CN213595383U

CN213595383U - Material taking manipulator and intelligent material cabinet

Info

Publication number: CN213595383U
Application number: CN202021952761.4U
Authority: CN
Inventors: 许其盛
Original assignee: Shanghai Kuwei Automation Technology Co ltd
Current assignee: Shanghai Kuwei Automation Technology Co ltd
Priority date: 2020-09-08
Filing date: 2020-09-08
Publication date: 2021-07-02
Anticipated expiration: 2030-09-08

Abstract

The utility model discloses a reclaimer manipulator and intelligent material cabinet relates to material cabinet field, including the base, rotate on the base and be connected with the carousel, be fixed with the slide bar on the carousel, go up and down to be connected with the lift seat on the slide bar, the one end that the slide bar was kept away from to the lift seat is rotated and is connected with the swing arm, and the free end elasticity of swing arm is provided with the sucking disc that is used for snatching the material. There is the problem that the structure is complicated to prior art, the utility model has the advantages of simple structure gets the quick efficient of thing operation.

Description

Material taking manipulator and intelligent material cabinet

Technical Field

The utility model relates to a material cabinet field, more specifically say, it relates to a reclaimer manipulator and intelligent material cabinet.

Background

The cutter is the material that often just has the damage nature in the mill, and the cutter material has the type miscellaneous, the nature that the quantity is many, for the scientific management cutter material, intelligent material cabinet is in the turn born. In the intelligence material cabinet, the manipulator that is used for the accurate material of taking is essential part.

For the existing manipulator structure, such as chinese patent with patent publication No. CN206242050U, it discloses an underwater hydraulic manipulator, which includes a base bracket, a back-and-forth moving device, an up-and-down moving device, a head raising swing device and a grasping and releasing device, wherein the base bracket is a part for fixing the whole manipulator;

the front-back moving device comprises a front-back moving arm hinged support, a short shaft, a front-back moving arm, a front-back moving hydraulic cylinder, a short shaft fourteen, a short shaft fifteen and a front-back moving hydraulic cylinder hinged support; the front-back moving hydraulic cylinder is connected with the front-back moving arm through a short shaft fourteen bearing; the front and rear moving arms are connected with the front and rear moving arm hinged supports through short shafts; the front-back moving hydraulic cylinder is connected with the base support through a front-back moving hydraulic cylinder hinged support and a short shaft fifteen;

the up-down moving device comprises an up-down moving hydraulic cylinder, an up-down moving hydraulic cylinder actuating rod, a short shaft III, a short shaft IV and an up-down moving arm; the up-down moving hydraulic cylinder is connected with the up-down moving arm through a short shaft III and a bearing; the up-down moving arm is connected with the front-back moving arm through a short shaft IV;

the head-up swing device comprises a head-up swing hydraulic cylinder, a head-up swing arm, a short shaft six and a short shaft thirteen; the head-up swing hydraulic cylinder is connected with the head-up swing arm through a short shaft six and a bearing; the head raising swing arm is connected with the upper and lower moving arms through a short shaft thirteen and a bearing;

the grasping and releasing device comprises a tightening hydraulic cylinder, a tightening mechanical claw, a tightening hydraulic cylinder, a short shaft seven, a short shaft eight, a short shaft nine, a short shaft ten, a short shaft eleven and a short shaft twelve; the elastic mechanical claw and the elastic hydraulic cylinder are connected with a hinged support arranged on the head-up swing arm through a short shaft seven and a bearing; the elastic mechanical claw and the elastic hydraulic cylinder are also connected with a hinged support arranged on the head-up swing arm through a short shaft ten and a bearing; the two groups of elastic mechanical claws move relatively to realize grasping or releasing.

Above-mentioned patent utilizes gripper to press from both sides tight material to the realization is taken the material, if is arranged in intelligent material cabinet with above-mentioned patent, because its structure is complicated, it is many to relate to mechanical parts, is not convenient for make and later maintenance.

SUMMERY OF THE UTILITY MODEL

There is the problem that the structure is complicated to prior art, the utility model aims at providing a get material manipulator and intelligent material cabinet, its advantage that has simple structure, is convenient for manufacture.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a material taking manipulator, includes the base, it is connected with the carousel to rotate on the base, be fixed with the slide bar on the carousel, the ascending and descending of slide bar is provided with the lift seat, the lift seat is kept away from the one end of slide bar is rotated and is connected with the swing arm, the free end elasticity of swing arm is provided with the sucking disc that is used for snatching the material.

Through the technical scheme, when the material taking device is used, materials to be taken are placed on the periphery of the rotary table, the materials with the same type are stacked into a stack in order, the position of the sucking disc is changed by utilizing the rotation of the rotary table, the lifting of the lifting seat and the swinging of the swing arm, the lifting seat drives the sucking disc to press down on the materials, and the materials are tightly clamped by utilizing the adsorption effect of the sucking disc to drive the materials to move and be taken out; the adjustment of the sucker has three degrees of freedom, so that materials in the stroke range of the free end of the swing arm can be taken out under the driving of the sucker; the utility model discloses simple structure gets the thing operation high efficiency rapidly.

Furthermore, a sliding sleeve is fixed at the free end of the swing arm, a negative pressure pipe is connected in the sliding sleeve in an elastic sliding mode, and one end, far away from the automatic end of the swing arm, of the negative pressure pipe extends out of the sliding sleeve and is communicated with the sucker.

Through above-mentioned technical scheme, set up the negative pressure pipe and drive the sucking disc elastic expansion, be favorable to compensating the difference in height that forms behind the material of taking, the sucking disc of being convenient for snatchs the material of co-altitude not.

Furthermore, a stop ring which is matched with the end part of the sliding sleeve and limits the negative pressure pipe to slide out of the length of the sliding sleeve is fixed on the side wall of the negative pressure pipe;

a pressure spring is clamped between the sliding sleeve and the sucker.

Through the technical scheme, the sucker is in a state of being elastically pushed out by the pressure spring in a normal state.

Further, the sliding sleeve lateral wall runs through along its length direction and has seted up rectangular hole, rectangular downthehole slip is provided with spacing post, spacing post is fixed on the negative pressure pipe.

Through above-mentioned technical scheme, utilize spacing post to slide in rectangular downthehole, the restriction negative pressure pipe is at the stroke of sliding in the sliding sleeve.

Further, the limiting column is a bolt, and the limiting column is in threaded connection with the side wall of the negative pressure pipe.

Through above-mentioned technical scheme, adopt the bolt as spacing post, spacing post threaded connection is on the negative pressure pipe to make things convenient for the dismouting.

Furthermore, the lifting seat is connected with a plurality of sliding rods in a sliding mode, and the rotary table is connected with a lead screw used for driving the lifting seat to move up and down in a rotating mode.

Through the technical scheme, the lifting seat is driven to lift and slide by adopting a screw rod rotating mode.

Furthermore, one end of the negative pressure pipe, which is far away from the sucker, is connected with a negative pressure hose.

Through above-mentioned technical scheme, the negative pressure hose is used for providing the negative pressure environment for the sucking disc is inside, snatchs the material, simultaneously, because the negative pressure pipe need frequently slide in the sliding sleeve and stretch out and draw back, adopts the negative pressure hose to be favorable to increasing life, makes things convenient for the removal of swing arm.

The utility model provides an intelligence material cabinet, includes the cabinet body, cabinet body one side is the opening setting, the cabinet body articulates in its opening part has the cabinet door, the internal foretell manipulator of fetching material that is provided with of cabinet, be provided with the window of getting of the material of being convenient for to take on the cabinet door.

Through above-mentioned technical scheme, during the use, the sucking disc snatchs the material of placing base week side to drive the material and remove and place in getting thing window department, the person of being convenient for takes the use.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) through the rotation of the turntable, the lifting of the lifting seat and the swinging of the swing arm, the sucker can conveniently and accurately grab materials placed on the periphery of the base, and the utility model has simple structure and is convenient for assembly, manufacture and later maintenance;

(2) furthermore, the suction disc can be conveniently and rapidly adjusted to any position on the periphery of the base to grab materials through the three-degree-of-freedom adjusting structure, the material taking speed is high, and the efficiency is high;

(3) furthermore, the sucker is elastically arranged at the degree of freedom of the swing arm through the negative pressure pipe and the sliding sleeve, so that materials with different heights can be conveniently grabbed.

Drawings

FIG. 1 is a schematic view of the overall construction of a material extraction robot;

FIG. 2 is a schematic view of the overall construction of the bottom of the material extraction robot;

FIG. 3 is a cross-sectional view of the sliding sleeve and its internal structure;

fig. 4 is a schematic diagram of the overall structure of the intelligent material cabinet.

Reference numerals: 1. a base; 2. a turntable; 3. a slide bar; 4. a lifting seat; 5. swinging arms; 6. a suction cup; 7. a sliding sleeve; 8. a negative pressure tube; 9. a stop ring; 10. a pressure spring; 11. a strip hole; 12. a limiting column; 13. a screw rod; 14. a negative pressure hose; 15. a cabinet door; 16. an object taking window; 17. a first motor; 18. a second motor; 19. a third motor; 20. a cabinet body.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The utility model provides a material taking manipulator, as shown in fig. 1 and 2, includes

base

1, and 1 internal rotation of base is connected with carousel 2, and the vertical fixation has four slide bars 3 on carousel 2, and the lift that slide bar 3 goes up and down is connected with lift seat 4, and the one end that slide bar 3 was kept away from to lift seat 4 rotates and is connected with swing arm 5, and the free end elastic connection of swing arm 5 has the sucking disc 6 that is used for snatching the material. When the device is used, materials to be taken are placed on the periphery of the rotary table 2, the materials with the same type are stacked in the same stack in order, the position of the sucker 6 is changed by the rotation of the rotary table 2, the lifting of the lifting seat 4 and the swinging of the swing arm 5, the sucker 6 is driven by the lifting seat 4 to be pressed down on the materials, and the materials are gripped by the suction effect of the sucker 6 to drive the materials to move and be taken out; because the sucking disc 6 possesses the regulation of three degrees of freedom, the material in 5 free ends stroke ranges of swing arm all can be taken out by the drive of sucking disc 6.

A fluted disc is fixed on one side of the turntable 2 far away from the lifting platform, a first motor 17 in transmission connection with the fluted disc through a belt is fixed on the base 1, and the first motor 17 drives the turntable 2 to rotate through belt transmission; the lifting seat 4 is connected to the four slide bars 3 in a sliding manner, a screw rod 13 is rotatably arranged among the four slide bars 3, the screw rod 13 is in threaded connection with the lifting seat 4, one end of the screw rod 13 penetrates through the rotary table 2 and the fluted disc, the second motor 18 is connected in a transmission manner, the second motor 18 is fixed on the rotary table 2, and the screw rod 13 is driven to rotate by the second motor 18 so as to realize the lifting motion of the lifting seat 4; a third motor 19 is fixed on the lifting seat 4, and the third motor 19 drives the swing arm 5 to swing through belt transmission.

As shown in fig. 1 and 3, the vertical sliding sleeve 7 that is fixed with of free end of swing arm 5, the material of sliding sleeve 7 is aluminum alloy or stainless steel, and elasticity slides in the sliding sleeve 7 and is connected with negative pressure pipe 8, and negative pressure pipe 8 also is the tubular metal resonator, and negative pressure pipe 8 is kept away from the one end of swing arm 5 automatic end and is extended sliding sleeve 7 intercommunication and have sucking disc 6, and negative pressure pipe 8 provides negative pressure environment for in the sucking disc 6 to improve the firm stability of material absorption.

A stop ring 9 which is matched with the end part of the sliding sleeve 7 and used for limiting the length of the sliding sleeve 7 to slide out of the negative pressure pipe 8 is integrally fixed on the side wall of the negative pressure pipe 8, a pressure spring 10 is clamped between the sliding sleeve 7 and the sucker 6, the pressure spring 10 is sleeved on the negative pressure pipe 8 at the same time, the pressure spring 10 is used for buffering, and the stop ring 9 is used for limiting the sliding distance of the negative pressure pipe 8. The side wall of the sliding sleeve 7 is provided with a strip hole 11 in a penetrating manner along the length direction, a limiting column 12 is connected in the strip hole 11 in a sliding manner, the limiting column 12 is fixed on the negative pressure pipe 8, and the limiting column 12 slides in the strip hole 11 to further limit the stroke of the negative pressure pipe 8, so that the lifting seat 4 is prevented from excessively descending to cause the excessive compression of the compression spring 10; spacing post 12 is the bolt, and spacing post 12 threaded connection is at 8 lateral walls of negative pressure pipe, is convenient for realize the dismouting, and the one end that sucking disc 6 was kept away from to negative pressure pipe 8 is connected with negative pressure hose 14, and negative pressure hose 14 is used for providing negative pressure environment for 6 insides of sucking disc, snatchs the material, and simultaneously, because negative pressure pipe 8 need frequently slide in sliding sleeve 7 and stretch out and draw back, adopt negative pressure hose 14 to be favorable to increasing life, make things convenient for swing arm 5's removal.

When the material taking device is used, materials of the same type are stacked together, after one material of the type is taken down, the stacking height of the materials is reduced, and the height of the taken-down material can be compensated by utilizing the elastic telescopic property of the sucking disc 6, so that the materials are taken out smoothly.

The utility model provides an intelligence material cabinet, as shown in fig. 4, includes the cabinet body 20, and cabinet body 20 one side is the opening setting, and cabinet body 20 articulates in its opening part has cabinet door 15, installs above-mentioned material taking manipulator in the cabinet body 20, is provided with the thing window 16 of getting of the material of being convenient for to take on cabinet door 15. During the use, sucking disc 6 snatchs the material of placing 1 week sides of base to drive the material and remove and place in getting thing window 16 department, the person of being convenient for takes the use.

In summary, the following steps:

when the utility model is used, the materials placed around the base 1 can be conveniently and accurately grabbed by the sucker 6 through the rotation of the turntable 2, the lifting of the lifting seat 4 and the swinging of the swinging arm 5, and the utility model has simple structure, and is convenient for assembly, manufacture and later maintenance; through the three-degree-of-freedom adjusting structure, the sucker 6 can be conveniently and quickly adjusted to any position on the periphery of the base 1 to grab materials, the material taking speed is high, and the efficiency is high; the sucking disc 6 passes through negative pressure pipe 8 and sliding sleeve 7, and elasticity sets up in the degree of freedom of swing arm 5 to be convenient for snatch the material of co-altitude not.

The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.

Claims

1. The utility model provides a get material manipulator, includes base (1), its characterized in that, it is connected with carousel (2) to rotate on base (1), be fixed with slide bar (3) on carousel (2), the ascending and descending of slide bar (3) is provided with lift seat (4), keep away from lift seat (4) the one end of slide bar (3) is rotated and is connected with swing arm (5), the free end elasticity of swing arm (5) is provided with sucking disc (6) that are used for snatching the material.

2. The material taking manipulator as claimed in claim 1, wherein a sliding sleeve (7) is fixed at a free end of the swing arm (5), a negative pressure pipe (8) is connected in the sliding sleeve (7) in an elastic sliding manner, and one end of the negative pressure pipe (8) far away from the automatic end of the swing arm (5) extends out of the sliding sleeve (7) and is communicated with the sucker (6).

3. The material taking manipulator as claimed in claim 2, wherein a stop ring (9) which is matched with the end of the sliding sleeve (7) and limits the negative pressure pipe (8) to slide out of the sliding sleeve (7) in length is fixed on the side wall of the negative pressure pipe (8);

a pressure spring (10) is clamped between the sliding sleeve (7) and the sucker (6).

4. The material taking manipulator as claimed in claim 3, wherein the side wall of the sliding sleeve (7) is provided with a long hole (11) along the length direction thereof, a limiting column (12) is slidably arranged in the long hole (11), and the limiting column (12) is fixed on the negative pressure pipe (8).

5. A material taking manipulator according to claim 4, wherein the limiting columns (12) are bolts, and the limiting columns (12) are in threaded connection with the side wall of the negative pressure pipe (8).

6. The material taking manipulator as claimed in claim 1, wherein a plurality of the sliding rods (3) are slidably connected to the lifting base (4), and a screw rod (13) for driving the lifting base (4) to move up and down is rotatably connected to the rotary table (2).

7. A material-taking manipulator according to claim 2, characterised in that a negative-pressure hose (14) is connected to the end of the negative-pressure tube (8) remote from the suction plate (6).

8. An intelligent material cabinet comprises a cabinet body (20), wherein one side of the cabinet body (20) is provided with an opening, the cabinet body (20) is hinged with a cabinet door (15) at the opening, the intelligent material cabinet is characterized in that the cabinet body (20) is internally provided with a material taking manipulator according to any one of claims 1 to 7, and the cabinet door (15) is provided with a material taking window (16) convenient for taking materials.