space between the fixed plate and the toggle plate.

2. The stable material transfer device according to claim 1, characterized in that: A first spherical block is fixedly connected to the bottom of the fixing plate on one side close to the shifting plate, and the first spherical block forms the fixing end.

3. The stable material transfer device according to claim 1, characterized in that: A second spherical block is fixedly connected to the bottom of the toggle plate on one side close to the fixed plate, and the second spherical block forms the toggle end.

4. The stable material moving device according to claim 1, characterized in that: The fixing plate and the shifting plate are arranged in parallel.

5. The stable material moving device according to claim 1, characterized in that: The fixing plate is arranged to be inclined downward in a direction close to the shifting plate.

6. The stable material moving device according to claim 1, characterized in that: The shifting plate is arranged to be inclined downward in a direction away from the fixing plate.

7. The stable material moving device according to claim 1, characterized in that: The driving member includes a motor, a screw, a threaded sleeve and a slider. The motor is installed on the base plate. The output end of the motor is connected to the screw. The screw is rotatably connected to the base plate. The threaded sleeve is arranged on the screw. The bottom of the threaded sleeve is slidably connected to a slide groove provided on the base plate via the slider. The slider is fixedly connected to the toggle plate.

8. The stable material moving device according to claim 1, characterized in that: The bearing member includes a bearing plate and a push-pull member. The bearing plate is horizontally arranged and connected to the base plate in a horizontal sliding direction. The push-pull member is fixedly connected to the base plate. The output end of the push-pull member is connected to the bearing plate to drive the bearing plate to slide.

9. The stable material moving device according to claim 8, characterized in that: The bearing member further comprises a plurality of guide plates arranged in parallel, the tops of the guide plates are fixedly connected to the base plate, and the bearing plate is arranged through guide grooves on the plurality of guide plates.

10. The stable material moving device according to claim 1, characterized in that: The three-axis moving platform includes an X-axis moving part, a Y-axis moving part and a Z-axis moving part. The output end of the X-axis moving part is connected to the Y-axis moving part to drive the Y-axis moving part to move in a first direction. The output end of the Y-axis moving part is connected to the Z-axis moving part to drive the Z-axis moving part to move in a second direction. The output end of the Z-axis moving part is connected to the substrate to drive the substrate to move in a third direction. The first direction, the second direction and the third direction are arranged perpendicular to each other.

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