CN214352430U

CN214352430U - Automatic lifting telescopic rotary material grabbing machine

Info

Publication number: CN214352430U
Application number: CN202022871554.2U
Authority: CN
Inventors: 吕昕洋
Original assignee: Zhejiang Aida Robot Co ltd
Current assignee: Zhejiang Aida Robot Co ltd
Priority date: 2020-12-02
Filing date: 2020-12-02
Publication date: 2021-10-08
Anticipated expiration: 2030-12-02

Abstract

The utility model discloses an automatic flexible rotatory material machine of grabbing goes up and down, the on-line screen storage device comprises a base, base top fixed mounting elevating system, elevating system top fixed mounting rotary mechanism, the last clamping jaw that installs of rotary mechanism, the side of base is equipped with electrical control mechanism. The utility model discloses a set up first servo motor, first guide rail, lead screw etc. and realize the oscilaltion, realize 360 degrees rotations through setting up second servo motor drive rotary main shaft and then drive the carousel, make the clamping jaw stretch out and draw back on the second mounting panel through setting up slip table, second cylinder, make things convenient for the clamping jaw to snatch the material, through setting up the clamping jaw that is cross overall arrangement, snatch respectively or loose the material of putting four equidirectional before, back, left and right, work efficiency improves by a wide margin.

Description

Automatic lifting telescopic rotary material grabbing machine

Technical Field

The utility model relates to an automation equipment field, especially an automatic flexible rotatory material machine of grabbing goes up and down.

Background

In industrial production, there is a large amount of materials to snatch the process, generally adopts the robot to snatch the work piece from the station, and the time cycle that has snatching, placing, moving is too long, needs just reversing to reset, and work efficiency is not high to and the robot use cost is high, and it is great to take up an area of the space, snatchs defects such as direction is single relatively. Therefore, the development of automatic material grabbing equipment with compact structure, strong environmental adaptability, higher working efficiency and lower cost is urgently needed.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the problem that proposes in the background art, a automatic flexible rotatory material machine of grabbing that goes up and down is provided.

The technical scheme of the utility model is that the automatic lifting telescopic rotary material grabbing machine comprises a base, a lifting mechanism is fixedly arranged above the base, a rotating mechanism is fixedly arranged above the lifting mechanism, a clamping jaw is arranged on the rotating mechanism, and an electric control mechanism is arranged on one side of the lifting mechanism in a clinging manner;

the lifting mechanism comprises a first shell, a bottom plate is arranged at the lower end of the first shell, a vertical plate and two rib plates are fixed on the bottom plate, the two rib plates are right-angled triangles, a long right-angled edge is fixedly connected with the vertical plate, a short right-angled edge is fixedly connected with the bottom plate, a first guide rail is fixedly connected on the vertical plate, the two rib plates are symmetrically arranged, a first slide block is arranged on the first guide rail, the two first slide blocks are symmetrically arranged, each group is provided with two, a first cushion block is arranged on one side of each group of the first slide blocks, a first mounting plate is fixed on one side of the first cushion block opposite to the first slide block, the upper section of the first mounting plate is fixedly connected with the lower part of the rotating mechanism, a lead screw is arranged between the first guide rails, lead screw supporting blocks are arranged at the upper end and the lower end of the lead screw, the lead screw supporting blocks are fixed with the vertical plate, a first servo motor is fixedly connected at the lower end of the lead screw, the screw rod is provided with a screw rod sliding block in a penetrating mode, the screw rod sliding block is in threaded connection with the screw rod, one side of the screw rod sliding block is fixedly connected with a first mounting plate, a firm stable supporting structure is formed by arranging a bottom plate, a vertical plate and a rib plate, the rotating mechanism can slide up and down along the first guide rail to lift and lower through arranging a first guide rail, a first sliding block, a first cushion block and the first mounting plate, and the screw rod sliding block is fixedly connected with the first mounting plate through the screw rod, a first servo motor and the screw rod sliding block, so that power is provided for the lifting movement of the rotating mechanism;

the rotating mechanism comprises a second shell at the lower part, the second shell is integrally arranged inside a first shell of the lifting mechanism, a supporting seat is arranged inside the second shell, the supporting seat is fixedly connected with a first mounting plate, a second servo motor mounting seat is fixedly arranged in the supporting seat, a second servo motor is arranged on the second servo motor mounting seat, the output end of the second servo motor is connected with a coupler, the coupler is connected with a rotating main shaft, a shaft sleeve penetrates through and is sleeved on the rotating main shaft, a turntable is arranged at the top end of the rotating main shaft, which is far away from the coupler, the turntable is provided with an integrally formed second mounting plate, the end part of the second mounting plate is connected with a clamping jaw, a protective cover is arranged above the second mounting plate, and the second servo motor is arranged to drive the rotating main shaft so as to drive the turntable to realize 360-degree rotation, the clamping jaw is connected to the second mounting plate, so that the clamping jaw can rotate 360 degrees along with the turntable;

the clamping jaw comprises a first air cylinder, wherein an output end of the first air cylinder is connected with two fixtures, the fixture is symmetrically provided with two rubber supporting blocks, the end portions of the fixtures are connected with rubber supporting blocks, the rubber supporting blocks are provided with semicircular grooves, a sliding table is fixedly connected below the first air cylinder, a sliding table mounting plate is arranged at the lower end of the sliding table, the sliding table mounting plate is fixedly connected with a second mounting plate, two sliding bar fixing blocks are arranged at two ends of the sliding table mounting plate, two sliding bars are arranged between the sliding bar fixing blocks, the sliding bars penetrate through the sliding table, a second air cylinder is arranged in the sliding table, the fixtures are enabled to contract inwards under the action of the first air cylinder through the arrangement of the first air cylinder to grab materials, or the materials are loosened outwards to put down the materials, the rubber supporting blocks are provided with the semicircular grooves, the materials are favorably and firmly grabbed, and the materials are fixed through the arrangement of the sliding table, Slide bar, second cylinder for the clamping jaw passes through slip table slip flexible on the slide bar at the effect of second cylinder, makes things convenient for the clamping jaw to snatch the material.

Further, the second mounting panel is equipped with four, four the second mounting panel is cross overall arrangement, four on the carousel connect the clamping jaw on the second mounting panel respectively, through the clamping jaw of cross overall arrangement, four clamping jaws snatch respectively or loose the material of putting four equidirectional in front, back, left and right, snatch and treat the processing material and loose the material of putting and accomplish and can go on simultaneously, have improved work efficiency.

Further, elevating system, rotary mechanism, clamping jaw respectively with electric control mechanism electric connection, the electric control mechanism upper end is equipped with the touch-sensitive screen, carries out lifting operation to elevating system through the touch-sensitive screen, carries out rotation operation to slewing mechanism, to the clamping jaw flexible, snatch and loose the operation, improved degree of automation.

Further, a plurality of truckles are installed respectively to base and electrical control mechanism bottom, wherein are located and are equipped with adjusting hand wheel on the truckle of base bottom, the four corners of base is fixed with L shape supporting legs respectively, adjusts the equipment of the height in order to adapt to co-altitude through adjusting hand wheel regulation truckle to make things convenient for the removal of machine, make the machine fall to the ground through L shape supporting legs and stabilize.

The utility model has the advantages that:

1. the utility model discloses a set up realization oscilaltion such as first servo motor, first guide rail, lead screw, realize 360 degrees rotations through setting up the rotatory main shaft of second servo motor drive and then drive the carousel, make the clamping jaw flexible on the second mounting panel through setting up slip table, second cylinder, make things convenient for the clamping jaw to snatch the material.

2. The utility model discloses a setting is the clamping jaw of cross overall arrangement, snatchs respectively or loosens the material of putting four equidirectional in front, back, left and right, and work efficiency improves by a wide margin.

3. The utility model discloses compact structure, through setting up a plurality of truckles, be equipped with adjusting hand wheel on the truckle, the base is fixed with L shape supporting legs, and the height of adjusting the truckle through adjusting hand wheel makes the machine fall to the ground firm through L shape supporting legs, and occupation of land space is little, and it is convenient to remove and adjust, and environmental suitability is strong, can use in the material of multiple occasion to snatch, compares the robot equipment cost lower simultaneously.

Drawings

Fig. 1 is a schematic view of the overall structure of an automatic lifting, stretching and rotating material grabbing machine of the present invention;

fig. 2 is a schematic structural view of the lifting mechanism of the automatic lifting telescopic rotary material grabbing machine of the present invention;

fig. 3 is a schematic structural view of a rotating mechanism of the automatic lifting telescopic rotating material grabbing machine of the present invention;

fig. 4 is a schematic structural view of the gripper of the automatic lifting telescopic rotary material grabbing machine of the present invention;

fig. 5 is a schematic layout view of a rotating mechanism and a clamping jaw in the automatic lifting telescopic rotating material grabbing machine of the present invention;

in the figure, 1, a base; 101. a caster wheel; 102. adjusting a hand wheel; 103. l-shaped supporting legs; 2. a lifting mechanism; 201. a first housing; 202. a base plate; 203. a vertical plate; 204. a rib plate; 205. a first guide rail; 206. a first slider; 207. a first cushion block; 208. a first mounting plate; 209. a screw rod; 210. a screw rod supporting block; 211. a first servo motor; 212. a screw rod slide block; 3. a rotation mechanism; 301. a second housing; 302. a supporting seat; 303. a second servo motor mounting base; 304. a second servo motor; 305. a coupling; 306. rotating the main shaft; 307. a shaft sleeve; 308. a turntable; 309. a second mounting plate; 310. a protective cover; 4. a clamping jaw; 401. a first cylinder; 402. a clamp; 403. a rubber support block; 404. a sliding table; 405. a slide bar; 406. a slide bar fixing block; 407. a sliding table mounting plate; 5. an electric control mechanism; 501. a touch screen.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper/lower end", "inner", "outer", "front end", "rear end", "both ends", "one end", "the other end" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted," "disposed/sleeved," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, the present invention provides a technical solution: the utility model provides an automatic material machine is grabbed in flexible rotation of going up and down, includes

base

1, 1 top fixed mounting elevating system 2 of base, 2 top fixed mounting rotary mechanism 3 of elevating system, install clamping jaw 4 on the rotary mechanism 3, one side of elevating system 2 is hugged closely and is equipped with electrical control mechanism 5.

Referring to fig. 2, the lifting mechanism 2 includes a first housing 201, a bottom plate 202 is disposed at a lower end of the first housing 201, a vertical plate 203 and two rib plates 204 are fixed on the bottom plate 202, the two rib plates 204 are right triangle, a long right-angle side is fixedly connected to the vertical plate 203, a short right-angle side is fixedly connected to the bottom plate 202, a first guide rail 205 is fixedly connected to the vertical plate 203, the first guide rail 205 is symmetrically provided with two rib plates, the first guide rail 205 is provided with a first slider 206, the first slider 206 is symmetrically provided with two sets, each set is provided with two sets, one side of each set of the first slider 206 is provided with a first pad 207, one side of the first pad 207, which is opposite to the first slider 206, is fixed with a first mounting plate 208, an upper section of the first mounting plate 208 is fixedly connected to a lower portion of the rotating mechanism 3, a lead screw 209 is disposed between the first guide rails 205, and support blocks 210 are disposed at upper and lower ends of the lead screw, the screw rod supporting block 210 is fixed with the vertical plate 203, the lower end of the screw rod 209 is fixedly connected with the first servo motor 211, the screw rod 209 is provided with a screw rod slider 212 in a penetrating manner, the screw rod slider 212 is in threaded connection with the screw rod 209, one side of the screw rod slider 212 is fixedly connected with the first mounting plate 208, a firm stable supporting structure is formed by the bottom plate 202, the vertical plate 203 and the rib plate 204, the rotating mechanism 3 can slide up and down along the first guide rail 205 by arranging the first guide rail 205, the first slider 206, the first cushion block 207 and the first mounting plate 208, and the screw rod slider 212 is fixedly connected with the first mounting plate 208 by arranging the screw rod 209, the first servo motor 211 and the screw rod slider 212, so that power is provided for the lifting movement of the rotating mechanism 3.

Referring to fig. 3, the rotating mechanism 3 includes a second casing 301 at a lower portion, the second casing 301 is integrally disposed inside the first casing 201 of the lifting mechanism 2, a supporting seat 302 is disposed inside the second casing 301, the supporting seat 302 is fixedly connected to the first mounting plate 208, a second servo motor mounting seat 303 is fixedly mounted inside the supporting seat 302, a second servo motor 304 is mounted on the second servo motor mounting seat 303, an output end of the second servo motor 304 is connected to a coupler 305, the coupler 305 is connected to a rotating spindle 306, a shaft sleeve 307 is sleeved on the rotating spindle 306 in a penetrating manner, a turntable 308 is mounted at a top end of the rotating spindle 306 far from the coupler 305, an integrally formed second mounting plate 309 is disposed on the turntable 308, a clamping jaw 4 is disposed at an end of the second mounting plate 309, and a protective cover 310 is disposed above the second mounting plate 309, through setting up second servo motor 304 and driving rotatory main shaft 306 and then drive carousel 308 and realize 360 degrees rotations, through setting up second mounting panel 309, thereby connect clamping jaw 4 on the second mounting panel 309 and make clamping jaw 4 realize 360 degrees rotations along with carousel 308.

Referring to fig. 4, the clamping jaw 4 includes a first air cylinder 401, an output end of the first air cylinder 401 is connected with two clamps 402, the two clamps 402 are symmetrically arranged, end portions of the two clamps 402 are connected with rubber supporting blocks 403, the rubber supporting blocks 403 are provided with semicircular grooves, a sliding table 404 is fixedly connected below the first air cylinder 401, a sliding table mounting plate 407 is arranged at a lower end of the sliding table 404, the sliding table mounting plate 407 is fixedly connected with a second mounting plate 309, two ends of the sliding table mounting plate 407 are provided with sliding rod fixing blocks 406, a sliding rod 405 is arranged between the two sliding rod fixing blocks 406, the sliding rod 405 penetrates through the sliding table 404, a second air cylinder is arranged in the sliding table 404, the clamps 402 are retracted inwards to grab materials or loosened outwards to put down the materials under the action of the first air cylinder 401 through the arrangement of the first air cylinder 401, and the rubber supporting blocks 403 are arranged, rubber support block 403 is equipped with semi-circular recess, is favorable to firmly snatching the material, through setting up slip table 404, slide bar 405, second cylinder for clamping jaw 4 slides on slide bar 405 through slip table 404 flexible at the effect of second cylinder, makes things convenient for clamping jaw 4 to snatch the material.

Referring to fig. 3 and 5, four second mounting plates 309 are arranged, the four second mounting plates 309 are arranged on the turntable 308 in a cross shape, the four second mounting plates 309 are respectively provided with clamping jaws 4, the four clamping jaws 4 respectively grab or release materials in four different directions, namely front, rear, left and right directions, through the clamping jaws 4 arranged in the cross shape, the grabbing of the materials to be processed and the releasing of the materials which are finished can be performed simultaneously, and the working efficiency is improved.

Referring to fig. 1, the lifting mechanism 2, the rotating mechanism 3 and the clamping jaw 4 are respectively electrically connected with the electric control mechanism 5, the touch screen 501 is arranged at the upper end of the electric control mechanism 5, the lifting mechanism 2 is lifted through the touch screen 501, the rotating mechanism 3 is rotated, the clamping jaw 4 is stretched, grabbed and released, and the degree of automation is improved.

Referring to fig. 1, a plurality of casters 101 are respectively mounted at the bottom of the base 1 and the bottom of the electric control mechanism 5, wherein an adjusting handwheel 102 is arranged on the caster 101 at the bottom of the base 1, L-shaped supporting legs 103 are respectively fixed at four corners of the base 1, the height of the caster 101 is adjusted by the adjusting handwheel 102 to adapt to devices with different heights, the movement of the machine is facilitated, and the machine is stably landed on the ground by the L-shaped supporting legs 103.

The utility model discloses a theory of operation is: during operation, firstly, the machine is moved to a proper place, the height of the machine is adjusted to a proper position by adjusting the height of the caster 101, working parameters are set through the touch screen 501, the motor is started, the machine starts to automatically work, for example, a single clamping jaw is taken as an example, the first servo motor 211 pushes the rotating mechanism 3 to ascend, the clamping jaw 4 extends forwards under the action of the first air cylinder 401 and the second air cylinder to grab materials, then the second servo motor 304 drives the turntable 308 to drive the clamping jaw 4 to rotate for 90 degrees, then the first servo motor 211 pushes the rotating mechanism 3 to descend, the clamping jaw 4 contracts inwards under the action of the first air cylinder 401 and the second air cylinder to release the materials, and the materials in different directions are grabbed and released simultaneously by the clamping jaws 4 in the front direction, the rear direction, the left direction and the right direction and the materials in the second air cylinder.

The utility model has the advantages that:

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides an automatic material machine is grabbed in flexible rotation of going up and down, includes base (1), its characterized in that: a lifting mechanism (2) is fixedly arranged above the base (1), a rotating mechanism (3) is fixedly arranged above the lifting mechanism (2), a clamping jaw (4) is arranged on the rotating mechanism (3), and an electric control mechanism (5) is arranged on one side of the lifting mechanism (2) in a clinging manner;

the lifting mechanism (2) comprises a first shell (201), a bottom plate (202) is arranged at the lower end of the first shell (201), a vertical plate (203) and two rib plates (204) are fixed on the bottom plate (202), the number of the rib plates (204) is two, the rib plates (204) are right-angled triangles, long right-angled edges are fixedly connected with the vertical plate (203), short right-angled edges are fixedly connected with the bottom plate (202), a first guide rail (205) is fixedly connected onto the vertical plate (203), the number of the first guide rail (205) is two, first sliding blocks (206) are arranged on the first guide rail (205), two groups of the first sliding blocks (206) are symmetrically arranged, two groups are arranged on each group, a first cushion block (207) is arranged on one side of each group of the first sliding blocks (206), a first mounting plate (208) is fixed on one side of the first cushion block (207) opposite to the first sliding blocks (206), and the upper section of the first mounting plate (208) is fixedly connected with the lower part of the rotating mechanism (3), a screw rod (209) is arranged between the first guide rails (205), screw rod supporting blocks (210) are arranged at the upper end and the lower end of the screw rod (209), the screw rod supporting blocks (210) are fixed with the vertical plate (203), the lower end of the screw rod (209) is fixedly connected with a first servo motor (211), a screw rod sliding block (212) penetrates through the screw rod (209), the screw rod sliding block (212) is in threaded connection with the screw rod (209), and one side of the screw rod sliding block (212) is fixedly connected with a first mounting plate (208);

the rotating mechanism (3) comprises a second shell (301) at the lower part, the second shell (301) is integrally arranged inside a first shell (201) of the lifting mechanism (2), a supporting seat (302) is arranged inside the second shell (301), the supporting seat (302) is fixedly connected with a first mounting plate (208), a second servo motor mounting seat (303) is fixedly arranged in the supporting seat (302), a second servo motor (304) is arranged on the second servo motor mounting seat (303), the output end of the second servo motor (304) is connected with a shaft coupling (305), the shaft coupling (305) is connected with a rotating spindle (306), a shaft sleeve (307) is sleeved on the rotating spindle (306) in a penetrating manner, a turntable (308) is arranged at the top end, far away from the shaft coupling (305), of the rotating spindle (306), and an integrally formed second mounting plate (309) is arranged on the turntable (308), the end part of the second mounting plate (309) is connected with the clamping jaw (4), and a protective cover (310) is arranged above the second mounting plate (309);

clamping jaw (4) include first cylinder (401), first cylinder (401) output is connected with anchor clamps (402), anchor clamps (402) symmetry is provided with two, two the end connection of anchor clamps (402) has rubber support block (403), rubber support block (403) are equipped with semi-circular recess, below fixed connection slip table (404) of first cylinder (401), slip table (404) lower extreme is equipped with slip table mounting panel (407), slip table mounting panel (407) and second mounting panel (309) fixed connection, the both ends of slip table mounting panel (407) are equipped with slide bar fixed block (406), two be equipped with slide bar (405) between slide bar fixed block (406), slide bar (405) run through slip table (404), be equipped with the second cylinder in slip table (404).

2. The automatic lifting telescopic rotary material grabbing machine as claimed in claim 1, wherein: second mounting panel (309) are equipped with four, four second mounting panel (309) is the cross overall arrangement on carousel (308), four be connected with clamping jaw (4) on second mounting panel (309) respectively.

3. The automatic lifting telescopic rotary material grabbing machine as claimed in claim 1, wherein: elevating system (2), rotary mechanism (3), clamping jaw (4) respectively with electric control mechanism (5) electric connection, electric control mechanism (5) upper end is equipped with touch-sensitive screen (501).

4. The automatic lifting telescopic rotary material grabbing machine as claimed in claim 1, wherein: a plurality of trundles (101) are respectively installed at the bottom of the base (1) and the bottom of the electric control mechanism (5), wherein adjusting handwheels (102) are arranged on the trundles (101) positioned at the bottom of the base (1), and L-shaped supporting legs (103) are fixed at four corners of the base (1).