Synchronous material conveying manipulator

Abstract

The utility model provides a synchronous material conveying manipulator which comprises a cross beam, a first horizontal moving module, a second horizontal moving module, a transverse moving synchronous moving plate, a sliding assembly, a lifting module and a plurality of material grabbing units, the first horizontal moving module is connected with the transverse moving synchronous moving plate, and the material grabbing units are movably arranged on the transverse moving synchronous moving plate. The lifting module comprises a lifting guide plate, a lifting connecting plate and a connecting rod, the lifting guide plate is connected with the second horizontal moving module, a lifting adjusting groove channel is formed in the lifting guide plate, a cam on the lifting connecting plate is movably arranged in the lifting adjusting groove channel, and when the lifting guide plate moves horizontally and transversely, the lifting guide plate is connected with the lifting connecting plate. The cam moves in the lifting adjusting channel to drive the lifting connecting plate and the connecting rod to ascend and descend, and the material grabbing unit is arranged on the connecting rod through the guide wheel and is driven by the connecting rod to ascend and descend. The manipulator can synchronously convey a large batch of materials at a time, and is high in efficiency and small in size.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of intelligent equipment especially synchronously transport material mechanical hand. BACKGROUND

[0002] With the development of automation technology, multifunctional automation equipment is widely used, and in the automation production, multi-axis mechanical hands or gantry type transport material mechanical hands are commonly used for carrying and transferring materials, the gantry type transport material mechanical hand, namely, setting linear module as transport driving force on the gantry, when needing single-axis direction transport material, only need setting linear module in the axis direction, when needing multi-axis direction transport material, need setting linear module in each axis direction respectively, such as horizontal, vertical double-axis direction transport material, setting horizontal linear module in horizontal direction directly drives horizontal movement, setting lifting linear module in vertical direction directly drives up-down vertical movement, and in order to the synchronization and coordination of movement, the lifting linear module needs to be set on the horizontal linear module, or the horizontal linear module needs to be set on the lifting linear module, so that the overall transport material mechanical hand is large in size, is high in space requirement for equipment, is also high in manufacturing cost, and the number of carrying arms for taking materials is limited by the mechanical structure, which is not conducive to the application of large-scale production quantity-intensive material transport production scene. SUMMARY

[0003] In view of the above, the utility model provides a kind of synchronous transport material mechanical hand, which can transport large quantities of materials at a time, with high efficiency and small size.

[0004] The utility model discloses a kind of synchronous transport material mechanical hand, including crossbeam, first horizontal movement module and second horizontal movement module being set in the back of crossbeam, crossbeam front synchronous moving plate of setting, sliding assembly, lifting module and several grabbing units are set, the first horizontal movement module is connected with the crossbeam front synchronous moving plate, drives it to carry out horizontal transverse movement, the several grabbing units are movably set on the crossbeam front synchronous moving plate, with the crossbeam front synchronous moving plate synchronous transverse movement, the lifting module includes several lifting guide plates, several lifting connecting plates and connecting rod, the lifting guide plate is connected with the second horizontal movement module, the lifting guide plate is driven by the second horizontal movement module to carry out horizontal transverse movement, lifting adjustment channel is set on the lifting guide plate, the upper end of the lifting connecting plate is provided with cam, the connecting rod is connected in the lower end of the lifting connecting plate, the cam is movably set in the lifting adjustment channel, when the lifting guide plate horizontal transverse movement, cam moves in the lifting adjustment channel, drives lifting connecting plate and connecting rod to carry out lifting movement, the grabbing unit is set on the connecting rod by guide wheel, carries out lifting movement under the driving of connecting rod.

[0005] Further, the sliding assembly comprises a first sliding mechanism, a second sliding mechanism, a third sliding mechanism and a fourth sliding mechanism, the transverse movement synchronous moving plate is arranged on the cross beam through the first sliding mechanism, the lifting guide plate is arranged on the cross beam through the second sliding mechanism, the lifting connecting plate is arranged on the cross beam through the third sliding mechanism, and the grabbing unit is arranged on the transverse movement synchronous moving plate through the fourth sliding mechanism.

[0006] Further, the grabbing unit comprises a fixed plate, a cylinder, a clamping jaw and a clamping jaw control assembly, the guide wheel is arranged at the top end of the back of the fixed plate, the back of the fixed plate is connected with the fourth sliding mechanism, the clamping jaw control assembly is connected with the cylinder and the clamping jaw, the cylinder drives the clamping jaw control assembly to move, and the movement of the clamping jaw control assembly drives the clamping jaw to open and close.

[0007] Further, the clamping jaw control assembly comprises a clamping jaw connecting plate, a first clamping jaw moving plate and a second clamping jaw moving plate, a first sliding groove and a second sliding groove are respectively arranged on the first clamping jaw moving plate and the second clamping jaw moving plate, the first sliding groove and the second sliding groove are symmetrically arranged, rollers are movably arranged in the first sliding groove and the second sliding groove respectively, the rollers are connected with the bottom end of the clamping jaw connecting plate, the top end of the clamping jaw connecting plate is fixedly arranged on the piston end of the cylinder, the clamping jaw connecting plate is driven by the cylinder to move up and down, thereby driving the first clamping jaw moving plate and the second clamping jaw moving plate to relatively move horizontally close to and away from each other.

[0008] Further, the clamping jaw comprises a left clamping jaw and a right clamping jaw, the left clamping jaw is arranged at the bottom end of the first clamping jaw moving plate through a left jaw plate, and the right clamping jaw is arranged at the bottom end of the second clamping jaw moving plate through a right jaw plate.

[0009] Further, the first clamping jaw moving plate and the second clamping jaw moving plate are provided with a fifth sliding assembly on the back, which plays a stable guiding role when the first clamping jaw moving plate and the second clamping jaw moving plate move.

[0010] Further, the first clamping jaw moving plate and the second clamping jaw moving plate are respectively provided with guide blocks, guide grooves are arranged on the guide blocks, and the two guide grooves are overlapped and buckled.

[0011] Further, a plurality of lifting guide plates are arranged on the second sliding mechanism through a lifting synchronous moving plate.

[0012] Further, the connecting rod is arranged horizontally along the length direction of the cross beam.

[0013] Further, a stand is arranged at the bottom of the cross beam to support and fix the cross beam.

[0014] The synchronous material conveying manipulator is a linear array type multi-material taking terminal synchronous material conveying manipulator, two horizontal linear modules are arranged on one side of the cross beam and are respectively used for driving horizontal movement and vertical movement of the material grabbing unit, one horizontal movement module is connected with the lifting guide plate and the cam, and the horizontal driving of the module is converted into vertical lifting movement of the material grabbing unit, so that the structure is more compact, the volume is smaller, the thickness of the overall structure of the synchronous material conveying manipulator is greatly reduced, and the adaptability is stronger under the condition that the operation space is limited. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the synchronous material conveying manipulator.

[0016] Figure 2 It is a schematic diagram of the overall back structure of the synchronous material conveying manipulator.

[0017] Figure 3 It is a schematic diagram of the local fracture structure of the synchronous material conveying manipulator.

[0018] Figure 4 It is a schematic diagram of the lifting module structure.

[0019] Figure 5 It is a schematic diagram of the material grabbing unit structure. DETAILED DESCRIPTION

[0020] The utility model will be further explained in detail in combination with the drawings and examples. It can be understood that the specific examples described here are only used to explain the utility model, and not limited to the utility model. In addition, it should be pointed out that, in order to facilitate the description, only the part related to the utility model is shown in the drawings, not all structures.

[0021] In the description of the utility model, it should be pointed out that, unless otherwise specified and limited, the terms "arrangement", "connection" and the like should be understood broadly, for example, can be fixedly connected, can be detachably connected or integrally connected, can be mechanically connected or electrically connected, can be directly connected or indirectly connected through an intermediate medium, and can be the communication between two elements, for those skilled in the art, the specific meaning of the above terms in the invention can be understood through specific circumstances.

[0022] REFERENCE Figures 1-4The synchronous material conveying manipulator of the embodiment comprises a crossbeam 1, a first horizontal moving module 2 and a second horizontal moving module 3 arranged in parallel on the back of the crossbeam 1, a transverse movement synchronous moving plate 4 arranged on the front of the crossbeam 1, a sliding assembly, a lifting module and a plurality of grabbing units 5. A stand 100 is fixedly arranged on the back of the crossbeam 1 to support and fix the crossbeam 1. In the embodiment, the first horizontal moving module 2 and the second horizontal moving module 3 can be selected as a servo lead screw module. The sliding table 21 of the first horizontal moving module is connected with the transverse movement synchronous moving plate 4 to drive the transverse movement synchronous moving plate 4 to move horizontally. The plurality of grabbing units 5 are movably arranged on the transverse movement synchronous moving plate 4 and move horizontally synchronously with the transverse movement synchronous moving plate 4. The lifting module comprises a plurality of lifting guide plates 61, a plurality of lifting connecting plates 62 and a connecting rod 63. The lifting guide plates 61 are connected with the sliding table 31 of the second horizontal moving module and are driven by the second horizontal moving module 3 to move horizontally. The lifting guide plates 61 are provided with lifting adjusting grooves 64. The upper end of the lifting connecting plate 62 is provided with a cam. The connecting rod 63 is connected with the lower end of the lifting connecting plate 62. The cam is movably arranged in the lifting adjusting groove 64. The lifting adjusting groove 64 is sequentially divided into a lower flat section, a middle inclined section and an upper flat section. The lower flat section and the upper flat section have a height difference. When the lifting guide plates 61 move horizontally, the movement of the cam in the lifting adjusting groove 64 drives the lifting connecting plate 62 and the connecting rod 63 to move up and down. The grabbing units 5 are arranged on the connecting rod 63 through guide wheels 51 and can roll on the connecting rod 63 or move up and down under the driving of the connecting rod 63. Thus, the horizontal driving force of the second horizontal moving module 3 is converted into the vertical movement of the grabbing units 5 through the structure of the lifting module 6. Compared with the structure in which the linear module is arranged in the vertical direction to drive the grabbing units 5 to move up and down, the structure is more compact, the volume is smaller and the thickness of the synchronous material conveying manipulator is greatly reduced. The adaptability is stronger under the condition that the operation space is limited.

[0023] Further, the lifting guide plates 61 are arranged on the second sliding mechanism 8 through a lifting synchronous moving plate 65. The lifting guide plates 61 are arranged at equal intervals on the lifting synchronous moving plate 65. One or more of the lifting guide plates 61 are directly connected with the second horizontal moving module 3. Thus, when the second horizontal moving module 3 directly drives one lifting guide plate 61, all the lifting guide plates 61 move synchronously. The connecting rod 63 is arranged horizontally along the length direction of the crossbeam 1 and is fixed with the bottom end of each lifting connecting plate 62 through a pin or a bolt to ensure the horizontal degree of the connecting rod 63.

[0024] Reference Figure 5The grabbing unit 5 comprises a fixed plate 52, a cylinder 53, a clamping jaw 54 and a clamping jaw control assembly. A guide wheel 51 is arranged at the top end of the back of the fixed plate 52. The back of the fixed plate 52 is connected with the fourth sliding mechanism 10. The clamping jaw control assembly is connected with the cylinder 53 and the clamping jaw 54. The cylinder 53 drives the clamping jaw control assembly to move, and the movement of the clamping jaw control assembly drives the clamping jaw 54 to open and close.

[0025] Specifically, the clamping jaw control assembly comprises a clamping jaw connecting plate 55, a first clamping jaw moving plate 56 and a second clamping jaw moving plate 57. A first sliding channel 561 and a second sliding channel 571 are respectively arranged on the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57. The first sliding channel 561 and the second sliding channel 571 are symmetrically arranged, and the two sliding channels form an "eight" shaped structure. A roller 58 is movably arranged in the first sliding channel 561 and the second sliding channel 571. The roller 58 is connected with the bottom end of the clamping jaw connecting plate 55. The top end of the clamping jaw connecting plate 55 is fixed on the piston end of the cylinder 53. The clamping jaw connecting plate 55 is driven by the cylinder 53 to move up and down, thereby driving the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57 to move horizontally to approach and move away from each other. A fifth sliding assembly 11 is arranged on the back of the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57, which plays a role of stable guiding when the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57 move. A guide block 59 is arranged on the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57. A guide groove 591 is arranged on the guide block 59. The two guide grooves 591 are movably connected by overlapping and buckling. When the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57 move horizontally, the guide block 59 can move with the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57. Since the two guide grooves 591 buckle with each other, the distance of the movement of the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57 can be limited, thereby avoiding that the tension of the clamping jaw 54 is too tight or too loose.

[0026] A plurality of clamping jaws 54 are arranged in each grabbing unit 5. Each clamping jaw 54 comprises a left clamping jaw 541 and a right clamping jaw 542. The left clamping jaw 541 is fixedly arranged on the bottom end of the first clamping jaw moving plate 56 through a left jaw plate 562. A plurality of left clamping jaws 541 are regularly arranged on the left jaw plate 562. The right clamping jaw 542 is fixedly arranged on the bottom end of the second clamping jaw moving plate 57 through a right jaw plate 572. A plurality of right clamping jaws 542 are regularly arranged on the right jaw plate 572. When the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57 move horizontally to approach and move away from each other, the left clamping jaw 541 and the right clamping jaw 542 are driven to approach and move away from each other, thereby controlling the clamping jaw 54 to perform the clamping and loosening actions of clamping materials.

[0027] For reference Figures 1-4The sliding assembly comprises a first sliding mechanism 7, a second sliding mechanism 8, a third sliding mechanism 9, a fourth sliding assembly 10 and a fifth sliding mechanism 11. The horizontal movement synchronous moving plate 4 is arranged on the cross beam 1 through the first sliding mechanism 7, and the first sliding mechanism 7 plays a stable guiding role when the first horizontal movement module 2 drives the horizontal movement synchronous moving plate 4 to move horizontally. The lifting guiding plate 61 is arranged on the cross beam 1 through the second sliding mechanism 8, and the second sliding mechanism 8 plays a stable guiding role when the second horizontal movement module 3 drives the lifting guiding plate 61 to move horizontally. The lifting connecting plate 62 is arranged on the cross beam 1 through the third sliding mechanism, and the third sliding mechanism plays a stable guiding role when the lifting guiding plate 61 drives the lifting connecting plate 62 to move up and down. The grabbing unit 5 is arranged on the horizontal movement synchronous moving plate 4 through the fourth sliding mechanism 10, and the fourth sliding mechanism 10 plays a stable guiding role when the connecting rod 63 drives the grabbing unit 5 to move up and down.

[0028] In the embodiment, the first sliding mechanism 7, the second sliding mechanism 8, the third sliding mechanism, the fourth sliding assembly 10 and the fifth sliding mechanism 11 are all sliding combinations of guide rails and sliding blocks. The positions of the sliding assemblies are defined as “first”, “second”, “third”, “fourth” and “fifth” to better distinguish them. The guide rails in the first sliding mechanism 7, the second sliding mechanism 8 and the third sliding mechanism are fixed on the cross beam 1, and the matching sliding blocks are fixed on the horizontal movement synchronous moving plate 4, the lifting synchronous moving plate 65 and the lifting connecting plate 62 respectively. The guide rail in the fourth sliding assembly 10 is fixed on the horizontal movement synchronous moving plate 4, and the matching sliding block is fixed on the fixed plate 52 of the grabbing unit 5. The guide rail in the fifth sliding assembly 11 is fixed on the fixed plate 52 of the grabbing unit, and two sliding blocks are arranged on the guide rail. The back surfaces of the first clamping jaw moving plate 56 and the second clamping jaw moving plate 57 are fixed on the two sliding blocks respectively to slide on the guide rail.

[0029] In addition, the above embodiment is only used for describing the technical scheme of the present application and is not used for limiting the technical scheme of the present application. The understanding of the specification should be based on the technical personnel in the technical field. Although the present application has been described in detail with reference to the above embodiment, the technical personnel in the field should understand that the technical personnel in the field can still modify or equivalently replace the present application, and all the technical schemes and improvements which do not deviate from the spirit and scope of the present application should be covered in the claim range of the present application.

Claims

1. A synchronous material handling robot, characterized by: The device comprises a beam, a first horizontal moving module and a second horizontal moving module arranged on the back of the beam, a horizontal moving synchronous dynamic plate arranged on the front of the beam, a sliding assembly, a lifting module and a plurality of grabbing units, the first horizontal moving module is connected with the horizontal moving synchronous dynamic plate and drives the horizontal moving synchronous dynamic plate to move horizontally, the plurality of grabbing units are movably arranged on the horizontal moving synchronous dynamic plate and move horizontally synchronously with the horizontal moving synchronous dynamic plate, the lifting module comprises a plurality of lifting guide plates, a plurality of lifting connecting plates and a connecting rod, the lifting guide plates are connected with the second horizontal moving module and are driven by the second horizontal moving module to move horizontally, the lifting guide plates are provided with lifting adjusting grooves, the upper end of the lifting connecting plate is provided with a cam, the lower end of the lifting connecting plate is connected with the connecting rod, the cam is movably arranged in the lifting adjusting groove, when the lifting guide plates move horizontally, the cam moves in the lifting adjusting groove, drives the lifting connecting plate and the connecting rod to move up and down, and the grabbing units are arranged on the connecting rod through guide wheels and move up and down under the driving of the connecting rod.

2. The synchronous material handling robot of claim 1, wherein: The sliding assembly comprises a first sliding mechanism, a second sliding mechanism, a third sliding mechanism and a fourth sliding mechanism, the horizontal moving synchronous dynamic plate is arranged on the beam through the first sliding mechanism, the lifting guide plates are arranged on the beam through the second sliding mechanism, the lifting connecting plates are arranged on the beam through the third sliding mechanism, and the grabbing units are arranged on the horizontal moving synchronous dynamic plate through the fourth sliding mechanism.

3. The synchronous material handling robot of claim 2, wherein: The grabbing unit comprises a fixed plate, a cylinder, a clamping jaw and a clamping jaw control assembly, the guide wheel is arranged at the top end of the back of the fixed plate, the back of the fixed plate is connected with the fourth sliding mechanism, the clamping jaw control assembly is connected with the cylinder and the clamping jaw, the cylinder drives the clamping jaw control assembly to move, and the movement of the clamping jaw control assembly drives the clamping jaw to open and close.

4. The synchronous material handling robot of claim 3, wherein: The clamping jaw control assembly comprises a clamping jaw connecting plate, a first clamping jaw dynamic plate and a second clamping jaw dynamic plate, the first clamping jaw dynamic plate and the second clamping jaw dynamic plate are respectively provided with a first sliding groove and a second sliding groove, the first sliding groove and the second sliding groove are symmetrically arranged, rollers are movably arranged in the first sliding groove and the second sliding groove respectively, the rollers are connected with the bottom end of the clamping jaw connecting plate, the top end of the clamping jaw connecting plate is fixedly arranged on the piston end of the cylinder, the clamping jaw connecting plate moves up and down under the driving of the cylinder, and in turn drives the first clamping jaw dynamic plate and the second clamping jaw dynamic plate to move horizontally to relatively approach and move away from each other.

5. The synchronous material handling robot of claim 4, wherein: The clamping jaw comprises a left clamping jaw and a right clamping jaw, the left clamping jaw is arranged at the bottom end of the first clamping jaw dynamic plate through a left jaw plate, and the right clamping jaw is arranged at the bottom end of the second clamping jaw dynamic plate through a right jaw plate.

6. The synchronous material handling robot of claim 4, wherein: The back of the first clamping jaw dynamic plate and the second clamping jaw dynamic plate is provided with a fifth sliding assembly, which plays a stable guiding role when the first clamping jaw dynamic plate and the second clamping jaw dynamic plate move.

7. The synchronous material handling robot of claim 4 or 6, wherein: The first clamping jaw dynamic plate and the second clamping jaw dynamic plate are respectively provided with guide blocks, the guide blocks are provided with guide grooves, and the two guide grooves are overlapped and buckled.

8. The synchronous material handling robot of claim 2, wherein: A plurality of the lifting guide plates are arranged on the second sliding mechanism through a lifting synchronous moving plate.

9. The synchronous material handling robot of claim 1, wherein: The connecting rod is arranged horizontally along the length direction of the cross beam.

10. The synchronous material handling robot of claim 1, wherein: A stand is arranged at the bottom of the cross beam to support and fix the cross beam.

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