CN220279663U - Lifting material taking manipulator - Google Patents
Lifting material taking manipulator Download PDFInfo
- Publication number
- CN220279663U CN220279663U CN202321808374.7U CN202321808374U CN220279663U CN 220279663 U CN220279663 U CN 220279663U CN 202321808374 U CN202321808374 U CN 202321808374U CN 220279663 U CN220279663 U CN 220279663U
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- Prior art keywords
- material taking
- plate
- reclaimer
- manipulator
- movable connecting
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- 238000001179 sorption measurement Methods 0.000 claims abstract description 19
- 230000005540 biological transmission Effects 0.000 claims description 5
- 235000013305 food Nutrition 0.000 description 3
- 230000013011 mating Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000007599 discharging Methods 0.000 description 2
- 238000010438 heat treatment Methods 0.000 description 2
- 230000005389 magnetism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model discloses a lifting material taking manipulator which comprises a guide rail and a material taking mechanism, wherein the guide rail and the material taking mechanism are arranged in the Y-axis axial direction, and the material taking mechanism is arranged on the guide rail in a sliding mode; the material taking mechanism comprises a material taking plate frame, an electromagnetic adsorption mechanism and a bearing support plate, wherein the electromagnetic adsorption mechanism comprises an electromagnetic driving piece and an electromagnet, the electromagnetic driving piece is arranged in the material taking plate frame, and the electromagnet and the bearing support plate are arranged on the side wall of the material taking plate frame; the electromagnetic driving piece is in driving connection with the electromagnet, and the bearing support plate is positioned below the electromagnet. The lifting material taking manipulator is arranged on the electromagnetic adsorption mechanism and the bearing support plate, and the workpiece is supported and lifted through the bearing support plate and then is adsorbed and fixed through the electromagnetic adsorption mechanism, so that the reliability and convenience of workpiece transportation are effectively improved.
Description
Technical Field
The utility model mainly relates to the technical field of manipulators, in particular to a lifting material taking manipulator.
Background
The conventional self-service vending machine can improve the purchase experience of customers for purchasing foods by self by carrying out heat treatment on semi-finished food materials, and the conventional self-service vending machine needs to acquire corresponding semi-finished food materials in a refrigerator through a manipulator according to purchase instructions of the customers and carry out shipment after heat treatment. The existing manipulator generally carries out transportation through clamping jaw centre gripping work piece, needs accurate adjustment clamping position at the centre gripping in-process, leads to centre gripping complex operation, in the work piece transportation in addition, receives the influence of factors such as clamping position deviation and work piece mass distribution inequality easily, leads to the work piece slope and turns over the circumstances of rolling over, influences the reliability of work piece transportation.
Disclosure of Invention
The utility model aims to overcome the defects of the prior art, and provides a lifting material taking manipulator which is arranged on an electromagnetic adsorption mechanism and a bearing plate, and is used for carrying out adsorption fixation through the electromagnetic adsorption mechanism after a workpiece is supported and lifted through the bearing plate, so that the reliability and convenience of workpiece transportation are effectively improved.
The utility model provides a lifting material taking manipulator which comprises a guide rail and a material taking mechanism, wherein the guide rail and the material taking mechanism are arranged in the Y-axis axial direction, and the material taking mechanism is arranged on the guide rail in a sliding mode;
the material taking mechanism comprises a material taking plate frame, an electromagnetic adsorption mechanism and a bearing support plate, wherein the electromagnetic adsorption mechanism comprises an electromagnetic driving piece and an electromagnet, the electromagnetic driving piece is arranged in the material taking plate frame, and the electromagnet and the bearing support plate are arranged on the side wall of the material taking plate frame;
the electromagnetic driving piece is in driving connection with the electromagnet, and the bearing support plate is positioned below the electromagnet.
Further, a sliding table is arranged on the guide rail, a first driving motor is arranged at the bottom of the guide rail, and the first driving motor drives the sliding table connected with the guide rail.
Further, the material taking mechanism is fixed on the sliding table of the guide rail.
Further, the material taking mechanism further comprises a base, a movable connecting plate, a first telescopic mechanism and a second telescopic mechanism which axially move along the X axis;
the movable connecting plate is connected to the base based on the first telescopic mechanism, and the material taking plate frame is connected to the movable connecting plate based on the second telescopic mechanism.
Further, the first telescopic mechanism comprises a second driving motor, a driving wheel, a driven wheel and a transmission belt;
the second driving motor is arranged at the bottom of the base, an output shaft of the second driving motor extends to the side wall of the base, the driving wheel is arranged on the output shaft of the second driving motor, and the driving wheel and the driven wheel are arranged in the transmission belt.
Further, a connecting piece is arranged on the transmission belt, one end of the connecting piece is fixed on the transmission belt, and the other end of the connecting piece is fixed on the movable connecting plate.
Further, a first sliding groove is formed in the base, a first guide sliding plate is arranged at the bottom of the movable connecting plate, and the first guide sliding plate is in sliding fit with the first sliding groove.
Further, the second telescopic mechanism comprises a third driving motor and a rack, the rack is arranged on the top surface of the movable connecting plate, and the third driving motor is arranged in the material taking plate frame;
the output shaft of the third driving motor extends to the bottom of the material taking plate frame, a matching gear is arranged on the output shaft of the third driving motor, and the matching gear is meshed with the rack.
Further, a second guide sliding plate is further arranged on the top surface of the movable connecting plate, a second sliding groove is formed in the bottom of the material taking plate frame, and the material taking plate frame is connected with the movable connecting plate in a sliding mode based on the second sliding groove and the second guide sliding plate.
Further, the material taking mechanism is further provided with a telescopic connecting rod, one end of the telescopic connecting rod is arranged on the supporting plate of the base, and the other end of the telescopic connecting rod is arranged on the material taking plate frame.
The lifting material taking manipulator is arranged on the electromagnetic adsorption mechanism and the bearing support plate, and the workpiece is supported and lifted through the bearing support plate and then is adsorbed and fixed through the electromagnetic adsorption mechanism, so that the reliability and convenience of workpiece transportation are effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a lifting and lowering pick-up robot in an embodiment of the present utility model;
FIG. 2 is a schematic illustration of the structure of the take-off mechanism in an embodiment of the utility model;
FIG. 3 is a schematic view of an extended configuration of the take-off mechanism in accordance with an embodiment of the present utility model;
fig. 4 is a schematic view of an alternative view of an extended state of the take off mechanism in accordance with an embodiment of the present utility model.
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.
Fig. 1 shows a schematic diagram of a lifting material taking manipulator structure in an embodiment of the present utility model, where the lifting material taking manipulator includes a guide rail 1 and a material taking mechanism 2 disposed in an axial direction of a Y axis, the material taking mechanism 2 is slidably disposed on the guide rail 1, a slider is disposed on the material taking mechanism 2, and the material taking mechanism 2 is slidably fitted on the guide rail 1 based on the slider, that is, the material taking mechanism 2 may be axially moved on the guide rail 1 along the Y axis based on the slider.
Further, a first driving motor 3 is arranged at the bottom of the guide rail 1, the first driving motor 3 is in driving connection with the guide rail 1, and the first driving motor 3 is used for driving the material taking mechanism 2 to run on the guide rail 1.
Specifically, fig. 2 shows a schematic diagram of a structure of a material taking mechanism 2 in the embodiment of the present utility model, where the material taking mechanism 2 includes a base 21, a movable connecting plate 22, a material taking plate frame 23, and a first telescopic mechanism and a second telescopic mechanism that move axially along an X axis, the movable connecting plate 22 is connected to the base 21 based on the first telescopic mechanism, the first telescopic mechanism can drive the movable connecting plate 22 to move on the base 21 along the X axis axial direction, the material taking plate frame 23 is connected to the movable connecting plate 22 based on the second telescopic mechanism, and the second telescopic mechanism can drive the material taking plate frame 23 to move axially along the X axis at the movable connecting plate 22.
Specifically, the first telescopic mechanism includes a second driving motor 211, a driving wheel 213, a driven wheel 214 and a driving belt 215, the second driving motor 211 is disposed at the bottom of the base 21, an output shaft of the second driving motor 211 extends on a side wall of the base 21, the driving wheel 213 is disposed on an output shaft of the second driving motor 211, the driving wheel 213 and the driven wheel 214 are disposed in the driving belt 215, the driving wheel 213, the driven wheel 214 and the driving belt 215 are disposed on a side wall of the base 21, the second driving motor 211 can drive the driving wheel 213 to rotate, and the driving wheel 213 and the driven wheel 214 cooperate to enable the driving belt 215 to rotate.
Further, a connecting piece 216 is provided on the driving belt 215, one end of the connecting piece 216 is fixed on the driving belt 215, the other end of the connecting piece 216 is fixed on the movable connecting plate 22, and when the second driving motor 211 drives the driving belt 215 to rotate, the movable connecting plate 22 can axially move along the X-axis along with the rotation of the driving belt 215.
Specifically, the base 21 is provided with a first chute 212, a first guiding slide plate 221 is disposed at the bottom of the movable connecting plate 22, the first guiding slide plate 221 is slidably fitted in the first chute 212, and the stability of the fit between the movable connecting plate 22 and the base 21 is improved by setting the first guiding slide plate 221 to be matched with the first chute 212.
Specifically, the material taking mechanism 2 is further provided with a telescopic connecting rod 24, one end of the telescopic connecting rod 24 is arranged on a supporting plate 217 of the base 21, the other end of the telescopic connecting rod 24 is arranged on the material taking plate frame 23, when the material taking plate frame 23 moves axially along the X axis, the telescopic connecting rod 24 can stretch along with the movement of the material taking plate frame 23, and the stability of a connecting structure among the movable connecting plate 22, the material taking plate frame 23 and the base 21 can be improved by the telescopic connecting rod 24, so that the stability of material taking operation of the material taking mechanism 2 is improved.
Specifically, the second telescopic mechanism includes a third driving motor 231 and a rack 222, the rack 222 is disposed on the top surface of the movable connection plate 22, the third driving motor 231 is disposed on the material taking rack 23, an output shaft of the third driving motor 231 extends to the bottom of the material taking rack 23, a mating gear is disposed on an output shaft of the third driving motor 231 and is meshed with the rack 222, and the third driving motor 231 can drive the mating gear to rotate, so that the second mating gear moves on the rack 222.
Further, a second guiding sliding plate 223 is further disposed on the top surface of the movable connection plate 22, a second sliding groove 231 is disposed at the bottom of the material taking plate frame 23, and the material taking plate frame 23 is slidably connected with the movable connection plate 22 based on the second sliding groove 231 and the second guiding sliding plate 223, that is, the material taking plate frame 23 can move on the second guiding sliding plate 223 of the movable connection plate 22 based on the second sliding groove 231, so that relative sliding between the movable connection plate 22 and the material taking plate frame 23 is realized.
Specifically, the movable connection plate 22 is provided with an electromagnetic adsorption mechanism 25, the electromagnetic adsorption mechanism 25 includes an electromagnetic driving member 251 and an electromagnet 252, the electromagnetic driving member 251 is in driving connection with the electromagnet 252, and the electromagnetic driving member 251 is used for controlling magnetism of the electromagnet 252.
Further, the electromagnetic driving member 251 is disposed in the material taking rack 23, the electromagnet 252 is disposed on a side wall at one end of the material taking rack 23, and when the material taking rack 23 moves axially along the X axis along with the first telescopic mechanism and the second telescopic mechanism, the electromagnetic adsorption mechanism 25 may move along with the material taking rack 23 to approach the workpiece, and the electromagnet 252 is driven by the electromagnetic driving member 251 to adsorb the workpiece, so that the workpiece is adsorbed and fixed on the material taking rack 23.
Specifically, the material taking plate frame 23 is further provided with a bearing plate 26, the bearing plate 26 is disposed on a side wall of the material taking plate frame 23, the bearing plate 26 is located below the electromagnet 252, and the bearing plate 26 is used for supporting a workpiece, so that the lifting material taking manipulator can take the workpiece.
Further, the working principle of the lifting material taking manipulator is as follows: the first driving motor 3 drives the material taking mechanism 2 to move in the vertical direction along the guide rail 1, so that the material taking mechanism 2 is located at the material taking height corresponding to the workpiece, the first telescopic mechanism and/or the second telescopic mechanism drive the material taking mechanism 2 to axially stretch and move along the X axis, so that the bearing support plate 26 on the material taking plate frame 23 is located below the bottom of the workpiece, the first driving motor 3 drives the material taking mechanism 2 to move upwards, so that the bearing support plate 26 contacts with the workpiece and lifts the workpiece support, and the electromagnetic driving member 251 provides power for the electromagnet 252, so that the electromagnet 252 is in a working state, that is, the electromagnet 252 generates magnetism to fixedly adsorb the workpiece on the bearing support plate 26.
Further, the first telescopic mechanism and the second telescopic mechanism drive the movable connecting plate 22 and the material taking plate frame 23 to reset, and drive the material taking mechanism 2 to move to the workpiece discharging height along the guide rail 1 through the first driving motor 3, and drive the material taking mechanism 2 to perform workpiece discharging through the first telescopic mechanism and the second telescopic mechanism.
Specifically, the embodiment of the utility model provides a lifting material taking manipulator, which is arranged on an electromagnetic adsorption mechanism 25 and a bearing support plate 26, and is used for carrying out adsorption fixation through the electromagnetic adsorption mechanism 25 after lifting a workpiece support through the bearing support plate 26, so that the reliability and convenience of workpiece transportation are effectively improved.
In addition, the foregoing describes in detail a lifting and unloading manipulator provided by the embodiment of the present utility model, and specific examples should be adopted herein to illustrate the principles and embodiments of the present utility model, where the foregoing description of the embodiment is only for helping to understand the method and core ideas of the present utility model; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present utility model, the present description should not be construed as limiting the present utility model in view of the above.
Claims (10)
1. The lifting material taking manipulator is characterized by comprising a guide rail and a material taking mechanism, wherein the guide rail and the material taking mechanism are arranged in the Y-axis axial direction, and the material taking mechanism is arranged on the guide rail in a sliding mode;
the material taking mechanism comprises a material taking plate frame, an electromagnetic adsorption mechanism and a bearing support plate, wherein the electromagnetic adsorption mechanism comprises an electromagnetic driving piece and an electromagnet, the electromagnetic driving piece is arranged in the material taking plate frame, and the electromagnet and the bearing support plate are arranged on the side wall of the material taking plate frame;
the electromagnetic driving piece is in driving connection with the electromagnet, and the bearing support plate is positioned below the electromagnet.
2. The lift reclaimer manipulator of claim 1, wherein a slipway is provided on the rail, a first drive motor is provided at the bottom of the rail, and the first drive motor drives the slipway connected to the rail.
3. The lift reclaimer robot of claim 2, wherein the reclaimer mechanism is fixed to a skid of the rail.
4. The lift reclaimer manipulator of claim 1, wherein the reclaimer mechanism further comprises a base, a movable connecting plate, a first telescoping mechanism and a second telescoping mechanism that move axially along an X-axis;
the movable connecting plate is connected to the base based on the first telescopic mechanism, and the material taking plate frame is connected to the movable connecting plate based on the second telescopic mechanism.
5. The lift reclaimer manipulator of claim 4, wherein the first telescoping mechanism comprises a second drive motor, a drive wheel, a driven wheel, and a drive belt;
the second driving motor is arranged at the bottom of the base, an output shaft of the second driving motor extends to the side wall of the base, the driving wheel is arranged on the output shaft of the second driving motor, and the driving wheel and the driven wheel are arranged in the transmission belt.
6. The lift reclaimer manipulator of claim 5, wherein a connector is disposed on the drive belt, one end of the connector is fixed on the drive belt, and the other end of the connector is fixed on the movable connecting plate.
7. The lift reclaimer manipulator of claim 4, wherein a first chute is provided on the base, a first guide slide plate is provided at the bottom of the movable connecting plate, and the first guide slide plate is slidably fit in the first chute.
8. The lift reclaimer manipulator of claim 4, wherein the second telescoping mechanism comprises a third drive motor and a rack, the rack is disposed on a top surface of the movable connecting plate, and the third drive motor is disposed in the reclaiming rack;
the output shaft of the third driving motor extends to the bottom of the material taking plate frame, a matching gear is arranged on the output shaft of the third driving motor, and the matching gear is meshed with the rack.
9. The lifting and unloading manipulator according to claim 4, wherein a second guiding slide plate is further arranged on the top surface of the movable connecting plate, a second sliding groove is arranged at the bottom of the unloading plate frame, and the unloading plate frame is in sliding connection with the movable connecting plate based on the second sliding groove and the second guiding slide plate.
10. The lift reclaimer robot of claim 4, wherein the reclaimer mechanism is further provided with a telescopic link, one end of the telescopic link is disposed on a support plate of the base, and the other end of the telescopic link is disposed on the reclaiming rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321808374.7U CN220279663U (en) | 2023-07-10 | 2023-07-10 | Lifting material taking manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321808374.7U CN220279663U (en) | 2023-07-10 | 2023-07-10 | Lifting material taking manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220279663U true CN220279663U (en) | 2024-01-02 |
Family
ID=89342459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321808374.7U Active CN220279663U (en) | 2023-07-10 | 2023-07-10 | Lifting material taking manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220279663U (en) |
-
2023
- 2023-07-10 CN CN202321808374.7U patent/CN220279663U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: 511450 301, No. 37, huancun East Road, xinshuikeng, Dalong street, Panyu District, Guangzhou City, Guangdong Province Patentee after: Guangzhou Aiwan Intelligent Technology Co.,Ltd. Country or region after: China Address before: 511450 301, No. 37, huancun East Road, xinshuikeng, Dalong street, Panyu District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU AIWAN NETWORK TECHNOLOGY Co.,Ltd. Country or region before: China |