Multi-style material taking manipulator

Abstract

The utility model discloses a diversified material taking mechanical arm which comprises a machine body, a stock bin is arranged on the upper surface of the machine body, a Y-axis sliding plate is arranged above the stock bin, a first-stage guide column is fixedly installed on one side of the lower surface of the Y-axis sliding plate, a second-stage guide column is fixedly installed on the other side of the lower surface of the Y-axis sliding plate, and a connecting column is fixedly installed at the bottom end of the first-stage guide column. Two sets of secondary material taking claws and two sets of linear clamping plates are fixedly installed at the bottom end of the connecting column through bolts, the secondary material taking claws and the linear clamping plates are circumferentially distributed at equal intervals through the center circle point of the connecting column, and the secondary material taking claws and the linear clamping plates are oppositely arranged in a pairwise mode. According to the double-working-face material taking device, materials on the horizontal plane can be mechanically clamped in the same device, materials on the vertical plane can also be fixedly clamped, and therefore the double-working-face diversified clamping use effect is achieved; the limitation caused by existing single-face clamping is effectively reduced, and the use performance is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of numerical control manipulators, in particular to a multi-style material-retrieving manipulator. Background Art

[0002] A robot arm is an automated device that mimics certain movements of a human hand and arm, grasping, moving objects, or manipulating tools according to a fixed program. It can be programmed to perform various tasks, combining the advantages of both humans and machines in terms of structure and performance.

[0003] Manipulators are the earliest industrial robots and are widely used in machinery manufacturing, metallurgy, electronics, light industry, and atomic energy. They can replace heavy labor, realize mechanization and automation of production, and protect human safety in harmful environments.

[0004] When using traditional material-retrieving manipulators, most of them can only complete the single material-retrieving work of the horizontal or vertical surface, and cannot complete the diverse material-retrieving work of the horizontal and vertical surfaces at the same time. There are certain limitations in use. Therefore, the utility model proposes a multi-style material-retrieving manipulator. Utility Model Content

[0005] The purpose of the present invention is to provide a multi-style material retrieving manipulator to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a multi-style material-retrieving robot, comprising a body, a material bin is provided on the upper surface of the body, a Y-axis slide is provided above the material bin, a first-level guide column is fixedly installed on one side of the lower surface of the Y-axis slide, and a second-level guide column is fixedly installed on the other side of the lower surface of the Y-axis slide, and a connecting column is fixedly installed on the bottom end of the connecting column by bolts, the two groups of second-level material-retrieving claws and two groups of linear clamps are fixedly installed through the center circle of the connecting column, the second-level material-retrieving claws and the linear clamps are equidistantly distributed in a circle through the center circle of the connecting column, the second-level material-retrieving claws and the linear clamps are arranged opposite to each other, the outer surfaces of the second-level material-retrieving claws and the linear clamps are provided with equally spaced linearly distributed fixing holes, each of the second-level material-retrieving claws and the linear clamps is provided with an L-shaped clamp, and the L-shaped clamp is provided with a secondary hole adapted to the fixing hole, a two-way cylinder is fixedly installed at the side middle position of the first-level guide column by a fixing bolt, and the output rods on both sides of the two-way cylinder are fixedly installed with the first-level material-retrieving claws.

[0007] Preferably, a nozzle plate is fixedly mounted on the bottom end of the secondary guide column.

[0008] Preferably, a plurality of evenly distributed vacuum nozzles are fixedly mounted on the lower surface of the nozzle plate.

[0009] Preferably, a column is fixedly installed on the back of the fuselage, and an X-axis threaded slide is fixedly installed on the top of the column.

[0010] Preferably, the X-axis threaded slide is threadedly connected to the Z-axis threaded slide.

[0011] Preferably, the Z-axis threaded slide is threadedly connected to the Y-axis threaded slide, and the Y-axis threaded slide is slidably connected to the Y-axis slide.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] The first manipulator clamping structure of the present invention has an L-shaped clamping jaw whose spacing can be adjusted by installing it in the fixing holes at different positions, thereby changing the overall mechanical clamping size. The clamping distance between the L-shaped clamping jaws is dynamically adjustable, thereby making the first mechanical clamping structure of the present invention have good size structure adaptability, and can dynamically adjust the clamping size according to materials of different sizes, effectively reducing the limitations of use and having a good size application range.

[0014] The second mechanical clamping structure adopts a vertical surface clamping structure design. Therefore, by cooperating with the above-mentioned first manipulator clamping structure, the utility model can mechanically clamp materials on the horizontal surface and fixedly clamp materials on the vertical surface in the same device, thereby having a dual-working surface and a variety of clamping effects, effectively reducing the limitations caused by the existing single-sided clamping and improving the performance.

[0015] At the same time, the vacuum suction nozzle provided can be used to fix the material by negative pressure adsorption, thereby achieving a negative pressure adsorption transfer and fixation effect, improving the fixation diversity of the utility model manipulator when transferring materials, having better use effect, good practicality, and technical characteristics of diverse clamping uses. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the manipulator according to an embodiment of the present utility model;

[0017] Figure 2 This is a schematic diagram of the manipulator drive structure of an embodiment of the utility model;

[0018] Figure 3 This is a schematic diagram of the bottom structure of the Y-axis slide according to an embodiment of the present invention when viewed from above;

[0019] Figure 4 This is a schematic diagram of the three-dimensional structure of the mechanical gripper according to an embodiment of the present utility model;

[0020] Figure 5 This is a schematic diagram of the bottom structure of the mechanical gripper according to an embodiment of the present invention when viewed from above.

[0021] In the figure: 1. Machine body; 2. Material silo; 3. Column; 4. Y-axis slide; 5. First-level guide column; 6. Bidirectional cylinder; 7. First-level material picking claw; 8. Connecting column; 9. Second-level material picking claw; 10. Linear clamp; 11. L-shaped clamp; 12. Fixing hole; 13. Second-level guide column; 14. Suction nozzle plate; 15. Vacuum suction nozzle; 16. X-axis threaded slide; 17. Z-axis threaded slide; 18. Y-axis slide. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] In the description of this utility model, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0024] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc. should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0025] See also Figure 1-5 The present invention provides an embodiment of a multi-style material-retrieving manipulator, comprising a body 1, a material bin 2 being provided on the upper surface of the body 1, a Y-axis slide 4 being provided above the material bin 2, a primary guide column 5 being fixedly mounted on one side of the lower surface of the Y-axis slide 4, and a secondary guide column 13 being fixedly mounted on the other side of the lower surface of the Y-axis slide 4;

[0026] Please refer to the instruction manual for details Figure 3-5As shown, a connecting column 8 is fixedly installed at the bottom end of the primary guide column 5, and two groups of secondary material-retrieving claws 9 and two groups of linear clamps 10 are fixedly installed at the bottom end of the connecting column 8 by bolts. The secondary material-retrieving claws 9 and the linear clamps 10 are evenly spaced and circumferentially distributed through the center point of the connecting column 8. The secondary material-retrieving claws 9 and the linear clamps 10 are arranged opposite to each other in pairs. The outer surfaces of the secondary material-retrieving claws 9 and the linear clamps 10 are provided with fixing holes 12 that are evenly spaced and linearly distributed. Each secondary material-retrieving claw 9 and the linear clamp 10 are provided with an L-shaped clamp 11, and the L-shaped clamp 11 is provided with a secondary hole that is adapted to the fixing hole 12.

[0027] According to the above structure, when the first manipulator structure of this structural design is in use, the relative structural design of the two L-shaped clamping jaws 11 can be used in conjunction with the structure between the L-shaped clamping jaws 11 to complete the clamping and picking of the material, and the spacing between the L-shaped clamping jaws 11 can be adjusted by installing in the fixing holes 12 at different positions, thereby changing the overall mechanical clamping size. The clamping distance between the L-shaped clamping jaws 11 has dynamic adjustability, so that the first mechanical clamping structure of the utility model has good size structure adaptability, and can be dynamically adjusted according to materials of different sizes, effectively reducing the limitations of use and having a good size application range;

[0028] Furthermore, a bidirectional cylinder 6 is fixedly installed at the middle position of the side of the first-level guide column 5 by a fixing bolt, and the output rods on both sides of the bidirectional cylinder 6 are fixedly installed with a first-level material-retrieving claw 7;

[0029] With this structural design, the two-way air cylinder 6 can drive the two first-level material-grabbing claws 7 to expand outwards through the output rod. At this time, the distance between the two first-level material-grabbing claws 7 increases, and the material can be placed between the two first-level material-grabbing claws 7. When the two first-level material-grabbing claws 7 are retracted inwardly under the action of the two-way air cylinder 6, the distance between the two first-level material-grabbing claws 7 is reduced, so that the material between them can be clamped. Through the driving effect of the two-way air cylinder 6, the first-level material-grabbing claws can be expanded, embraced, and retracted to clamp the material, thereby having an automated material mechanical clamping effect. The second mechanical clamping structure of the utility model adopts a vertical surface clamping structural design. Therefore, by cooperating with the above-mentioned first mechanical clamping structure, the utility model can mechanically clamp the material on the horizontal surface in the same device, and can also fixedly clamp the material on the vertical surface, thereby having the use effect of dual working surfaces and multiple clamping, effectively reducing the limitations caused by the existing single-sided clamping and improving the performance of use.

[0030] Furthermore, a nozzle plate 14 is fixedly mounted on the bottom end of the secondary guide column 13, and a plurality of evenly distributed vacuum nozzles 15 are fixedly mounted on the lower surface of the nozzle plate 14;

[0031] This structural design can fix the material by negative pressure adsorption through the vacuum suction nozzle 15, thereby achieving a negative pressure adsorption transfer and fixation effect, improving the fixation diversity of the utility model robot when transferring materials, having better use effect and good practicality.

[0032] In this embodiment, in order to ensure the normal axial transmission of the Y-axis slide 4 of the present invention and ensure the displacement effect, a column 3 is fixedly installed on the back of the fuselage 1, and an X-axis threaded slide 16 is fixedly installed on the top of the column 3. The X-axis threaded slide 16 is threadedly connected to the Z-axis threaded slide 17;

[0033] Among them, the Z-axis threaded slide 17 is threadedly connected to the Y-axis threaded slide 18, and the Y-axis threaded slide 18 is slidably connected to the Y-axis slide 4;

[0034] The X-axis threaded slide 16, the Z-axis threaded slide 17 and the Y-axis threaded slide 18 are all common threaded transmission structures, that is, common threaded transmission structures composed of a motor, a screw, a threaded seat and a guide rail;

[0035] In this structure, the motor output shaft is fixedly connected to the screw, which is threadedly connected to the threaded seat. At the same time, the threaded seat is slidably connected to the guide rail. When the motor rotates during operation, it drives the screw to rotate through the output shaft. When the screw rotates, the threaded seat threadedly connected thereto will perform axial linear displacement, thereby ensuring normal thread transmission operation. Since the above-mentioned transmission assembly is a commonly used transmission structure in industrial machinery and has become a public and mature technical solution, this specification does not elaborate on it in detail.

[0036] The present invention has an X-axis threaded slide 16, a Z-axis threaded slide 17 and a Y-axis threaded slide 18, which can drive the robot below to move left and right, up and down, and forward and backward respectively when each transmission component is working, thereby ensuring a normal material picking effect and having the effect of three-axis linkage, effectively reducing usage limitations.

[0037] Working principle: When the first manipulator structure of the present invention is in use, the relative structural design of the two L-shaped clamping jaws 11 is used to complete the work of clamping and picking up materials through the structure between the L-shaped clamping jaws 11. The spacing between the L-shaped clamping jaws 11 can be adjusted by installing the fixing holes 12 in different positions, thereby changing the overall mechanical clamping size. The clamping distance between the L-shaped clamping jaws 11 has dynamic adjustability, so that the first mechanical clamping structure of the present invention has good size structure adaptability, and can dynamically adjust the clamping size according to materials of different sizes, effectively reducing the limitations of use and having a good size application range.

[0038] At the same time, the bidirectional air cylinder 6 can drive the two first-level material-grabbing claws 7 to expand outwards through the output rod. At this time, the distance between the two first-level material-grabbing claws 7 increases, and the material can be placed between the two first-level material-grabbing claws 7. When the two first-level material-grabbing claws 7 are retracted inwardly under the action of the bidirectional air cylinder 6, the distance between the two first-level material-grabbing claws 7 is reduced, so that the material between them can be clamped. Through the driving effect of the bidirectional air cylinder 6, the first-level material-grabbing claws can be expanded, embraced and retracted to clamp the material, thereby having an automated material mechanical clamping effect. The second mechanical clamping structure of the utility model adopts a vertical surface clamping structural design. Therefore, by cooperating with the above-mentioned first mechanical clamping structure, the utility model can mechanically clamp the material on the horizontal surface in the same device, and can also fixedly clamp the material on the vertical surface, thereby having the use effect of dual working surfaces and multiple clamping, effectively reducing the limitations caused by the existing single-sided clamping and improving the performance of use.

[0039] Finally, the vacuum suction nozzle 15 can be used to fix the material under negative pressure, thereby achieving a negative pressure adsorption transfer and fixation effect, thereby improving the fixation diversity of the manipulator when transferring materials, having a better use effect and good practicality;

[0040] The manipulator of the present invention is provided with an X-axis threaded slide 16, a Z-axis threaded slide 17 and a Y-axis threaded slide 18. When each transmission component is working, the X-axis threaded slide 16, the Z-axis threaded slide 17 and the Y-axis threaded slide 18 can drive the manipulator below to perform left and right, up and down, and front and back displacement respectively, thereby ensuring normal material picking, transfer and discharge work, and ensuring the normal clamping and transfer work of the manipulator. At the same time, it has the use effect of three-axis linkage, effectively reducing the limitations of use.

[0041] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the present invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be encompassed within the present invention. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. A multi-style material-retrieving manipulator, comprising a body (1), characterized in that: A material bin (2) is provided on the upper surface of the body (1), a Y-axis slide (4) is provided above the material bin (2), a first-level guide column (5) is fixedly installed on one side of the lower surface of the Y-axis slide (4), a second-level guide column (13) is fixedly installed on the other side of the lower surface of the Y-axis slide (4), a connecting column (8) is fixedly installed at the bottom end of the first-level guide column (5), two groups of second-level material-retrieving claws (9) and two groups of linear clamps (10) are fixedly installed at the bottom end of the connecting column (8) by bolts, and the second-level material-retrieving claws (9) and the linear clamps (10) are divided into circumferences with equal intervals through the center point of the connecting column (8). The secondary material-retrieving claws (9) and the linear clamps (10) are arranged opposite to each other in pairs, and the outer surfaces of the secondary material-retrieving claws (9) and the linear clamps (10) are provided with fixing holes (12) distributed linearly at equal intervals. Each of the secondary material-retrieving claws (9) and the linear clamps (10) is provided with an L-shaped clamp (11), and the L-shaped clamp (11) is provided with a secondary hole adapted to the fixing hole (12). A bidirectional cylinder (6) is fixedly installed at the middle position of the side of the primary guide column (5) by a fixing bolt, and the output rods on both sides of the bidirectional cylinder (6) are fixedly installed with the primary material-retrieving claws (7).

2. A multi-style reclaiming manipulator according to claim 1, characterized in that: A suction nozzle plate (14) is fixedly mounted on the bottom end of the secondary guide column (13).

3. A multi-style reclaiming manipulator according to claim 2, characterized in that: A plurality of evenly distributed vacuum suction nozzles (15) are fixedly mounted on the lower surface of the suction nozzle plate (14).

4. The multi-style reclaiming manipulator according to claim 1, characterized in that: A column (3) is fixedly mounted on the back of the fuselage (1), and an X-axis threaded slide (16) is fixedly mounted on the top of the column (3).

5. The multi-style reclaiming manipulator according to claim 4, characterized in that: The X-axis threaded slide (16) is threadedly connected to the Z-axis threaded slide (17).

6. A multi-style material retrieving manipulator according to claim 5, characterized in that: The Z-axis threaded slide (17) is threadedly connected to a Y-axis threaded slide (18), and the Y-axis threaded slide (18) is slidably connected to the Y-axis slide (4).

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