Material taking manipulator

Abstract

The utility model relates to the technical field of material taking machinery, in particular to a material taking manipulator which comprises an installation frame, a rodless air cylinder is installed on the top face of the installation frame, a sliding table is connected to the rodless air cylinder in a sliding mode, a guide rail is fixedly arranged on the outer wall of the installation frame, an L-shaped block is connected to the guide rail in a sliding mode, and the rear wall of the L-shaped block is fixedly connected with the sliding table. The L-shaped block is sleeved with a sliding block, a first air cylinder is installed on the top face of the sliding table through an installation base, a piston rod of the first air cylinder is fixedly connected with the outer wall of the sliding block, a support is fixedly arranged on the outer side wall of the sliding block, and a second air cylinder is installed at the lower end of the outer wall of the support through a front end installation base. A first rotating cylinder is mounted at the lower end of the second cylinder through a mounting seat. The clamping block structures in different shapes facilitate material taking and use of materials in different shapes, various use positions and heights can be conveniently adjusted, different production requirements are met, rapid taking and placing of the materials are achieved, and therefore the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material taking machinery, in particular to a material taking mechanical arm. Background Art

[0002] Manipulators are widely used in industrial production fields, such as injection molding, mechanical processing, casting industry, etc. They are used to quickly grab products from molds, pick up and feed materials, extract high-temperature molten liquid, etc. Manipulators have a fast picking speed and can complete picking, placing, and transporting operations in an instant, saving time for outbound and storage. At the same time, manipulators are also used in medical surgery, semiconductor production and other fields to improve surgical accuracy, shorten surgical time, and reduce production costs;

[0003] After searching, a Chinese patent with the announcement number CN212578605U provides a material-retrieving manipulator, including a movable arm beam and a servo motor, wherein the right end of the movable arm beam is bolted with a servo motor, and the convenient inlay device of the utility model is composed of a gripper, a texture plate, an inlay plate and a limit plate, wherein the inlay plate is welded on a clamping plate, and the gripper is grasped by hand to lift the texture plate, and the texture plate is inserted into the inlay plate and limited by the limit plate, and the convenient inlay device is installed on the clamping plate, so that it is convenient to replace and install different texture plates, and when different textures are clamped, the friction force is effectively increased to clamp the material, so that the material will not be separated when it moves, and the installation is simple and practical;

[0004] However, it was found during use that the size of the device when picking up materials is relatively single and fixed. When picking up materials of different sizes, the manipulator needs to make complex adjustments or replace the clamping device, which is inconvenient and inefficient to operate. It has certain limitations in batch picking up materials, grabbing one or a few materials at a time. In production scenarios where multiple materials need to be picked up at the same time, the efficiency of the manipulator is poor, which affects the production efficiency of the production line and is not conducive to material picking use. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a material picking robot, which solves the problem that the size of the device is relatively single and fixed when picking materials. When picking materials of different sizes, the robot needs to perform complex adjustments or replace the clamping device, which is inconvenient and inefficient to operate. There are certain limitations in batch picking, and only one or a few materials are grabbed at a time. In production scenarios where multiple materials need to be picked up at the same time, the efficiency of the robot is poor, which affects the production efficiency of the production line and is not conducive to the use of material picking. Technical problems.

[0006] The cam is provided with an L-shaped block, and the rear wall of the L-shaped block is fixedly connected to the slide, and a slider is sleeved on the L-shaped block. The top surface of the slide is provided with a first cylinder through a mounting seat, and a piston rod of the first cylinder is fixedly connected to the outer wall of the slider through a front mounting seat, and a second cylinder is fixedly connected to the outer wall of the slider through a mounting seat at the lower end of the outer wall of the bracket, and a first rotating cylinder is installed at the lower end of the second cylinder through a mounting seat, a connecting block is installed on the rotating platform of the first rotating cylinder, and a second rotating cylinder is installed on the outer wall of the lower end of the connecting block through a mounting seat, and a finger cylinder is installed on the rotating platform of the second rotating cylinder through a mounting seat, and two clamping claws are provided on the finger cylinder, and a clamp assembly is installed on the clamping claw.

[0007] Preferably, the clamp assembly is provided with a clamp block structure, and the clamp block structure includes a first clamp plate, a second clamp plate and a third clamp plate, the first clamp plate is rectangular, and the second clamp plate and the third clamp plate are both square.

[0008] Through the above technical solution, the clamping block structures of different shapes facilitate the taking and use of materials of different shapes.

[0009] Preferably, the clamping block structure is provided with a socket, and the clamping block structure is snap-fitted with the lower end of the clamping claw through the socket. The clamping block structure is provided with a mounting hole, and the mounting hole is connected with the socket, and a hexagon socket bolt is inserted into the mounting hole, and the lower end of the clamping claw is threadedly connected to the threaded end of the hexagon socket bolt through a threaded hole.

[0010] Through the above technical solution, before taking the material, a suitable clamping block structure is inserted into the lower end of the clamping claw through the socket, and the hexagon socket bolt is inserted into the mounting hole, so that the threaded end of the hexagon socket bolt is threadedly connected to the clamping block structure, which facilitates the installation and disassembly of different clamping block structures.

[0011] Preferably, both ends of the first splint are symmetrically structured with two limit grooves, the outer walls of both ends of the first splint are slidably connected with sliding sleeves, the lower end of the sliding sleeve is triangular, and the inner side wall of the sliding sleeve is symmetrically structured with two limit blocks, the limit blocks are located inside the limit grooves, and the limit blocks are slidably connected to the first splint through the limit grooves.

[0012] Preferably, a dual-axis motor is installed at the middle part of the top surface of the first clamping plate through a mounting seat, and a screw rod is coaxially connected to the output shaft of the dual-axis motor.

[0013] Preferably, a push block is fixedly provided on one side of the bottom surface of the sliding sleeve close to the dual-axis motor, and the push block is threadedly connected to the lead screw through a threaded hole.

[0014] Through the above technical solution, the output shaft of the dual-axis motor drives the two screws to rotate synchronously, the rotating screws push the push block to move to the side away from the dual-axis motor, and the push block drives the sleeve to slide along the first clamping plate to adjust the sleeve to a suitable length for use.

[0015] Preferably, an arc-shaped groove is formed on the inner wall of the second clamping plate.

[0016] Through the above technical solution, spherical and cylindrical materials can be easily taken out through the arc groove.

[0017] Preferably, a sponge pad is embedded in the inner wall of the third splint.

[0018] Through the above technical solution, the sponge pad is in direct contact with the fragile material when taking the material, which reduces the squeezing and friction of the material and reduces the damage to the material.

[0019] Beneficial effects of the utility model:

[0020] 1. Install the device at a suitable position of use through the mounting frame. After the installation is completed, the slide table of the rodless cylinder moves to drive the L-shaped block to slide along the guide rail to a suitable position of use. The piston rod of the first cylinder pushes the slider to slide along the L-shaped block, driving the bracket and the second cylinder to move synchronously. The piston rod of the second cylinder drives the first rotary cylinder to adjust to a suitable height of use. The rotary table of the first rotary cylinder rotates and drives the connecting block and the second rotary cylinder to rotate synchronously to a suitable angle of use. The rotary table of the second rotary cylinder rotates to drive the finger cylinder to rotate to a suitable material picking angle. The clamping block structure on the clamp assembly is driven to move synchronously by the clamping claws of the finger cylinder, and the material to be picked up is clamped by the clamping block structure. Clamping block structures of different shapes facilitate the use of materials of different shapes, and are convenient to adjust to various positions and heights of use, adapt to different production needs, and realize rapid material picking and placement, thereby improving production efficiency.

[0021] 2. Before taking materials, insert a suitable clamping block structure into the lower end of the clamping claw through the jack, insert the hexagon socket bolt into the mounting hole, and make the threaded end of the hexagon socket bolt threadedly connected to the clamping block structure, which is convenient for the installation and disassembly of different clamping block structures. When taking materials through the first clamping plate, the output shaft of the dual-axis motor drives the two screws to rotate synchronously, and the rotating screw drives the push block to move to the side away from the dual-axis motor. The push block drives the sliding sleeve to slide along the first clamping plate, and the sliding sleeve drives the limit block to slide along the limit groove. The sliding sleeve is adjusted to a suitable length for use, which is convenient for simultaneous taking of larger materials and multiple smaller materials, thereby improving the material taking efficiency. The clamping block structure is suitable for materials of various shapes and sizes, and enhances versatility and flexibility.

[0022] 3. When it is necessary to pick up spherical and cylindrical materials, replace the second clamping plate and use it. The arc groove makes it convenient to pick up spherical and cylindrical materials, reduces the occurrence of spherical and cylindrical materials sliding and falling off during picking up, improves the stability of picking up materials, and improves the use effect of the entire picking process.

[0023] 4. When taking fragile materials, by replacing the third clamping plate and installing the clamping surface with a sponge pad, it can ensure that the sponge pad is in direct contact with the fragile materials during taking the materials, reducing the extrusion and friction on the materials, reducing the damage to the materials, adapting to fragile materials of different shapes and sizes, and closely fitting the surface of the materials, preventing the materials from being broken or scratched during the taking process, and protecting the integrity of the materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0025] Figure 2 This is a schematic diagram of the disassembly of the slide structure of the utility model;

[0026] Figure 3 This is a right view of the finger cylinder structure of the utility model;

[0027] Figure 4 This is a bottom view of the first clamping plate structure of the utility model;

[0028] Figure 5 It is a bottom view of the second clamping plate structure of the utility model;

[0029] Figure 6 This is a schematic diagram of the sponge pad structure of the utility model.

[0030] In the figure: 1. mounting frame; 2. rodless cylinder; 3. slide; 4. guide rail; 5. L-shaped block; 6. slider; 7. first cylinder; 8. bracket; 9. second cylinder; 10. first rotary cylinder; 11. second rotary cylinder; 12. finger cylinder; 13. clamping claw; 14. clamp assembly; 1401. clamping block structure; 1402. first clamping plate; 1403. second clamping plate; 1404. third clamping plate; 1405. jack; 1406. hexagon socket bolt; 1407. limiting groove; 1408. sliding sleeve; 1409. limiting block; 1410. dual-axis motor; 1411. screw rod; 1412. push block; 1413. arc groove; 1414. sponge pad; 1415. mounting hole; 15. connecting block. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0032] Embodiment 1

[0033] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this embodiment provides a material-grabbing robot, including a mounting frame 1, a rodless cylinder 2 is mounted on the top surface of the mounting frame 1, a slide 3 is slidably connected to the rodless cylinder 2, a guide rail 4 is fixedly arranged on the outer wall of the mounting frame 1, an L-shaped block 5 is slidably connected to the guide rail 4, the rear wall of the L-shaped block 5 is fixedly connected to the slide 3, a slider 6 is sleeved on the L-shaped block 5, a first cylinder 7 is mounted on the top surface of the slide 3 through a mounting seat, a piston rod of the first cylinder 7 is fixedly connected to the outer wall of the slider 6, a bracket 8 is fixedly arranged on the outer wall of the slider 6, a second cylinder 9 is mounted on the lower end of the outer wall of the bracket 8 through a front mounting seat, a first rotating cylinder 10 is mounted on the lower end of the second cylinder 9 through a mounting seat, a connecting block 15 is mounted on the rotating table of the first rotating cylinder 10, a second rotating cylinder 11 is mounted on the outer wall of the lower end of the connecting block 15 through a mounting seat, a finger cylinder 12 is mounted on the rotating table of the second rotating cylinder 11 through a mounting seat, two clamping claws 13 are arranged on the finger cylinder 12, and a clamp assembly 14 is mounted on the clamping claw 13.

[0034] The clamp assembly 14 is provided with a clamping block structure 1401, which includes a first clamping plate 1402, a second clamping plate 1403 and a third clamping plate 1404. The first clamping plate 1402 is rectangular, and the second clamping plate 1403 and the third clamping plate 1404 are both square. The clamping block structures 1401 of different shapes facilitate the use of materials of different shapes.

[0035] A socket 1405 is provided on the clamping block structure 1401, and the clamping block structure 1401 is engaged with the lower end of the clamping jaw 13 through the socket 1405. A mounting hole 1415 is provided on the clamping block structure 1401, and the mounting hole 1415 is connected to the socket 1405. A hexagon socket bolt 1406 is inserted into the mounting hole 1415, and the lower end of the clamping jaw 13 is threadedly connected with the threaded end of the hexagon socket bolt 1406 through the threaded hole; before taking the material, a suitable clamping block structure 1401 is inserted into the lower end of the clamping jaw 13 through the socket 1405, and the hexagon socket bolt 1406 is inserted into the mounting hole 1415, so that the threaded end of the hexagon socket bolt 1406 is threadedly connected to the clamping block structure 1401, which facilitates the installation and disassembly of different clamping block structures 1401.

[0036] Both ends of the first clamping plate 1402 are symmetrically structured with two limit grooves 1407, and the outer walls of both ends of the first clamping plate 1402 are slidably connected with sliding sleeves 1408, the lower end of the sliding sleeve 1408 is triangular, and the inner wall of the sliding sleeve 1408 is symmetrically structured and fixed with two limit blocks 1409, the limit blocks 1409 are located inside the limit grooves 1407, and the limit blocks 1409 are slidably connected to the first clamping plate 1402 through the limit grooves 1407, and a dual-axis motor 1410 is installed in the middle of the top surface of the first clamping plate 1402 through a mounting seat. The dual-axis motor 1410 is installed in the middle of the top surface of the first clamping plate 1402 through a mounting seat. 0 is coaxially connected with a lead screw 1411, and a push block 1412 is fixedly arranged on the bottom surface of the sleeve 1408 close to the dual-axis motor 1410, and the push block 1412 is threadedly connected with the lead screw 1411 through a threaded hole; the output shaft of the dual-axis motor 1410 drives the two lead screws 1411 to rotate synchronously, and the rotating lead screw 1411 pushes the push block 1412 to move to the side away from the dual-axis motor 1410, and the push block 1412 drives the sleeve 1408 to slide along the first clamping plate 1402, so that the sleeve 1408 is adjusted to a suitable length for use.

[0037] When in use, first install the device at a suitable use position through the mounting frame 1. After the installation is completed, the slide table 3 of the rodless cylinder 2 is moved to drive the L-shaped block 5 to slide along the guide rail 4 to a suitable use position. The piston rod of the first cylinder 7 pushes the slider 6 to slide along the L-shaped block 5, driving the bracket 8 and the second cylinder 9 to move synchronously. The piston rod of the second cylinder 9 drives the first rotary cylinder 10 to be adjusted to a suitable use height. The rotating table of the first rotary cylinder 10 rotates and drives the connecting block 15 and the second rotary cylinder 11 to rotate synchronously to a suitable use angle. The rotating table of the second rotary cylinder 11 is rotated to drive the finger cylinder 12 to rotate to a suitable material picking angle. The clamping jaws 13 of the finger cylinder 12 drive the clamping block structure 1401 on the clamp assembly 14 to move synchronously. The material to be picked up is clamped by the clamping block structure 1401. The clamping block structures 1401 of different shapes facilitate the use of materials of different shapes, and are convenient to adjust to various use positions and heights, adapt to different production needs, and realize the rapid removal of materials, thereby improving production efficiency.

[0038] Before taking materials, insert the appropriate clamping block structure 1401 into the lower end of the clamping jaw 13 through the socket 1405, insert the hexagon socket bolt 1406 into the mounting hole 1415, and make the threaded end of the hexagon socket bolt 1406 threadedly connected with the clamping block structure 1401, which facilitates the installation and removal of different clamping block structures 1401. When taking materials through the first clamping plate 1402, the output shaft of the dual-axis motor 1410 drives the two screw rods 1411 to rotate synchronously, and the rotating screw rods 1411 push the push block 1412 moves to the side away from the dual-axis motor 1410, the push block 1412 drives the sliding sleeve 1408 to slide along the first clamping plate 1402, the sliding sleeve 1408 drives the limiting block 1409 to slide along the limiting groove 1407, and the sliding sleeve 1408 is adjusted to a suitable use length, which is convenient for simultaneous material retrieval of larger materials and multiple smaller materials, thereby improving the material retrieval efficiency. The clamping block structure 1401 is suitable for materials of various shapes and sizes, and enhances versatility and flexibility.

[0039] Embodiment 2

[0040] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, on the basis of embodiment one, a clamping block structure 1401 is provided on the clamp assembly 14, and the clamping block structure 1401 includes a first clamping plate 1402, a second clamping plate 1403 and a third clamping plate 1404, the first clamping plate 1402 is rectangular, the second clamping plate 1403 and the third clamping plate 1404 are both square, and a socket 1405 is provided on the clamping block structure 1401, and the clamping block structure 1401 is snap-fitted with the lower end of the clamping jaw 13 through the socket 1405, and a hexagon socket bolt 1406 is inserted into the socket 1405, and the lower end of the clamping jaw 13 is threadedly connected to the threaded end of the hexagon socket bolt 1406 through a threaded hole, so as to facilitate the disassembly and replacement of the clamping block structure 1401.

[0041] An arc groove 1413 is formed on the inner wall of the second clamping plate 1403 ; the arc groove 1413 facilitates the taking of spherical and cylindrical materials.

[0042] When in use, when it is necessary to pick up spherical and cylindrical materials, the second clamping plate 1403 is replaced and used. The arc groove 1413 facilitates the picking of spherical and cylindrical materials, reduces the occurrence of spherical and cylindrical materials sliding and falling off during picking, improves the stability of picking, and improves the use effect of the entire picking process.

[0043] Embodiment 3

[0044] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 As shown, on the basis of the second embodiment, a clamping block structure 1401 is provided on the clamp assembly 14, and the clamping block structure 1401 includes a first clamping plate 1402, a second clamping plate 1403 and a third clamping plate 1404, the first clamping plate 1402 is rectangular, the second clamping plate 1403 and the third clamping plate 1404 are both square, and a socket 1405 is provided on the clamping block structure 1401, and the clamping block structure 1401 is engaged with the lower end of the clamping jaw 13 through the socket 1405, and a hexagon socket bolt 1406 is inserted into the socket 1405, and the lower end of the clamping jaw 13 is threadedly connected to the threaded end of the hexagon socket bolt 1406 through a threaded hole, so as to facilitate the disassembly and replacement of the clamping block structure 1401.

[0045] A sponge pad 1414 is embedded in the inner wall of the third clamping plate 1404; the sponge pad 1414 is in direct contact with the fragile material when taking the material, thereby reducing the squeezing and friction on the material and reducing the damage to the material.

[0046] During use, when taking fragile materials, by replacing the third clamping plate 1404 and installing the clamping surface with the sponge pad 1414, it can be ensured that the sponge pad 1414 is in direct contact with the fragile materials when taking the materials, thereby reducing the squeezing and friction on the materials, reducing the damage to the materials, adapting to fragile materials of different shapes and sizes, and fitting closely to the surface of the materials, preventing the materials from being broken or scratched during the taking process, thereby protecting the integrity of the materials.

[0047] 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 technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A material retrieving manipulator, comprising a mounting frame (1), characterized in that: A rodless cylinder (2) is installed on the top surface of the mounting frame (1), a slide table (3) is slidably connected to the rodless cylinder (2), a guide rail (4) is fixedly provided on the outer wall of the mounting frame (1), an L-shaped block (5) is slidably connected to the guide rail (4), a rear wall of the L-shaped block (5) is fixedly connected to the slide table (3), a slider (6) is sleeved on the L-shaped block (5), a first cylinder (7) is installed on the top surface of the slide table (3) through a mounting seat, a piston rod of the first cylinder (7) is fixedly connected to the outer wall of the slider (6), a bracket (8) is fixedly provided on the outer wall of the slider (6), and a second cylinder (9) is installed on the lower end of the outer wall of the bracket (8) through a front mounting seat; The lower end of the second cylinder (9) is mounted with a first rotating cylinder (10) via a mounting seat, a connecting block (15) is mounted on the rotating platform of the first rotating cylinder (10), a second rotating cylinder (11) is mounted on the outer wall of the lower end of the connecting block (15) via a mounting seat, a finger cylinder (12) is mounted on the rotating platform of the second rotating cylinder (11) via a mounting seat, the finger cylinder (12) is provided with two clamping jaws (13), and a clamp assembly (14) is mounted on the clamping jaws (13).

2. The material reclaiming manipulator according to claim 1, characterized in that: The clamp assembly (14) is provided with a clamping block structure (1401), and the clamping block structure (1401) includes a first clamping plate (1402), a second clamping plate (1403) and a third clamping plate (1404), the first clamping plate (1402) is rectangular, and the second clamping plate (1403) and the third clamping plate (1404) are both square.

3. The material reclaiming manipulator according to claim 2, characterized in that: The clamping block structure (1401) is provided with a socket (1405), and the clamping block structure (1401) is engaged with the lower end of the clamping jaw (13) through the socket (1405). The clamping block structure (1401) is provided with a mounting hole (1415), and the mounting hole (1415) is connected to the socket (1405). A hexagon socket bolt (1406) is inserted into the mounting hole (1415), and the lower end of the clamping jaw (13) is threadedly connected to the threaded end of the hexagon socket bolt (1406) through a threaded hole.

4. The material reclaiming manipulator according to claim 3, characterized in that: Both ends of the first clamping plate (1402) are symmetrically structured with two limit grooves (1407), and the outer walls of both ends of the first clamping plate (1402) are slidably connected with sliding sleeves (1408), the lower end of the sliding sleeve (1408) is triangular, and the inner wall of the sliding sleeve (1408) is symmetrically structured and fixed with two limit blocks (1409), the limit blocks (1409) are located inside the limit grooves (1407), and the limit blocks (1409) are slidably connected to the first clamping plate (1402) through the limit grooves (1407).

5. The material reclaiming manipulator according to claim 4, characterized in that: A dual-axis motor (1410) is mounted on the middle portion of the top surface of the first clamping plate (1402) via a mounting seat, and a lead screw (1411) is coaxially connected to the output shaft of the dual-axis motor (1410).

6. The material reclaiming robot according to claim 5, characterized in that: A push block (1412) is fixedly provided on one side of the bottom surface of the sliding sleeve (1408) close to the dual-axis motor (1410), and the push block (1412) is threadedly connected to the screw rod (1411) through a threaded hole.

7. The material reclaiming manipulator according to claim 6, characterized in that: An arc-shaped groove (1413) is formed on the inner wall of the second clamping plate (1403).

8. The material reclaiming manipulator according to claim 7, characterized in that: A sponge pad (1414) is embedded in the inner wall of the third clamping plate (1404).

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