A loading robot

Abstract

The application discloses a feeding robot, characterized in that the vibration mechanism comprises a swing arm, a base and a plurality of vibration assemblies, one end of the swing arm is horizontally rotationally connected with the base and is connected with a first power source capable of driving the swing arm to swing horizontally, the base is rotationally installed at the other end of the swing arm and is connected with a second power source capable of driving the base to rotate, and the plurality of vibration assemblies are distributed on the base in a circumferential direction with the rotation center of the base as the center. According to the above scheme, the position of the PPU module is kept relatively fixed, the vibration mechanism is used to cooperate with the PPU module to realize accurate grabbing, the structure is more compact, the vibration mechanism comprises a plurality of vibration assemblies, the vibration assemblies can be vibrated in advance, the visual detection mechanism is used to realize continuous operation, the waiting time is reduced, and the work efficiency is greatly improved.

Description

Technical Field

[0001] This invention relates to an automated device, specifically a material feeding robot. Background Technology

[0002] A robotic arm is an automated operating device that can mimic certain movements and functions of a human hand and arm to grasp, move objects, or operate tools according to a fixed program.

[0003] Some small, sheet-like products with front and back sides have strict requirements for their placement during assembly or processing, such as needing the front side to face up or the back side to face up. For the automatic feeding of such products, the vibratory feeder is usually used first to break up and flip the material on the feeder. Then, in conjunction with a vision system, the position of qualified products is selected and calculated based on the images captured by the camera. Finally, a robotic arm grabs and moves the product to complete the feeding.

[0004] PPU cam-type robotic arms are a common type of high-speed pick-and-place mobile robotic arm, often used for automatic product loading. However, PPU robotic arms can only perform gripping and handling between two points. To adapt to the automatic loading of the aforementioned flexible products, the usual practice is to add a cross module to the PPU robotic arm. The cross module enables the PPU robotic arm to move linearly in the XY axis direction, thereby achieving fast and accurate gripping actions.

[0005] However, the above method has the following shortcomings: During the loading process, the vibratory feeder is first used to vibrate, causing the products to disperse and flip over. Then, the product is photographed and positioned. Finally, the cross module and the PPU robot arm move synchronously to grab the product and realize the loading and transfer. After the PPU robot arm has grabbed all the positioned products, the cross module and the PPU robot arm return to the initial position. The vibratory feeder vibrates again to disperse and flip the products. Then, the product is photographed and positioned. Finally, the cross module and the PPU robot arm move synchronously again to grab the product and realize the loading and transfer. This cycle is repeated.

[0006] However, after each action cycle is completed, both the cross module and the PPU robot arm need to be reset and stop moving. After the vibratory plate has vibrated and taken pictures for positioning, they can be restarted to grab the product and load it, which greatly affects the loading speed. Summary of the Invention

[0007] To overcome the shortcomings of the prior art, the present invention provides a feeding robot.

[0008] The technical solution adopted in this invention is as follows: a loading robot, including a base, on which a vibration mechanism for dispersing and flipping products, a visual inspection mechanism for taking pictures and positioning, and a PPU module with a first robotic arm are installed; the vibration mechanism includes a swing arm, a base, and several vibration components, one end of the swing arm is horizontally rotatably connected to the base and connected to a first power source that can drive it to rotate horizontally; the base is rotatably mounted on the other end of the swing arm and connected to a second power source that can drive it to rotate; several vibration components are circumferentially distributed on the base with the rotation center of the base as the center.

[0009] The vibration assembly includes a vibrating plate and a vibration source that can drive the vibrating plate to vibrate; the vibration assembly is provided in two sets, and the vibrating plate is semi-circular in shape.

[0010] The swing arm is connected to the base at one end with an outwardly extending bracket. The second power source is mounted on the bracket and is a geared motor that is driven by the base via a belt drive.

[0011] The PPU module includes a fixed backplate, a third power source, a guide rail assembly, a main shaft, a cycloidal wheel, a cycloidal frame, and a linkage shaft. The fixed backplate is fixedly mounted on a base. The guide rail assembly includes a fixed track, a movable track, and a slider. The fixed track and the movable track are intersected and connected relative to each other by the slider. The third power source is mounted on the back of the fixed backplate, and its output shaft drives and connects to the main shaft, and is eccentrically positioned with the main shaft. The cycloidal wheel is sleeved on the outside of the main shaft and rotates with it. Several cycloidal bearings are evenly distributed on the outer edge of the cycloidal wheel. The cycloidal frame is fixedly mounted on the front of the fixed backplate. The inner wall of the cycloidal frame forms a cycloidal contour surface corresponding to the position of the cycloidal bearing. The cycloidal bearing and the cycloidal contour surface are in contact to form a rolling fit. One end of the linkage shaft passes through the center of one of the cycloidal bearings, and the other end is connected to the movable track. The first robotic arm is mounted on the movable track.

[0012] The cycloidal profile surface has a rounded square shape.

[0013] There are 3 cycloidal bearings.

[0014] The first robotic arm includes a fixed base, a first suction nozzle base, and a first suction nozzle; the fixed base is fixedly mounted on the PPU module, the first suction nozzle base is rotatably mounted on the fixed base and connected to a fourth power source that drives its rotation, and the first suction nozzle is fixedly mounted on the first suction nozzle base.

[0015] The PPU module includes a guide rail assembly, which includes a fixed rail arranged longitudinally, a movable rail arranged laterally, and a slider connecting the fixed rail and the movable rail; it also includes a second robotic arm, with the first robotic arm and the second robotic arm arranged at intervals on the movable rail.

[0016] The base is also equipped with a positioning fixture that can be aligned with the first robotic arm and the second robotic arm.

[0017] The beneficial effects of the present invention are as follows: by using the above-mentioned feeding robot, the position of the PPU module is kept relatively fixed, and the PPU module is accurately grasped by the rotation and swinging motion of the vibration mechanism. The structure is more compact. At the same time, the vibration mechanism includes several vibration components that can vibrate in advance. In conjunction with the vision inspection mechanism, continuous operation can be achieved, reducing waiting time and greatly improving work efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the feeding robot according to an embodiment of the present invention.

[0019] Figure 2-3 This is a schematic diagram of the vibration mechanism according to an embodiment of the present invention.

[0020] Figure 4 This is a cross-sectional structural diagram of the vibration component according to an embodiment of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of the feeding robot in an embodiment of the present invention when it does not include a vibration mechanism.

[0022] Figure 6 This is a schematic diagram of the connection structure of the PPU module, the first robotic arm, and the second robotic arm in an embodiment of the present invention.

[0023] Figure 7-9 This is a schematic diagram of the structure of the PPU module in an embodiment of the present invention.

[0024] Figure 10 This is a schematic diagram of the structure of the first robotic arm in an embodiment of the present invention. Detailed Implementation

[0025] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0026] As shown in the figure, a feeding robot includes a base 1, a vibration mechanism 2, a vision inspection mechanism 3, a PPU module 4, and a first robotic arm 5.

[0027] The vibration mechanism 2 includes a swing arm 21, a base 22, and several vibration components 23. One end of the swing arm 21 is connected to the base 1 and can rotate horizontally around the J1 axis. The swing arm 21 is also connected to a first power source 24 that can drive it to rotate and swing horizontally. Specifically, the first power source 24 can be a geared motor, which is directly mounted on the base 1 and drives the swing arm 21.

[0028] The base 22 is rotatably mounted on the other end of the swing arm 21 and can rotate around the J2 axis. The base 22 is connected to a second power source 25 that drives its rotation. The second power source 25 is also a geared motor. The end of the swing arm 21 connected to the base 1 is provided with an outwardly extending bracket 26. The second power source 25 is mounted on the bracket 26 and is connected to the base 22 by belt drive.

[0029] The vibration components 23 are evenly distributed circumferentially on the base 22 with the rotation center of the base 22 as the center. Each vibration component 23 includes a vibratory plate 231 and a vibration source 232 that drives the vibratory plate 231 to vibrate. When products are poured into the vibratory plate 231, the vibration source 232 drives the vibratory plate 231 to vibrate rapidly, thus breaking up and flipping the products inside the vibratory plate 231. The number of vibration components 23 can be two, three, or even more. Preferably, there are two sets of vibration components 23, and the vibratory plate 231 of each vibration component is semi-circular to achieve alternating vibration while reducing weight and cost.

[0030] In addition, an electric slip ring is installed at the center of the base to achieve conductive connection of the vibration source, realize the rotational connection of power lines, signal lines and other lines, and ensure that the base can carry the vibration component to achieve continuous rotation in the same direction.

[0031] The visual inspection mechanism 3 includes a camera, which is installed on the upper end of the base 1 and its camera corresponds to the vibration mechanism 2, and is used to take pictures and locate the inside of the vibration mechanism 2.

[0032] The PPU module 4 includes a fixed back plate 41, a third power source 42, a guide rail assembly 43, a main shaft 44, a cycloidal wheel 45, a cycloidal frame 46, a linkage shaft 47, and a cover plate 48.

[0033] The fixed back plate 41 is fixedly installed on the base 1.

[0034] The guide rail assembly 43 includes a longitudinally arranged fixed rail 431, a horizontally arranged movable rail 432, and a slider 433. The fixed rail 431 is fixedly installed on the fixed back plate 41. The movable rail 432 is arranged in a cross shape with the fixed rail 431. Both the movable rail 432 and the fixed rail 431 are slidably engaged with the slider 433, so that the movable rail 432 can move up and down or horizontally relative to the fixed rail 431.

[0035] The third power source 42 is typically an electric motor, which is mounted on the back of the fixed back plate 41. Its output shaft drives the main shaft 44 and is eccentrically positioned with respect to the main shaft 44.

[0036] The cycloidal wheel 45 is sleeved on the outside of the main shaft 44 and rotates with the main shaft 44. Three cycloidal bearings 451 are evenly distributed on the outer edge of the cycloidal wheel 45. Furthermore, the cycloidal wheel 45 can be directly set into a triangular structure, with the middle position of the cycloidal wheel 45 connected to the main shaft 44, and the cycloidal bearings 451 respectively set at the triangular positions of the cycloidal wheel 45.

[0037] The cycloidal frame 46 is fixedly mounted on the front of the fixed back plate 41. The cycloidal frame 46 can be integrally formed on the fixed back plate 41, or it can be separately mounted from the fixed back plate 41 and fixedly connected by bolts or other fasteners. A cycloidal profile surface 461 is formed on the inner wall of the cycloidal frame 46 corresponding to the position of the cycloidal bearing 451. The cycloidal bearing 451 and the cycloidal profile surface 461 are in contact to form a rolling fit. The cycloidal bearing 451 can follow a square-like motion trajectory. The cycloidal profile surface 461 is a surface profile calculated based on the fitted motion trajectory of the cycloidal bearing 451, and has an overall shape resembling a rounded square. When the cycloidal wheel 45 moves, each of its cycloidal bearings 451 can maintain a close fit with the cycloidal profile surface 461 without gaps.

[0038] One end of the linkage shaft 47 passes through the center of one of the cycloidal bearings 451, and the other end is connected to the movable track 432. The linkage shaft 47 can move synchronously with the cycloidal bearing 451 along the trajectory of the cycloidal contour surface 461, thereby driving the movable track 432 to move along the same trajectory.

[0039] The cover plate 48 is mounted on the cycloidal frame 46, and a door-shaped clearance groove 481 is formed on the cover plate 48. The linkage shaft 47 can pass through the clearance groove 481. The cover plate 8 can further position the main shaft 44 and the cycloidal wheel 45, making the overall structure more stable and reliable.

[0040] The PPU module 4 described above operates using the cycloidal principle. During operation, the third power source 42 drives the main shaft 44 to rotate eccentrically. The eccentric rotation of the main shaft 44 drives the cycloidal wheel 45 to move, so that the cycloidal wheel 45 can perform cycloidal motion along the cycloidal contour surface 461 within the cycloidal frame 46. That is, the cycloidal bearing 451 can move along the cycloidal contour surface 461. The cycloidal bearing 451 drives the linkage shaft 47 to run synchronously. The linkage shaft 47 drives the movable track 432 to move along the same trajectory. By driving the main shaft 44 to rotate in both directions by the third power source 42, the movable track 43 can complete the reciprocating cyclic action along a certain trajectory.

[0041] In the aforementioned PPU module 4, during the movement of the cycloidal wheel, the cycloidal bearing always fits in contact with the cycloidal contour surface, providing multi-point support, structural stability, and strong load-bearing capacity. Moreover, the running trajectory of the linkage shaft is determined by the movement of the cycloidal wheel and the cycloidal frame. There is no gap between the cycloidal bearing and the cycloidal contour surface, resulting in higher movement accuracy and eliminating the problem of mutual impact damage during operation, thus extending service life. In addition, the main shaft and the cycloidal wheel have a built-in deceleration effect, providing sufficient driving force without the need for an additional reducer, further reducing costs.

[0042] The first robotic arm 5 is fixedly installed on the movable track 432 of the PPU module 4. It can reciprocate along a certain trajectory with the movable track 432. After it grabs the product in the vibration mechanism, it can transfer it to the designated position.

[0043] The first robotic arm 5 includes a fixed base 51, a first suction nozzle base 52, and a first suction nozzle 53. The fixed base 51 is fixedly mounted on the movable track 432 of the PPU module 4. The first suction nozzle base 52 is rotatably mounted on the fixed base 51 and connected to a fourth power source 54 that drives its rotation. The first suction nozzle 53 is fixedly mounted on the first suction nozzle base 52. The first suction nozzle 53 is connected to a vacuum pump via a hose, enabling more stable product pickup through vacuum adsorption. The fourth power source 54 is a geared motor. After the first suction nozzle 53 adsorbs a product, the rotation of the fourth power source 54 drives the first suction nozzle 53 to rotate, thereby rotating the adsorbed product to a designated direction for accurate alignment with subsequent processes.

[0044] Furthermore, a second robotic arm 6 is also provided on the active track 432, and the first robotic arm 5 and the second robotic arm 6 maintain a certain distance apart, and the first robotic arm 5 and the second robotic arm 6 can move synchronously. The base 1 is also provided with a positioning fixture 7 that can be aligned with the first robotic arm 5 and the second robotic arm 6. The second robotic arm 6 also includes a second suction nozzle seat and a second suction nozzle, which can grasp products by vacuum adsorption.

[0045] Since the PPU module has a limited range of motion, during loading, the product can first be transferred to the positioning fixture 7 by the first robotic arm 5 and positioned and held by the positioning fixture 7, and then transferred to the designated position by the second robotic arm 6, which can further increase the loading movement distance.

[0046] The working process of the above-mentioned feeding robot is as follows:

[0047] First, the vibration component of the vibration mechanism vibrates, and the products inside the vibration component are scattered and flipped over. Then, the camera of the vision inspection mechanism takes pictures of the products inside the vibration mechanism. Based on the images taken by the camera, products with the specified face up are selected to obtain the position and orientation of qualified products. Finally, the first power source and the second power source work together. The vibration mechanism 2 accurately delivers the products directly below the first robot arm 5 by swinging along the J1 axis and rotating around the center along the J2 axis. At the same time, the PPU module picks up the products, adjusts their orientation, and moves them to the designated position.

[0048] During the feeding process, since there are multiple sets of vibration components, when a product is picked up from one vibration component, the other vibration components can vibrate independently without affecting the other vibration components, thus breaking up and flipping the product in advance. At the same time, the camera of the vision inspection mechanism keeps taking pictures intermittently, constantly taking pictures and updating photos, and obtaining the latest product positioning information in real time to avoid interruptions. This enables continuous operation, saves intermediate waiting time, and greatly improves work efficiency.

[0049] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0051] Please note to all technical personnel: Although the present invention has been described according to the specific embodiments above, the inventive concept of the present invention is not limited to this invention. Any modifications that utilize the inventive concept will be included within the scope of protection of this patent.

Claims

1. A loading robot, comprising a base (1), wherein the base (1) is equipped with a vibration mechanism (2) for dispersing and flipping products, a visual inspection mechanism (3) for taking pictures and positioning, and a PPU module (4) with a first robotic arm (5). Its features are: The vibration mechanism (2) includes a swing arm (21), a base (22), and several vibration components (23). One end of the swing arm (21) is horizontally rotatably connected to the base (1) and connected to a first power source (24) that can drive it to rotate horizontally. The base (22) is rotatably mounted on the other end of the swing arm (21) and connected to a second power source (25) that can drive it to rotate. Several vibration components (23) are circumferentially distributed on the base (22) with the rotation center of the base (22) as the center. The PPU module (4) includes a fixed back plate (41), a third power source (42), a guide rail assembly (43), a main shaft (44), a cycloidal wheel (45), a cycloidal frame (46), and a linkage shaft (47). The fixed back plate (41) is fixedly installed on the base (1); The guide rail assembly (43) includes a fixed rail (431), a movable rail (432), and a slider (433). The fixed rail (431) and the movable rail (432) are arranged to cross each other and are connected to each other by the slider (433). The third power source (42) is installed on the back of the fixed back plate (41), and its output shaft drives the main shaft (44) and is eccentrically set with the main shaft (44); The cycloidal wheel (45) is sleeved on the outside of the main shaft (44) and rotates with the main shaft (44). Several cycloidal bearings (451) are evenly distributed on the outer edge of the cycloidal wheel (45). The cycloidal frame (46) is fixedly installed on the front of the fixed back plate (41). The inner wall of the cycloidal frame (46) has a cycloidal profile surface (461) corresponding to the position of the cycloidal bearing (451). The cycloidal bearing (451) and the cycloidal profile surface (461) fit together to form a rolling fit. One end of the linkage shaft (47) passes through the center of one of the cycloidal bearings (451), and the other end is connected to the movable track (432). The first robotic arm (5) is mounted on the movable track (432).

2. The feeding robot according to claim 1, characterized in that: The vibration assembly (23) includes a vibrating disk (231) and a vibration source (232) that can drive the vibrating disk (231) to vibrate; the vibration assembly (23) is provided in two sets, and the vibrating disk (231) is semi-circular in shape.

3. The feeding robot according to claim 1, characterized in that: The swing arm (21) is connected to the base (1) at one end and is provided with an outwardly extending bracket (26). The second power source (25) is installed on the bracket (26). The second power source (25) is a geared motor and is driven by the base (22) through belt drive.

4. The feeding robot according to claim 1, characterized in that: The cycloidal profile surface (461) has a rounded square shape.

5. The loading robot according to claim 1, characterized in that: The cycloidal bearing (451) is provided in three units.

6. The feeding robot according to claim 1, characterized in that: The first robotic arm (5) includes a fixed base (51), a first suction nozzle base (52), and a first suction nozzle (53); the fixed base (51) is fixedly mounted on the PPU module (4), the first suction nozzle base (52) is rotatably mounted on the fixed base (51) and connected to a fourth power source (54) that drives its rotation, and the first suction nozzle (53) is fixedly mounted on the first suction nozzle base (52).

7. The feeding robot according to claim 1, characterized in that: The PPU module (4) includes a guide rail assembly (43), which includes a fixed rail (431) arranged longitudinally, a movable rail (432) arranged laterally, and a slider (433) connecting the fixed rail (431) and the movable rail (432). It also includes a second robotic arm (6), with the first robotic arm (5) and the second robotic arm (6) spaced apart on the movable track (432).

8. The feeding robot according to claim 7, characterized in that: The base (1) is also provided with a positioning fixture (7) that can be aligned with the first robotic arm (5) and the second robotic arm (6).

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