CN216613083U

CN216613083U - Multi-shaft manipulator feeding mechanism

Info

Publication number: CN216613083U
Application number: CN202123183538.5U
Authority: CN
Inventors: 文有华; 张伟
Original assignee: SUZHOU AIRUIBANG INTELLIGENT TECHNOLOGY CO LTD
Current assignee: SUZHOU AIRUIBANG INTELLIGENT TECHNOLOGY CO LTD
Priority date: 2021-12-17
Filing date: 2021-12-17
Publication date: 2022-05-27
Anticipated expiration: 2031-12-17

Abstract

The utility model discloses a multi-axis manipulator feeding mechanism, which comprises: the material taking module is driven by the material taking manipulator to perform translation and lifting movement; the material taking module comprises an installation seat and a plurality of material taking components, the installation seat is fixedly connected to an output shaft of the manipulator, and the plurality of material taking components are arranged at the bottom of the installation seat; the material taking assembly comprises a lifting cylinder, a driving motor and a vacuum adsorption assembly, the driving motor is provided with a hollow rotating shaft, the upper end of the rotating shaft is communicated to a vacuum generation gas circuit, the vacuum adsorption assembly is connected to the lower end of the rotating shaft, and the driving motor is connected to the lifting cylinder and driven by the lifting cylinder to drive the vacuum adsorption assembly to move up and down. This multi-axis manipulator feed mechanism can once get a plurality of products and put the material operation, raises the efficiency, and can be nimble and the flexible blowing of getting, can not damage the product.

Description

Multi-shaft manipulator feeding mechanism

Technical Field

The utility model relates to the technical field of automatic processing equipment, in particular to a multi-shaft manipulator feeding mechanism.

Background

Along with the continuous improvement of science and technology level, industrial development is promoted rapidly, more and more automatic unloading mechanism of going up puts into production to replace the human labor to carry out material loading and unloading operation, can reduce intensity of labour, labour saving and time saving reduces labour cost, practices thrift manpower resources.

In the manufacturing process of the ceramic antenna, the sintered ceramic substrate needs to be transited from one processing procedure to another processing procedure, and in order to meet the requirement of automatic production, the prior art generally adopts an industrial manipulator to replace manual work to carry out loading and unloading operation on products. But the feeding and discharging device of current manipulator only can singly get the blowing, and the mode of putting that comes the material to the product moreover requires higherly, and the product balance needs to have the uniformity, and the manipulator just can snatch the product according to the mode that sets for well and removal route, uses and receives very big limitation, and efficiency is not high, still has the risk of easy pressure loss product. Accordingly, there is a need for improvements in the art that overcome the deficiencies in the prior art.

Disclosure of Invention

The utility model aims to solve the problem of providing a multi-shaft manipulator feeding mechanism so as to overcome the defects that the existing manipulator feeding and discharging device can only singly take and discharge materials, has higher requirement on the placing mode of the supplied materials of products, has great limitation on use, has low efficiency and is easy to damage the products.

The technical scheme adopted by the utility model for solving the technical problem is as follows: a multi-axis robot feed mechanism comprising: the material taking module is driven by the material taking manipulator to perform translation and lifting movement; the material taking module comprises an installation seat and a plurality of material taking assemblies, the installation seat is fixedly connected to an output shaft of the material taking manipulator, and the material taking assemblies are arranged at the bottom of the installation seat in a centrosymmetric manner; the material taking assembly comprises a lifting cylinder, a driving motor and a vacuum adsorption assembly, the driving motor is provided with a hollow rotating shaft, the upper end of the rotating shaft is communicated to a vacuum generation gas circuit, the vacuum adsorption assembly is connected to the lower end of the rotating shaft, and the driving motor is connected to the lifting cylinder and driven by the lifting cylinder to drive the vacuum adsorption assembly to move up and down.

As a further improvement of the present invention, the vacuum suction assembly includes a vacuum suction nozzle, a sleeve and a first connector, the first connector is fixedly connected to the lower end of the rotating shaft, the sleeve is slidably sleeved on the first connector, the vacuum suction nozzle is fixedly connected to the bottom of the sleeve through a plug, a spring is installed in the sleeve, and two ends of the spring respectively elastically abut against the first connector and the plug.

As a further improvement of the utility model, the first connecting head extends outwards along the periphery of the bottom to form a limiting boss, and the limiting boss is stopped upwards on a step in the sleeve under the action of the elastic force of the spring.

As a further development of the utility model, the cross-sectional profile of the first connection head is polygonal.

As a further improvement of the utility model, the vacuum adsorption assembly further comprises a vacuum chuck and a second connector, and the vacuum chuck is connected to the vacuum suction nozzle through the second connector.

As a further improvement of the utility model, the bottom surface of the vacuum chuck is a smooth plane, and a plurality of adsorption holes are arranged on the bottom surface.

As a further improvement of the utility model, the upper end of the rotating shaft is connected with an air slip ring through an air pipe.

As a further improvement of the utility model, the lifting cylinder adopts a sliding table cylinder, and the driving motor is fixedly connected with a workbench of the lifting cylinder through a connecting plate.

The utility model has the beneficial effects that:

1. the utility model provides a multi-shaft manipulator feeding mechanism, wherein a material taking module is arranged on a material taking manipulator, the material taking module comprises a plurality of groups of material taking assemblies, each group of material taking assemblies are driven by a lifting cylinder to enable a vacuum adsorption assembly to grab products to take materials in sequence, and a driving motor rotates for a certain angle, so that the product feeding alignment is accurate, a plurality of products can be fed and discharged at one time, the working efficiency is improved, the products can be fed and discharged flexibly, the supplied materials can be placed at any position, and the use is not limited;

2. the vacuum adsorption assembly is internally provided with the spring, and the sleeve is connected with the first connecting head in a sliding manner, so that flexible material taking can be performed, and the phenomenon that a product cannot be grabbed or is damaged due to excessive pressure when the product is not contacted is avoided;

3. the bottom surface of the vacuum chuck is processed into a smooth plane and is provided with a plurality of adsorption holes, so that the adsorption area and the suction force can be increased, the condition that the surface of a product is uneven to cause vacuum leakage can be prevented, and the product cannot be damaged.

Drawings

FIG. 1 is a perspective view of a multi-axis robot feed mechanism of the present invention;

FIG. 2 is a perspective view of the material take-out module of the present invention;

FIG. 3 is a partial cross-sectional view of a material extraction module according to the present invention;

FIG. 4 is a perspective view of the vacuum chuck and the second connecting head of the present invention.

The following description is made with reference to the accompanying drawings:

1-material taking manipulator; 2-mounting seat;

3-lifting cylinder; 4-driving motor;

401-rotating shaft; 5-vacuum suction nozzle;

6-sleeve; 601-step;

7-first connector; 701-limiting boss;

8-plug; 9-spring;

10-vacuum chuck; 1001 — adsorption holes;

11-second connecting head; 12-connecting plate;

13-gas slip ring.

Detailed Description

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, the present invention provides a multi-axis robot feeding mechanism, including: get material manipulator 1 and get the material module, get material manipulator 1 and install on the bottom plate, get the material module setting and get material manipulator 1 on. The material taking manipulator 1 adopts the existing four-axis industrial manipulator, and the material taking module is driven by the material taking manipulator 1 to move in a translation and lifting mode and is used for grabbing a product from one machining station and putting the product on another machining station to perform automatic feeding operation.

Referring to fig. 2 and 3, the material taking module includes a mounting base 2 and material taking assemblies, the mounting base 2 is fixedly connected to an output shaft of the material taking manipulator 1, the material taking assemblies are not limited to four groups, and the four groups of material taking assemblies are arranged at the bottom of the mounting base 2 in a central symmetry manner. Get the material subassembly and include lift cylinder 3, driving motor 4 and vacuum adsorption subassembly, lift cylinder 3 passes through riser and 2 fixed connection of mount pad. Lifting cylinder 3 adopts the slip table cylinder, and driving motor 4 is through a connecting plate 12 and lifting cylinder 3's workstation fixed connection, and driving motor 4 is by lifting cylinder 3 drive along vertical direction steady slip. The driving motor 4 is a stepping motor and is provided with a hollow rotating shaft 401, the upper end of the rotating shaft 401 is connected with an air slip ring 13 through an air pipe, the air slip ring 13 is communicated to a vacuum generation air passage, and a vacuum adsorption component is connected to the lower end of the rotating shaft 401. The vacuum adsorption component is used for grabbing the product, and the driving motor 4 rotates for a certain angle, so that the product is accurately loaded and aligned. This application is through adopting gas sliding ring 13, when driving motor 4 drive pivot 401 drives the vacuum adsorption subassembly and is rotary motion, avoids the trachea to take place the winding, guarantees the normal work of gas circuit.

Referring to fig. 3, the vacuum suction assembly includes a vacuum nozzle 5, a sleeve 6, a first connector 7, a vacuum chuck 10 and a second connector 11. First connector 7 fixed connection is in the lower extreme of pivot 401, and the cross sectional profile of first connector 7 is regular hexagon, and sleeve 6 upper portion is provided with the slide opening that matches with first connector 7 size, and sleeve 6 passes through the slide opening suit on first connector 7 and can slide from top to bottom relatively first connector 7, and can restrict relative circumferential direction. The vacuum suction nozzle 5 is fixedly connected to the bottom of the sleeve 6 through a plug 8, a spring 9 is installed in the sleeve 6, and two ends of the spring 9 respectively and elastically abut against the first connecting head 7 and the plug 8. The first connector 7 extends outwards along the periphery of the bottom to form an annular limiting boss 701, and the limiting boss 701 is stopped upwards on a step 601 in the sleeve 6 under the elastic force of the spring 9 to limit the sleeve 6. Lifting cylinder 3 drive driving motor 4 and drive vacuum adsorption subassembly downstream, carries out the excessive pressure with product surface contact, takes place relative movement through sleeve 6 and first connector 7 for compression spring 9, and then carry out the flexibility and get the material, avoid not contacting the unable product of snatching or the too big product of damaging of pressure. Wherein, the outer peripheral face of first connector 7 laminates with the inner wall of sleeve 6 mutually, guarantees the leakproofness. The vacuum suction cup 10 is connected to the vacuum suction nozzle 5 through the second connector 11, and the vacuum suction cup 10, the second connector 11, the vacuum suction nozzle 5, the plug 8, the sleeve 6, the first connector 7, the rotating shaft 401 and the air slip ring 13 are sequentially communicated to form an air path.

Referring to fig. 4, the vacuum chuck 10 is made of PEEK material and is hermetically connected to the second connector 11 by a sealant. The bottom surface of the vacuum chuck 10 is processed into a smooth plane and is provided with a plurality of adsorption holes 1001, so that the adsorption area and the suction force can be increased, the condition of vacuum leakage caused by uneven surface of a product can be prevented, and the product cannot be damaged; in addition, the solid area in the center of the bottom of the vacuum chuck 10 can just block the hole of a product for the product with the hole, so that air leakage is avoided, and the suction force is ensured.

The working principle of the embodiment is as follows: the material taking manipulator 1 drives the material taking module to move horizontally to reach the position right above the material taking station, then the material taking module is driven to descend to a specified height, a camera mounted on the material taking manipulator 1 is used for photographing and detecting the position of a product, the lifting cylinder 3 of one material taking assembly drives the driving motor 4 and the vacuum adsorption assembly to move downwards, the vacuum chuck 10 is used for grabbing the product and then moving upwards for resetting, and then the other three groups of material taking assemblies grab the product in sequence; and finally, the material taking manipulator 1 drives the material taking module to move to a blanking station, a product is placed at an appointed position, and the material taking and placing operation is repeatedly carried out.

Therefore, the material taking module is arranged on the material taking manipulator and comprises a plurality of groups of material taking assemblies, each group of material taking assemblies are driven by the lifting cylinder to enable the vacuum adsorption assemblies to grab products to take materials in sequence, and the driving motor rotates for a certain angle, so that the product feeding alignment is accurate, a plurality of products can be fed and discharged at one time, the working efficiency is improved, the products can be fed and discharged flexibly, the supplied materials can be placed at any position, and the use is not limited; the vacuum adsorption assembly is internally provided with the spring, and the sleeve is connected with the first connecting head in a sliding manner, so that flexible material taking can be performed, and the phenomenon that a product cannot be grabbed or is damaged due to excessive pressure when the product is not contacted is avoided; the bottom surface of the vacuum chuck is processed into a smooth plane and is provided with a plurality of adsorption holes, so that the adsorption area and the suction force can be increased, the condition that the surface of a product is uneven to cause vacuum leakage can be prevented, and the product cannot be damaged.

In the previous description, numerous specific details were set forth in order to provide a thorough understanding of the present invention. The foregoing description is only a preferred embodiment of the utility model, which can be embodied in many different forms than described herein, and therefore the utility model is not limited to the specific embodiments disclosed above. And that those skilled in the art may, using the methods and techniques disclosed above, make numerous possible variations and modifications to the disclosed embodiments, or modify equivalents thereof, without departing from the scope of the claimed embodiments. Any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. The utility model provides a multiaxis manipulator feed mechanism which characterized in that includes: the material taking device comprises a material taking manipulator (1) and a material taking module arranged on the material taking manipulator (1), wherein the material taking module is driven by the material taking manipulator (1) to perform translation and lifting movement; the material taking module comprises an installation seat (2) and a plurality of material taking assemblies, wherein the installation seat (2) is fixedly connected to an output shaft of the material taking manipulator (1), and the material taking assemblies are arranged at the bottom of the installation seat (2) in a centrosymmetric manner; the material taking assembly comprises a lifting cylinder (3), a driving motor (4) and a vacuum adsorption assembly, the driving motor (4) is provided with a hollow rotating shaft (401), the upper end of the rotating shaft (401) is communicated to a vacuum generation gas circuit, the vacuum adsorption assembly is connected to the lower end of the rotating shaft (401), and the driving motor (4) is connected to the lifting cylinder (3) and driven by the lifting cylinder (3) to drive the vacuum adsorption assembly to move up and down.

2. The multi-axis robot loading mechanism of claim 1, wherein: the vacuum adsorption component comprises a vacuum suction nozzle (5), a sleeve (6) and a first connecting head (7), wherein the first connecting head (7) is fixedly connected to the lower end of the rotating shaft (401), the sleeve (6) is slidably sleeved on the first connecting head (7), the vacuum suction nozzle (5) is fixedly connected to the bottom of the sleeve (6) through a plug (8), a spring (9) is installed in the sleeve (6), and two ends of the spring (9) are respectively elastically abutted to the first connecting head (7) and the plug (8).

3. The multi-axis robot loading mechanism of claim 2, wherein: the first connecting head (7) extends outwards along the periphery of the bottom to form a limiting boss (701), and the limiting boss (701) is stopped upwards on a step (601) in the sleeve (6) under the action of the elastic force of the spring (9).

4. The multi-axis robot loading mechanism of claim 2, wherein: the cross-sectional profile of the first connecting head (7) is polygonal.

5. The multi-axis robot loading mechanism of claim 2, wherein: the vacuum adsorption component further comprises a vacuum chuck (10) and a second connector (11), wherein the vacuum chuck (10) is connected to the vacuum suction nozzle (5) through the second connector (11).

6. The multi-axis robot loading mechanism of claim 5, wherein: the bottom surface of the vacuum chuck (10) is a smooth plane, and a plurality of adsorption holes (1001) are arranged on the bottom surface.

7. The multi-axis robot loading mechanism of claim 1, wherein: the upper end of the rotating shaft (401) is connected with an air slip ring (13) through an air pipe.

8. The multi-axis robot loading mechanism of claim 1, wherein: the lifting cylinder (3) adopts a sliding table cylinder, and the driving motor (4) is fixedly connected with the workbench of the lifting cylinder (3) through a connecting plate (12).