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CN-224209947-U - Material taking manipulator

CN224209947UCN 224209947 UCN224209947 UCN 224209947UCN-224209947-U

Abstract

The utility model relates to a material taking manipulator which comprises two multi-axis mechanical arms which are opposite left and right and can be matched with each other to realize clamping and carrying operation, and a switching module arranged on a joint at the tail end of the multi-axis mechanical arm, wherein the switching module comprises a first axis, a second axis and a rotary driving module for driving the first axis which are perpendicular to each other, first bevel gears are coaxially arranged at two ends of the first axis, second bevel gears are coaxially arranged at two ends of the second axis, the two first bevel gears are meshed with the two second bevel gears, the first bevel gears are fixed with the first axis, one of the two second bevel gears is fixed with the second axis, the other of the two second bevel gears is rotationally connected with the second axis, at least one first installation position for installing an actuating mechanism is arranged on the side wall of the second bevel gear, which is away from the first axis, and when material is taken, a plurality of different actuating mechanisms can be respectively installed on a plurality of first installation positions and realize orientation switching through rotary matching of the four bevel gears, and the four bevel gears not only play the role in angle and position switching, but also play a role in angle adjusting of the joint at the tail end of the manipulator.

Inventors

  • GONG TAO
  • TAN JUNMING

Assignees

  • 深圳雪慧科技有限公司

Dates

Publication Date
20260508
Application Date
20250530

Claims (10)

  1. 1. The material taking manipulator is characterized by comprising two multi-shaft mechanical arms, wherein the two multi-shaft mechanical arms are opposite left and right and can be matched with each other to realize clamping and carrying operation; the multi-axis mechanical arm further comprises a switching module arranged on the tail end joint of the multi-axis mechanical arm; The switching module comprises a first shaft, a second shaft and a rotary driving module, wherein the first shaft and the second shaft are perpendicular to each other, the rotary driving module is used for driving the first shaft to rotate, first bevel gears are coaxially arranged at two ends of the first shaft, second bevel gears are coaxially arranged at two ends of the second shaft, the two first bevel gears are meshed with the two second bevel gears, the first bevel gears are fixed with the first shaft, one of the two second bevel gears is fixed with the second shaft, the other one of the two second bevel gears is connected with the second shaft in a rotary mode, and at least one first installation position for installing an executing mechanism is arranged on the side wall, deviating from the first shaft, of the second bevel gears.
  2. 2. The manipulator of claim 1, wherein the second shaft has a channel extending axially therethrough at each end, the channel defining a second mounting location.
  3. 3. The material taking manipulator according to claim 2, wherein an air shaft is penetrated in the channel, and two ends of the air shaft penetrate out of the two first installation positions respectively.
  4. 4. The manipulator of claim 3, wherein one end of the air shaft is provided with an air tap, the first mounting location is further provided with a support arm, and the air tap and the support arm are both the actuator.
  5. 5. The material handling robot of claim 4, wherein the support arm is at an acute angle to the axis of rotation of the second bevel gear.
  6. 6. The material taking manipulator according to claim 1, wherein the first shaft comprises a connecting seat arranged between the two first bevel gears and a connecting shaft body for connecting the first bevel gears and the connecting seat, the connecting shaft body is coaxially and rotatably connected with the first bevel gears, and a through hole for the second shaft to pass through is formed in the connecting seat.
  7. 7. The manipulator of claim 6, wherein the connecting base is further provided with third mounting locations on two sides of the second bevel gear, and the third mounting locations are located between the two first bevel gears.
  8. 8. The material taking manipulator according to claim 1, wherein the rotary driving module comprises driving motors, two driving motors are arranged corresponding to the two first bevel gears, and the two driving motors are respectively positioned at one side of the two first bevel gears, which is away from each other.
  9. 9. The pick up robot of any one of claims 1-8, further comprising a first lift module to drive the multi-axis robot to lift and a second lift module to drive the first lift module to lift.
  10. 10. The reclaimer robot of claim 9, further comprising a traversing module that drives the second lifting module to move horizontally on the ground.

Description

Material taking manipulator Technical Field The utility model relates to the technical field of automatic equipment, in particular to a material taking manipulator. Background For a warehouse taking materials from a goods shelf, most of traditional material storage and taking modes depend on people to walk to the position of the goods shelf, bend over or stand on top of the foot and stretch hands again to take materials from corresponding storage positions. The walking distance of the object manager is long, the picking and placing are inconvenient, the experience and the memory requirements for the pickers are high, and mistakes are easy to occur. The material storage density of traditional goods shelves is at the bottom, and distance between goods shelves side by side each other is narrower, and traditional triaxial longmen extracting manipulator is bulky, and is inapplicable. In addition, since the types of items on the shelves are not unique, it is desirable that the robot hand can switch the corresponding actuator for each type of item to pick. However, since the current robots in the industry either use XYZ three-axis gantry robots or multi-axis industrial robots. The former has obvious disadvantages, while the latter has disadvantages that a bracket needs to be installed on the end joint of the mechanical arm and a whole set of actuating mechanism needs to be additionally installed on the bracket, although the mode can basically meet the requirements, a driving mechanism specially used for driving the switching actuating mechanism needs to be additionally arranged on the bracket, so that the whole volume is still larger, the whole structure is still limited in the actual use process, and the whole structure is not simplified enough. Therefore, based on the above situation, we propose a new material picking manipulator to meet the demands of the resort. Disclosure of utility model The utility model aims to overcome the defects in the prior art and provide a material taking manipulator which can well solve the problems. The technical scheme adopted by the utility model for solving the technical problems is as follows: The material taking manipulator comprises a multi-shaft mechanical arm, wherein two multi-shaft mechanical arms are arranged, are opposite left and right and can be matched with each other to realize clamping and carrying operation; the multi-axis mechanical arm further comprises a switching module arranged on the tail end joint of the multi-axis mechanical arm; The switching module comprises a first shaft, a second shaft and a rotary driving module, wherein the first shaft and the second shaft are perpendicular to each other, the rotary driving module is used for driving the first shaft to rotate, first bevel gears are coaxially arranged at two ends of the first shaft, second bevel gears are coaxially arranged at two ends of the second shaft, the two first bevel gears are meshed with the two second bevel gears, the first bevel gears are fixed with the first shaft, one of the two second bevel gears is fixed with the second shaft, the other one of the two second bevel gears is connected with the second shaft in a rotary mode, and at least one first installation position for installing an executing mechanism is arranged on the side wall, deviating from the first shaft, of the second bevel gears. The material taking manipulator disclosed by the utility model is characterized in that a channel which axially penetrates through two ends of the second shaft is arranged in the second shaft, and the channel forms a second installation position. The material taking manipulator disclosed by the utility model is characterized in that an air shaft is arranged in the channel in a penetrating way, and two ends of the air shaft respectively penetrate out of the two first installation positions. The material taking manipulator disclosed by the utility model is characterized in that one end of the air shaft is provided with the air tap, the first mounting position is also provided with the supporting arm, and the air tap and the supporting arm are both the executing mechanism. The utility model discloses a material taking manipulator, wherein an included angle between a supporting arm and a rotating shaft of a second bevel gear is an acute angle. The material taking manipulator comprises a first shaft, a second shaft and a material taking manipulator body, wherein the first shaft comprises a connecting seat arranged between two first bevel gears and a connecting shaft body connected with the first bevel gears and the connecting seat, the connecting shaft body is coaxially and rotatably connected with the first bevel gears, and a through hole for the second shaft to pass through is formed in the connecting seat. The utility model discloses a material taking manipulator, wherein a connecting seat is positioned at two sides of a second bevel gear, and a third installation position is further arranged between