The robot can flexibly pick up and place products to prevent waste from being transported.

Abstract

The present invention discloses a robot flexible pick-up and placement product prevention and waste handling mechanism, which belongs to the field of robot handling technology. The present invention includes a connecting base plate and a floating baffle arranged below the connecting base plate. The floating pin fixed on the floating baffle is installed through the connecting base plate. The outer side of the floating pin is sleeved with an auxiliary spring. The lower end of the floating baffle is installed with a positioning suction cup, and the upper end of the positioning suction cup is installed with a docking air pipe interconnected with an external negative pressure device. The robot flexible pick-up and placement product prevention and waste handling mechanism, when handling products, can not only adsorb and fix them through the suction cup, but also use the negative pressure effect to clamp the products, thereby improving the stability of the products during handling. Moreover, through the vertical movement of the waste pressing block, the waste at the edge of the handled product can be ejected. The integrated setting of clamping and ejecting improves the efficiency of product automated processing.

Description

Technical Field

[0001] The invention relates to the technical field of robot handling, in particular to a robot flexible product picking and placing conveying mechanism to prevent waste. Background Art

[0002] During product production, the product needs to go through multiple processes for processing. In order to improve the processing efficiency of the product, corresponding robots are usually used to move and transport the product, thereby effectively improving the processing efficiency of the product.

[0003] For example, the patent number is CN210757723U, the patent name is: A manipulator retrieving device, the announcement date is 2020-06-16, and it includes: a horizontal guide rail base, a horizontal drive component, a horizontal movement component, a vertical robotic arm, a vertical drive component, and a retrieving component, wherein the horizontal movement component is arranged on the horizontal guide rail base, the vertical robotic arm is connected to the horizontal movement component, the retrieving component is connected to the bottom of the vertical robotic arm, the horizontal drive component is configured to: drive the horizontal movement component to move along the horizontal guide rail base, and the vertical drive component is configured to: drive the vertical robotic arm to move in the vertical direction;

[0004] When handling products, the existing robotic arm retrieving device can only absorb the products through a single suction cup at the bottom of the robotic arm. The overall stability is poor, and the clamped products are easily loosened due to shaking and other factors during transportation.

[0005] For example, the announcement number is: CN220218544U, the patent name is: A manipulator material picking device, the announcement date is: 2023-12-22, including a material picking manipulator main body, the material picking manipulator main body is provided with a clamping base, the clamping base is provided with an adjustable adjustment base inside, the adjustment base is provided with a clamping arm, the clamping arm is provided with a clamping claw, the bottom of the clamping base is provided with a suction cup fixing base, and the suction cup fixing base is provided with multiple groups of vacuum suction cup bodies.

[0006] In the above-mentioned existing technology, not only is the fixation on the robot arm achieved by means of a suction cup, but the relative movement of the clamping claws can also be used for clamping, thereby improving the stability of the product during handling. However, the movement control of the clamping claws requires an additional motor. In the actual effective operating space, the provision of an additional motor on the robot arm will not only increase the occupied space, but the operation of the motor requires the connection of multiple wiring harnesses. The robot arm itself is also a component that operates at multiple angles. The interweaving of multiple wiring harnesses will also limit the range of motion of the robot arm.

[0007] Therefore, we proposed a flexible robot to pick up and place products to prevent waste from being carried, in order to solve the problems raised above. Summary of the Invention

[0008] The purpose of the present invention is to provide a flexible robot arm for picking up and placing products to prevent waste from being carried, so as to solve the problem raised in the above background technology that the existing robot arm material picking device on the market can only adsorb the product through a single suction cup at the bottom of the robot arm when transporting the product, and the overall stability is poor. During the transportation process, it is easy for the clamped product to become loose due to shaking and other factors. At the same time, the movement control of the clamping claw on the robot arm requires an additional motor. In the actual effective operating space, the arrangement of an additional motor on the robot arm will not only increase the occupied space, but also the operation of the motor requires the connection of multiple wiring harnesses. The robot arm itself is also a multi-angle operating component. The interweaving of multiple wiring harnesses will also limit the range of motion of the robot arm.

[0009] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a robot flexible pick-up and placement product prevention and waste handling mechanism, including a connecting base plate and a floating baffle arranged below the connecting base plate, the floating pin fixed on the floating baffle is installed through the connecting base plate, the outer side of the floating pin is sleeved with an auxiliary spring, the lower end of the floating baffle is installed with a positioning suction cup, and the upper end of the positioning suction cup is installed with a docking air pipe connected to the external negative pressure equipment, the positioning suction cup is provided with an adsorption hole, the side of the positioning suction cup is installed with an extension column, and a traction rod is installed through the extension column, the traction rod is connected to the extension column through a built-in spring, and the end of the traction rod extending out of the extension column is fixed with a waste pressing block.

[0010] Preferably, the connection base plate is fixedly mounted with a limiting column, and the limiting column is symmetrically arranged with respect to the transverse center axis of the connection base plate, and the limiting column is located above the floating baffle.

[0011] By adopting the above technical solution and connecting the setting of the upper limit column on the base plate, the moving distance of the floating baffle can be controlled when the floating baffle moves.

[0012] Preferably, a plurality of adsorption holes are provided on the positioning suction cup, and the interior of the positioning suction cup is configured as a hollow structure, and the interior of the positioning suction cup and the interior of the extension column are interconnected.

[0013] By adopting the above technical solution, when negative pressure is generated inside the positioning suction cup, since the extension column and the positioning suction cup are connected to each other, negative pressure will also be generated inside the extension column.

[0014] Preferably, the traction rod is provided with a circumferentially fixed sealing ring at one end thereof inside the extension column, and the traction rod and the extension column are in sliding connection.

[0015] By adopting the above technical solution, when negative pressure is generated inside the extension column, the negative pressure is used to move the traction rod toward the inside of the extension column, and the movement of the traction rod can drive the waste pressing block to move synchronously.

[0016] Preferably, the waste pressing block is symmetrically arranged about the center of the positioning suction cup, and the cross-section of the waste pressing block is arranged to be a "U"-shaped structure.

[0017] By adopting the above technical solution, the symmetrically distributed waste pressing blocks can be used to clamp and fix the products after being adsorbed by the positioning suction cups, thereby improving the stability of the products during transportation and transfer.

[0018] Preferably, there are multiple positioning suction cups at the lower end of the floating baffle, and a guide plug is fixed to the outer end of the traction rod on the positioning suction cup in the middle of the floating baffle, and the guide plug is inserted into the accommodating groove inside the waste pressing block, and a movable vertical rod is fixed on the waste pressing block, and the movable vertical rod is installed on the linkage seat, and a reset spring is provided on the outer side of the movable vertical rod, and the linkage seat is installed in the adjustment groove opened on the floating baffle.

[0019] By adopting the above technical solution, the waste material at the edge of the product can be cut off by utilizing the movement of the movable vertical rod on the linkage.

[0020] Preferably, the outer wall of the guide plug and the inner wall of the accommodating groove on the waste pressing block fit together, and the longitudinal section of the guide plug is set to a "T"-shaped structure.

[0021] By adopting the above technical solution, the outer wall of the guide plug and the inner wall of the accommodating groove fit together, thereby improving the stability of the guide plug when moving in the accommodating groove.

[0022] Preferably, the movable vertical rod forms an elastic telescopic structure through a return spring and a linkage seat, and the movable vertical rod and the linkage seat are evenly distributed on the waste pressing block.

[0023] By adopting the above technical solution, the reset spring can be provided to enable the moving vertical rod to reset and rebound after moving on the linkage seat.

[0024] Preferably, the outer wall of the linkage seat and the inner wall of the adjustment groove fit together, and the linkage seat can move in the adjustment groove.

[0025] By adopting the above technical solution, the waste pressing block can be clamped normally by the movement of the linkage seat in the regulating groove on the floating baffle.

[0026] Compared with the prior art, the beneficial effects of the present invention are as follows: the manipulator flexibly picks and places products to prevent waste from being carried along with the handling mechanism. When handling products, it can not only fix the products by adsorption through the suction cup, but also clamp the products by means of negative pressure, thereby improving the stability of the products during handling. Moreover, the waste at the edge of the handled products can be ejected by vertical movement of the waste pressing block. The integrated setting of clamping and ejecting improves the efficiency of automated product processing.

[0027] 1. Setting limit posts. By connecting the limit posts symmetrically distributed on the base plate, when the floating baffle moves upward under force, the floating baffle contacts the limit posts after movement, thereby limiting the moving distance of the floating baffle.

[0028] 2. A positioning suction cup is provided. When negative pressure is generated inside the positioning suction cup, the product can be adsorbed and fixed using the adsorption holes on the positioning suction cup. At the same time, the extension column is connected to the interior of the positioning suction cup. At this time, negative pressure can also be formed inside the extension column. The negative pressure can cause the traction rod and the waste pressing block to move relative to each other, thereby performing secondary clamping on the adsorbed product and improving the stability of the product during handling.

[0029] 3. A waste pressing block is provided. A accommodating groove is provided on the waste pressing block located in the middle of the lower end of the floating baffle. When the floating baffle moves downward, the waste pressing block can move downward synchronously. At this time, the waste pressing block in the middle moves downward to eject the waste on the edge of the product, thereby realizing the integrated setting of clamping and ejecting, and avoiding the robot arm carrying waste on the edge of the product during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the front three-dimensional structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the positioning suction cup and adsorption hole structure of the present invention;

[0032] Figure 3 This is a schematic diagram of the exploded structure of the connecting substrate and the floating baffle of the present invention;

[0033] Figure 4 This is a schematic diagram of the positioning suction cup and the docking air pipe structure of the present invention;

[0034] Figure 5 This is a schematic diagram of the extension column and traction rod structure of the present invention;

[0035] Figure 6 This is a schematic diagram of the structure of the traction rod and the waste pressing block of the present invention;

[0036] Figure 7 This is a structural diagram of the movable vertical rod and linkage seat of the present invention;

[0037] Figure 8 This is a schematic diagram of the guide plug and the accommodating groove structure of the present invention;

[0038] Figure 9 For the present invention Figure 7 Enlarged structural diagram at point A in the middle.

[0039] In the figure: 1. Connecting base plate; 2. Floating baffle; 3. Floating pin; 4. Auxiliary spring; 5. Limiting column; 6. Positioning suction cup; 7. Docking air pipe; 8. Adsorption hole; 9. Extension column; 10. Pull rod; 11. Built-in spring; 12. Waste pressing block; 13. Guide plug-in block; 14. Accommodating groove; 15. Moving vertical rod; 16. Linkage seat; 17. Return spring; 18. Adjustment groove. DETAILED DESCRIPTION

[0040] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0041] Example 1: Please refer to Figure 1-Figure 5The existing manipulator picking device can only adsorb the product through a single suction cup at the bottom of the manipulator when transporting the product. The overall stability is poor, and the clamped product is easily loosened due to shaking and other factors during transportation. At the same time, the movement control of the clamping claw on the manipulator requires an additional motor. In the actual effective operating space, setting an additional motor on the manipulator will not only increase the occupied space, but also require the connection of multiple wiring harnesses for the operation of the motor. The manipulator itself is also a component that operates at multiple angles. The interweaving of multiple wiring harnesses will also limit the range of motion of the manipulator. In order to solve this technical problem, the following technical content is disclosed in this embodiment: a manipulator flexibly picks up and places products to prevent waste from being carried. The handling mechanism includes a connecting substrate 1 and a floating baffle 2 arranged below the connecting substrate 1. The floating pin 3 fixed on the floating baffle 2 is installed through the connecting substrate 1. The outer side of the floating pin 3 is provided with an auxiliary spring 4. The lower end of the floating baffle 2 is provided with a positioning suction cup. 6, and the upper end of the positioning suction cup 6 is equipped with a docking air pipe 7 connected to the external negative pressure equipment, and an adsorption hole 8 is opened on the positioning suction cup 6, and an extension column 9 is installed on the side of the positioning suction cup 6, and a traction rod 10 is installed through the extension column 9, and the traction rod 10 is connected to the extension column 9 through a built-in spring 11. The end of the traction rod 10 extending out of the extension column 9 is fixed with a waste pressing block 12, and a limiting column 5 is fixedly installed on the connecting base plate 1, and the limiting column 5 is symmetrically arranged about the transverse central axis of the connecting base plate 1, and the limiting column 5 is located above the floating baffle 2, and a plurality of adsorption holes 8 are provided on the positioning suction cup 6, and the interior of the positioning suction cup 6 is set to a hollow structure, and the interior of the positioning suction cup 6 and the extension column 9 are connected to each other, and the traction rod 10 is located at one end of the extension column 9 with a circumferential fixed sealing ring, and the traction rod 10 and the extension column 9 are slidingly connected, the waste pressing block 12 is symmetrically arranged about the center of the positioning suction cup 6, and the cross-section of the waste pressing block 12 is set to a "U"-shaped structure.

[0042] When the product needs to be transported, the docking air pipe 7 is connected to the external negative pressure equipment, and then the connecting base plate 1 is driven to move by the robotic arm. After the connecting base plate 1 moves, the positioning suction cup 6 on the floating baffle 2 is in contact with the product. At this time, the negative pressure equipment and the docking air pipe 7 are used to generate a negative pressure inside the positioning suction cup 6. After the negative pressure is generated inside the positioning suction cup 6, the product can be adsorbed and fixed through the adsorption hole 8, and the extension column 9 is connected to the inside of the positioning suction cup 6. At this time, the negative pressure generated inside the positioning suction cup 6 can also generate a negative pressure inside the connected extension column 9, and under the influence of the negative pressure, the extension column 9 can be fixed. The traction rod 10 at the top moves toward the inside of the positioning suction cup 6, and after the traction rod 10 moves, it can drive the waste pressing block 12 to move synchronously. The two waste pressing blocks 12 that move relatively can perform secondary clamping and fixing on the transported product after adsorption, thereby further improving the stability of the product during transportation. In this embodiment, the clamping and adsorption of the product are both achieved through the same negative pressure power source, and there is no need to set up additional electrical equipment, such as motors or cylinders. This prevents the interweaving of multiple harnesses from limiting the movement range of the robot arm when the robot arm works at multiple angles. At the same time, it also simplifies the overall structure of the device, and improves the clamping stability through a simple structure.

[0043] Example 2: The technical content disclosed in this embodiment is a further improvement based on the above-mentioned Example 1. When processing existing products, some waste materials are likely to be present on the edge of the product. In this embodiment, the vertical movement of the pressing component is used to eject the waste materials on the edge of the product. The pressing component is integrated with two different functions of ejection and positioning, which reduces the overall volume of the device, shortens the assembly line processing steps, and improves the efficiency of product automation processing. The specific disclosed content is as follows. Figure 2 and Figure 6-Figure 9 As shown, a plurality of positioning suction cups 6 are provided at the lower end of the floating baffle 2, and a guide plug 13 is fixed to the outer end of the traction rod 10 on the positioning suction cup 6 in the middle of the floating baffle 2. The guide plug 13 is inserted into the accommodating groove 14 inside the waste pressing block 12, and a moving vertical rod 15 is fixed on the waste pressing block 12. The moving vertical rod 15 is installed on the linkage seat 16, and the outer side of the moving vertical rod 15 is provided with a reset spring 17. The linkage seat 16 is installed on the floating baffle 2. In the adjustment groove 18, the outer wall of the guide plug 13 and the inner wall of the accommodating groove 14 on the waste pressing block 12 fit together, and the longitudinal section of the guide plug 13 is set to a "T"-shaped structure. The movable vertical rod 15 forms an elastic telescopic structure through the return spring 17 and the linkage seat 16, and the movable vertical rod 15 and the linkage seat 16 are evenly distributed on the waste pressing block 12. The outer wall of the linkage seat 16 and the inner wall of the adjustment groove 18 fit together, and the linkage seat 16 can move in the adjustment groove 18.

[0044] When the product is moved to the middle part below the floating baffle 2, the connecting base plate 1 is controlled by the manipulator to move downward. Since the floating baffle 2 is installed below the connecting base plate 1, the floating baffle 2 also moves downward. After the floating baffle 2 moves downward, the waste pressing block 12 can press the edge of the product. After being pressed, the waste pressing block 12 can move on the traction rod 10, so it does not affect the waste pressing block 12. Figure 1 The vertical movement in the direction of the product can be used to eject the waste on the edge of the product by using the vertical movement of the waste pressing block 12, and the waste pressing block 12 can make the movable vertical rod 15 move on the linkage seat 16 after being subjected to force, thereby playing a buffering role. At the same time, because the cross section of the guide plug 13 in the middle of the traction rod 10 is set to a "T" shape structure, when negative pressure is generated inside the positioning suction cup 6 and inside the extension column 9, the traction rod 10 moves toward the inside of the positioning suction cup 6, and the traction rod 10 and the guide plug 13 can be used to drive the waste pressing block 12 to move synchronously, so that the waste pressing block 12 can clamp the product normally, and after the waste pressing block 12 moves, the linkage seat 16 can move in coordination with the inside of the adjustment groove 18, thereby using the waste pressing block The setting of 12 can not only be used to clamp the product when it is transferred, but also to eject the edge waste of the product. By integrating the clamping and ejecting functions, the process switching time is reduced and the overall processing efficiency is improved. The integrated design reduces the number of required equipment, saves production space, reduces equipment investment and maintenance costs, and the integrated setting reduces the error accumulation caused by process switching and improves the overall quality of the final product. It should be noted here that the lower end plane of the waste pressing block 12 in the middle below the floating baffle 2 is slightly lower than the lower end planes of the waste pressing blocks 12 on the left and right sides. At this time, when the floating baffle 2 moves downward, the waste pressing block 12 in the middle will contact the product to realize material pressing, and the waste pressing blocks 12 on the left and right sides will not affect the movement of the waste pressing block 12 in the middle.

[0045] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0046] In the description of the present invention, unless otherwise specified, "plurality" means two or more; terms such as "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," and "tail" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limiting the present invention. Furthermore, terms such as "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0048] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot flexible pick-up and place product prevention and waste handling mechanism, comprising a connecting base plate (1) and a floating baffle (2) arranged below the connecting base plate (1), a floating pin (3) fixed on the floating baffle (2) is installed on the connecting base plate (1), an auxiliary spring (4) is provided on the outer side of the floating pin (3), a positioning suction cup (6) is installed at the lower end of the floating baffle (2), and a docking air pipe (7) connected to an external negative pressure device is installed at the upper end of the positioning suction cup (6), and an adsorption hole (8) is provided on the positioning suction cup (6), characterized in that: An extension column (9) is installed on the side of the positioning suction cup (6), and a traction rod (10) is installed through the extension column (9). The traction rod (10) is connected to the extension column (9) through a built-in spring (11). A waste pressing block (12) is fixed to one end of the traction rod (10) extending from the extension column (9); The positioning suction cup (6) is provided with a plurality of them at the lower end of the floating baffle (2), and a guide plug (13) is fixed to the outer end of the traction rod (10) on the positioning suction cup (6) in the middle of the floating baffle (2), and the guide plug (13) is inserted into the accommodating groove (14) inside the waste pressing block (12), and a moving vertical rod (15) is fixed on the waste pressing block (12), and the moving vertical rod (15) is installed on the linkage seat (16) through and through, and a return spring (17) is provided on the outer side of the moving vertical rod (15), and the linkage seat (16) is installed in the adjustment groove (18) opened on the floating baffle (2).

2. The robot flexible pick-and-place product prevention and waste handling mechanism according to claim 1 is characterized by: The connection base plate (1) is fixedly mounted with a limiting column (5), and the limiting column (5) is symmetrically arranged with respect to the transverse center axis of the connection base plate (1), and the limiting column (5) is located above the floating baffle (2).

3. The robot flexible pick-and-place product preventing belt waste handling mechanism according to claim 1 is characterized by: A plurality of adsorption holes (8) are provided on the positioning suction cup (6), and the interior of the positioning suction cup (6) is configured as a hollow structure, and the interiors of the positioning suction cup (6) and the extension column (9) are interconnected.

4. The robot flexible pick-and-place product prevention and waste handling mechanism according to claim 1 is characterized by: The traction rod (10) is located at one end of the extension column (9) with a circumferential fixed sealing ring, and the traction rod (10) and the extension column (9) are in sliding connection.

5. The robot flexible pick-and-place product preventing belt waste handling mechanism according to claim 1 is characterized by: The waste pressing block (12) is symmetrically arranged about the center of the positioning suction cup (6), and the cross section of the waste pressing block (12) is arranged in a "U"-shaped structure.

6. The robot flexible pick-and-place product preventing belt waste handling mechanism according to claim 1 is characterized by: The outer wall of the guide plug (13) and the inner wall of the accommodating groove (14) on the waste pressing block (12) fit together, and the longitudinal section of the guide plug (13) is set to a "T"-shaped structure.

7. The robot flexible pick-and-place product preventing belt waste handling mechanism according to claim 1 is characterized by: The movable vertical rod (15) forms an elastic telescopic structure through a return spring (17) and a linkage seat (16), and the movable vertical rod (15) and the linkage seat (16) are evenly distributed on the waste pressing block (12).

8. The robot flexible pick-and-place product preventing belt waste handling mechanism according to claim 1 is characterized by: The outer wall of the linkage seat (16) and the inner wall of the adjustment groove (18) fit together, and the linkage seat (16) can move in the adjustment groove (18).

Images