Material taking mechanism and manipulator

Abstract

The utility model provides a material taking mechanism to improve the material taking and placing efficiency on the basis of low cost. The rotating assembly comprises a rotating piece and a rolling piece fixedly arranged on the rotating piece in a sleeving mode, and the rotating piece is rotationally connected with the fixing base; the material taking part is connected with the rotating part and used for taking and placing materials; the sliding assembly comprises a sliding part and a driving part, the sliding part is slidably connected with the fixed seat and is in rolling fit with the rolling part, knurls are arranged on at least one of the surface, facing the rolling part, of the sliding part and the surface, facing the sliding part, of the rolling part, and the driving part is arranged on the fixed seat, connected with the sliding part and used for driving the sliding part to drive the rolling part to rotate; the rolling piece drives the rotating piece and the material taking piece to rotate; the sliding direction of the sliding part intersects with the rotating shaft of the rotating part. The utility model further provides a manipulator comprising the mechanical arm and the material taking mechanism.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of material taking devices, in particular to a material taking mechanism and a mechanical hand. BACKGROUND

[0002] The direction of material when arriving at a flow line is inconsistent with the direction of a positioning jig in a processing machine table. Currently, a mechanical hand is used to adjust the posture of the material by rotating after sucking the material on the flow line. In order to ensure that the posture of the material is consistent with the angle in the positioning jig when the material is placed, the operation precision of the mechanical hand needs to be improved. This not only increases the operation time of the mechanical hand, but also leads to low material taking and placing efficiency and increases the cost of taking and placing the material. CONTENT OF THE UTILITY MODEL

[0003] In view of the above, it is necessary to provide a material taking mechanism and a mechanical hand to improve the taking and placing efficiency of the material at a low cost.

[0004] The application provides a material taking mechanism, which comprises:

[0005] a fixed seat;

[0006] a rotating assembly, which comprises a rotating part and a rolling part fixedly arranged on the rotating part, and the rotating part is rotationally connected with the fixed seat;

[0007] a material taking part, which is connected with the rotating part and is used for taking and placing the material;

[0008] a sliding assembly, which comprises a sliding part and a driving part, the sliding part is slidingly connected with the fixed seat and is rollingly matched with the rolling part, at least one of the surface of the sliding part facing the rolling part and the surface of the rolling part facing the sliding part is provided with knurling, and the driving part is arranged on the fixed seat and is connected with the sliding part, and is used for driving the sliding part to drive the rolling part to rotate, so that the rolling part drives the rotating part and the material taking part to rotate;

[0009] wherein the sliding direction of the sliding part intersects with the rotation axis of the rotating part.

[0010] In the above material taking mechanism, the sliding part is rollingly matched with the rolling part, after the material taking part positions the material, the driving part drives the sliding part to drive the rolling part to rotate, so that the rolling part drives the rotating part and the material taking part to rotate, and the material realizes posture adjustment under the rotation of the material taking part. The above material taking mechanism has simple structure and can reduce the taking and placing cost of the material. In addition, the rotating part can drive the material to rotate synchronously with the material taking mechanism, which can shorten the taking and placing time of the material and is beneficial to improving the taking and placing efficiency of the material.

[0011] In some embodiments, the fixed seat comprises:

[0012] A linkage for connecting an external power member;

[0013] A fixing member for connecting the linkage, and the driving member is mounted on the fixing member;

[0014] A supporting member connected with the fixing member, and the rotating member is rotatably connected with the supporting member;

[0015] A mounting member connected with the fixing member and the supporting member respectively, and the sliding member is slidably connected with the mounting member.

[0016] In some embodiments, the rotating member comprises:

[0017] A rotating shaft connected with the taking member, and the rolling member is fixedly sleeved on the rotating shaft;

[0018] A bearing embedded in the supporting member and sleeved on the rotating shaft.

[0019] In some embodiments, the mounting member comprises:

[0020] A mounting body connected with the fixing member and the supporting member respectively;

[0021] A guide rail provided on the mounting body and slidably connected with the sliding member.

[0022] In some embodiments, the sliding member comprises:

[0023] A main body provided with a sliding slot, a movable slot and an opening, the main body is clamped on the guide rail through the sliding slot, the opening is provided on the side of the main body away from the guide rail, and the movable slot is provided between the opening and the sliding slot and communicates with the opening;

[0024] A rolling body comprising a movable part and a friction part, the movable part is movably accommodated in the movable slot in the direction of the main body pointing to the guide rail, the friction part is connected with the movable part and protrudes out of the opening, and the surface of the friction part away from the movable part is provided with the knurling;

[0025] An elastic body, two ends of the elastic body are elastically abutted against the surface of the movable part away from the friction part and the bottom wall of the movable slot respectively.

[0026] In some embodiments, the fixing seat further comprises:

[0027] A stopper connected with the mounting body and the supporting member respectively, and the stopper is provided on the side of the rotating member away from the fixing member, and the guide rail is provided between the fixing member and the stopper;

[0028] A guide is connected to one end of the stopper and movably inserted into the main body along the sliding direction of the slider.

[0029] In some embodiments, the material taking mechanism further comprises:

[0030] A reset member is embedded in the main body and elastically abuts against the main body and the guide at two ends thereof.

[0031] In some embodiments, the fixing seat further comprises:

[0032] A limiting member is connected to the stopper and used to stop the main body to limit the movement stroke of the slider.

[0033] In some embodiments, the material taking member comprises:

[0034] A carrier is connected to one end of the rotating member;

[0035] A plurality of suction heads are connected to the side of the carrier away from the rotating member and used to adsorb the material.

[0036] The embodiments of the present application further provide a robot, comprising:

[0037] The material taking mechanism described above;

[0038] A robot arm is connected to the fixing seat of the material taking mechanism and used to drive the material taking mechanism to move.

[0039] In the robot described above, the material taking mechanism can reduce the taking and placing cost of the material and shorten the taking and placing time of the material, so as to improve the taking and placing efficiency of the material. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 FIG. 1 is a structural schematic diagram of a material taking mechanism according to an embodiment of the present application.

[0041] Figure 2 FIG. 2 is a structural schematic diagram of the fixing seat, rotating assembly and sliding assembly of the material taking mechanism shown in FIG. 1. Figure 1

[0042] Figure 3 FIG. 3 is an exploded schematic diagram of the sliding assembly and part of the fixing seat shown in FIG. 2. Figure 2

[0043] Figure 4 FIG. 4 is a structural schematic diagram of a robot according to an embodiment of the present application.

[0044] ​​Main element symbol explanation: material taking mechanism 100, fixing seat 110, linkage 111, fixing piece 112, supporting piece 113, mounting piece 114, mounting body 1141, guide rail 1142, stop piece 115, guide piece 116, limiting piece 117, rotating assembly 120, rotating piece 121, rotating shaft 1211, bearing 1212, rolling piece 122, material taking piece 130, carrying body 131, suction head 132, sliding assembly 140, sliding piece 141, main body 1411, sliding groove 1411a, movable groove 1411b, opening 1411c, rolling body 1412, movable part 1412a, friction part 1412b, elastic body 1413, driving piece 142, reset piece 150, mechanical hand 1000, mechanical arm 200. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described below in detail, examples of which are shown in the drawings, wherein the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only, for the purpose of explanation, and are not to be understood as a limitation of the present application.

[0046] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection or can communicate with each other; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. In the description of the present application, it should be noted that the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0047] The embodiments of the present application are described in detail below with reference to the drawings.

[0048] Please see Figure 1 and Figure 2The embodiment of the present application provides a taking mechanism 100, which comprises a fixing seat 110, a rotating assembly 120, a taking component 130 and a sliding assembly 140. The rotating assembly 120 comprises a rotating component 121 and a rolling component 122 fixedly sleeved on the rotating component 121, the rotating component 121 is rotationally connected with the fixing seat 110, the taking component 130 is connected with the rotating component 121 and is used for taking and placing materials. The sliding assembly 140 comprises a sliding component 141 and a driving component 142, the sliding component 141 is slidingly connected with the fixing seat 110 and is rollingly matched with the rolling component 122, at least one of a surface of the sliding component 141 facing the rolling component 122 and a surface of the rolling component 122 facing the sliding component 141 is provided with knurling, the driving component 142 is arranged on the fixing seat 110 and is connected with the sliding component 141, and is used for driving the sliding component 141 to drive the rolling component 122 to rotate, so that the rolling component 122 drives the rotating component 121 and the taking component 130 to rotate. The sliding direction of the sliding component 141 intersects with the rotation axis of the rotating component 121. In the embodiment, the sliding direction of the sliding component 141 is perpendicular to the rotation axis of the rotating component 121.

[0049] In the taking mechanism 100, the sliding component 141 is rollingly matched with the rolling component 122, after the taking component 130 is positioned with the material, the driving component 142 drives the sliding component 141 to drive the rolling component 122 to rotate, so that the rolling component 122 drives the rotating component 121 and the taking component 130 to rotate, and the material is adjusted in posture under the rotation of the taking component 130. The taking mechanism 100 has simple structure, can reduce the taking and placing cost of the material, in addition, the rotating component 121 drives the rotating operation of the material, which can be synchronized with the moving operation of the taking mechanism 100, so that the taking and placing time of the material can be shortened, and the taking and placing efficiency of the material can be improved.

[0050] Please refer to Figure 2 In some embodiments, the fixing seat 110 comprises a linkage component 111, a fixing component 112, a supporting component 113 and a mounting component 114. The linkage component 111 is substantially cuboid, the linkage component 111 is used for connecting an external power component, wherein the power component can be a mechanical arm, the fixing component 112 is connected with the linkage component 111, the driving component 142 is mounted on the fixing component 112, the supporting component 113 is connected with the fixing component 112, the rotating component 121 is rotationally connected with the supporting component 113, the mounting component 114 is connected with the fixing component 112 and the supporting component 113 respectively, and the sliding component 141 is slidingly connected with the mounting component 114.

[0051] Therefore, the linkage component 111 facilitates the installation of the fixing seat 110, which is beneficial to reduce the installation difficulty of the taking mechanism 100, and the fixing component 112, the supporting component 113 and the mounting component 114 have simple structures, which is beneficial to reduce the manufacturing cost of the fixing seat 110.

[0052] In some embodiments, the rotating member 121 comprises a rotating shaft 1211 and a bearing 1212. The rotating shaft 1211 is connected with the taking member 130, the rolling member 122 is fixedly sleeved on the rotating shaft 1211, and the bearing 1212 is embedded in the support member 113 and sleeved on the rotating shaft 1211.

[0053] Therefore, the rotation of the taking member 130 is realized by the arrangement mode of the bearing 1212 and the rotating shaft 1211, the structure is simple, and the manufacturing cost of the taking mechanism 100 can be reduced.

[0054] In the embodiment, the support member 113 and the bearing 1212 are both two, the two support members 113 are respectively connected with the fixing member 112 and are arranged at intervals, the two bearings 1212 are respectively fixedly sleeved on the rotating shaft 1211 and are arranged at intervals along the axial direction of the rotating shaft 1211, and each bearing 1212 is embedded in one support member 113.

[0055] Therefore, the two support members 113 and the two bearings 1212 can improve the stability of the rotation of the rotating shaft 1211, and are beneficial to improving the accuracy of the rotation angle of the taking member 130.

[0056] Please refer to Figure 3 In some embodiments, the mounting member 114 comprises a mounting body 1141 and a guide rail 1142. The mounting body 1141 is connected with the fixing member 112 and the support member 113 respectively, and the guide rail 1142 is arranged on the mounting body 1141 and is in sliding connection with the sliding member 141.

[0057] Therefore, the guide rail 1142 can improve the stability of the sliding of the sliding member 141, and the structure of the guide rail 1142 is simple and the manufacturing cost is low.

[0058] Please refer to Figure 2 and Figure 3In some embodiments, the sliding member 141 comprises a main body 1411, a rolling body 1412 and an elastic body 1413. The main body 1411 is provided with a sliding groove 1411a, a movable groove 1411b and an opening 1411c. The main body 1411 is clamped to the guide rail 1142 through the sliding groove 1411a. The opening 1141c is arranged on the side of the main body 1411 away from the guide rail 1142. The movable groove 1141b is arranged between the opening 1141c and the sliding groove 1141a and is communicated with the opening 1141c. The rolling body 1412 comprises a movable part 1412a and a friction part 1412b. The movable part 1412a is movably arranged in the movable groove 1411b in the direction of the main body 1411 pointing to the guide rail 1142. The friction part 1412b is connected to the movable part 1412a and protrudes out of the opening 1411c. The surface of the friction part 1412b away from the movable part 1412a is provided with knurls. The two ends of the elastic body 1413 are elastically abutted against the surface of the movable part 1412a away from the friction part 1412b and the bottom wall of the movable groove 1411b, respectively. Exemplarily, the elastic body 1413 can be a spring.

[0059] Therefore, the rolling body 1412 is substantially in T-shaped structure. The movement stroke of the rolling body 1412 can be limited through the sliding groove 1411a and the opening 1411c, which is beneficial to improve the accuracy of the change of the position of the rolling body 1412 relative to the main body 1411. In addition, through the cooperation of the movable groove 1411b and the clamping groove of the guide rail 1142, the sliding cost of the sliding member 141 relative to the mounting member 114 can be reduced.

[0060] In the present embodiment, the elastic body 1413 is two, and the two elastic bodies 1413 are arranged in the sliding direction of the sliding member 141. Therefore, the rolling body 1412 can be supported at two points through the two elastic bodies 1413, which is beneficial to improve the uniformity of the elastic force received by the rolling body 1412. It can be understood that in other embodiments, the elastic body 1413 can also be three or more.

[0061] It can be understood that in other embodiments, the knurls can be arranged only on the surface of the rolling member 122 facing the sliding member 141, or the surface of the rolling member 122 facing the sliding member 141 and the surface of the friction part 1412b away from the movable part 1412a are both provided with knurls.

[0062] In some embodiments, the fixing seat 110 further comprises a stop member 115 and a guide member 116. The stop member 115 is connected with the mounting body 1141 and the supporting member 113, respectively, and is arranged on the side of the rotating member 121 away from the fixing member 112. The guide rail 1142 is arranged between the fixing member 112 and the stop member 115. One end of the guide member 116 is connected with the stop member 115, and the other end of the guide member 116 is movably inserted into the main body 1411 in the sliding direction of the sliding member 141.

[0063] Therefore, the guide member 116 can guide the movement of the main body 1411, thereby improving the stability of the movement of the sliding member 141.

[0064] In some embodiments, the material taking mechanism 100 further comprises a reset member 150. The reset member 150 is embedded in the main body 1411, and the two ends of the reset member 150 elastically abut against the main body 1411 and the guide member 116, respectively. For example, the reset member 150 can be a spring.

[0065] Therefore, the guide member 116 can elastically guide the main body 1411, thereby avoiding damage to the main body 1411 and improving the service life of the sliding member 141.

[0066] In the embodiment, the guide member 116 and the reset member 150 are both two, and the two guide members 116 and the two reset members 150 are one-to-one corresponding, and the two guide members 116 are arranged in the direction of the rotation axis of the rotation shaft 1211. Therefore, the two guide members 116 and the two reset members 150 can guide the main body 1411 at two points, thereby improving the stability of the movement of the sliding member 141. It can be understood that in other embodiments, the guide member 116 and the reset member 150 can also be three or more.

[0067] Please refer to Figure 2 In some embodiments, the fixed seat 110 further comprises a limiting member 117. The limiting member 117 is connected to the stop member 115 and is used to stop the main body 1411, thereby limiting the movement stroke of the sliding member 141.

[0068] Please refer to Figure 1 In some embodiments, the material taking member 130 comprises a carrier 131 and a plurality of suction heads 132. The carrier 131 is connected to one end of the rotating member 121, and the plurality of suction heads 132 are connected to the side of the carrier 131 away from the rotating member 121, and are used to adsorb materials.

[0069] In the embodiment, the number of the suction heads 132 in the material taking member 130 is four, and the four suction heads 132 are arranged in the circumferential direction of the carrier 131.

[0070] In the embodiment, the material taking member 130 is two, and the two material taking members 130 are connected to the two ends of the rotation shaft 1211, respectively.

[0071] Please refer to Figure 4 The embodiment of the application also provides a mechanical hand 1000, which comprises a mechanical arm 200 and the above-mentioned material taking mechanism 100. The mechanical arm 200 is connected to the fixed seat 110 of the material taking mechanism 100 and is used to drive the material taking mechanism 100 to move.

[0072] The material taking and placing cost of the material can be reduced, the material taking and placing time can be shortened, and the material taking and placing efficiency can be improved by the taking mechanism 100.

[0073] It is apparent that the application is not limited to the details of the foregoing exemplary embodiments, and this application can be carried out in other specific forms without departing from the spirit or essential characteristics of the application. Therefore, it should be understood that the embodiments are illustrative only and the application is not limited in scope to the embodiments set forth herein. It is intended to cover all changes and modifications of the application which do not constitute departures from the true spirit and scope of this application as defined by the claims appended hereto.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application but not limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application.

Claims

1. A material taking-out mechanism characterized by comprising: The application relates to a material taking mechanism. The material taking mechanism comprises a fixed base, a rotating assembly, a material taking member and a sliding assembly. The rotating assembly comprises a rotating member and a rolling member fixedly sleeved with the rotating member, and the rotating member is rotationally connected with the fixed base. The material taking member is connected with the rotating member and used for taking and placing materials. The sliding assembly comprises a sliding member and a driving member, the sliding member is slidingly connected with the fixed base and rollingly matched with the rolling member, at least one of a surface of the sliding member facing the rolling member and a surface of the rolling member facing the sliding member is provided with knurls, and the driving member is arranged on the fixed base and connected with the sliding member and used for driving the sliding member to rotate the rolling member so that the rolling member rotates the rotating member and the material taking member. The sliding direction of the sliding member intersects with the rotating shaft of the rotating member.

2. The material taking-out mechanism according to claim 1, wherein The fixed base comprises a linkage member, a fixed member, a support member, a mounting member and a fixed base. The linkage member is used for connecting an external power member. The fixed member is connected with the linkage member, and the driving member is mounted on the fixed member. The support member is connected with the fixed member. The rotating member is rotationally connected with the support member.

3. The material taking-out mechanism according to claim 2, wherein The mounting member is connected with the fixed member and the support member respectively, and the sliding member is slidingly connected with the mounting member. The rotating member comprises a rotating shaft and a bearing. The rotating shaft is connected with the material taking member, and the rolling member is fixedly sleeved with the rotating shaft.

4. The material taking-out mechanism according to claim 2, wherein The bearing is embedded in the support member and sleeved with the rotating shaft. The mounting member comprises a mounting body and a guide rail. The mounting body is connected with the fixed member and the support member respectively.

5. The material taking-out mechanism according to claim 4, wherein The guide rail is arranged on the mounting body and slidingly connected with the sliding member. The sliding member comprises a main body, a rolling body and an elastic body. The main body is provided with a sliding groove, a movable groove and an opening. The main body is clamped on the guide rail through the sliding groove.

6. The material taking-out mechanism according to claim 5, wherein The opening is arranged on the side of the main body away from the guide rail. The movable groove is arranged between the opening and the sliding groove and communicates with the opening. The rolling body comprises a movable part and a friction part.

7. The material taking-out mechanism according to claim 6, wherein The movable part is movably arranged in the movable groove in the direction of the main body pointing to the guide rail. The friction part is connected with the movable part and protrudes out of the opening.

8. The material taking-out mechanism according to claim 6, wherein The surface of the friction part away from the movable part is provided with the knurls. The two ends of the elastic body are elastically abutted against the surface of the movable part away from the friction part and the bottom wall of the movable groove respectively.

9. The material taking-out mechanism according to claim 1, wherein The fixed base further comprises a stop member and a guide member. The stop member is connected with the mounting body and the support member respectively. The stop member is arranged on the side of the rotating member away from the fixed member.

10. A robot, characterized in that The guide rail is arranged between the fixed member and the stop member. One end of the guide member is connected with the stop member. The other end of the guide member is movably inserted into the main body in the sliding direction of the sliding member. The material taking mechanism further comprises a reset member. The reset member is embedded in the main body. The two ends of the reset member are elastically abutted against the main body and the guide member respectively. The fixed base further comprises a limiting member. The limiting member is connected with the stop member and used for stopping the main body to limit the movement stroke of the sliding member. The material taking member comprises a carrier and a plurality of suction heads. One end of the carrier is connected with the rotating member. The plurality of suction heads are connected with the side of the carrier away from the rotating member and used for adsorbing the materials. The application relates to a material taking mechanism. The material taking mechanism comprises the material taking mechanism according to any one of claims 1 to 9. A mechanical arm is connected to the fixed base of the material taking mechanism, and is used to drive the material taking mechanism to move.

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