A material feeding and positioning compensation robotic arm and robot

Abstract

This invention relates to the field of robotic arm technology and discloses a material unloading and positioning compensation robotic arm and robot, including a material picking platform for providing a space platform for storing materials; a material unloading platform for providing a space platform after the materials are gripped; a rocker arm assembly for providing power and controlling the transfer of materials; a compensation and balancing assembly for performing gravity compensation on the materials during the gripping process; and a lateral compensation assembly for performing lateral compensation on the placement position of the materials. This material unloading and positioning compensation robotic arm and robot, through the set compensation and balancing assembly, can automatically balance and compensate for the center of gravity of the robotic arm during the material gripping process, thereby ensuring the consistency of the relative position of the robotic arm during the gripping process, improving the consistency of the equipment's unloading process, reducing unloading errors, and greatly improving the positioning accuracy of the robotic arm in material transfer and unloading.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to a material unloading, positioning, and compensation robotic arm and robot. Background Technology

[0002] With the acceleration of industrial upgrading and enterprise technological progress, robotic arms have become widely used automated mechanical devices in the field of robotics. These robotic arms have multiple degrees of freedom, allowing them to move in two-dimensional or three-dimensional space and complete various tasks by receiving control commands.

[0003] Currently, robotic arms are widely used, especially in the process of material positioning. They can effectively improve the efficiency of processing operations. However, because the placement of materials is not always the same, the robotic arm may experience errors when placing them in the unloading area due to gravity or balance issues during the grasping process. This can lead to unloading errors in the cutting or unloading equipment. Therefore, a material unloading and positioning compensation robotic arm and robot are proposed to solve the above-mentioned problems. Summary of the Invention

[0004] (a) Technical problems to be solved

[0005] To address the shortcomings of existing technologies, this invention provides a material feeding and positioning compensation robotic arm and robot, which solves the problem in existing technologies where different gripping positions cause the material feeding position to shift due to gravity, ultimately affecting the quality and consistency of cutting.

[0006] (II) Technical Solution

[0007] To achieve the above objectives, the present invention provides the following technical solution: a material feeding and positioning compensation robotic arm and robot, comprising a material picking platform for providing a space platform for storing materials; a material feeding platform for providing a space platform after the materials are gripped; a rocker arm assembly for providing power and controlling the transfer of materials; a compensation and balancing assembly for performing gravity compensation on the materials during the gripping process; and a lateral compensation assembly for performing lateral compensation on the placement position of the materials.

[0008] Preferably, the rocker arm assembly includes a telescopic cylinder, the output end of which is connected to a sliding toothed plate, a connecting gear meshing on the sliding toothed plate, a rotating shaft connected to the connecting gear, a swing arm connected to one end of the rotating shaft, a connecting plate connected to the swing arm via a shaft, the connecting plate being connected to a compensation and balance assembly, and a frame connected to the rotating shaft.

[0009] Preferably, a slide rail is installed on the frame, a slide sleeve is slidably connected to the surface of the slide rail, the slide rail is connected to the connecting plate, the slide sleeve is slidably connected to the slide rail, and the slide sleeve is connected to the slide sleeve via a connecting rod.

[0010] Preferably, two positioning pins are installed on the frame, and the two positioning pins are located on both sides of the swing arm.

[0011] Preferably, the compensation and balancing assembly includes a sliding sleeve connected to a connecting plate. A sliding bracket is slidably connected to the sliding sleeve, and a connecting frame is connected to one end of the sliding bracket. The connecting frame is connected to a lateral compensation assembly. A sliding plate is connected to the sliding bracket, and a sliding support rod is provided below the sliding plate. A balancing bracket is connected to the sliding support rod, and both ends of the balancing bracket are respectively connected to two connecting frames. A positioning frame is connected to the bottom of the connecting plate, and a sliding groove is provided inside the positioning frame. The sliding support rod is slidably connected inside the sliding groove.

[0012] Preferably, there are two sliding brackets and two sliding plates, and the two sliding brackets and two sliding plates are respectively arranged on both sides of the positioning frame.

[0013] Preferably, a connecting spring is connected to the top of the sliding bracket, and the top of the connecting spring is connected to the sliding sleeve.

[0014] Preferably, the lateral compensation component includes a rotating gear, which is rotatably connected to a connecting frame. An upper gear plate and a lower gear plate mesh with the upper and lower sides of the rotating gear. A positioning rod is connected to one side of the upper gear plate and the lower gear plate, and a clamping component is connected to one side of the upper gear plate.

[0015] Preferably, the clamping assembly includes a clamping cylinder, and the output end of the clamping cylinder is connected to a gripper.

[0016] (III) Beneficial Effects

[0017] Compared with the prior art, the present invention provides a material unloading and positioning compensation robotic arm and robot, which has the following beneficial effects:

[0018] 1. This material unloading positioning compensation robotic arm and robot, through the set compensation and balancing components, can automatically balance and compensate the center of gravity of the robotic arm during the material gripping process. This ensures the consistency of the relative position of the robotic arm during the gripping process, thereby improving the consistency of the equipment during material unloading, reducing unloading errors, and greatly improving the positional accuracy of the robotic arm during material transfer and unloading.

[0019] 2. The material unloading positioning compensation robotic arm and robot, through the set side compensation component, can also perform side calibration and alignment compensation for the placement position of the material, so that the side position of the robotic arm is the same every time it transfers material, which further improves the accurate placement position during the material transfer process, improves the stability and consistency of the unloading process, and reduces the difference. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of a material unloading and positioning compensation robotic arm proposed in this invention;

[0021] Figure 2 This is a schematic diagram of the back structure of a material unloading and positioning compensation robotic arm proposed in this invention;

[0022] Figure 3 This is a schematic diagram of the rocker arm assembly structure of a material unloading and positioning compensation robotic arm proposed in this invention;

[0023] Figure 4 This is a schematic diagram of the compensation and balance component structure of a material feeding and positioning compensation robotic arm proposed in this invention;

[0024] Figure 5 This is a schematic diagram of the connection of the balance support of a material unloading and positioning compensation robotic arm proposed in this invention;

[0025] Figure 6 This is a schematic diagram showing the positions of two sliding supports of a material unloading and positioning compensation robotic arm proposed in this invention;

[0026] Figure 7 This is a schematic diagram of the side position compensation component of a material unloading and positioning compensation robotic arm proposed in this invention.

[0027] In the diagram: 1. Material handling platform; 2. Material unloading platform; 3. Frame; 4. Rocker arm assembly; 401. Telescopic cylinder; 402. Sliding toothed plate; 403. Connecting gear; 404. Rotating shaft; 405. Swing arm; 406. Connecting plate; 407. Slide rail one; 408. Sliding sleeve one; 409. Sliding sleeve two; 410. Positioning pin; 411. Sliding rail two; 5. Compensation and balance assembly; 501. Sliding sleeve; 502. Sliding bracket; 503. Connecting frame; 504. Sliding plate; 505. Balance bracket; 506. Positioning frame; 507. Sliding groove; 508. Sliding support rod; 509. Connecting spring; 6. Gripper; 7. Side compensation assembly; 701. Rotating gear; 702. Upper toothed plate; 703. Lower toothed plate; 704. Positioning rod; 705. Clamping cylinder. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0029] Please see Figure 1-7 A material feeding and positioning compensation robotic arm and robot includes a material handling platform 1, which provides a space platform for storing materials; products to be fed are placed on the material handling platform 1 by mechanical equipment, such as conveyor belt conveying. A material feeding platform 2 provides a space platform after the material is gripped; the material feeding platform 2 is similar to the equipment's feeding area, and when a product is placed on the material feeding platform 2, the cutting equipment will operate to cut the material placed on the material feeding platform 2.

[0030] In this embodiment, the rocker arm assembly 4 is used to provide power and control the transfer of materials;

[0031] The rocker arm assembly 4 includes a telescopic cylinder 401. The output end of the telescopic cylinder 401 is connected to a sliding toothed plate 402. A connecting gear 403 meshes with the sliding toothed plate 402. A rotating shaft 404 is connected to the connecting gear 403. One end of the rotating shaft 404 is connected to a swing arm 405. A connecting plate 406 is connected to the swing arm 405 via a shaft. The connecting plate 406 is connected to the compensation and balancing assembly 5. A frame 3 is connected to the rotating shaft 404. By controlling the operation of the telescopic cylinder 401, when the telescopic cylinder 401 extends, it drives the sliding toothed plate 402 to move forward, meshing with the connecting gear 403 and rotating. This, in turn, drives the rotating shaft 404 to rotate. The rotating shaft 404 then drives the swing arm 405 to rotate. The swing arm 405, through the connecting plate 406, drives the entire compensation and balancing assembly 5 and the gripper 6 to move, thereby transferring the product from the picking platform 1 to the unloading platform 2.

[0032] Furthermore, a slide rail 407 is installed on the frame 3. A second slide sleeve 409 is slidably connected to the surface of the slide rail 407. A second slide rail 411 is connected to the connecting plate 406. A first slide sleeve 408 is slidably connected to the slide rail 411. The first slide sleeve 408 is connected to the second slide sleeve 409 via a connecting rod. With these two slide rails, when the swing arm 405 rotates, the second slide rail 411 will slide on the first slide sleeve 408, while the second slide sleeve 409 will slide on the first slide rail 407. Therefore, the two slide rails can control the stability of the swing arm 405 during material transfer. Two positioning pins 410 are installed on the frame 3, and the two positioning pins 410 are located on both sides of the swing arm 405. The two positioning pins 410 are mainly used to limit the rotation position of the swing arm 405. When the telescopic cylinder 401 is retracted to its limit, the swing arm 405 will be attached to the positioning pin 410 on the left side of the frame 3, making it unable to rotate. The opposite is true.

[0033] Furthermore, the compensation and balancing component 5 is used to compensate for the gravity of the material during the clamping process. The compensation and balancing component 5 includes a sliding sleeve 501 connected to a connecting plate 406. A sliding bracket 502 is slidably connected to the sliding sleeve 501. One end of the sliding bracket 502 is connected to a connecting frame 503, which is connected to the lateral compensation component 7. A sliding plate 504 is connected to the sliding bracket 502, and a sliding support rod 508 is located below the sliding plate 504. A balance bracket 505 is connected to the 8-axis clamp. If the center of gravity shifts, one side of the gripper 6 will sink. This sinking will cause the sliding bracket 502 on one side to move downwards. During this downward movement, the sliding plate 504 on the sliding bracket 502 will slide onto the sliding support rod 508. As the sliding support rod 508 contacts and slides along its inclined surface, it will cause both the sliding support rod 508 and the balance bracket 505 to move horizontally, changing their support center point. This allows the two grippers 6 to compensate for the horizontal movement and change the support point. Both ends of the balance bracket 505 are connected to two connecting frames 503. A positioning frame 506 is connected to the bottom of the connecting plate 406. The positioning frame 506 has a sliding groove 507 inside, and the sliding support rod 508 is slidably connected inside the sliding groove 507. When the sliding support rod 508 is on the positioning frame 506, it is lifted and supported by the positioning frame 506, thus achieving the lifting of the material. The sliding groove 507 provides the range for the sliding support rod 508 to slide left and right, thereby changing the center of the lifting support and achieving balance compensation.

[0034] In addition, two sliding brackets 502 and two sliding plates 504 are provided, and the two sliding brackets 502 and two sliding plates 504 are respectively arranged on both sides of the positioning frame 506. The two sets of sliding brackets 502 are provided to achieve bidirectional balance compensation. When the front gripper 6 is heavier, it will drive the left sliding bracket 502 to move, thereby performing lateral compensation. When the rear gripper 6 is heavier, it directly controls the movement of the right sliding bracket 502 to perform balance compensation. A connecting spring 509 is connected to the top of the sliding bracket 502, and the top of the connecting spring 509 is connected to the sliding sleeve 501. The two springs are provided to provide tensile elasticity, allowing the gripper 6 in the idle state to return to its original position, so that the two grippers 6 are in a balanced state in the initial state.

[0035] In addition, the lateral compensation component 7 is used to compensate for the lateral position of the material.

[0036] The lateral compensation component 7 includes a rotating gear 701, which is rotatably connected to the connecting frame 503. Upper toothed plates 702 and 703 mesh on the upper and lower sides of the rotating gear 701. Positioning rods 704 are connected to one side of the upper and lower toothed plates 702 and 703. When the two grippers 6 move to their right limit position, the two positioning rods 704 will contact the side plate of the unloading platform 2. If misalignment occurs during clamping, the upper toothed plates 702 and 703 will be misaligned. When a misaligned positioning rod 704 contacts the side plate of the unloading platform 2, it will simultaneously drive the toothed plate with the longest misalignment to move laterally. Using the toothed plates on the rotating gear 701, when a toothed plate at a certain position moves laterally, it will drive the rotating gear 701 to rotate. The rotation of the rotating gear 701 will drive the other toothed plate to slide in the opposite direction, thereby achieving lateral compensation alignment. A clamping component is connected to one side of the upper toothed plate 702.

[0037] It is worth noting that the clamping assembly includes a clamping cylinder 705, and the output end of the clamping cylinder 705 is connected to a gripper 6. The extension of the clamping cylinder 705 drives the gripper 6 to move laterally, thereby achieving clamping of the gripper 6 and gripping the material.

[0038] The present invention also provides a robot, which is actually a material transfer robot, and the robotic arm will be connected and installed to the robotic arm. The robot has a built-in host computer and uses the internal program of the host computer to operate the robotic arm in a programmed manner.

[0039] The working principle is as follows: First, the operation of the telescopic cylinder 401 needs to be controlled during the operation of the entire robotic arm. When the telescopic cylinder 401 extends, it drives the sliding tooth plate 402 to move forward and mesh with the connecting gear 403 to rotate, which in turn drives the rotating shaft 404 to rotate. The rotating shaft 404 will drive the swing arm 405 to rotate, and the swing arm 405 will drive the entire compensation and balance component 5 and the gripper 6 to move in position through the connecting plate 406, transferring the material on the picking platform 1 to the unloading position on the unloading platform 2. The overall running trajectory is: the gripper 6 picks up the material, then lifts it, then moves it laterally, and finally lowers it to transfer it to the unloading platform 2. During the gripping process of the gripper 6, the subsequent lifting will drive the balance bracket 505 to lift synchronously. If the center of gravity shifts when the common material on both grippers 6 is a bar or block, one gripper 6 will sink. When it sinks, it will drive the sliding bracket 502 on one side to move down. When it moves down, the sliding plate 504 on the sliding bracket 502 will slide on the sliding support rod 508. As the sliding plate 504 contacts the sliding support rod 508, it will drive the sliding support rod 508 and the balance bracket 505 to move horizontally, changing their support center point. This allows the two grippers 6 to compensate for the horizontal movement when gripping, changing the support point and avoiding the displacement of the material release position caused by the unbalance of the robotic arm during the material transfer process, thus improving the overall accuracy of the material release position. The toothed plate slides on the connecting frame 503, so when the toothed plate moves laterally on the rotating gear 701 at a certain position, it will drive the rotating gear 701 to rotate. The rotation of the rotating gear 701 will drive the toothed plate on the other side to slide in the opposite direction, thereby achieving lateral compensation alignment. This further improves the stability and accuracy of the robotic arm during material transfer.

[0040] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A material unloading, positioning, and compensation robotic arm, characterized in that: include Material handling platform (1), used to provide a space platform for storing materials; The unloading platform (2) is used to provide a space platform after the material is clamped; A rocker arm assembly (4) is used to provide power and control the transfer of materials; The compensation and balancing component (5) is used to compensate for the gravity of the material during the gripping process; Lateral compensation component (7) is used to compensate for the lateral position of the material; The rocker arm assembly (4) includes a telescopic cylinder (401), the output end of which is connected to a sliding toothed plate (402), a connecting gear (403) meshing on the sliding toothed plate (402), a rotating shaft (404) connected to the connecting gear (403), a swing arm (405) connected to one end of the rotating shaft (404), a connecting plate (406) connected to the swing arm (405) via a shaft, the connecting plate (406) being connected to the compensation and balance assembly (5), and a frame (3) connected to the rotating shaft (404). The frame (3) is equipped with a slide rail (407), and a slide sleeve (409) is slidably connected to the surface of the slide rail (407). The connecting plate (406) is connected to the slide rail (411), and a slide sleeve (408) is slidably connected to the slide rail (411). The slide sleeve (408) is connected to the slide sleeve (409) through a connecting rod. The compensation and balance component (5) includes a sliding sleeve (501), which is connected to a connecting plate (406). A sliding bracket (502) is slidably connected to the sliding sleeve (501). A connecting frame (503) is connected to one end of the sliding bracket (502). The connecting frame (503) is connected to the side compensation component (7). A sliding piece (504) is connected to the sliding bracket (502). A sliding support rod (508) is provided below the sliding piece (504). A balance bracket (505) is connected to the sliding support rod (508). Both ends of the balance bracket (505) are connected to two connecting frames (503) respectively. A positioning frame (506) is connected to the bottom of the connecting plate (406). A sliding groove (507) is provided in the positioning frame (506). The sliding support rod (508) is slidably connected inside the sliding groove (507). The lateral compensation component (7) includes a rotating gear (701), which is rotatably connected to the connecting frame (503). The upper and lower sides of the rotating gear (701) are meshed with an upper toothed plate (702) and a lower toothed plate (703). A positioning rod (704) is connected to one side of the upper toothed plate (702) and the lower toothed plate (703). A clamping component is connected to one side of the upper toothed plate (702).

2. The unloading, positioning, and compensation robotic arm according to claim 1, characterized in that: Two positioning pins (410) are installed on the frame (3), and the two positioning pins (410) are located on both sides of the swing arm (405).

3. The unloading, positioning, and compensation robotic arm according to claim 1, characterized in that: Two sliding brackets (502) and two sliding pieces (504) are provided, and the two sliding brackets (502) and two sliding pieces (504) are respectively provided on both sides of the positioning frame (506).

4. The unloading, positioning, and compensation robotic arm according to claim 3, characterized in that: The top of the sliding bracket (502) is connected to a connecting spring (509), and the top of the connecting spring (509) is connected to the sliding sleeve (501).

5. The unloading, positioning, and compensation robotic arm according to claim 4, characterized in that: The clamping assembly includes a clamping cylinder (705), and the output end of the clamping cylinder (705) is connected to a gripper (6).

6. A robot, characterized in that: The invention includes a material unloading and positioning compensation robotic arm as described in any one of claims 1-5.

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