Magnetic type material taking manipulator

Abstract

The utility model discloses a magnetic type material taking manipulator which comprises a rotating table device, an X-axis lead screw module is installed on the upper portion of the rotating table device, a Y-axis lead screw module is fixedly connected to the upper portion of a sliding table of the X-axis lead screw module, and a plurality of connecting plates are welded to the upper portion of a sliding table of the Y-axis lead screw module. The connecting plate is connected with a Z-axis lead screw module through a bolt. According to the utility model, the integrated design of the X-axis lead screw module, the Y-axis lead screw module and the Z-axis lead screw module is adopted, so that the omnibearing accurate positioning of the material taking and placing position in a three-dimensional space is realized. By means of the design, the working range of the mechanical arm is greatly expanded, the mechanical arm can adapt to diversified working environments, the Z-axis lead screw module is directly connected with the electromagnetic chuck, it is guaranteed that materials at different heights can be stably adsorbed, and the flexibility and efficiency of operation are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of manipulators, and particularly relates to a magnetic adsorption type material picking manipulator. Background Technique

[0002] In the field of industrial automation, material handling technology is one of the key links to achieve an efficient production process. With the transformation of the manufacturing industry towards intelligence and precision, as an important part of the automated production line, the functions and flexibility of manipulators are undergoing unprecedented innovations. The magnetic adsorption type material picking manipulator, as a device designed specifically for handling metal materials, shows broad application potential in industries such as steel, automobile manufacturing, and electronic component assembly due to its characteristics of quickly adsorbing and handling heavy objects without damaging the surface. Early magnetic adsorption type manipulators mainly relied on simple electromagnetic control mechanisms, with single functions and limited positioning accuracy, making it difficult to meet the requirements of complex working environments.

[0003] In recent years, with the progress of servo drive technology, precision mechanical structure design, and intelligent control algorithms, the design of magnetic adsorption type manipulators has gradually tended to develop in the direction of high precision and multiple degrees of freedom. However, there are still some key deficiencies in the existing technologies, especially in terms of the flexible adaptability to the working space, precise positioning ability, and the stability of the overall system. For example, although most manipulators have achieved good control in the X and Y axis directions, there are still deficiencies in the operation flexibility and accuracy in the Z axis direction, which limits their application in scenarios of picking and placing workpieces with complex height changes. In addition, the traditional design is not convenient for adjusting the rotation angles in the front-back and left-right directions. Therefore, we propose a magnetic adsorption type material picking manipulator. Content of the Utility Model

[0004] Aiming at the problems existing in the prior art, the purpose of the utility model is to provide a magnetic adsorption type material picking manipulator. By providing a three-axis lead screw module, three-dimensional adjustment in the X, Y, and Z axis directions is achieved. The use of the three-axis lead screw module can achieve a larger range of adjustment, and with a rotating table device and a first stepping motor, the rotation angle adjustment in the left-right and front-back directions is conveniently realized.

[0005] The utility model is realized as follows: A magnetic adsorption type material picking manipulator includes a rotating table device. An X-axis lead screw module is installed on the upper part of the rotating table device. The upper part of the slide of the X-axis lead screw module is fixedly connected with a Y-axis lead screw module. A plurality of connecting plates are welded on the upper part of the slide of the Y-axis lead screw module. The connecting plates are connected with a Z-axis lead screw module through bolts. A support arm device is welded on the front side of the slide of the Z-axis lead screw module. A cylinder is rotatably connected to the front part of the support arm device. The lower end of the piston rod of the cylinder is fixedly connected with an electromagnetic chuck. A first stepping motor is fixedly connected to one side of the support arm device. The output shaft of the first stepping motor is fixedly connected to one side of the cylinder.

[0006] Optionally, the support arm device includes two side plates, the cylinder is arranged between the two side plates, and one side of the cylinder is connected to the side plate through a rotating shaft.

[0007] Optionally, the side plates are provided with weight-reducing holes, and a reinforcing plate is welded between the two side plates.

[0008] Optionally, support frame devices are respectively arranged at the lower left part and the lower right part of the Y-axis lead screw module. The support frame device includes two vertical plates, and universal wheels are installed at the lower parts of the vertical plates.

[0009] Optionally, a bracket plate is welded between the two vertical plates, and the upper part of the bracket plate is welded to the lower part of the Y-axis lead screw module.

[0010] Optionally, the rotating table device includes a bottom plate, a sleeve is welded to the upper part of the bottom plate, an annular top plate is welded to the upper part of the sleeve, a rotating plate is arranged on the upper part of the annular top plate, a second stepping motor is fixedly connected to the inside of the sleeve, and an output shaft of the second stepping motor is welded to the center of the lower part of the rotating plate.

[0011] Optionally, a groove for placing the X-axis lead screw module is formed in the upper part of the rotating plate, two strip-shaped plates are welded to the upper part of the rotating plate, and the strip-shaped plates are connected to the X-axis lead screw module through bolts.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] 1. Through the integrated design of the X, Y, and Z-axis lead screw modules, the all-round precise positioning of the material picking and placing position in the three-dimensional space is realized. Such a design greatly expands the working range of the manipulator, enabling it to adapt to diverse working environments. The direct connection between the Z-axis lead screw module and the electromagnetic chuck ensures that materials at different heights can be stably adsorbed, improving the flexibility and efficiency of the operation. The combination of the support arm device and the first stepping motor enables the manipulator to have precise rotational control force, ensuring that the adsorption and release actions are both rapid and stable, thereby achieving the beneficial effects of improving work efficiency and reducing material damage.

[0014] 2. By adding a support frame device with universal wheels at the lower part of the Y-axis lead screw module, the manipulator obtains better ground support force and mobility, and the innovative design of the rotating table device, especially the integration of the second stepping motor and the rotating plate, enables the entire manipulator to rotate around its own center point, greatly expanding the working coverage.

[0015] Other features and advantages of the present utility model will become clear through the following detailed description of the exemplary embodiments of the present utility model with reference to the accompanying drawings. Description of the Drawings

[0016] Figure 1 is a schematic structural diagram of the first perspective provided by the present utility model;

[0017] Figure 2 is a schematic diagram of the second perspective provided by the present utility model;

[0018] Figure 3 is a three-dimensional schematic diagram of the turntable device provided by the present utility model;

[0019] Figure 4 is a schematic diagram of the interior of the turntable device provided by the present utility model.

[0020] In the figure: 1, Z-axis lead screw module; 2, X-axis lead screw module; 3, Y-axis lead screw module; 4, support frame device; 41, vertical plate; 42, universal wheel; 43, bracket plate; 5, support arm device; 51, side plate; 52, weight reduction hole; 53, reinforcement plate; 6, first stepping motor; 7, cylinder; 8, electromagnetic chuck; 9, turntable device; 91, second stepping motor; 92, bottom plate; 93, rotating plate; 94, groove; 95, strip plate; 96, sleeve; 97, annular top plate; 10, connecting plate. Specific embodiments

[0021] In order to further understand the content, features and effects of the present utility model, the following embodiments are cited and described in detail in conjunction with the accompanying drawings.

[0022] As Figures 1 to 4 shown, a magnetic adsorption type material picking manipulator provided by an embodiment of the present utility model includes a turntable device 9. An X-axis lead screw module 2 is installed on the upper part of the turntable device 9. The upper part of the slide of the X-axis lead screw module 2 is fixedly connected with a Y-axis lead screw module 3. A plurality of connecting plates 10 are welded on the upper part of the slide of the Y-axis lead screw module 3. The connecting plates 10 are connected with a Z-axis lead screw module 1 through bolts. A support arm device 5 is welded on the front side of the slide of the Z-axis lead screw module 1. A cylinder 7 is rotatably connected to the front part of the support arm device 5. The lower end of the piston rod of the cylinder 7 is fixedly connected with an electromagnetic chuck 8. A first stepping motor 6 is fixedly connected to one side of the support arm device 5. The output shaft of the first stepping motor 6 is fixedly connected to one side of the cylinder 7.

[0023] By adopting the integrated design of X, Y, and Z-axis lead screws, the all-round precise positioning of the material picking and placing position in the three-dimensional space is achieved. Such a design greatly expands the working range of the manipulator, enabling it to adapt to diverse working environments. The direct connection between the Z-axis lead screw module 1 and the electromagnetic chuck 8 ensures that materials at different heights can be stably adsorbed, improving the flexibility and efficiency of the operation. The combination of the support arm device 5 and the first stepping motor 6 enables the manipulator to have precise rotational control force, ensuring that the adsorption and release actions are both rapid and stable, thereby achieving the effects of improving work efficiency and reducing material damage.

[0024] The support arm device 5 includes two side plates 51, and the cylinder 7 is arranged between the two side plates 51. One side of the cylinder 7 is connected to the side plate 51 through a rotating shaft.

[0025] Weight reduction holes 52 are opened on the side plates 51, and a reinforcing plate 53 is welded between the two side plates 51.

[0026] Opening the weight reduction holes 52 on the side plates 51 effectively reduces the weight of the support arm device 5, reduces the inertia during system operation, enables the manipulator to respond to control instructions faster, and improves the overall operation sensitivity and energy-saving effect. At the same time, welding the reinforcing plate 53 between the two side plates 51 not only maintains the structural strength, prevents deformation, but also ensures that while reducing the weight, the load-bearing capacity and durability of the manipulator will not be sacrificed, achieving the balance between structural optimization and performance improvement.

[0027] Support frame devices 4 are respectively arranged at the lower left and lower right parts of the Y-axis lead screw module 3. The support frame device 4 includes two vertical plates 41, and universal wheels 42 are installed at the lower parts of the vertical plates 41.

[0028] A bracket plate 43 is welded between the two vertical plates 41, and the upper part of the bracket plate 43 is welded to the lower part of the Y-axis lead screw module 3.

[0029] Support frame devices 4 are respectively arranged at the lower left and lower right parts of the Y-axis lead screw module 3, including vertical plates 41 installed with universal wheels 42. This design endows the manipulator with excellent ground support and convenient mobility. The addition of the bracket plate 43 further strengthens the connection between the Y-axis lead screw module 3 and the support frame, improves the overall structural stability, ensures the precise guidance of the lead screw module during the movement, and avoids the positioning deviation caused by vibration.

[0030] The rotating table device 9 includes a bottom plate 92. The upper part of the bottom plate 92 is welded with a sleeve 96. The upper part of the sleeve 96 is welded with an annular top plate 97. A rotating plate 93 is arranged on the upper part of the annular top plate 97. A second stepping motor 91 is fixedly connected inside the sleeve 96, and the output shaft of the second stepping motor 91 is welded to the center of the lower part of the rotating plate 93.

[0031] The upper part of the rotating plate 93 is provided with a groove 94 for placing the X-axis lead screw module 2. Two strip plates 95 are welded to the upper part of the rotating plate 93, and the strip plates 95 are connected to the X-axis lead screw module 2 by bolts.

[0032] Through the integrated design of the rotating table device 9 and the second stepping motor 91 with the rotating plate 93, the precise rotation function of the entire manipulator platform is realized, greatly expanding its working radius. Without moving the base, it can cover more working areas, improving the space utilization rate and working efficiency. The ingenious combination of the groove 94 and the strip plate 95 provides a stable installation foundation for the X-axis lead screw module 2, ensuring the precise control and positioning of the X-axis during rotation, further enhancing the accuracy and reliability of the manipulator in complex operations, and meeting the high-precision operation requirements.

[0033] During use, the magnetic material picking manipulator of the present utility model demonstrates excellent working performance with its precise structural design. First, the operator activates the second stepping motor 91 through the control system to drive the precise rotation of the rotating plate 93, enabling the manipulator to cover a wider working area. The X-axis lead screw module 2 on the rotating plate 93 is installed in the specially designed groove 94 and strip plate 95 structure, ensuring the stability of the X-axis during rotation.

[0034] Subsequently, the X-axis lead screw module 2 translates along its track, driving the Y-axis lead screw module 3 and the Z-axis lead screw module 1 above it, forming the precise positioning ability in three-dimensional space. This linkage mechanism allows the manipulator to freely approach and position above the required material in a complex environment. The independent control of the Z-axis lead screw module 1 further ensures the precise picking and placing at different heights.

[0035] When the manipulator reaches the predetermined position, the cylinder 7 driven by the first stepping motor 6 performs an extension action through the precise control of the support arm device 5, and the electromagnetic chuck 8 fixed to its lower end immediately adsorbs the material. The double-side plate 51 structure and the reinforcing plate 53 design of the support arm device 5 ensure the structural strength and stability during the adsorption and handling of heavy objects, while the setting of the weight reduction holes 52 optimizes the dynamic response of the manipulator and reduces energy consumption.

[0036] During the handling process, the support frame device 4 below the Y-axis lead screw module 3 plays a supporting role, and the bracket plate 43 further consolidates the stability of the overall structure, making the support performance stronger during the material handling process.

[0037] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A magnetic material taking manipulator, comprising a rotating table device (9), characterized in that: An X-axis screw module (2) is installed on the upper part of the rotating table device (9); a Y-axis screw module (3) is fixedly connected to the upper part of the slide of the X-axis screw module (2); a plurality of connecting plates (10) are welded to the upper part of the slide of the Y-axis screw module (3); the connecting plates (10) are connected to the Z-axis screw module (1) by bolts; a support arm device (5) is welded to the front side of the slide of the Z-axis screw module (1); the front part of the support arm device (5) is rotatably connected to a cylinder (7); the lower end of the piston rod of the cylinder (7) is fixedly connected to an electromagnetic suction cup (8); one side of the support arm device (5) is fixedly connected to a first stepper motor (6); the output shaft of the first stepper motor (6) is fixedly connected to one side of the cylinder (7).

2. The magnetic material retrieving manipulator according to claim 1 is characterized in that: The support arm device (5) comprises two side plates (51), the cylinder (7) is arranged between the two side plates (51), and one side of the cylinder (7) is connected to the side plate (51) via a rotating shaft.

3. The magnetic material retrieving manipulator according to claim 2 is characterized in that: The side plates (51) are provided with weight-reducing holes (52), and a reinforcing plate (53) is welded between the two side plates (51).

4. The magnetic material retrieving manipulator according to claim 1 is characterized in that: The lower left and right parts of the Y-axis screw module (3) are respectively provided with a support frame device (4), and the support frame device (4) comprises two vertical plates (41), and the lower part of the vertical plate (41) is equipped with a universal wheel (42).

5. The magnetic material taking manipulator according to claim 4 is characterized in that: A bracket plate (43) is welded between the two vertical plates (41), and the upper portion of the bracket plate (43) is welded to the lower portion of the Y-axis screw module (3).

6. The magnetic material retrieving manipulator according to claim 1 is characterized in that: The rotating table device (9) comprises a bottom plate (92), a sleeve (96) is welded to the upper part of the bottom plate (92), an annular top plate (97) is welded to the upper part of the sleeve (96), a rotating plate (93) is provided on the upper part of the annular top plate (97), a second stepper motor (91) is fixedly connected to the inside of the sleeve (96), and an output shaft of the second stepper motor (91) is welded to the lower center of the rotating plate (93).

7. The magnetic material retrieving manipulator according to claim 6 is characterized in that: The upper portion of the rotating plate (93) is provided with a groove (94) for placing the X-axis screw module (2), and two strip plates (95) are welded to the upper portion of the rotating plate (93), and the strip plates (95) are connected to the X-axis screw module (2) via bolts.

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