CN220945410U

CN220945410U - Material stacking manipulator

Info

Publication number: CN220945410U
Application number: CN202322724931.3U
Authority: CN
Inventors: 夏祥祥
Original assignee: Heze University
Current assignee: Heze University
Priority date: 2023-10-11
Filing date: 2023-10-11
Publication date: 2024-05-14
Anticipated expiration: 2033-10-11

Abstract

The utility model relates to the technical field of material transporting stacking, in particular to a material stacking manipulator which comprises a frame, wherein the frame comprises an upper transverse plate and two connecting blocks; the two connecting blocks are positioned at the left side and the right side of the upper transverse plate and are fixedly connected with the upper transverse plate; connecting rods are symmetrically arranged above the upper transverse plate in a sliding mode front and back, connecting bolts are arranged at two ends of each connecting rod, four claw bodies are arranged below the frame, grooves are formed in the two connecting plates, and each claw body penetrates through the grooves and is fixedly connected with the connecting rod through the connecting bolts; the upper transverse plate is provided with a transmission mechanism for driving the claw body to move, and the lower end of the upper transverse plate is provided with a fixing mechanism for controlling materials. The two-way threaded rod is rotated through the meshing rotation of the worm wheel and the worm, so that the claw bodies are driven to move oppositely to fix materials, and the materials are grabbed; the fixing mechanism fixes the upper end of the material in the opposite movement process, so that the stability of the material is enhanced.

Description

Material stacking manipulator

Technical Field

The utility model belongs to the technical field of transportation stacking, and relates to a material stacking manipulator.

Background

Large materials in factories need to be transported and stacked, manual transportation is adopted, and a plurality of materials are placed on a shelf, so that the subsequent delivery and transportation are facilitated. The manual carrying amount is large, and the working efficiency is low. Because the material is big and heavier, easily appear colliding with in the transportation, the material also falls into different sizes and weight, and the pile up neatly manipulator appears snatching unstable scheduling problem easily.

The utility model provides a prior art is CN 218579061U's application discloses grabbing device of hacking machine in, relates to hacking machine equipment technical field, including the roof, the place the both ends symmetry of roof is equipped with two through-holes, every all be provided with the cylinder in the through-hole, be provided with two T type bracing pieces on the roof, every the vertical end of T type bracing piece passes respectively every the through-hole and with the cylinder passes through the buffer and connects, every the vertical end of T type bracing piece all is equipped with bottom grab bucket and is used for carrying out the side clamp that fixes to the box both sides and gets the device. The device is through setting up the side and pressing from both sides and get the device, realizes snatching, makes the grab bucket by the position removal of the difficult emergence horizontal direction of grab box in the removal in-process, and when the hacking machine received the vibration, the vibration of upper and lower orientation was taken place to the material easily, influences the stability of material in the handling.

The utility model discloses a grabbing device for hacking machine in prior art is CN 208120217U's patent document includes the fixed column, seted up the spout in the fixed column, slidable mounting has the slider in the spout, the top welding of fixed column has the second backup pad, the top fixed mounting of second backup pad has lift cylinder, lift cylinder's output and piston rod transmission are connected, the piston rod runs through the second backup pad setting, just in the piston rod extends to the spout, the bottom fixed mounting of piston rod is on the slider, one side welding of slider has first backup pad, the top fixed mounting of first backup pad has the rocking arm motor, the output and the axostylus axostyle transmission of rocking arm motor are connected, install the rocking arm on the axostylus axostyle, bottom one side fixed mounting of rocking arm has the connecting rod, the mount pad is installed to the bottom one side activity of mount pad has the tongs, the one end fixed mounting of tongs has first grab the piece, set up spacing groove and logical groove in the first grab piece, just spacing groove and logical groove intercommunication each other, one side of grabbing the first block has set up the draw-in groove. The second grab block is provided with an arc groove, and is provided with a rubber block, so that friction force between the second grab block and a grabber is increased, and the situation of slipping is avoided. The rubber block is provided with a groove, and the groove wall of the groove is obliquely arranged, so that the grabbing stability of grabbed objects is improved. According to the technical scheme, the clamping stability of materials in the carrying process is improved by improving the materials and the structure of the clamping component in the horizontal direction.

In the stacking process, whether the materials can be acted on in the up-down direction or not to improve the stability of the material conveying becomes a research subject of technicians.

Novel content

In order to solve the problems in the background technology, the utility model provides a material stacking manipulator.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

A material stacking manipulator comprises a frame, wherein the frame comprises an upper transverse plate and two connecting blocks; the two connecting blocks are positioned at the left side and the right side of the upper transverse plate and are fixedly connected with the upper transverse plate; connecting rods are symmetrically arranged above the upper transverse plate in a sliding mode front and back, connecting bolts are arranged at two ends of each connecting rod, four claw bodies are arranged below the frame, grooves are formed in the two connecting blocks, and each claw body penetrates through the grooves and is fixedly connected with the connecting rod through the connecting bolts; the upper transverse plate is provided with a transmission mechanism for driving the claw body to move, and the lower end of the upper transverse plate is provided with a fixing mechanism for controlling materials.

Further, the transmission mechanism comprises a bidirectional threaded rod, a worm wheel and a worm, the upper surface of the upper transverse plate is fixedly provided with a motor, the motor is horizontally arranged left and right, and the worm is fixedly arranged on an output shaft of the motor; the bidirectional threaded rod is rotatably arranged on the upper transverse plate, the axis of the bidirectional threaded rod is horizontally arranged front and back, the worm wheel is coaxially and fixedly arranged on the bidirectional threaded rod, and the worm wheel is meshed with the worm; the bidirectional threaded rod is in threaded connection with the connecting rod.

Further, the fixing mechanism comprises four piston cylinders, each two piston cylinders form a group of piston assemblies, and the piston cylinders in the same group are oppositely arranged; a supporting rod is arranged between the piston cylinder and the upper transverse plate, the upper end of the supporting rod is fixedly connected with the lower end of the upper transverse plate, and the lower end of the supporting plate is in sliding connection with the piston cylinder.

Further, a group of vent pipes are fixedly arranged on the left side and the right side of the frame, each group of vent pipes comprises two hoses which are communicated, and openings which are communicated with the corresponding hoses are formed in the upper transverse plates; a sleeve is fixedly arranged in the groove, and the opening is communicated with the middle part of the sleeve; each support rod is provided with a perforation, and the perforation is communicated with the perforation through a corresponding hose; the sleeve is communicated with the interior of the piston cylinder through an opening, a hose and a perforation; the two sides in the sleeve are slidably provided with piston rods, the piston rods are fixedly connected with the claw bodies, and the bottom end of each claw body is provided with a transverse strut.

Further, slide rails are arranged on the left side and the right side of the two connecting blocks of the frame, and the claw bodies are in sliding fit with the slide rails.

Further, the front side and the rear side of the transverse plate on the frame are respectively provided with a reflective infrared sensor, the frame is provided with a controller, and the controller is electrically connected with the reflective infrared sensors and the motor.

Further, the fixing mechanism comprises two groups of suckers, each group of suckers comprises two suckers, and the suckers in the same group are oppositely arranged; the sucker is fixedly connected with the upper transverse plate through a supporting rod; the supporting rods are provided with through holes which are communicated with the inside of the sucker.

Further, a group of vent pipes are fixedly arranged on the left side and the right side of the frame, each group of vent pipes comprises two hoses which are communicated, and openings which are communicated with the corresponding hoses are formed in the upper transverse plates; a sleeve is fixedly arranged in the groove, and the open holes are communicated with two ends of the sleeve; each support rod is provided with a perforation, and the perforation is communicated with the perforation through a corresponding hose; the sleeve is communicated with the sucker through the holes, the hose and the perforations; the two sides in the sleeve are slidably provided with piston rods which are fixedly connected with the claw bodies.

Compared with the prior art, the utility model has the following beneficial effects: the two-way threaded rod is rotated through the meshing rotation of the worm wheel and the worm, so that the claw bodies are driven to move oppositely to fix materials, and the materials are grabbed; the fixing mechanism fixes the materials in the up-down direction in the opposite movement process, so that the stability of the materials in the carrying process is enhanced again.

Drawings

FIG. 1 is a schematic view showing the external structure of embodiment 1 of the present utility model;

FIG. 2 is an enlarged view of the utility model at A of FIG. 1;

FIG. 3 is a schematic view showing the internal structure of embodiment 1 of the present utility model;

FIG. 4 is a left-hand internal structure diagram of embodiment 1 of the present utility model;

FIG. 5 is a schematic view showing the external structure of embodiment 2 of the present utility model;

FIG. 6 is a schematic view showing the internal structure of embodiment 2 of the present utility model;

fig. 7 is a schematic view showing the structure of the suction cup in embodiment 2 of the present utility model.

In the figure: 1. a frame; 2. a connecting rod; 3. a frame connector; 4. a motor; 5. a hose; 6. a connecting bolt; 7. a slide rail; 8. a piston cylinder; 9. a reflective infrared sensor; 10. a claw body; 11. a two-way threaded rod; 12. a worm wheel; 13. a worm; 14. a piston rod; 15. a sleeve; 16. and a sucking disc.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

As shown in fig. 1 to 4, the technical scheme adopted by the utility model is as follows: a material stacking manipulator comprises a frame 1. The frame 1 comprises an upper transverse plate and two connecting blocks. The two connecting blocks are respectively positioned at the left side and the right side of the upper transverse plate and are fixedly connected with the upper transverse plate. The upper end of the frame 1 is fixedly provided with a frame connector 3.

As shown in fig. 1, a connecting rod 2 is symmetrically arranged above an upper transverse plate of the frame 1 in a sliding manner. The connecting rod 2 slides back and forth over the upper cross plate. The two ends of each connecting rod 2 are provided with connecting bolts 6. Four claw bodies 10 are arranged below the frame 1. The two connecting blocks of the frame 1 are provided with grooves, and each claw body 10 passes through the grooves on the corresponding connecting blocks and is fixedly connected with the connecting rod 2 through the connecting bolt 6. The bottom end of each claw body 10 is provided with a cross brace.

The upper transverse plate of the frame 1 is provided with a transmission mechanism for driving the claw bodies 10 to move, and the transmission mechanism drives the connecting rod 2 to move, so that the two claw bodies 10 corresponding to the same connecting block move oppositely to fix the material, and then the material is taken. The fixed mechanism that is provided with control material of last diaphragm lower extreme of frame 1, through the inside atmospheric pressure of control fixed mechanism, and then make fixed mechanism fix the material, the stability in the reinforcing material handling.

The transmission mechanism comprises a bidirectional threaded rod 11, a worm wheel 12 and a worm 13. The upper surface of the upper transverse plate of the frame 1 is fixedly provided with a motor 4. Specifically, the left side of the upper transverse plate of the frame 1 is fixedly provided with a supporting frame, and the supporting frame is fixedly provided with a motor 4. The axis of the motor 4 is horizontally arranged left and right. The worm 13 is fixedly arranged on the output shaft of the motor 4, and the motor 4 drives the worm 13 to rotate. The bidirectional threaded rod 11 is rotatably arranged on an upper transverse plate of the frame 1, and the axis of the bidirectional threaded rod 11 is horizontally arranged front and back. The worm wheel 12 is coaxially and fixedly arranged on the bidirectional threaded rod 11, the worm wheel 12 is meshed with the worm 13, the worm 13 drives the worm wheel 12 to rotate, and the worm wheel 12 enables the bidirectional threaded rod 11 to rotate. The connecting rod 2 is provided with a threaded hole matched with the bidirectional threaded rod 11, the bidirectional threaded rod 11 is in threaded connection with the connecting rod 2, and the bidirectional threaded rod 11 drives the connecting rod 2 to move in opposite directions. Slide rails 7 are arranged on the left side and the right side of the two connecting blocks of the frame 1, and claw bodies 10 are in sliding fit with the slide rails 7. The connecting rod 2 carries the claw body 10 to move relatively on the slide rail 7 so as to clamp materials.

The fixing mechanism comprises four piston cylinders 8 and four supporting rods. Every two piston cylinders 8 form a set of piston assemblies and are adjacent to the connecting blocks on the corresponding sides. The piston cylinders 8 in the same group are arranged opposite to each other. A supporting rod is arranged between each piston cylinder 8 and the frame 1. The lower extreme fixed connection of bracing piece upper end and the upper cross plate of frame 1, backup pad lower extreme all is fixed and is provided with the piston ring, and the backup pad lower extreme stretches into inside the piston cylinder 8, through piston ring and piston cylinder 8 sliding connection.

As shown in fig. 1, a set of ventilation pipes is fixedly arranged on the left side and the right side of the upper transverse plate of the stand 1, and each set of ventilation pipes comprises two hoses 5 which are communicated. The upper transverse plate of the frame 1 is provided with an opening communicated with the corresponding hose 5. The groove is fixedly provided with a sleeve 15, wherein the opening is communicated with the middle part of the sleeve 15. Each support rod is provided with a perforation communicating with the interior of the corresponding piston cylinder 8. The sleeves 15 are in communication with the interior of the respective piston cylinder 8 via openings, hoses 5, perforations. The piston rod 14 is arranged on the two sides in the sleeve 15 in a sliding way, and the piston rod 14 is fixedly connected with the claw body 10. Along with the opposite movement of the claw body 10, the claw body 10 drives the two piston rods 14 to move opposite to each other to squeeze air in the sleeve 15, and the piston cylinder 8 is pressed down to fix the upper end of the material.

The front side and the rear side of the transverse plate on the frame 1 are provided with reflective infrared sensors 9, and the reflective infrared sensors 9 sense the positions of materials. The frame 1 is provided with a controller which is electrically connected with the reflective infrared sensor 9 and the motor 4.

In summary, in the initial state, the two piston rods 14 are in a remote state.

During operation, the reflective infrared sensor 9 senses materials, and the mechanical arm drives the mechanical arm to move to the position right above the materials so that the piston cylinder 8 is pressed on the materials.

The motor 4 drives the worm 13 to rotate, the worm 13 enables the worm wheel 12 to rotate positively, the worm wheel 12 drives the bidirectional threaded rod 11 to rotate, and the bidirectional threaded rod 11 rotates to drive the claw body 10 to move oppositely through the connecting rod 2 so as to clamp materials. The material is supported by the cross braces at the bottom ends of the claw bodies 10. During the process of moving the jaw body 10 toward each other, the jaw body 10 presses air inwardly with the piston rod 14, the gas inside the sleeve 15 is compressed, and the air pressure increases. The piston cylinder 8 is extended and pressed against the material so that the material is further fixed.

When the material is moved to a proper position, the motor 4 drives the worm 13 to rotate so as to enable the worm wheel 12 meshed with the worm to rotate reversely, the bidirectional threaded rod 11 drives the claw body 10 to move back to loosen the material through the connecting rod 2, meanwhile, the piston rod 14 is away from each other, and the compressed gas pressure in the sleeve 15 reduces the shrinkage of the piston cylinder 8 so as to release the material. And then resetting the manipulator to carry out the next grabbing.

Example 2

As shown in fig. 5 to 7, only the differences from embodiment 1 will be described here.

The clamping mechanism comprises two groups of suckers 16, each group of suckers 16 comprises two suckers 16, and the suckers 16 in the same group are oppositely arranged. A supporting rod is arranged between the sucker 16 and the frame 1, the upper end of the supporting rod is fixedly connected with the upper transverse plate, and the lower end of the supporting rod is fixedly connected with the corresponding sucker 16. The support rods are provided with perforations which are communicated with the inside of the sucker 16.

A group of vent pipes are fixedly arranged on the left side and the right side of the frame 1, and each group of vent pipes comprises two communicated hoses 5. The two hoses 5 of the same group are arranged symmetrically in front and back. The upper transverse plate of the frame 1 is provided with an opening corresponding to the hose 5, and the diameter of the opening is matched with the diameter of the hose 5. The opening communicates with the hose 5. The groove is fixedly provided with a sleeve 15, and the open holes are communicated with two ends of the sleeve 15. One end of the hose 5 communicates with the sleeve 15 through an aperture. The perforation of the support rod is communicated with the sleeve 15. The sleeve 15 communicates with the suction cup 16 through corresponding openings, hoses 5, through holes. By controlling the air pressure in the sucker 16, the material is adsorbed.

In summary, in the initial state, the two piston rods 14 are in a remote state.

In operation, the reflective infrared sensor 9 senses the material, and the mechanical arm drives the mechanical arm to move to the position right above the material so that the sucker 16 is tightly pressed on the material.

The controller controls the motor 4 to rotate, the motor 4 drives the worm 13 to rotate so that the worm wheel 12 rotates positively, the worm wheel 12 drives the bidirectional threaded rod 11 to rotate positively, and therefore the bidirectional threaded rod 11 drives the claw body 10 to move oppositely through the connecting rod 2 so as to clamp materials. In this process, the claw body 10 drives the piston rod 14 to move in opposite directions, air in the middle part in the sleeve 15 is extruded, the space of the two end parts in the sleeve 15 is enlarged, negative pressure is formed in the sucker 16, so that materials are adsorbed on the sucker 16, and the materials are further fixed.

When the material is moved to a proper position, the motor 4 drives the worm 13 to rotate so as to enable the worm wheel 12 to rotate reversely, the bidirectional threaded rod 11 drives the claw body 10 to move back through the connecting rod 2 so as to loosen the material, the claw body 10 drives the piston rod 14 to be far away, and negative pressure formed inside the sucker 16 disappears so as to release the material. And then resetting the manipulator to carry out the next grabbing.

Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.

Claims

1. The material stacking manipulator is characterized by comprising a frame (1), wherein the frame (1) comprises an upper transverse plate and two connecting blocks; the two connecting blocks are positioned at the left side and the right side of the upper transverse plate and are fixedly connected with the upper transverse plate; connecting rods (2) are symmetrically arranged above the upper transverse plate in a sliding mode front and back, connecting bolts (6) are arranged at two ends of each connecting rod (2), four claw bodies (10) are arranged below the frame (1), grooves are formed in the two connecting blocks, and each claw body (10) penetrates through the grooves and is fixedly connected with the connecting rod (2) through the connecting bolts (6); the upper transverse plate is provided with a transmission mechanism for driving the claw body (10) to move, and the lower end of the upper transverse plate is provided with a fixing mechanism for controlling materials.

2. A material palletising manipulator as claimed in claim 1, wherein: the transmission mechanism comprises a bidirectional threaded rod (11), a worm wheel (12) and a worm (13), the upper surface of the upper transverse plate is fixedly provided with a motor (4), the motor (4) is horizontally arranged left and right, and the worm (13) is fixedly arranged on an output shaft of the motor (4); the bidirectional threaded rod (11) is rotatably arranged on the upper transverse plate, the axis of the bidirectional threaded rod (11) is horizontally arranged front and back, the worm wheel (12) is coaxially and fixedly arranged on the bidirectional threaded rod (11), and the worm wheel (12) is meshed with the worm (13); the bidirectional threaded rod (11) is in threaded connection with the connecting rod (2).

3. A material palletising manipulator as claimed in claim 1, wherein: the fixing mechanism comprises four piston cylinders (8), each two piston cylinders (8) form a group of piston assemblies, and the piston cylinders (8) in the same group are oppositely arranged; a supporting rod is arranged between the piston cylinder (8) and the upper transverse plate, the upper end of the supporting rod is fixedly connected with the lower end of the upper transverse plate, and the lower end of the supporting plate is in sliding connection with the piston cylinder (8).

4. A material palletising manipulator as claimed in claim 3, wherein: a group of vent pipes are fixedly arranged on the left side and the right side of the frame (1), each group of vent pipes comprises two communicated hoses (5), and openings communicated with the corresponding hoses (5) are formed in the upper transverse plates; a sleeve (15) is fixedly arranged in the groove, and the opening is communicated with the middle part of the sleeve (15); each support rod is provided with a perforation, and the perforation is communicated with the perforation through a corresponding hose (5); the sleeve (15) is communicated with the interior of the piston cylinder (8) through an opening, a hose (5) and a perforation; the two sides in the sleeve (15) are slidably provided with piston rods (14), the piston rods (14) are fixedly connected with the claw bodies (10), and the bottom end of each claw body (10) is provided with a transverse strut.

5. A material palletizing manipulator as in claim 4, wherein: slide rails (7) are arranged on the left side and the right side of the two connecting blocks of the frame (1), and the claw body (10) is in sliding fit with the slide rails (7).

6. A material palletising manipulator as claimed in claim 2, wherein: the front side and the rear side of the transverse plate on the frame (1) are respectively provided with a reflective infrared sensor (9), the frame (1) is provided with a controller, and the controller is electrically connected with the reflective infrared sensors (9) and the motor (4).

7. A material palletising manipulator as claimed in claim 1, wherein: the fixing mechanism comprises two groups of suckers (16), each group of suckers (16) comprises two suckers (16), and the suckers (16) in the same group are oppositely arranged; the sucker (16) is fixedly connected with the upper transverse plate through a supporting rod; the supporting rods are provided with perforations which are communicated with the inside of the sucker (16).

8. The material palletizing manipulator of claim 7, wherein:

A group of vent pipes are fixedly arranged on the left side and the right side of the frame (1), each group of vent pipes comprises two communicated hoses (5), and openings communicated with the corresponding hoses (5) are formed in the upper transverse plates; a sleeve (15) is fixedly arranged in the groove, and the open holes are communicated with two ends of the sleeve (15); each support rod is provided with a perforation, and the perforation is communicated with the perforation through a corresponding hose (5); the sleeve (15) is communicated with the sucker (16) through the opening, the hose (5) and the perforation;

the two sides in the sleeve (15) are slidably provided with a piston rod (14), and the piston rod (14) is fixedly connected with the claw body (10).