Manipulator for material stacking

Abstract

The utility model provides a mechanical arm for material stacking. The mechanical arm comprises a fixed base, a first detection device, a first grabbing support arm, a second grabbing support arm, two second detection devices, two third detection devices, two movable sliding plates, two pushing mechanisms, two guide structures, two material frame positioning structures and two material frame grabbing structures. The first detection device and the second grabbing supporting arm are symmetrically arranged at the left end and the right end of the fixed base, and each grabbing supporting arm is detachably connected with the fixed base. According to the mechanical arm for material stacking, the problems that a mechanical arm in the related technology is poor in flexibility and stability are solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of material stacking, in particular to a manipulator used for material stacking. Background Art

[0002] In the automated machining system of machine tools, the stacking station is used to manage the loading and unloading operations of materials during the production process. The core function of this device is to efficiently complete the transfer and storage of materials to ensure the continuous operation of the production line. As an important component of the stacking station, the manipulator is responsible for taking and placing the material frame from the production line or storage location. The manipulator working forms in the related art are C-type single-arm structure and double-arm mobile structure, each of which has some shortcomings. For the C-type single-arm structure, when taking and placing the material frame, the length of the arm must exceed the length of the material frame for grasping, which limits the flexibility and efficiency of the design. As for the double-arm mobile structure, since the entire arm needs to move on the base, a large inertia is generated during the movement, resulting in poor stability. Summary of the Invention

[0003] In view of this, the present invention aims to solve one of the related technical problems at least to a certain extent.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the utility model is achieved as follows:

[0005] A manipulator for material stacking, comprising a fixed base, a first detection device, a first grabbing arm, a second grabbing arm, two second detection devices, two third detection devices, two movable slides, two pushing mechanisms, two guide structures, two material frame positioning structures, and two material frame grabbing structures;

[0006] The first detection device and the second grabbing arm are symmetrically arranged at the left and right ends of the fixed base, and each of the grabbing arms is detachably connected to the fixed base;

[0007] A pushing mechanism is correspondingly provided on the inner side of each grabbing arm, and an output end of the pushing mechanism is connected to a movable slide, and the movable slide is slidably connected to the inner side of the grabbing arm through a guide structure;

[0008] Each of the movable slides is correspondingly provided with a third detection device, a material frame positioning structure and a material frame grabbing structure, and the material frame positioning structure is located at the end of the movable slide;

[0009] The first detection device is arranged on the inner side of the fixed base, and is used to detect the number of material frames in the grabbed material stack. The upper end surface of each grabbing arm is correspondingly provided with a second detection device.

[0010] Furthermore, the first detection device is a first proximity switch, and the second detection device is two second proximity switches.

[0011] Furthermore, the third detection device is a beam switch, and the two third detection devices are facing each other. The third detection device is used to detect whether there is a material frame on the robot arm and whether the material frame is grasped in place.

[0012] Furthermore, a distributor is provided on the inner side of the fixed base, and the circuits of the first detection device, the second detection device and the third detection device are all integrated in the distributor.

[0013] Furthermore, the material frame grasping structure includes a first material frame support block and a second material frame support block, the first material frame support block and the second material frame support block are both arranged on the movable slide, the second material frame support block is located in front of the first material frame support block, the first material frame support block is provided with a first card slot on the top, and the second material frame support block is provided with a second card slot on the top.

[0014] Furthermore, the front and rear end surfaces of the first card slot are both inclined surfaces, and the single end surface of the second card slot is an inclined surface.

[0015] Furthermore, the material frame positioning structure is a material frame positioning block.

[0016] Furthermore, the guide structure includes a linear guide rail and a guide slider. The linear guide rail is arranged on the inner end surface of the grabbing arm, and the movable slide plate is slidably matched with the linear guide rail through the guide slider.

[0017] Compared with the prior art, the manipulator for material stacking described in the present invention has the following advantages:

[0018] 1. The fixed base and the grabbing arm utilize a removable fixed connection. Compared to traditional structures where the arm moves on the base, this significantly enhances the rigidity and stability of the manipulator. The fixed base provides a stable platform, and the fixed connection between it and the grabbing arm reduces vibration and deflection that can occur due to moving parts. This not only improves operational precision during grabbing and stacking, but also reduces the risk of wear and failure caused by repetitive motion. By eliminating the inertia caused by the entire arm moving on the base, the manipulator maintains greater stability even during rapid movements, making it suitable for high-frequency use scenarios.

[0019] 2. The material frame is designed to be grasped on the left and right sides instead of the traditional front and back positions. This change effectively shortens the length of the robot arm. The shortened arm length not only makes the overall structure of the robot more compact, but also improves the flexibility of the equipment and the utilization of the operating space.

[0020] 3. The gripping structure includes a frame support block and a slot, which can accurately grasp and position the frame, reducing operational errors. The first and second frame support blocks provide a stable support to prevent the frame from shaking or tilting during grasping and transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0022] Figure 1 This is a schematic diagram of a manipulator for material stacking according to an embodiment of the present utility model;

[0023] Figure 2 This is an exploded view of a manipulator for material stacking according to an embodiment of the present utility model;

[0024] Figure 3 This is the material frame positioning structure described in the embodiment of the utility model;

[0025] Figure 4 This is a schematic diagram of the frame-removing structure of the robot according to an embodiment of the present utility model;

[0026] Figure 5 This is a schematic diagram of the structure of the manipulator in the clamping state according to an embodiment of the present utility model;

[0027] Figure 6 This is a structural diagram of the manipulator in a relaxed state according to an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. Fixed base; 100. Robot; 2. Dispenser; 3. First detection device; 4. Connecting screws; 5. First grabbing arm; 6. Second detection device; 7. Material frame positioning block; 8. Third detection device; 9. Second grabbing arm; 10. Guide structure; 11. Cylinder; 12. First material frame support block; 13. Moving slide; 14. Second material frame support block; 200. Material stack. DETAILED DESCRIPTION

[0030] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features therein can be combined with each other.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0032] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0033] The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments.

[0034] A manipulator for stacking materials, such as Figure 1As shown, it includes a fixed base 1, a first detection device 3, a first grabbing arm 5, a second grabbing arm 9, two second detection devices 6, two third detection devices 8, two mobile slides 13, two pushing mechanisms, two guide structures 10, two material frame positioning structures and two material frame grabbing structures; the first detection device 3 and the second grabbing arm 9 are symmetrically arranged at the left and right ends of the fixed base 1, and each grabbing arm is detachably connected to the fixed base 1, and in this example is fixed by a connecting screw 4; a pushing mechanism is correspondingly arranged on the inner side of each grabbing arm, and the output end of the pushing mechanism is connected to the mobile slide 13, and the mobile slide 13 is slidably connected to the inner side of the grabbing arm through a guide structure 10; the guide structure 10 includes a linear guide rail and a guide slider, the linear guide rail is arranged on the inner end face of the grabbing arm, and the mobile slide 13 slides with the linear guide rail through the guide slider. The fixed base 1 and the grabbing arm adopt a detachable fixed connection method. Compared with the traditional structure in which the arm moves on the base, the rigidity and stability of the manipulator 100 are greatly enhanced. The fixed base 1 provides a stable platform, and its fixed connection to the gripping arm reduces vibration and deflection caused by moving parts. This not only improves operational precision during gripping and stacking, but also reduces wear and the risk of failure caused by repeated motion. By eliminating the inertia associated with the entire arm moving on the base, the robot 100 maintains greater stability even during rapid movements, making it suitable for high-frequency use.

[0035] The material frame is gripped on the left and right sides instead of the traditional front and back positions. This change effectively shortens the arm length of the robot 100. The shortened arm length not only makes the overall structure of the robot 100 more compact, but also improves the flexibility of the device and the utilization of the operating space.

[0036] Each movable slide 13 is correspondingly provided with a third detection device 8 , a material frame positioning structure and a material frame grabbing structure. The material frame positioning structure is located at the end of the movable slide 13 ; the material frame positioning structure is a material frame positioning block 7 .

[0037] The first detection device 3 is mounted on the inside of the fixed base 1. It is used to detect the number of material frames in the grasped stack. A second detection device 6 is mounted on the upper end surface of each grasping arm. The first detection device 3 is a first proximity switch, and the second detection device 6 is two second proximity switches. The third detection device 8 is a beam switch, with two third detection devices 8 facing each other. The third detection device 8 is used to detect whether a material frame is present on the robot arm and whether the material frame has been grasped in place. A distributor 2 is mounted on the inside of the fixed base 1. The circuitry for the first detection device 3, the second detection device 6, and the third detection device 8 are all integrated into the distributor 2.

[0038] The material frame grasping structure includes a first material frame support block 12 and a second material frame support block 14. The first material frame support block 12 and the second material frame support block 14 are both arranged on a movable slide 13. The second material frame support block 14 is located in front of the first material frame support block 12. A first card slot is provided on the top of the first material frame support block 12, and a second card slot is provided on the top of the second material frame support block 14. The front and rear end faces of the first card slot are both inclined, and the single end face of the second card slot is an inclined surface. The grasping structure can accurately grasp and position the material frame, reducing operational errors. The first material frame support block 12 and the second material frame support block 14 provide stable support to prevent the material frame from shaking or tilting during grasping and transportation. In actual use, the manipulator 100 stacks multiple material frames into a stack 200.

[0039] Working mode of this embodiment

[0040] The manipulator 100 moves to the top or bottom of the material frame and then moves vertically up and down, so that the bearing surface of the material frame support block is lower than the contact surface of the material frame hook. The cylinders 11 on the two grabbing arms are in a linked state. The cylinders 11 retract, causing the material frame support block on the arm to slide below the material frame hook. The manipulator 100 moves upward, and the material frame support block hooks the material frame, completing the frame removal action. After the manipulator 100 places the material frame in the specified position, the manipulator 100 continues to move downward, so that the bearing surface of the material frame support block and the contact surface of the material frame hook are disengaged. The cylinders 11 extend, causing the material frame support block on the arm to move away from under the material frame hook. At this time, the manipulator 100 separates from the material frame, leaving the material frame in its original position, completing the frame placement action.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A manipulator for stacking materials, characterized by: It comprises a fixed base (1), a first detection device (3), a first grabbing arm (5), a second grabbing arm (9), two second detection devices (6), two third detection devices (8), two movable slides (13), two pushing mechanisms, two guide structures (10), two material frame positioning structures and two material frame grabbing structures; The first detection device (3) and the second grabbing arm (9) are symmetrically arranged at the left and right ends of the fixed base (1), and each of the grabbing arms is detachably connected to the fixed base (1); A pushing mechanism is correspondingly provided on the inner side of each grabbing arm, the output end of the pushing mechanism is connected to a moving slide (13), and the moving slide (13) is slidably connected to the inner side of the grabbing arm through a guide structure (10); Each of the movable slides (13) is correspondingly provided with a third detection device (8), a material frame positioning structure and a material frame grabbing structure, and the material frame positioning structure is located at the end of the movable slide (13); The first detection device (3) is arranged on the inner side of the fixed base (1), and is used to detect the number of material frames in the grasped material stack. The upper end surface of each grasping arm is correspondingly provided with a second detection device (6).

2. A manipulator for material stacking according to claim 1, characterized in that: The first detection device (3) is a first proximity switch, and the second detection device (6) is two second proximity switches.

3. A manipulator for material stacking according to claim 2, characterized in that: The third detection device (8) is a beam switch, and the two third detection devices (8) are facing each other. The third detection device (8) is used to detect whether there is a material frame on the robot arm and whether the material frame is grasped in place.

4. A manipulator for material stacking according to any one of claims 1 to 3, characterized in that: A distributor (2) is provided on the inner side of the fixed base (1), and the circuits of the first detection device (3), the second detection device (6) and the third detection device (8) are all integrated in the distributor (2).

5. The manipulator for material stacking according to claim 4, characterized in that: The material frame grabbing structure includes a first material frame support block (12) and a second material frame support block (14). The first material frame support block (12) and the second material frame support block (14) are both arranged on the movable slide (13). The second material frame support block (14) is located in front of the first material frame support block (12). The first material frame support block (12) is provided with a first card slot on the top, and the second material frame support block (14) is provided with a second card slot on the top.

6. The manipulator for material stacking according to claim 5, characterized in that: The front and rear end surfaces of the first card slot are both inclined surfaces, and the single end surface of the second card slot is an inclined surface.

7. The manipulator for material stacking according to claim 4, characterized in that: The material frame positioning structure is a material frame positioning block (7).

8. The manipulator for material stacking according to claim 4, characterized in that: The guide structure (10) comprises a linear guide rail and a guide slider, wherein the linear guide rail is arranged on the inner end surface of the grabbing support arm, and the movable slide plate (13) is slidably matched with the linear guide rail via the guide slider.

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