Terminal receiving disc carrying mechanism

Abstract

The invention discloses a terminal material collecting disc carrying mechanism which comprises a mechanical arm, a material disc grabbing mechanism and a controller, a suction cup frame can be installed at the moving end of the mechanical arm in the mode of rotating around a vertical rotating shaft, a suction cup is installed on the suction cup frame, a vacuum generator communicates with the suction cup, and a suction cup frame rotation driving device drives the suction cup frame to rotate. The angle finding photoelectric sensor is eccentrically fixed to the suction cup frame and can emit angle sensing signals to the material disc, the angle sensing signals can be reflected by the material disc and angle reflection grooves in the material disc to form angle reflection signals with different intensities, and the angle finding photoelectric sensor can receive the angle reflection signals and transmit the angle reflection signals to the controller. The controller can analyze the angle position of the angle reflection groove in the discharging disc according to the intensity of the angle reflection signal, controls the movement end of the mechanical arm to move and controls the suction cup frame rotation driving device and the vacuum generator to be started and stopped, and all the material discs can accurately suck, stack and collect materials according to the same angle.

Description

Technical Field

[0001] The invention relates to the technical field of automated assembly, and in particular to a terminal receiving tray conveying mechanism. Background Art

[0002] Terminal blocks are one of the most widely used electronic components and are widely used in household appliances, computers, telecommunications, network communications, industrial electronics, transportation, aerospace, medical equipment, and the automotive industry. The global terminal block industry is in a steady growth period, and the overall market size has basically maintained a stable growth trend. At present, the terminal receiving work in the terminal block industry generally uses manual receiving or semi-automatic equipment to receive the materials. With the increase in labor costs year by year, the terminal block industry has gradually increased its requirements for receiving efficiency and receiving quality. The terminal block industry urgently needs fully automatic terminal receiving equipment to replace the previous manual and semi-automatic equipment for receiving materials.

[0003] When collecting the terminal blocks, the terminal trays need to be accurately moved to the designated location for stacking. During the stacking process, all trays need to be in the same direction to avoid collapse of the stacked trays. Summary of the invention

[0004] In order to overcome the above-mentioned defects, the present invention provides a terminal receiving tray transporting mechanism, which can realize accurate transport and placement of terminal trays for receiving materials, effectively saving labor costs, and has a simple overall structure and low manufacturing cost.

[0005] The present invention adopts a technical solution to solve its technical problems: a terminal receiving tray transport mechanism, including a mechanical arm, a tray grabbing mechanism and a controller, the moving end of the mechanical arm can reciprocate between different positions, the tray grabbing mechanism includes a suction cup frame, a suction cup and a vacuum generator, a plurality of suction cups are installed on the suction cup frame, the vacuum generator is connected to each suction cup through a pipeline and provides vacuum suction to each suction cup, the tray grabbing mechanism also includes a suction cup frame rotation drive device and an angle finding photoelectric sensor, the suction cup frame can be installed on the moving end of the mechanical arm to rotate around a rotating shaft extending in a vertical direction, and the suction cup frame rotation drive device drives the suction cup frame Rotation, the angle-finding photoelectric sensor and the suction cup frame shaft are eccentrically fixed on the suction cup frame, the angle-finding photoelectric sensor can transmit an angle sensing signal to the material tray located at the specified position, the angle sensing signal can be reflected by the material tray and the angle reflection groove thereon to form angle reflection signals of different strengths, the angle-finding photoelectric sensor can receive the angle reflection signal, the angle-finding photoelectric sensor and the controller can perform wired or wireless communication, the controller can analyze the angle position of the angle reflection groove on the material tray according to the strength of the angle reflection signal, the controller controls the movement of the moving end of the robotic arm, and controls the start and stop of the suction cup frame rotation drive device and the vacuum generator.

[0006] As a further improvement of the present invention, a material tray identification photoelectric sensor is also fixedly provided on the suction cup frame, and the vertical distance between the material tray identification photoelectric sensor and the axis of the suction cup frame rotation axis is between the radii of the center grooves of the two material trays. The material tray identification photoelectric sensor can transmit a material tray identification signal to the material tray located at a specified position, and the material tray identification signal can be reflected by the material tray and its center groove to form material tray identification reflection signals of different strengths. The angle finding photoelectric sensor can receive the angle reflection signal, and the material tray identification photoelectric sensor performs wired or wireless communication with the controller. The controller can analyze the radius range of the center groove on the material tray according to the strength of the material tray identification signal and then determine the type of material tray.

[0007] As a further improvement of the present invention, the suction cup frame includes a rotating seat, a floating plate and an elastic member. The rotating seat can be installed on the moving end of the robot arm and can rotate around a vertical rotating axis. The floating plate can be installed on the rotating seat and can move up and down a set distance in the vertical direction. The elastic member provides a downward elastic retaining force to the floating plate, and each suction cup is installed on the floating plate at even intervals.

[0008] As a further improvement of the present invention, the suction cup frame also includes a limit plate and a guide column. The limit plate is fixedly installed at a parallel interval below the rotating seat. The upper and lower ends of at least one guide column extending in the vertical direction are respectively fixed to the rotating seat and the limit plate. A guide hole is provided on the floating plate. The floating plate is arranged parallel to the rotating seat and the limit plate. The upper and lower sides of the floating plate are stopped on the surfaces of the rotating seat and the limit plate. The guide column is inserted into the guide hole of the floating plate to realize sliding guidance.

[0009] As a further improvement of the present invention, a pressure-in-place sensor is fixedly provided on the floating plate, and a pressure-inducing contact is fixedly installed on the rotating seat. The pressure-in-place sensor on the floating plate can be triggered by the pressure-inducing contact after the floating plate rises to a set height relative to the rotating seat. The pressure-in-place sensor is electrically connected and communicates with the controller, and the controller can determine the contact pressure of the suction cup on the material tray based on the pressure-in-place sensor signal.

[0010] As a further improvement of the present invention, a pressure gauge is further provided, and the pressure gauge is electrically connected and communicated with the pressed-in-place sensor, and the pressure gauge can display the pressure value sensed by the pressed-in-place sensor.

[0011] As a further improvement of the present invention, at least one guide pin eccentrically arranged with respect to the rotating shaft of the suction cup frame is fixedly provided on the suction cup frame, and the lower end of the guide pin extends out of the lower side surface of the suction cup by a set length, and the lower end of the guide pin forms a pointed structure, and the lower end of the guide pin can be inserted into the positioning hole on the material tray one by one.

[0012] As a further improvement of the present invention, the robotic arm is a six-axis robotic arm.

[0013] As a further improvement of the present invention, the number of the angle-finding photoelectric sensors is two and they are spaced apart along the rotation direction of the suction cup frame, and the distance between the two angle-finding photoelectric sensors matches the width of the angle reflection groove on the material tray.

[0014] As a further improvement of the present invention, a bearing is installed on the rotating shaft of the suction cup frame.

[0015] The beneficial effects of the present invention are as follows: the present invention drives the material tray grasping mechanism to move by a mechanical arm to realize the transportation of the material tray, and an angle-finding photoelectric sensor with a transmitting and receiving function is arranged on the material tray grasping mechanism. After the material tray rack reaches directly above the material tray, as the material tray rack rotates, the angle-finding photoelectric sensor continuously transmits an angle sensing signal to the material tray, and the angle sensing signal is reflected by the material tray and the angle reflection groove thereon to form angle reflection signals of different strengths. After the angle reflection signal is received by the angle-finding photoelectric sensor, the angle position of the angle reflection groove on the material box can be judged by the strength of the angle reflection signal, and then all the material trays can be accurately sucked and stacked at the same angle to collect materials, avoiding the collapse of the material trays due to the mismatch of angles when they are placed, and also avoiding the difficulty in taking materials due to the inconsistent placement angles of the terminal blocks on the material tray when taking materials in the subsequent process. The present application also identifies and judges the specifications of the material trays through the material tray recognition photoelectric sensor to prevent mixing of materials caused by different specifications of the material boxes when collecting materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional diagram of the structural principle of the present invention;

[0017] Figure 2 It is the main view of the structural principle of the present invention. DETAILED DESCRIPTION

[0018] Embodiment: A terminal receiving tray handling mechanism includes a mechanical arm, a tray grasping mechanism and a controller. The moving end of the mechanical arm can reciprocate between different positions. The tray grasping mechanism includes a suction cup frame, a suction cup 2 and a vacuum generator 3. Several suction cups 2 are installed on the suction cup frame. The vacuum generator 3 is connected with each suction cup 2 through a pipeline and provides vacuum suction to each suction cup 2. The tray grasping mechanism also includes a suction cup frame rotation drive device and an angle finding photoelectric sensor 4. The suction cup frame can be installed on the moving end of the mechanical arm so as to rotate around a rotating shaft 5 extending in a vertical direction. The suction cup frame rotation drive device drives the suction cup frame to rotate. The angle finding The photoelectric sensor 4 is eccentrically fixed to the suction cup frame shaft 5. The angle-finding photoelectric sensor 4 can emit an angle sensing signal to the material tray located at a specified position. The angle sensing signal can be reflected by the material tray and the angle reflection groove thereon to form angle reflection signals of different strengths. The angle-finding photoelectric sensor 4 can receive the angle reflection signal. The angle-finding photoelectric sensor 4 can communicate with the controller by wire or wireless communication. The controller can analyze the angle position of the angle reflection groove on the material tray according to the strength of the angle reflection signal. The controller controls the movement of the moving end of the robotic arm, and controls the start and stop of the suction cup frame rotation drive device and the vacuum generator 3.

[0019] When the tray is being transported, the moving end of the robot arm drives the tray frame to the top of the tray. As the tray frame rotates, the angle-finding photoelectric sensor 4 continuously transmits an angle sensing signal to the tray. The angle sensing signal is reflected by the tray and the angle reflection groove thereon to form angle reflection signals of different strengths. After the angle reflection signal is received by the angle-finding photoelectric sensor, the angle position of the angle reflection groove on the material box can be judged by the strength of the angle reflection signal. When the angle-finding photoelectric sensor 4 is directly opposite to the angle reflection groove on the tray, the suction cup frame descends and absorbs the tray through the suction cup 2. When the tray is sucked up, the suction cup 2 bracket rotates and returns to its original position. The starting angle position, at this time the angle position of the material tray is rotated to the preset angle, the moving end of the robot arm drives the material tray frame to the material tray receiving position, and the suction cup frame descends to accurately stack the material tray on a stack of material trays, thereby realizing accurate material collection and placement of the material trays, and avoiding angle position deviations in the process of placing the material trays, which leads to mismatched concave and convex positions of adjacent material trays on the upper and lower sides and cannot be stacked, resulting in falling. The material tray angle recognition method of the present application is simple, avoids the use of expensive cameras, and effectively reduces equipment costs. The present application has accurate judgment on the angle of the material tray and fast response, and can quickly find the angle of the material tray and quickly transport it.

[0020] A material tray identification photoelectric sensor 6 is also fixedly provided on the suction cup frame. The vertical distance between the material tray identification photoelectric sensor 6 and the axis of the suction cup frame rotating shaft 5 is between the radii of the center grooves of the two material trays. The material tray identification photoelectric sensor 6 can transmit a material tray identification signal to the material tray located at a specified position. The material tray identification signal can be reflected by the material tray and its center groove to form a material tray identification reflection signal of different strengths. The angle finding photoelectric sensor 4 can receive the angle reflection signal. The material tray identification photoelectric sensor 6 performs wired or wireless communication with the controller. The controller can analyze the radius range of the center groove on the material tray according to the strength of the material tray identification signal and then determine the type of material tray. By arranging a material tray identification photoelectric sensor 6 on the suction cup frame, when the suction cup frame rotates directly above the material tray, the material tray identification signal emitted by the material tray identification photoelectric sensor 6 forms a circle of reflection signal on the material tray. When the circle of reflection signal is located in the center hole of the material tray, the material tray is judged to be one model. When the circle of reflection signal is located outside the center hole of the material tray, the material tray is judged to be another model. Then, the material tray model is judged by identifying the size of the center hole of the material tray, and then the material tray models are distinguished to avoid mixing of materials. This sensing method is cleverly designed, which effectively avoids the use of cameras and reduces the cost of material tray model detection.

[0021] The suction cup frame includes a rotating seat 1, a floating plate 7 and an elastic member 8. The rotating seat 1 can be installed on the moving end of the robot arm to rotate around a vertical rotating shaft 5. The floating plate 7 can be installed on the rotating seat 1 to move up and down a set distance in the vertical direction. The elastic member 8 provides a downward elastic holding force to the floating plate 7. Each suction cup 2 is evenly spaced and installed on the floating plate 7. The elastic member 8 is preferably a spring. The floating function of the handling structure is realized by elastic expansion and contraction of the spring, which can avoid hard contact and damage to the tray during the process of taking and placing the tray and increase the tolerance and stability of the handling structure in taking and receiving the tray.

[0022] The suction cup frame also includes a limit plate 9 and a guide column 10. The limit plate 9 is fixedly installed at a parallel interval below the rotating seat 1. At least one guide column 10 extending in the vertical direction is fixedly connected to the rotating seat 1 and the limit plate 9 at both ends. A guide hole is provided on the floating plate 7. The floating plate 7 is arranged parallel to the rotating seat 1 and the limit plate 9. The upper and lower sides of the floating plate 7 are stopped on the surfaces of the rotating seat 1 and the limit plate 9. The guide column 10 is inserted into the guide hole of the floating plate 7 to realize sliding guidance.

[0023] By cooperating with the guide column 10 and the guide hole, the floating plate 7 is allowed to float elastically in the vertical direction, thereby ensuring that all the suction cups 2 contact the material tray at the same time and exert the same pressure on the material tray, thereby avoiding the situation where the material tray tilts during transportation or some suction cups 2 fail to suck the material tray during the material tray suction process.

[0024] The floating plate 7 is also fixed with a push-down sensor 11, and the rotating seat 1 is fixed with a push-down sensing contact 12. The push-down sensor 11 on the floating plate 7 can be triggered by the push-down sensing contact 12 after the floating plate 7 rises to a set height relative to the rotating seat 1. The push-down sensor 11 is electrically connected and communicates with the controller, and the controller can determine the contact pressure of the suction cup 2 on the material tray according to the signal of the push-down sensor 11. When the push-down sensor 11 senses the push-down sensing contact 12, the controller determines that the suction cup 2 has stably contacted the material tray and has achieved effective suction. At this time, the suction cup frame can be lifted to start carrying the material tray, avoiding excessive pressure when the suction cup 2 absorbs the material tray to damage the material tray, or insufficient pressure to cause the material tray to fail to absorb.

[0025] A pressure gauge 13 is also provided, and the pressure gauge 13 is electrically connected and communicated with the down-to-place sensor 11, and the pressure gauge 13 can display the pressure value sensed by the down-to-place sensor 11. The pressure gauge 13 displays the pressure value sensed by the down-to-place sensor 11, thereby facilitating workers to intuitively understand the situation of the suction cup 2 contacting the material tray, and avoiding the situation of excessive or insufficient pressure.

[0026] The suction cup frame is also fixed with at least one guide pin 15 eccentrically arranged with the suction cup frame rotating shaft 5. The lower end of the guide pin 15 extends out of the lower side of the suction cup 2 by a set length. The lower end of the guide pin 15 forms a pointed structure. The lower end of the guide pin 15 can be inserted into the positioning hole on the material tray in a one-to-one correspondence. The guide pins 15 are preferably 3, and of course, can also be two or more. The guide pins 15 will gradually be inserted into the positioning hole of the material tray as the suction cup frame moves downward, so that the material tray and the suction cup frame can accurately adjust the position of the receiving tray again, and achieve high-precision stable material collection without using a camera.

[0027] The robotic arm is a six-axis robotic arm, or can be a robotic arm that slides along three mutually perpendicular axes, and those skilled in the art can select one according to their needs.

[0028] The angle-finding photoelectric sensors 4 are arranged in two intervals along the rotation direction of the suction cup frame, and the distance between the two angle-finding photoelectric sensors 4 matches the width of the angle reflection groove on the material tray. When the sensing signals emitted by the two angle-finding photoelectric sensors 4 are all reflected by the angle reflection groove, it means that the angle-finding photoelectric sensors 4 are completely opposite to the angle reflection groove, and this structure is conducive to improving the sensing accuracy of the angle-finding photoelectric sensors 4.

[0029] A bearing 14 is installed on the rotating shaft 5 of the suction cup frame.

Claims

1. A terminal receiving tray handling mechanism, comprising a mechanical arm, a tray grabbing mechanism and a controller, wherein the moving end of the mechanical arm can reciprocate between different positions, the tray grabbing mechanism comprises a suction cup frame, a suction cup (2) and a vacuum generator (3), a plurality of suction cups are mounted on the suction cup frame, the vacuum generator is connected to each suction cup through a pipeline and provides vacuum suction to each suction cup, characterized in that: The material tray grasping mechanism also includes a suction cup frame rotation drive device and an angle-finding photoelectric sensor (4). The suction cup frame can be installed on the moving end of the mechanical arm so as to rotate around a rotating shaft (5) extending in a vertical direction. The suction cup frame rotation drive device drives the suction cup frame to rotate. The angle-finding photoelectric sensor is eccentrically fixed to the suction cup frame rotating shaft. The angle-finding photoelectric sensor can emit an angle sensing signal to the material tray located at a specified position. The angle sensing signal can be reflected by the material tray and the angle reflection groove thereon to form angle reflection signals of different strengths. The angle-finding photoelectric sensor can receive the angle reflection signal. The material angle-finding photoelectric sensor performs wired or wireless communication with the controller. The controller can analyze the angle position of the angle reflection groove on the material tray according to the strength of the angle reflection signal. The controller controls the movement of the moving end of the mechanical arm and controls the suction cup frame rotation drive device and the start and stop of the vacuum generator.

2. The terminal receiving tray transport mechanism according to claim 1, characterized in that: The suction cup frame is also fixedly provided with a tray identification photoelectric sensor (6), the vertical distance between the tray identification photoelectric sensor and the axis of the suction cup frame rotation axis is between the radii of the center grooves of the two trays, the tray identification photoelectric sensor can transmit a tray identification signal to the tray located at a specified position, the tray identification signal can be reflected by the tray and its center groove to form tray identification reflection signals of different strengths, the angle finding photoelectric sensor can receive the angle reflection signal, the tray identification photoelectric sensor and the controller can perform wired or wireless communication, and the controller can analyze the radius range of the center groove on the tray according to the strength of the tray identification signal and then determine the type of tray.

3. The terminal receiving tray transport mechanism according to claim 1, characterized in that: The suction cup frame comprises a rotating seat (1), a floating plate (7) and an elastic member (8); the rotating seat is mounted on the moving end of the robot arm and can rotate around a vertical rotating axis; the floating plate is mounted on the rotating seat and can move up and down a set distance in the vertical direction; the elastic member provides a downward elastic retaining force for the floating plate; and each suction cup is mounted on the floating plate at even intervals.

4. The terminal receiving tray transport mechanism according to claim 3, characterized in that: The suction cup frame also includes a limit plate (9) and a guide column (10), wherein the limit plate is fixedly installed below the rotating seat at intervals in parallel, and at least one guide column extending in the vertical direction is respectively fixedly connected to the rotating seat and the limit plate at both ends, and a guide hole is provided on the floating plate. The floating plate is arranged parallel to the rotating seat and the limit plate, and the upper and lower sides of the floating plate are stopped on the surfaces of the rotating seat and the limit plate, and the guide column is inserted into the guide hole of the floating plate to realize sliding guidance.

5. The terminal receiving tray transport mechanism according to claim 3, characterized in that: The floating plate is also fixedly provided with a push-down sensor (11), and the rotating seat is fixedly provided with a push-down sensing contact (12). The push-down sensor on the floating plate can be triggered by the push-down sensing contact after the floating plate rises to a set height relative to the rotating seat. The push-down sensor is electrically connected and communicates with the controller, and the controller can determine the contact pressure of the suction cup on the material tray according to the push-down sensor signal.

6. The terminal receiving tray transport mechanism according to claim 5, characterized in that: A pressure gauge (13) is also provided, and the pressure gauge is electrically connected and communicated with the down-to-position sensor, and the pressure gauge can display the pressure value sensed by the down-to-position sensor.

7. The terminal receiving tray transport mechanism according to claim 1, characterized in that: The suction cup frame is also fixedly provided with at least one guide pin (15) eccentrically arranged with respect to the rotation axis of the suction cup frame, the lower end of the guide pin protrudes out of the lower side surface of the suction cup by a set length, the lower end of the guide pin forms a pointed structure, and the lower end of the guide pin can be inserted into the positioning hole on the material tray in a one-to-one correspondence.

8. The terminal receiving tray conveying mechanism according to claim 1, characterized in that: The robotic arm is a six-axis robotic arm.

9. The terminal receiving tray transport mechanism according to claim 1, characterized in that: The angle-finding photoelectric sensors are two arranged at intervals along the rotation direction of the suction cup frame, and the distance between the two angle-finding photoelectric sensors matches the width of the angle reflection groove on the material tray.

10. The terminal receiving tray conveying mechanism according to claim 1, characterized in that: A bearing (14) is installed on the rotating shaft of the suction cup frame.

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