A positioning material picking and placing fixture

Abstract

The present application discloses a positioning material picking and placing fixture, which relates to the technical field of mechanical material picking and placing, and includes a material picking and placing assembly, a positioning assembly, and a machine assembly. The material picking and placing assembly includes a driving arm and a suction cup device. There are two suction cup devices, and the two suction cup devices are arranged relatively to each other to synchronously perform material picking and placing operations. The driving arm is used to rotate or move the suction cup device; the positioning assembly includes a calibration rod, and the calibration rod is connected to the driving arm; the machine assembly includes a machine body and an identification pin, and the identification pin is arranged on the surface of the machine body. The calibration rod can identify the identification pin to determine the relative position of the material picking and placing assembly and the machine assembly. The material picking and placing assembly can complete material picking and placing in one processing flow through two relatively arranged suction cup devices, realize synchronous material picking and placing operations, and improve work efficiency; the calibration rod in the positioning assembly cooperates with the identification pin of the machine assembly to ensure the precise alignment of the material picking and placing assembly and the machine assembly.

Description

Technical Field

[0001] The present application relates to the technical field of mechanical material picking and placing, and in particular to a positioning material picking and placing fixture. Background Art

[0002] The automated material picking and placing process mainly relies on the coordinated work of the robot arm and the fixture. Among the common technical means, the picking and placing device is usually composed of a driving arm and a single suction cup, and the driving arm drives the suction cup to perform picking and placing operations above the workpiece. In addition, some equipment will be additionally equipped with a calibration mechanism for auxiliary positioning to ensure the accuracy of the placement position. However, traditional positioning picking and placing fixtures have the problem of insufficient positioning accuracy in actual use, especially when high-precision positioning of multiple workpieces is required at the same time. A single suction cup and a simple calibration method are often difficult to meet the process requirements, resulting in frequent inaccurate positioning and picking and placing failures during the production process, which seriously affects production efficiency and product quality.

[0003] Invention patent publication number CN112518725A discloses a transmission mechanism of a loading and unloading robot arm, including a mounting frame assembly, a screw assembly, a bracket assembly, a rotating table, a robot arm telescopic assembly, a manipulator gas circuit system, and a vacuum head assembly. The screw assembly is placed at the central position outside the mounting frame assembly; the rotating table is placed at the central position above the bracket assembly, the manipulator gas circuit system is located below the bracket assembly and connected to the mounting frame assembly; the robot arm telescopic assembly is located above the rotating table, and the vacuum head assembly is connected to the end of the robot arm telescopic assembly. The transmission mechanism can realize vacuum adsorption, front and back telescopic, left and right swing, up and down lifting, and positive and negative flipping, effectively realizing precise positioning, rapid transportation, efficient inspection and other operations in the loading and unloading process, ensuring the safe and stable operation of the equipment, making loading and unloading more convenient, and effectively improving production efficiency. Since the loading and unloading robot arm needs to take out the material and then put it in from the outside each time it loads and unloads, the loading and unloading efficiency is low, resulting in a decrease in processing efficiency. Summary of the invention

[0004] The purpose of the present application is to provide a positioning material picking and placing fixture to solve the problem that the loading and unloading devices need to perform loading and unloading operations separately, resulting in low loading and unloading efficiency.

[0005] The present application provides a positioning material picking and placing fixture adopts the following technical solution:

[0006] A positioning material picking and placing fixture comprises:

[0007] The material picking and placing assembly comprises a driving arm and a suction cup device, wherein the number of the suction cup devices is two and the two suction cup devices are arranged opposite to each other to synchronously perform material picking and placing operations, and the driving arm is used to rotate or move the suction cup device;

[0008] A positioning assembly including a calibration rod connected to the drive arm;

[0009] The machine assembly comprises a machine body and an identification pin, wherein the identification pin is arranged on the surface of the machine body, and the calibration rod can identify the identification pin to determine the relative position of the material picking and placing assembly and the machine assembly.

[0010] By adopting the above technical solution, the positioning pick-up and discharge fixture realizes the relative position calibration between the pick-up and discharge component and the machine component, improving the accuracy and efficiency of the pick-up and discharge process. The pick-up and discharge component can complete the picking and discharge of materials in one processing flow through two oppositely arranged suction cup devices. After the suction cup device on one side absorbs the material, the driving arm rotates so that the suction cup device on the other side can put the absorbed material into the machine component, thereby avoiding repeated entry and exit of the device, resulting in reduced efficiency, realizing synchronous picking and discharge operations, and improving work efficiency; the calibration rod in the positioning component cooperates with the identification pin of the machine component to ensure the precise alignment of the pick-up and discharge component and the machine component.

[0011] Optionally, the positioning assembly further includes a visual camera, the visual camera is connected to the driving arm, a visual slide rail is provided between the visual camera and the driving arm, and the visual camera slides on the visual slide rail.

[0012] By adopting the above technical solution, the visual camera can observe the working state of the material picking and placing process in more detail, making the material picking and placing operation more accurate. The visual camera is connected to the driving arm through the visual slide rail, so that the visual camera can slide on the visual slide rail to change the focus distance, thereby improving the application range of the visual camera.

[0013] Optionally, the suction cup device includes a suction cup plate and a suction cup body, and four dish washing bodies are arranged on the suction cup plate.

[0014] By adopting the above technical solution, the suction cup plate enables the four dishwashing bodies to be installed relatively stably, thereby improving the stability of taking and placing materials.

[0015] Optionally, the material picking and placing assembly also includes a rotating member, the driving arm is connected to the middle part of the rotating member, and one suction cup device is respectively connected to both sides of the rotating member. A suction cup slide rail and a driving rod are provided on the rotating member, and the suction cup plate is respectively connected to the suction cup slide rail and the driving rod, and can move along the first suction cup slide rail under the drive of the first driving rod.

[0016] By adopting the above technical solution, the setting of the rotating part enables the driving arm to drive the suction cup devices on both sides to synchronously perform material picking and placing operations, thereby improving the material picking and placing efficiency; the suction cup plate is connected to the suction cup slide rail and the driving rod, and can move along the rotating part under the drive of the driving rod, thereby realizing the position adjustment of the suction cup device and enhancing the flexibility and accuracy of material picking and placing.

[0017] Optionally, the suction cup device is provided with a blowing device, and the blowing device is mounted on the suction cup plate.

[0018] By adopting the above technical solution, the suction cup device is provided with an air blowing device, which is installed on the suction cup plate and can blow away dust or impurities remaining on the surface of the machine component during the material taking and placing process, thereby protecting the stability of the processing process.

[0019] Optionally, the machine assembly further includes a fixing device, which includes a fixed pressure plate and a fixed cylinder, wherein the fixed cylinder is connected to the machine body, and the fixed cylinder drives the fixed pressure plate to fix the material on the surface of the machine body.

[0020] By adopting the above technical solution, the fixed cylinder can move and rotate the fixed pressure plate. When the material is placed on the machine body, the fixed pressure plate can clamp the material between the fixed pressure plate and the machine body by moving and rotating, and when the material is taken, it moves and turns away, so that the material can be taken and placed smoothly.

[0021] Optionally, the driving arm includes a rotating outer wall and a fixed inner shaft, the rotating outer wall is sleeved on the outside of the fixed inner shaft and can rotate relative to the fixed inner shaft, the rotating outer wall is connected to the rotating member, and the fixed inner shaft passes through the rotating member to connect to the visual camera.

[0022] By adopting the above technical solution, since the suction cup device needs to rotate after picking up the material, the suction cup device on the other side can perform the material placement operation, and in order to keep the visual camera still aligned with the machine assembly after the rotation, a rotating outer wall that can be sleeved on the fixed inner shaft is provided. In this way, the driving arm can move the picking and placing assembly and the positioning assembly as a whole, and the suction cup device can rotate relative to the visual camera.

[0023] Optionally, the rotating member has a connecting channel running through the rotating member, the calibration rod is connected to the fixed inner shaft in the control connecting channel, a control device is provided between the calibration rod and the fixed inner shaft, and the control device is used to retract the calibration rod so that the rotating member can rotate outside the calibration rod.

[0024] By adopting the above technical solution, the calibration rod needs to be installed near the suction cup device to ensure the calibration effect. However, since the suction cup device needs to rotate during operation, the calibration rod near it will hinder the rotation of the suction cup device. Therefore, a connecting channel is provided so that the calibration rod is connected to the fixed inner shaft from the connecting channel, and when the suction cup device rotates, the calibration rod is retracted inward near the connecting channel, thereby avoiding the rotating part and allowing the suction cup device to rotate normally.

[0025] Optionally, the control device includes a connecting rod, a retraction rod, a control rod and a control slide rail, wherein one end of the connecting rod is connected to the calibration rod, and the other end is connected to the retraction rod, the control slide rail is connected to the fixed inner shaft, the control rod slides in the control slide rail, the inner side wall of the rotating part is provided with a control groove, part of the control rod is provided in the control groove, the control rod is connected to the retraction rod, and during the rotation of the rotating part, the control groove pushes the control rod to move along the control slide rail.

[0026] By adopting the above technical solution, by providing a control groove on the inner side wall of the rotating part and a control slide rail that limits the connecting rod to move in only one direction, when the position of the control groove in the moving direction of the connecting rod changes during the rotation of the rotating part, the connecting rod can be driven by the control rod, and the connecting rod controls the connecting rod through the retracting rod, thereby driving the calibration rod to move. The control groove uses a structure similar to an ellipse. When the rotating part is in a vertical state, the control rod is located at both ends of the long axis of the ellipse structure. When the rotating part is in a horizontal state, the control rod is located at both ends of the short axis of the ellipse. The calibration rod is retracted when the rotating part rotates to a horizontal state and unfolded when it rotates to a vertical state, so that the calibration rod can be unfolded for position calibration when the suction cup device is working, that is, when the rotating part is in a vertical state.

[0027] Optionally, the control device further comprises a connecting track, wherein the connecting track is connected to the fixed inner shaft, and the connecting rod moves within the connecting track.

[0028] By adopting the above technical solution, by making the connecting rod slide in the connecting track, the moving direction of the connecting rod can be limited, the structure of the control device is made more stable, and the rotation of the material picking and placing assembly can be carried out normally.

[0029] In summary, the present application includes at least one of the following beneficial technical effects:

[0030] 1. The positioning pick-up and discharge fixture realizes the relative position calibration between the pick-up and discharge component and the machine component, improving the accuracy and efficiency of the pick-up and discharge process. The pick-up and discharge component can complete the picking and discharge of materials in one processing flow through two oppositely arranged suction cup devices. After the suction cup device on one side absorbs the material, the driving arm rotates so that the suction cup device on the other side can put the absorbed material into the machine component, thereby avoiding repeated entry and exit of the device, resulting in reduced efficiency, and realizing synchronous picking and discharge operations, thereby improving work efficiency; the calibration rod in the positioning component cooperates with the identification pin of the machine component to ensure the precise alignment of the pick-up and discharge component and the machine component;

[0031] 2. The calibration rod needs to be installed close to the suction cup device to ensure the calibration effect. However, since the suction cup device needs to rotate during operation, the calibration rod close to it will hinder the rotation of the suction cup device. Therefore, a connecting channel is provided to connect the calibration rod to the fixed inner shaft from the connecting channel, and when the suction cup device rotates, the calibration rod is retracted inward near the connecting channel, thereby avoiding the rotating parts and allowing the suction cup device to rotate normally.

[0032] 3. By providing a control groove on the inner side wall of the rotating part and a control slide rail that limits the connecting rod to move in only one direction, when the position of the control groove in the moving direction of the connecting rod changes during the rotation of the rotating part, the connecting rod can be driven by the control rod, and the connecting rod controls the connecting rod through the retracting rod, thereby driving the calibration rod to move. The control groove uses a structure similar to an ellipse. When the rotating part is in a vertical state, the control rod is located at both ends of the long axis of the ellipse structure. When the rotating part is in a horizontal state, the control rod is located at both ends of the short axis of the ellipse. The calibration rod is retracted when the rotating part rotates to a horizontal state and unfolded when it rotates to a vertical state, so that the calibration rod can be unfolded for position calibration when the suction cup device is working, that is, when the rotating part is in a vertical state. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present application;

[0034] Figure 2 is a schematic cross-sectional structural diagram of an embodiment of the present application;

[0035] Figure 3 is a schematic cross-sectional structural diagram of a control device according to an embodiment of the present application;

[0036] Figure 4 It is a schematic diagram of the cross-sectional structure of the control groove in the embodiment of the present application.

[0037] Figure numerals: 1. material picking and placing assembly; 11. driving arm; 111. rotating outer wall; 112. fixed inner shaft; 12. suction cup device; 121. suction cup body; 122. suction cup plate; 13. rotating part; 131. suction cup slide rail; 132. driving rod; 133. connecting channel; 134. control groove; 14. blowing device; 2. positioning assembly; 21. calibration rod; 22. visual camera; 23. visual slide rail; 24. control device; 25. connecting rod; 26. retracting rod; 27. control rod; 28. control slide rail; 29. ​​connecting slide rail; 3. machine assembly; 31. machine body; 32. identification pin; 33. fixing device; 34. fixed pressure plate; 35. fixed cylinder. DETAILED DESCRIPTION

[0038] The present application is further described in detail below in conjunction with the accompanying drawings.

[0039] A positioning and placing fixture, refer to Figure 1 , including a material picking and placing component 1, a positioning component 2 and a machine component 3, wherein the material picking and placing component 1 and the positioning component 2 are connected and arranged for accurately loading materials onto the machine component 3. The material picking and placing component 1 includes a driving arm 11, a suction cup device 12 and a rotating member 13. There are two suction cup devices 12, and the two suction cup devices 12 are relatively arranged at both ends of the rotating member 13. The driving arm 11 is connected to the rotating member 13 in the middle of the rotating member 13, and can drive the suction cup device 12 to rotate by rotating the rotating member 13. Before the material picking and placing operation, the material to be placed is fixed on the suction device on one side, and after the suction device on the other side absorbs the material, the suction cup device 12 is rotated to put the absorbed material to be placed on the other side onto the machine component 3, so that the material picking and placing operation can be completed in a single operation.

[0040] Reference Figure 1 The suction cup device 12 includes a suction cup body 121 and a suction cup plate 122. Four suction cup bodies 121 are fixed on one suction cup plate 122. The suction cup body 121 adsorbs the material on the suction cup body 121 by forming a vacuum. The suction cup plate 122 keeps the four suction cup bodies 121 relatively stable, and the suction cup plate 122 makes the adsorption device easier to install. Suction cup rails 131 and driving rods 132 are respectively provided on both sides of the rotating member 13. The suction cup rails 131 and the driving rods 132 are both connected to the suction cup plate 122. The driving rods 132 are used to push the suction cup plate 122 to move relative to the rotating member 13, and the suction cup rails 131 are used to strengthen the connection between the suction cup plate 122 and the rotating member 13 to ensure that the suction cup plate 122 can remain stable during the movement.

[0041] Reference Figure 1The positioning assembly 2 includes a visual camera 22, and the driving arm 11 includes a fixed inner shaft 112 and a rotating outer wall 111. The rotating outer wall 111 is sleeved on the outer side of the fixed inner shaft 112 and can rotate relative to the fixed inner shaft 112. The rotating outer wall 111 is connected to the rotating member 13, and the fixed inner shaft 112 passes through the rotating member 13 and is connected to the visual camera 22. A visual slide rail 23 is provided between the visual camera 22 and the fixed inner shaft 112, and the visual camera 22 can move relative to the driving arm 11 through the visual slide rail 23. The visual camera 22 can observe the working state of the material picking and placing process in more detail, making the material picking and placing operation more accurate. The visual camera 22 is connected to the driving arm 11 through the visual slide rail 23, so that the visual camera 22 can slide on the visual slide rail 23 to change the focusing distance, thereby improving the application range of the visual camera 22.

[0042] Reference Figure 2 , 3 and 4, the positioning assembly 2 also includes a calibration rod 21 and a control device 24, and the rotating member 13 is provided with a penetrating connecting channel 133, the fixed inner shaft 112 passes through the connecting channel 133, in the connecting channel 133, the control device 24 is connected to the fixed inner shaft 112, and the control device 24 is connected to the calibration rod 21 outside the connecting channel 133, the calibration rod 21 can locate the position of the material picking and placing assembly 1, so that the material picking and placing operation is more accurate. The control device 24 includes a connecting rod 25, a retracting rod 26, a control rod 27, a control slide rail 28 and a connecting slide rail 29. The control slide rail 28 is connected to the fixed inner shaft 112 and extends to the upper and lower sides of the fixed inner shaft 112. The control rod 27 slides in the control slide rail 28. The control rod 27 is a cross structure, wherein the left and right ends and the front and rear ends of the control rod 27 all pass through the control slide rail 28. The inner side surface of the rotating member 13 relative to the control device 24 has a control groove 134. The front and rear ends of the control rod 27 are inserted into the control groove 134, and the left and right ends extend outward to connect the retracting rod 26. The control groove 134 is an ellipse-like structure. When the rotating member 13 rotates from a vertical state to a horizontal state, the groove portion of the control groove 134 located at the corresponding position of the control track will gradually move inward, thereby driving the upper and lower control rods 27 to move closer to the fixed inner shaft 112. When the rotating member 13 rotates from a horizontal state to a vertical state, the groove portion of the control groove 134 located at the corresponding position of the control track will gradually extend outward, thereby driving the control rod 27 to move away from the fixed inner shaft 112.

[0043] Reference Figure 3, connecting rails 29 are provided on the left and right sides of the fixed inner shaft 112, and the connecting rod 25 can slide in the connecting rails 29. The left and right ends of the control rod 27 are connected to the retractable rods 26, which are two structures that can be relatively rotated and folded. The two ends are respectively connected to the control rods 27 on the upper and lower sides, and the middle is connected to the connecting rod 25. When the control rod 27 moves in the direction close to the fixed inner shaft 112, the retractable rod 26 is pressed and folded by the control rod 27, thereby pushing the connecting rod 25 to the inside of the connecting track. When the control rod 27 moves in the direction away from the fixed inner shaft 112, the retractable rod 26 is stretched and unfolded by the control rod 27, thereby pulling the connecting rod 25 outward and moving the calibration rod 21 to the working position. The calibration rod 21 is retracted inward by the control device 24 when the rotating member 13 rotates to avoid affecting the rotation. After the rotating member 13 completes the rotation, the calibration rod 21 will be pushed out again, so that the calibration rod 21 can operate normally.

[0044] Reference Figure 1 The machine assembly 3 includes a machine body 31, an identification pin 32 and a fixing device 33. The surface of the machine body 31 is provided with an identification pin 32, and the calibration rod 21 can identify the identification pin 32 to determine the relative position of the fixture and the machine assembly 3. The fixing device 33 includes a fixed pressure plate 34 and a fixed cylinder 35. The fixed cylinder 35 can move and rotate the fixed pressure plate 34, so that the material is clamped between the machine body 31 and the fixed pressure plate 34 through the control of the fixed pressure plate 34. When the material needs to be taken, the fixed pressure plate 34 releases the material upward and turns away, so that the material can be taken away by the material taking and placing assembly 1.

[0045] The implementation principle of the embodiment of the present application is as follows: before the material picking and placing operation, a suction cup device 12 is first used to adsorb the material to be placed, and the suction cup device 12 that is not adsorbed is rotated to face downward. When starting to pick up and place the material, the empty adsorption device below is used to adsorb the material. After the adsorption is completed, the rotating part 13 is rotated to face the adsorbed material to be placed downward, and the air blowing device 14 is used to clean the machine body 31, and then the material to be placed is placed on the machine body 31. The design of two suction cup devices 12 significantly reduces multiple picking and placing operations, greatly improving production efficiency. The positioning function of the calibration rod 21 ensures the precise positioning of the material on the machine and reduces the deviation during picking up and placing. The visual camera 22 assists in positioning to ensure the accuracy of the entire operation process.

[0046] The embodiments of this specific implementation are all preferred embodiments of the present application, and are not intended to limit the protection scope of the present application. The same components are represented by the same figure marks. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A positioning and placing fixture, characterized in that: include: A material taking and placing assembly (1) comprises a driving arm (11) and a suction cup device (12), wherein the number of the suction cup devices (12) is two, and the two suction cup devices (12) are arranged opposite to each other so as to synchronously perform material taking and placing operations, and the driving arm (11) is used to rotate or move the suction cup device (12); A positioning assembly (2), comprising a calibration rod (21), wherein the calibration rod (21) is connected to the driving arm (11); A machine assembly (3) comprises a machine body (31) and an identification pin (32), wherein the identification pin (32) is arranged on the surface of the machine body (31), and the calibration rod (21) can identify the identification pin (32) to determine the relative position of the material loading and unloading assembly (1) and the machine assembly (3); The material taking and placing assembly (1) further comprises a rotating member (13), the driving arm (11) is connected to the middle part of the rotating member (13), and two sides of the rotating member (13) are respectively connected to a suction cup device (12), the rotating member (13) is provided with a suction cup slide rail (131) and a driving rod (132), the suction cup device (12) comprises a suction cup plate (122), the suction cup plate (122) is respectively connected to the suction cup slide rail (131) and the driving rod (132), and can move along the suction cup slide rail (131) under the drive of the driving rod (132); The driving arm (11) comprises a rotating outer wall (111) and a fixed inner shaft (112); the rotating outer wall (111) is sleeved on the outer side of the fixed inner shaft (112) and can rotate relative to the fixed inner shaft (112); the rotating outer wall (111) is connected to the rotating member (13); the positioning assembly (2) further comprises a visual camera (22); the fixed inner shaft (112) passes through the rotating member (13) and is connected to the visual camera (22); The rotating member (13) has a connecting passage (133) penetrating the rotating member (13); the calibration rod (21) is connected to the fixed inner shaft (112) in the connecting passage (133); a control device (24) is provided between the calibration rod (21) and the fixed inner shaft (112); the control device (24) is used to retract the calibration rod (21) so that the rotating member (13) can rotate outside the calibration rod (21).

2. A positioning material picking and placing fixture according to claim 1, characterized in that: The visual camera (22) is connected to the driving arm (11), a visual slide rail (23) is provided between the visual camera (22) and the driving arm (11), and the visual camera (22) slides on the visual slide rail (23).

3. A positioning and placing fixture according to claim 1, characterized in that: The suction cup device (12) further comprises a suction cup body (121), and four suction cup bodies (121) are arranged on the suction cup plate (122).

4. A positioning material picking and placing fixture according to claim 3, characterized in that: The suction cup device (12) is provided with an air blowing device (14), and the air blowing device (14) is installed on the suction cup plate (122).

5. The positioning material picking and placing fixture according to claim 1, characterized in that: The machine assembly (3) further comprises a fixing device (33), wherein the fixing device (33) comprises a fixed pressing plate (34) and a fixed cylinder (35), wherein the fixed cylinder (35) is connected to the machine body (31), and the fixed cylinder (35) drives the fixed pressing plate (34) to fix the material on the surface of the machine body (31).

6. A positioning material picking and placing fixture according to claim 1, characterized in that: The control device (24) comprises a connecting rod (25), a retracting rod (26), a control rod (27) and a control slide rail (28); one end of the connecting rod (25) is connected to the calibration rod (21), and the other end is connected to the retracting rod (26); the control slide rail (28) is connected to the fixed inner shaft (112); the control rod (27) slides in the control slide rail (28); the inner side wall of the rotating member (13) is provided with a control groove (134); part of the control rod (27) is arranged in the control groove (134); the control rod (27) is connected to the retracting rod (26); during the rotation of the rotating member (13), the control groove (134) pushes the control rod (27) to move along the control slide rail (28).

7. A positioning material picking and placing fixture according to claim 6, characterized in that: The control device (24) also includes a connecting track, the connecting track is connected to the fixed inner shaft (112), and the connecting rod (25) moves in the connecting track.

Images