Robotic pick-and-place device

Abstract

The present invention discloses a robot pick-and-place device, which comprises a main body, a clamping claw assembly arranged on the main body, and a driving assembly arranged on the main body and driving the clamping claw assembly. When the robot pick-and-place device is applied to a robot for casting operations, the driving assembly is arranged on the main body to reduce the space occupied by the robot in a factory area, thereby effectively reducing the difficulty of factory layout.

Description

Technical Field

[0001] The invention relates to a pick-and-place device, and in particular to a robot pick-and-place device. Background Art

[0002] At present, robots are extremely important equipment in industrial production, and more and more industries use robots to assist in factory or production line operations, and even perform dangerous work, such as welding, burring, plasma cutting, mold casting handling and other related high-temperature operations. And because robot operations have the advantages of high efficiency, low cost and stable object quality, they are widely used in casting operations.

[0003] Generally, in casting operations, polymer (plastic) particles are heated and plasticized in a barrel to reach a fluid state, and then filled into the mold under the push of a screw. When the plastic melt cools and solidifies in the mold, the mold is opened and the object is taken out, completing an injection molding cycle. The removal process can be performed by a robot.

[0004] At present, the configuration of the casting machines in the factories is mostly one robot for one casting equipment, and it can be seen from the working schedule of the casting operation that the robot operates after the casting equipment has finished cooling and the mold is opened.

[0005] However, in the traditional casting operation environment, the power unit is placed far away from the robot because it would cause great damage to the robot's wires, thus occupying the factory space and increasing the difficulty of factory layout.

[0006] Therefore, how to overcome the various problems of the above-mentioned traditional technologies has become a difficult problem that the industry needs to overcome urgently. Summary of the invention

[0007] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a robot pick-and-place device.

[0008] The above-mentioned purpose of the present invention is achieved through the following technical scheme: a robot picking and placing device, including a main body, the main body is provided with at least one hollow portion for laying pipelines; a gripper assembly, arranged on the main body; and a driving assembly, arranged on the main body and electrically connected to the pipelines laid in the hollow portion of the main body to drive the gripper assembly to pick up the target object.

[0009] The system comprises a frame structure with a rectangular outline and a mounting member connected to the frame structure so that the mounting member is connected to the clamping jaw assembly.

[0010] The main body is provided with a connecting piece for axially connecting with a robot.

[0011] The clamping jaw assembly comprises a plurality of clamping members, and any two of the plurality of clamping members are arranged on the main body in a manner that they can be separated from each other or approached to each other.

[0012] The driving assembly includes a track structure and a power unit, the jaw assembly is disposed on the track structure in a displaceable manner, and the power unit drives the jaw assembly so that the jaw assembly is displaced on the track structure. For example, the jaw assembly includes a slider, and the slider engages the track structure in a movably manner. Alternatively, the track structure has a guide rail that engages the jaw assembly in a movably manner, a groove formed on the main body, and a sliding member that passes through the groove in a movably manner, so that the sliding member connects the jaw assembly, and the power unit drives the sliding member to move between the grooves to drive the jaw assembly to move along the guide rail. In addition, the driving assembly includes a stop structure for limiting the movement of the jaw assembly, which is disposed on the main body. In addition, the power unit is in the form of a pneumatic cylinder or a hydraulic cylinder.

[0013] The robot pick-and-place device includes a positioning component arranged on the body to cooperate with the driving of the clamping claw component.

[0014] The advantages of the present invention compared with the prior art are: the robot picking and placing device of the present invention is mainly arranged on the main body through the driving component to reduce the occupied space of the robot picking and placing device. Therefore, compared with the traditional technology, the robot picking and placing device of the present invention is applied to the robot for casting operations, which can effectively reduce the difficulty of factory layout. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional schematic diagram of the robot pick-and-place device of the present invention applied to a robot.

[0016] Figure 2 It is a rear-view stereoscopic assembly schematic diagram of the robot pick-and-place device of the present invention.

[0017] Figure 3 It is a schematic diagram of a three-dimensional exploded view of the robot pick-and-place device of the present invention.

[0018] Figure 4 It is a rear perspective schematic diagram of the main body of the robot pick-and-place device of the present invention.

[0019] Figure 5 for Figure 4 Schematic diagram of the plan view from above.

[0020] Figure 6 It is a partial bottom perspective diagram of the robot pick-and-place device of the present invention.

[0021] Figures 7 and 8 It is a partial side plan view of the robot pick-and-place device of the present invention in operation.

[0022] In the accompanying drawings, 1 robot pick-and-place device; 10 body; 10a first side; 10b second side; 100 frame structure; 100a plate; 101 mounting member; 102 hollow portion; 102a opening; 103 connecting member; 104 supporting member; 105 opening; 11 clamping jaw assembly; 11a, 11b clamping member; 110 supporting portion; 111 claw portion; 112 slider; 12 actuating assembly; 12a track structure; 12b power unit; 12c stop structure; 120 guide rail; 121 groove; 122 sliding member; 122a fixed plate; 123 fixed block; 123a stop rod; 124 piston rod; 14 positioning assembly; 8 target object; 9 robot; d width; A mounting area; S accommodating space; t spacing; X, Y, Z, C arrow directions. DETAILED DESCRIPTION

[0023] The following describes the implementation of the present invention through specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents described in this specification.

[0024] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents recorded in the specification for the understanding and reading of those skilled in the art, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change in the proportional relationship, or adjustment of the size, without affecting the effects and purposes that can be achieved by the present invention, should still fall within the scope of the technical contents recorded in the present invention. At the same time, the terms such as "upper", "lower", "front", "back", "left", "right", "four" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship is also regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0025] Figures 1 to 8 1 is a schematic diagram of the robot pick-and-place device 1 of the present invention. Figure 1 As shown, the robot pick-and-place device 1 is configured on the arm of a robot 9 to serve as the hand mechanism of the robot 9 , wherein, based on the configuration of the robot 9 , the robot pick-and-place device 1 is fixed on the arm of the robot 9 at its rear end.

[0026] like Figure 2 and Figure 3 As shown, the robot pick-and-place device 1 includes: a main body 10, a gripper assembly 11 and a drive assembly 12, wherein, based on the configuration of the robot pick-and-place device 1, the arrow direction X represents the left and right directions, the arrow direction Y represents the front and rear directions, and the arrow direction Z represents the up and down directions.

[0027] The body 10 has a first side 10a (such as a lower side) and a second side 10b (such as an upper side) opposite to each other, and the body 10 includes a frame structure 100 with a rectangular profile and a mounting member 101 connected to the frame structure 100 so that the mounting member 101 is connected to the clamping jaw assembly 11.

[0028] In this embodiment, the frame structure 100 is generally composed of a plurality of panels 100a. Figure 4 As shown, a plurality of accommodating spaces S are enclosed, and each plate 100a can be provided with a plurality of openings 102a as required, so that the accommodating space S and the openings 102a serve as hollow portions 102 for laying a plurality of pipelines (not shown in the figure).

[0029] Furthermore, the mounting member 101 is horizontally arranged at the lower side of the frame structure 100 to serve as the bottom plate of the frame structure 100, and six supporting members 104 are used to fix the frame structure 100 and the mounting member 101, and the supporting members 104 form an approximately right-angled triangular sheet, and the supporting members 104 are provided with openings 105 as hollow portions 102, so that the mounting member 101 protrudes from the left and right sides of the frame structure 100 to serve as the mounting area A, as shown in FIG. Figure 5 shown.

[0030] Furthermore, the mounting member 101 may also form an opening 102a at a location corresponding to the accommodation space S (and / or not the mounting area A) as required to serve as a part of the hollow portion 102. Figure 5 shown.

[0031] In addition, a connecting member 103 for pivotally connecting the robot 9 is disposed on the rear side of the frame structure 100 of the body 10. For example, the connecting member 103 is a turntable or other suitable member that can pivotally connect the robot 9. There are many types of connecting members 103, and there is no particular limitation.

[0032] The clamping jaw assembly 11 is a clamping mechanism, which is disposed on the first side 10 a of the body 10 .

[0033] like Figure 3 As shown, in this embodiment, the clamping jaw assembly 11 includes a plurality of clamping members 11a, 11b, and any two of the clamping members 11a, 11b are disposed on the mounting member 101 of the first side 10a of the body 10 in a manner that they can be moved away from each other or moved closer to each other. For example, the clamping members 11a, 11b are disposed on the mounting areas A, so that two clamping members 11a are disposed at the front edge of the mounting areas A, and two clamping members 11b corresponding to the front edge clamping members 11a are disposed at the rear edge of the mounting areas A. Specifically, in the initial state, the two corresponding clamping members 11a, 11b at the front and rear are moved away from each other (such as Figure 7 As shown), the clips 11a and 11b protrude from the front and rear sides of the mounting member 101.

[0034] Furthermore, the clamps 11a, 11b have an L-shaped profile, and have a rectangular sheet support portion 110, and one end of the support portion 110 is bent downward to serve as a claw portion 111, and a slider 112 is fixed on the upper side of the support portion 110 so that the slider 112 can engage the driving component 12 in a movably manner.

[0035] The driving assembly 12 drives the clamping jaw assembly 11 and electrically connects the pipeline surrounding the hollow portion 102, wherein Figure 5 As shown, the driving assembly 12 includes a track structure 12a and a power unit 12b, so that the clamping jaw assembly 11 is disposed on the track structure 12a in a displaceable manner, and the power unit 12b drives the clamping jaw assembly 11 to displace on the track structure 12a.

[0036] In this embodiment, see Figure 6 The track structure 12a has a plurality of (e.g., two) guide rails 120 that are movably engaged with the clamping jaw assembly 11, a plurality of (e.g., eight) grooves 121 formed on the mounting member 101, and a plurality of (e.g., four) sliding members 122 that movably pass through the grooves 121. The sliding members 122 are respectively connected to the supporting portions 110 of the clamping members 11a and 11b through a fixed plate 122a, so that the power unit 12b drives the sliding members 122 to move between the grooves 121 to drive the clamping members 11a and 11b to move synchronously along the guide rails 120.

[0037] Furthermore, the guide rail 120 is a straight long rail, which is arranged along the front and rear edges of the mounting area A of the mounting member 101 to engage the sliders 112 of the clamps 11a and 11b, so that the clamps 11a and 11b can move linearly in the front and rear directions along the guide rail 120. For example, the grooves 121 are arranged on the left and right sides of the single guide rail 120, so that the sliding member 122 is in a plug-in shape of a U-shape, a U-shape, a horseshoe shape, a fork shape or other bridging structure, so that the single sliding member 122 correspondingly crosses through the two grooves 121, and the single sliding member 122 correspondingly drives the single clamps 11a and 11b to move linearly synchronously.

[0038] Furthermore, the driving assembly 12 has a stop structure 12c for limiting the movement of the clamps 11a and 11b, which is disposed on the first side 10a of the body 10 (such as the mounting member 101) and located on one side of the groove 121 (such as the inner side of the groove 121 relative to the mounting area A). For example, the stop structure 12c has a rectangular fixed block 123, and a stop rod 123a is protruded on the front and rear surfaces thereof, so that when in the working state, the two corresponding clamps 11a and 11b at the front and rear are close to each other, and the end point of the stop rod 123a abuts against the clamps 11a and 11b. At this time, the sliding member 122 is located at the clamping end point of the groove 121 (such as Figure 8 shown).

[0039] In addition, the power unit 12b is in the form of a pneumatic cylinder or a hydraulic cylinder, and its piston rod 124 is fixedly connected to the sliding member 122, so that an electric power (not shown) is transmitted to the power unit 12b through the pipeline, and then the power of the hydraulic cylinder or the pneumatic cylinder drives the sliding member 122 to move through the piston rod 124. For example, a single power unit 12b is configured to correspond to a single clamp 11a or 11b. It should be understood that there are many types of the power unit 12b, and it is not limited to the above.

[0040] When the robot pick-and-place device 1 is used, the robot pick-and-place device 1 is installed on a robot 9, and the robot 9 is located near a casting machine (not shown in the figure). Therefore, after the casting machine completes the production of a target object 8 such as a rectangular floor, the clamps 11a and 11b are first placed at initial positions far away from each other (such as Figure 7 As shown), the piston rod 124 of the power unit 12b is used to move the sliding member 122 (as shown in FIG. Figure 8 As shown), the clamping members 11a and 11b are displaced so that the claws of the clamping members 11a and 11b are close to each other (as shown in FIG. Figure 7 The robot 9 moves the target object 8 to a predetermined area (such as a trimming machine in the next process) after the clamps 11a and 11b clamp the target object 8. Then, the clamps 11a and 11b are moved away from each other (such as a trimming machine in the next process). Figure 7 as shown) to release the target object 8.

[0041] On the other hand, the robot pick-and-place device 1 can be provided with a positioning assembly 14 such as a rod structure at the diagonal position of the lower side of the mounting member 101, such as Figure 6 As shown, the clamping jaw assembly 11 is driven. For example, before driving the clamping members 11a and 11b, the corners of the target object 8 can be aligned by the positioning assembly 14 before the clamping operation is performed. Therefore, the positioning assembly 14 can help the clamping members 11a and 11b to accurately and firmly clamp the target object 8.

[0042] To sum up, the robot picking and placing device 1 of the present invention is mainly arranged on the main body 10 through the driving component 12 to reduce the space occupied by the robot picking and placing device 1. Therefore, compared with the traditional technology, the robot picking and placing device 1 of the present invention is applied to the robot 9 for casting operations, which can effectively reduce the difficulty of factory layout.

[0043] Furthermore, through the design of the hollow portion 102 , the pipeline can be wound around the main body 10 to avoid damage to the pipeline caused by the casting environment.

[0044] The above-mentioned specific implementation modes are only exemplary, and are intended to enable those skilled in the art to better understand the present invention, and should not be understood as limiting the scope of the present invention; any equivalent changes or modifications made based on the spirit disclosed by the present invention fall within the scope of the present invention.

Claims

1. A robot pick-and-place device, characterized in that: include: The main body is provided with at least one hollow portion for laying pipelines; A clamping jaw assembly is disposed on the body; and A driving assembly is disposed on the body and electrically connected to the pipeline arranged in the hollow portion of the body to drive the clamping claw assembly to pick up the target object; The body includes a frame structure with a rectangular outline, and a mounting member connected to the frame structure, so that the mounting member is connected to the clamping jaw assembly; The mounting member is horizontally arranged at the lower side of the frame structure to serve as the bottom plate of the frame structure, and the frame structure and the mounting member are fixedly connected by a support member, and the support member forms an approximately right-angled triangle sheet, and the support member is provided with an opening as a hollow portion, so that the mounting member protrudes from the left and right sides of the frame structure to serve as the mounting area A; the frame structure is composed of a plurality of plates to enclose a plurality of accommodating spaces S, and each of the plates is formed with a plurality of openings as required, so that the accommodating spaces S and the openings serve as hollow portions; the mounting member forms an opening corresponding to the accommodating space S as required to serve as a part of the hollow portion; The main body is provided with a connecting piece for axial connection with a robot; The clamping jaw assembly includes a plurality of clamping members, and any two of the plurality of clamping members are arranged on the body in a manner that they can be separated from each other or approached to each other; The driving assembly includes a track structure and a power unit, the clamping jaw assembly is disposed on the track structure in a displaceable manner, and the power unit drives the clamping jaw assembly to displace the clamping jaw assembly on the track structure; The jaw assembly includes a slider, and the slider is movably engaged with the track structure.

2. A robot pick-and-place device according to claim 1, characterized in that: The track structure has a guide rail that engages the clamping jaw assembly in a movably manner, a groove formed on the main body, and a sliding member that passes through the groove in a movably manner, so that the sliding member is connected to the clamping jaw assembly, and the power unit drives the sliding member to move between the grooves to drive the clamping jaw assembly to move along the guide rail.

3. A robot pick-and-place device according to claim 1, characterized in that: The driving assembly includes a stop structure which is arranged on the body and is used for limiting the movement of the clamping jaw assembly.

4. A robot pick-and-place device according to claim 1, characterized in that: The power unit is in the form of a pneumatic cylinder or a hydraulic cylinder.

5. A robot pick-and-place device according to claim 1, characterized in that: The utility model comprises a positioning component arranged on the main body to cooperate with the driving of the clamping jaw component.

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