Material taking mechanism of collaborative robot

Abstract

The invention discloses a material taking mechanism of a collaborative robot, and relates to the technical field of filling machines, the material taking mechanism comprises a rack, a robot, a clamp and a clamping mechanism, the robot is arranged at the upper end of the rack, the tail end of the robot is connected with the clamp through a flange plate, and the clamping mechanism is arranged in the clamp. According to the automatic material taking device, compared with manual material taking, the speed is greatly increased through an automatic material taking mode of the robot, the taking and placing actions of the aluminum pipes can be rapidly and accurately completed, and the problem that manual material taking efficiency is low is effectively solved; through the arrangement that the automatic clamp is matched with the clamping mechanism, automatic aluminum pipe taking can be achieved, manual operation is omitted, potential sanitation and safety hazards can be avoided, a plurality of first clamping grooves are formed in the clamp, a plurality of aluminum pipes can be clamped at a time, the working efficiency is greatly improved, and the pipe feeding speed can reach 300 pipes per minute.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of filling machines, in particular to a taking mechanism of a collaborative robot. BACKGROUND

[0002] In the pharmaceutical industry, the taking of aluminum tubes as packaging containers is crucial in the production process of ointment products. At present, most pharmaceutical companies still widely use manual operation when taking aluminum tubes for ointment products. Workers need to manually take aluminum tubes from the tube box and then place them on the external conveying mechanism, and then the conveying mechanism conveys the aluminum tubes to the subsequent processing station.

[0003] However, this manual taking method has the following defects. First, manual taking is inefficient, and manual operation is relatively slow, which is difficult to meet the needs of large-scale production. During the production peak, manual taking often becomes the bottleneck link in the production process, limiting the improvement of overall production efficiency. Second, the accuracy and stability of manual taking are poor, and long-term repetitive operation can easily cause workers to become tired, resulting in deviation in taking action, and manual taking also has hygiene and safety hazards. SUMMARY

[0004] The purpose of the present application is to provide a taking mechanism of a collaborative robot to solve the above technical problems.

[0005] The technical solution adopted by the present application is as follows: A taking mechanism of a collaborative robot, comprising a rack, a robot, a clamp and a clamping mechanism, the upper end of the rack is provided with the robot, the end of the robot is connected with the clamp through a flange plate, and the clamp is provided with the clamping mechanism.

[0006] As a preferred, the rack comprises a frame and a guard plate arranged on the periphery of the frame, and notches are formed on two adjacent sides of the guard plate.

[0007] As a preferred, the clamp comprises a clamp body, a plurality of first clamping grooves are formed on one side of the clamp body, first installation grooves are formed on the inner walls of the two sides of the first clamping grooves, and the clamping mechanism is arranged in the first installation grooves.

[0008] As a further preferred, the clamping mechanism comprises a first air bag, and one first air bag is arranged in each first installation groove.

[0009] As a further preferred, it further comprises a first air inlet pipe, one side of the first air bag is provided with the first air pipe, and one end of the first air pipe communicates with the inside of the first air bag.

[0010] As a further preferred, the inside of the clamp body is provided with a first chamber, and the other end of the first air inlet pipe is communicated with the first chamber.

[0011] As a further preferred, the upper end of the rack is provided with a first air pump, the other side of the clamp body is provided with a first air pipe joint, one end of the first air pipe joint is connected with the first air pump, and the other end of the first air pipe joint is communicated with the inside of the first chamber.

[0012] As a further preferred, the control device is further included, and one side of the protective plate is provided with the control device, and the control device is connected with the robot.

[0013] As a further preferred, the control device includes a shell, a controller and a touch screen, the shell is connected with the protective plate, the inside of the shell is provided with the controller, and the outer wall of the shell is provided with the touch screen, and the touch screen and the robot are connected with the controller respectively.

[0014] The above technical scheme has the following advantages or beneficial effects: (1) In the present application, the automatic taking mode of the robot greatly improves the speed compared with manual taking, and can quickly and accurately complete the taking and placing action of the aluminum pipe, effectively solving the problem of low efficiency of manual taking.

[0015] (2) In the present application, the robot operates according to the preset program, avoiding the taking deviation caused by fatigue and other factors in manual operation, improving the accuracy and stability of taking. At the same time, the clamping mechanism adopts the air bag clamping mode, which has small damage to the surface of the aluminum pipe, ensures the appearance quality of the aluminum pipe, reduces the rate of defective products, and improves the overall quality of the ointment product.

[0016] (3) In the present application, through the setting of the automatic clamp cooperating with the clamping mechanism, the automatic taking of the aluminum pipe can be realized, manual operation is avoided, health and safety hazards can be avoided, and a plurality of first clamping grooves are arranged on the clamp, a plurality of aluminum pipes can be clamped at one time, the working efficiency is greatly improved, and the pipe feeding speed can reach 300 per minute. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 is the structure diagram of the taking mechanism of the collaborative robot in the present application Figure One ; Figure 2 is the structure diagram of the taking mechanism of the collaborative robot in the present application Figure Two ; Figure 3 is Figure 2 the enlarged view of A in the present application.

[0018] In the figure: 1. Frame; 101. Frame; 102. Protective plate; 2. Robot; 3. Fixture; 301. Fixture body; 302. First clamping groove; 303. First mounting groove; 4. First airbag; 5. First air pipe connector; 6. First air pump; 7. Control equipment; 701. Housing; 702. Touch screen. Detailed Implementation

[0019] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] In the description of this invention, it should be noted that terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "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 this 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 this 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.

[0021] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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.

[0022] Please see Figures 1 to 3The diagram illustrates a preferred embodiment of a collaborative robot's material handling mechanism, comprising a frame 1, a robot 2, a fixture 3, and a clamping mechanism. The robot 2 is mounted on the upper end of the frame 1, and its end is connected to the fixture 3 via a flange. The fixture 3 houses the clamping mechanism. In this embodiment, the robot 2 is a six-axis robot mounted on the upper end of the frame 1, and its movement trajectory is controlled by a controller program. The robot 2 is connected to the fixture 3 via the flange, enabling flexible movement of the fixture 3. The clamping mechanism works in conjunction with the fixture 3 to clamp aluminum tubes. When the robot 2 receives a material handling command, it moves the fixture 3 to a tube box position according to a preset path. When the aluminum tube enters the fixture 3, the clamping mechanism of the fixture 3 clamps the aluminum tube. The robot 2 then transports the aluminum tube to an external conveying mechanism, releases the clamping mechanism, and places the aluminum tube onto the conveying mechanism. This material handling mechanism enables automated aluminum tube handling, solving the problem of low efficiency in manual material handling. It can quickly and accurately complete the material handling and unloading actions, greatly improving efficiency and meeting the needs of large-scale production. At the same time, Robot 2 operates according to a preset program, avoiding the arbitrariness of manual operation, improving the accuracy and stability of material handling, and reducing the defect rate.

[0023] Furthermore, in a preferred embodiment, the frame 1 includes a frame 101 and a protective plate 102 disposed around the frame 101, with slots formed on two adjacent sides of the protective plate 102. In this embodiment, the protective plate 102 is made of metal and is connected to the frame 101 by welding or bolts, providing stable support for the entire mechanism. The protective plate 102 is installed around the frame 101 to provide protection and prevent operators from accidentally contacting moving parts and causing injury. The slots facilitate the installation of other equipment or components, such as pipe box conveying equipment and aluminum pipe feeding mechanisms.

[0024] Furthermore, in a preferred embodiment, the clamp 3 includes a clamp body 301. A plurality of first clamping grooves 302 are formed on one side of the clamp body 301. First mounting grooves 303 are formed on the inner walls of both sides of the first clamping grooves 302. A clamping mechanism is disposed within the first mounting grooves 303. The first clamping grooves 302 are used to place aluminum tubes. The clamping mechanism includes a first airbag 4, with one first airbag 4 disposed in each first mounting groove 303. A first air pipe is provided on one side of the first airbag 4, with one end of the first air pipe communicating with the interior of the first airbag 4. A first chamber is formed inside the clamp body 301, and the other end of the first air inlet pipe communicates with the first chamber. A first air pump 6 is provided at the upper end of the frame 1, and a first air pipe connector 5 is provided on the other side of the clamp body 301. One end of the first air pipe connector 5 is connected to the first air pump 6, and the other end of the first air pipe connector 5 communicates with the interior of the first chamber. The first air pump 6 and the first air pipe connector 5 are connected by a flexible hose. The first airbag 4 in this embodiment can automatically adjust the clamping force according to the shape and size of the aluminum tube, ensuring that aluminum tubes of different specifications can be firmly clamped. Moreover, the airbag clamping method is gentler and will not damage the surface of the aluminum tube, thus ensuring the appearance quality of the aluminum tube. At the same time, by controlling the pressure of the first air pump 6, the clamping force can be precisely controlled, improving the accuracy and stability of material handling.

[0025] Furthermore, as a preferred embodiment, a control device 7 is also included. The control device 7 is located on one side of the protective plate 102 and is connected to the robot 2. The control device 7 includes a housing 701, a controller, and a touchscreen 702. The housing 701 is connected to the protective plate 102, and the controller is located inside the housing 701. The touchscreen 702 is located on the outer wall of the housing 701. The touchscreen 702 and the robot 2 are respectively connected to the controller. The controller is a PLC controller, used to connect with the touchscreen 702, the first air pump 6, and the robot 2. This improves the ease of operation and intelligence of the material handling mechanism. Operators do not need professional programming knowledge; they can easily complete various parameter settings and operations through the touchscreen 702, reducing the difficulty of operation.

[0026] A CCD camera is installed on the flange at the end of robot 2, and the CCD camera is connected to the controller to detect the position, quantity and size of the aluminum tubes so that the clamp 3 and the clamping mechanism can clamp the aluminum tubes.

[0027] In use, when the tube box containing aluminum tubes is transported to the bottom of robot 2 by the external tube box conveying equipment, the controller will automatically control robot 2 to work. The CCD camera on robot 2 detects the position and quantity of aluminum tubes, and then controls the clamp 3 to move into the tube box, so that the aluminum tube enters the first clamping groove 302. Then the first air pump 6 is pneumatic, pumping air into the first chamber. The air fills the first air bag 4, causing the first air bag 4 to expand, thereby clamping the aluminum tube from both sides to achieve clamping and fixing of the aluminum tube. Then robot 2 controls the clamp 3 to leave the tube box and move the aluminum tube to the external aluminum tube delivery mechanism. Then the first air pump 6 sucks air out of the first cavity, so that the first air bag 4 releases the aluminum tube, allowing the aluminum tube to enter the aluminum tube delivery mechanism.

[0028] The above description is merely a preferred embodiment of the present invention and does not limit the implementation and protection scope of the present invention. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A material handling mechanism for a collaborative robot, characterized in that, It includes a frame, a robot, a fixture, and a clamping mechanism. The robot is mounted on the upper end of the frame, and the end of the robot is connected to the fixture via a flange. The clamping mechanism is located inside the fixture.

2. The material handling mechanism of the collaborative robot as described in claim 1, characterized in that, The frame includes a frame and a protective plate disposed around the perimeter of the frame, and slots are provided on two adjacent sides of the protective plate.

3. The material handling mechanism of the collaborative robot as described in claim 1, characterized in that, The clamp includes a clamp body, a plurality of first clamping grooves are provided on one side of the clamp body, and first mounting grooves are provided on the inner walls of both sides of the first clamping grooves. The clamping mechanism is disposed in the first mounting groove.

4. The material handling mechanism of the collaborative robot as described in claim 3, characterized in that, The clamping mechanism includes a first airbag, and each of the first mounting slots is provided with a first airbag.

5. The material handling mechanism of the collaborative robot as described in claim 4, characterized in that, It also includes a first air inlet pipe, and the first air pipe is provided on one side of the first airbag, with one end of the first air pipe communicating with the interior of the first airbag.

6. The material handling mechanism of the collaborative robot as described in claim 5, characterized in that, The fixture body has a first chamber inside, and the other end of the first air inlet pipe is connected to the first chamber.

7. The material handling mechanism of the collaborative robot as described in claim 6, characterized in that, A first air pump is provided at the upper end of the frame, and a first air pipe connector is provided on the other side of the fixture body. One end of the first air pipe connector is connected to the first air pump, and the other end of the first air pipe connector is connected to the interior of the first chamber.

8. The material handling mechanism of the collaborative robot as described in claim 2, characterized in that, It also includes a control device, which is provided on one side of the guard plate and is connected to the robot.

9. The material handling mechanism of the collaborative robot as described in claim 8, characterized in that, The control device includes a housing, a controller, and a touch screen. The housing is connected to the protective plate. The controller is disposed inside the housing, and the touch screen is disposed on the outer wall of the housing. The touch screen and the robot are respectively connected to the controller.

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