Multi-angle material taking and placing mechanism

Abstract

The utility model provides a multi-angle material taking and placing mechanism which comprises an A-axis rotating assembly, a B-axis rotating assembly and a C-axis rotating assembly. The B-axis rotating assembly is installed on the A-axis rotating assembly and rotates around the A axis, and the B-axis rotating assembly rotates around the B axis; and the suction nozzle assembly is used for sucking the to-be-processed materials. Through cooperation of the A-axis rotating assembly and the B-axis rotating assembly, continuous rotation of materials in two independent axial directions can be achieved, and therefore rich angle choices are provided. By means of the design, the suction nozzle assembly can take and place materials at any expected angle in the horizontal plane, and the suction nozzle assembly is particularly suitable for occasions where parts need to be assembled and attached in a multi-angle mode. The B-axis rotating assembly adopts precise transmission parts such as a telescopic air cylinder, a rack and a gear, and the rotating precision of the suction nozzle assembly is ensured. Meanwhile, due to the design of the guide sliding block, linearity and stability in the movement process are guaranteed, the limiting block is used for limiting the rotation range of the B shaft, and over-rotation or damage is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of automation equipment, in particular to a multi-angle material taking and placing mechanism. Background Art

[0002] In current automation equipment, four-axis robots and six-axis robots are mostly used to pick and place materials; four-axis robots have four rotational degrees of freedom (X / Y / Z / R), can translate in three-dimensional space and rotate around an additional axis, and are suitable for grabbing parts on a horizontal plane and placing them in the same posture. On this basis, six-axis robots add two rotation axes (A / B axes), which enables them to grab parts more flexibly and place them accurately at any angle to meet the needs of complex assembly operations.

[0003] However, the shortcomings of existing technologies include:

[0004] 1. Longer arm change time affects work efficiency;

[0005] 2.Higher purchase and maintenance costs;

[0006] 3. Relatively large size and space occupation, not suitable for use in small or limited spaces;

[0007] 4. Although it is highly flexible, it is redundant for situations where only specific angle changes are required and six degrees of freedom are not required.

[0008] 5. For application scenarios where it is necessary to pick up materials from a horizontal surface and then place them down at different angles, especially for the side or inclined assembly of small and medium-sized parts, the existing four-axis robots are unable to meet this demand due to their limited range of motion; and although six-axis robots can complete such tasks, their low operating efficiency, high cost and large size make them not fully suitable for such lightweight and efficient operations.

[0009] Therefore, the prior art has deficiencies and needs further improvement. Utility Model Content

[0010] In view of the problems existing in the prior art, the utility model provides a multi-angle material taking and placing mechanism.

[0011] To achieve the above purpose, the specific scheme of the utility model is as follows:

[0012] The utility model provides a multi-angle material taking and placing mechanism, comprising:

[0013] A-axis rotation assembly, used for generating rotation around A-axis;

[0014] The B-axis rotating assembly is installed on the A-axis rotating assembly and rotates around the A-axis. The B-axis rotating assembly itself rotates around the B-axis.

[0015] The suction nozzle assembly is used to suck the material to be processed. It is installed on the B-axis rotating assembly and is driven by the B-axis rotating assembly to rotate around the B-axis;

[0016] The A-axis rotating assembly includes: a rotating motor and a rotating slide;

[0017] The rotary slide is connected to the output shaft of the rotary motor, and the B-axis rotary assembly is mounted on the rotary slide;

[0018] The rotating motor and the rotating slide are mounted on a first mounting plate, and a mounting connector for fixing the A-axis rotating assembly to an external robot arm is also provided on the first mounting plate.

[0019] Further, the B-axis rotating assembly includes: a B-axis telescopic cylinder, a rack, a first guide slider, and a gear;

[0020] The rack is mounted on the first guide slider and connected to the piston rod of the B-axis telescopic cylinder, while the rack is meshed with the gear;

[0021] The B-axis telescopic cylinder pushes and pulls the rack to move back and forth on the first guide slider, and then the rack drives the gear to rotate forward and reverse. The suction nozzle assembly is installed on the gear and rotates forward and reverse with the gear.

[0022] Furthermore, a protective cover is provided on the outer side of the B-axis rotating assembly;

[0023] The B-axis rotating assembly and the first guide slider are mounted on the second mounting plate;

[0024] A B-axis limit block is also provided on the side of the second mounting plate;

[0025] The second mounting plate is mounted on the rotating slide.

[0026] Further, the suction nozzle assembly includes: a rotating shaft, a first mounting block, a second guide slider, a second mounting block, a third mounting block, a suction nozzle floating support shaft, a third mounting plate, and a suction nozzle;

[0027] The rotating shaft is fixedly connected to the gear of the B-axis rotating assembly and rotates forward and reversely with the gear. Both ends of the rotating shaft are mounted on bearings, and the bearings are mounted on the second mounting plate.

[0028] The first mounting block is installed on the rotating shaft, a second guide slider is installed on each side of the first mounting block, a second mounting block is installed on the lower end of the two second guide sliders, a third mounting block is installed on the lower end of the second mounting block, and a suction nozzle floating support shaft is arranged in the middle of the third mounting block along the horizontal direction of the width, and a third mounting plate is arranged at both ends of the suction nozzle floating support shaft, and the long sides of both sides of the suction nozzle are respectively mounted on the third mounting plates.

[0029] Furthermore, the first mounting block is in an inverted U shape, a force sensor is arranged between the first mounting block and the second mounting block, and a first spring is also arranged between the force sensor and the first mounting block.

[0030] Furthermore, a second spring is respectively arranged on both sides of the floating support shaft of the suction nozzle between the third mounting block and the suction nozzle.

[0031] The technical solution of the utility model has the following beneficial effects:

[0032] 1. Multi-angle flexibility: This mechanism can realize continuous rotation of materials in two independent axes through the cooperation of the A-axis rotating assembly and the B-axis rotating assembly, thus providing a rich selection of angles. This design enables the nozzle assembly to pick up and place materials at any desired angle in the horizontal plane, which is particularly suitable for occasions where parts need to be assembled and fitted at multiple angles.

[0033] 2. Precision control and stability: The B-axis rotation assembly uses precision transmission components such as telescopic cylinders, racks, and gears to ensure the accuracy of the nozzle assembly rotation. At the same time, the design of the guide slider ensures the linearity and stability during the movement, and the limit block is used to limit the B-axis rotation range to avoid over-rotation or damage.

[0034] 3. Floating support and force control function: A floating support shaft for the nozzle is provided in the nozzle assembly mounting structure and is equipped with springs (first spring and second spring), which enables the nozzle to have a certain floating adaptability when sucking and placing materials, and can effectively reduce the damage to parts caused by excessive contact force. At the same time, the use of force sensors can monitor the force during the suction or placement process in real time to ensure gentle handling of materials during operation.

[0035] 4. Integrated and modular design: All components such as rotary motor, rotary slide, mounting plate, guide sliders and mounting blocks are carefully laid out and integrated to facilitate overall installation on the external robot arm, forming a compact and efficient subsystem, which is conducive to rapid integration into the automated production line, and is also convenient for maintenance and replacement.

[0036] 5. Lightweight and efficient: The entire multi-angle loading and unloading mechanism has a sophisticated structural design and a compact size, which is suitable for the operation requirements of small and medium-sized parts. It not only improves space utilization, but also reduces operating costs. Compared with traditional six-axis robots, it has higher cost performance and more flexible application advantages in specific application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a three-dimensional diagram of the utility model;

[0038] Figure 2 It is a three-dimensional diagram of the A-axis rotating assembly of the utility model;

[0039] Figure 3 It is a three-dimensional diagram of the B-axis rotating assembly and the suction nozzle assembly of the utility model;

[0040] Figure 4 It is a three-dimensional diagram of the B-axis rotating assembly of the utility model after removing the protective cover;

[0041] Figure 5 It is a stereoscopic diagram of another perspective of the rotating assembly of the utility model after the protective cover is removed;

[0042] Figure 6 It is a three-dimensional diagram of the nozzle assembly of the utility model;

[0043] Figure 7 It is a stereoscopic diagram of the suction nozzle assembly of the utility model from another perspective.

[0044] In the figure:

[0045] 1. A-axis rotation assembly;

[0046] 101. Rotating motor; 102. Rotating slide;

[0047] 103. First mounting plate; 104. Mounting connector;

[0048] 2. B-axis rotation assembly;

[0049] 201, B-axis telescopic cylinder; 202, rack; 203, first guide slider; 204, gear;

[0050] 205, shield;

[0051] 206, second mounting plate;

[0052] 207, B axis limit block;

[0053] 3. Nozzle assembly;

[0054] 301, rotating shaft; 302, first mounting block; 303, second guide slider; 304, second mounting block; 305, third mounting block; 306, floating support shaft for suction nozzle; 307, third mounting plate; 308, suction nozzle;

[0055] 309, bearings;

[0056] 310. Force sensor;

[0057] 311, first spring;

[0058] 312. Second spring. DETAILED DESCRIPTION

[0059] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only the parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0060] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present utility model, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0062] In the description of this embodiment, the terms "upper", "lower", "front", "back", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplified operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0063] Combination Figure 1-Figure 7 As shown, the utility model provides a multi-angle material taking and placing mechanism, including: an A-axis rotating component 1, used to generate rotation around the A-axis; a B-axis rotating component 2, installed on the A-axis rotating component 1 to rotate around the A-axis, and the B-axis rotating component 2 itself generates rotation around the B-axis; a suction nozzle component 3, used to suck the material to be processed, which is installed on the B-axis rotating component 2 and is driven by the B-axis rotating component 2 to rotate around the B-axis.

[0064] The A-axis rotating assembly 1 includes: a rotating motor 101 and a rotating slide 102; the rotating slide 102 is connected to the output shaft of the rotating motor 101, and the B-axis rotating assembly 2 is installed on the rotating slide 102; the rotating motor 101 and the rotating slide 102 are installed on a first mounting plate 103, and the first mounting plate 103 is also provided with a mounting connector 104 for fixing the A-axis rotating assembly 1 to an external robotic arm.

[0065] The B-axis rotating assembly 2 includes: a B-axis telescopic cylinder 201, a rack 202, a first guide slider 203, and a gear 204; the rack 202 is mounted on the first guide slider 203 and connected to the piston rod of the B-axis telescopic cylinder 201, and the rack 202 is meshed with the gear 204; the B-axis telescopic cylinder 201 pushes and pulls the rack 202 to move back and forth on the first guide slider 203, and then the rack 202 drives the gear 204 to rotate forward and reversely, and the suction nozzle assembly 3 is mounted on the gear 204 and rotates forward and reversely with the gear 204. A shield 205 is also provided on the outside of the B-axis rotating assembly 2; the B-axis rotating assembly 2 and the first guide slider 203 are mounted on the second mounting plate 206; a B-axis limit block 207 is also provided on the side of the second mounting plate 206; the second mounting plate 206 is mounted on the rotating slide 102.

[0066] The nozzle assembly 3 includes: a rotating shaft 301, a first mounting block 302, a second guide slider 303, a second mounting block 304, a third mounting block 305, a floating support shaft 306 for a nozzle 308, a third mounting plate 307, and a nozzle 308; the rotating shaft 301 is fixedly connected to the gear 204 of the B-axis rotating assembly 2, and rotates forward and reversely following the gear 204, and both ends of the rotating shaft 301 are mounted on bearings 309, and the bearings 309 are mounted on the second mounting plate 206; the first mounting block 302 is used to mount the rotating shaft 30 1, a second guide slider 303 is installed on each side of the first mounting block 302, a second mounting block 304 is installed at the lower end of the two second guide sliders 303, a third mounting block 305 is installed at the lower end of the second mounting block 304, a floating support shaft 306 of a suction nozzle 308 is arranged in the middle of the third mounting block 305 along the horizontal direction of the width, a third mounting plate 307 is arranged at both ends of the floating support shaft 306 of the suction nozzle 308, and the long sides of the suction nozzle 308 are respectively installed on the third mounting plate 307. The first mounting block 302 is an inverted U shape, a force sensor 310 is arranged between the first mounting block 302 and the second mounting block 304, and a first spring 311 is also arranged between the force sensor 310 and the first mounting block 302. A second spring 312 is arranged on both sides of the floating support shaft 306 of the suction nozzle 308 between the third mounting block 305 and the suction nozzle 308.

[0067] The principle of this utility model is as follows:

[0068] 1.A-axis rotation:

[0069] The A-axis rotating assembly 1 is driven by a rotating motor 101 , and the rotating motion of the motor is converted into rotation around the A-axis through a rotating slide 102 .

[0070] Since the A-axis rotating assembly 1 is mounted on the first mounting plate 103 on the external robot arm and fixed by the mounting connector 104, when the motor is working, the entire A-axis rotating assembly 1 can move with the robot arm and rotate at a desired position.

[0071] 2. B-axis rotation and material suction:

[0072] The B-axis rotating assembly 2 is mounted on the rotating slide 102 of the A-axis rotating assembly 1 to achieve free rotation around the A-axis.

[0073] The B-axis telescopic cylinder 201 pushes and pulls the rack 202 through the piston rod, and the rack 202 reciprocates along the first guide slider 203 and meshes with the gear 204, thereby driving the gear 204 to rotate forward and reverse.

[0074] The nozzle assembly 3 is directly mounted on the gear 204 . As the gear 204 rotates, the nozzle assembly 3 can rotate at multiple angles in a direction perpendicular to the A axis (ie, around the B axis).

[0075] 3. Operation and force control mechanism of nozzle assembly 3:

[0076] The rotating shaft 301 in the suction nozzle assembly 3 is fixed together with the gear 204 of the B-axis rotating assembly 2, ensuring that the suction nozzle 308 follows the movement of the B-axis.

[0077] The floating support shaft 306 of the suction nozzle 308 is installed on the second mounting plate 206 through the bearing 309, so that the suction nozzle 308 has a certain floating space when sucking materials and can adapt to the unevenness of the surface of the part.

[0078] The first mounting block 302, the second guide slider 303, and the second and third mounting blocks 305 form a stable and elastic supporting structure for accurately controlling the position and force of the suction nozzle 308 during the process of sucking and placing materials.

[0079] In this structure, the force sensor 310 is located between the first mounting block 302 and the second mounting block 304, and cooperates with the first spring 311 to monitor and adjust the force of sucking or placing the material in real time to avoid damage to the material.

[0080] The second spring 312 between the third mounting block 305 and the suction nozzle 308 further provides a buffering effect in the horizontal direction, ensuring that the suction nozzle 308 has sufficient flexibility when contacting the material.

[0081] In summary, the present invention realizes flexible, precise and gentle multi-angle picking and placing of materials in three-dimensional space by combining the dual rotation functions of the A-axis and the B-axis, as well as the carefully designed suction nozzle assembly 3 and its floating and force control device.

[0082] The above description is only a preferred embodiment of the present invention, and does not limit the scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the concept of the present invention, or directly / indirectly applied in other related technical fields are included in the protection scope of the present invention.

Claims

1. A multi-angle material taking and releasing mechanism, characterized in that: include: A-axis rotation assembly, used for generating rotation around A-axis; The B-axis rotating assembly is installed on the A-axis rotating assembly and rotates around the A-axis. The B-axis rotating assembly itself rotates around the B-axis. The suction nozzle assembly is used to suck the material to be processed. It is installed on the B-axis rotating assembly and is driven by the B-axis rotating assembly to rotate around the B-axis; The A-axis rotating assembly includes: a rotating motor and a rotating slide; The rotary slide is connected to the output shaft of the rotary motor, and the B-axis rotary assembly is mounted on the rotary slide; The rotating motor and the rotating slide are mounted on a first mounting plate, and a mounting connector for fixing the A-axis rotating assembly to an external robot arm is also provided on the first mounting plate.

2. The multi-angle material taking and releasing mechanism according to claim 1, characterized in that: The B-axis rotating assembly includes: a B-axis telescopic cylinder, a rack, a first guide slider, and a gear; The rack is mounted on the first guide slider and connected to the piston rod of the B-axis telescopic cylinder, while the rack is meshed with the gear; The B-axis telescopic cylinder pushes and pulls the rack to move back and forth on the first guide slider, and then the rack drives the gear to rotate forward and reverse. The suction nozzle assembly is installed on the gear and rotates forward and reverse with the gear.

3. The multi-angle material taking and releasing mechanism according to claim 2, characterized in that: A protective cover is also provided on the outer side of the B-axis rotating assembly; The B-axis rotating assembly and the first guide slider are mounted on the second mounting plate; A B-axis limit block is also provided on the side of the second mounting plate; The second mounting plate is mounted on the rotating slide.

4. The multi-angle material taking and releasing mechanism according to claim 3, characterized in that: The nozzle assembly includes: a rotating shaft, a first mounting block, a second guide slider, a second mounting block, a third mounting block, a nozzle floating support shaft, a third mounting plate, and a nozzle; The rotating shaft is fixedly connected to the gear of the B-axis rotating assembly and rotates forward and reversely with the gear. Both ends of the rotating shaft are mounted on bearings, and the bearings are mounted on the second mounting plate. The first mounting block is installed on the rotating shaft, a second guide slider is installed on each side of the first mounting block, a second mounting block is installed on the lower end of the two second guide sliders, a third mounting block is installed on the lower end of the second mounting block, and a suction nozzle floating support shaft is arranged in the middle of the third mounting block along the horizontal direction of the width, and a third mounting plate is arranged at both ends of the suction nozzle floating support shaft, and the long sides of both sides of the suction nozzle are respectively mounted on the third mounting plates.

5. The multi-angle material taking and releasing mechanism according to claim 4, characterized in that: The first mounting block is in an inverted U shape, a force sensor is arranged between the first mounting block and the second mounting block, and a first spring is also arranged between the force sensor and the first mounting block.

6. The multi-angle material taking and releasing mechanism according to claim 5, characterized in that: A second spring is respectively arranged on both sides of the floating support shaft of the suction nozzle between the third mounting block and the suction nozzle.

Images