A highly automated material taking robot

Abstract

This application discloses a highly automated material handling robot, including a base, characterized in that: a robot arm seat is provided on the base, a robot arm is provided on the robot arm seat, the robot arm is a six-axis robot arm, the end shaft of the robot arm is connected to a screwdriver main board, and a material suction mechanism is fixed on the screwdriver main board; an adaptive feeding platform is provided on the platform of the base to cooperate with the material suction mechanism, the adaptive feeding platform includes a material carrying base plate, a plurality of floating blocks circumferentially arrayed on the material carrying base plate, and springs connected to the back of the floating blocks; the plurality of floating blocks form a contour groove adapted to the shape of the material.

Description

Technical Field

[0001] This invention relates to the technical field of non-standard automated equipment, specifically to a highly automated material handling robot. Background Technology

[0002] With the advancement of technological innovation, automated equipment has made rapid progress in the manufacturing industry. Previously labor-intensive industries have gradually introduced industrial robots to replace manual labor in order to reduce production costs. However, the current level of automation of equipment is not high enough, the development of robots is limited, and the scope of application cannot meet the growing demand for automated production. In particular, due to the limited flexibility and inflexibility of robotic arms, it is difficult to use robotic arms to flexibly deliver parts to the target position according to actual needs during use, which ultimately affects the production efficiency of the equipment and the overall level of automation of equipment production is not high. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned problems in the prior art and to provide a highly automated material handling robot. This device has a high degree of automation, greater flexibility, equipment flexibility, and higher precision.

[0004] To achieve the above objectives and technical effects, the technical solution of the present invention is as follows: A highly automated material handling robot includes a base, characterized in that: a robot arm seat is provided on the base, a robot arm is provided on the robot arm seat, the robot arm is a six-axis robot arm, the end shaft of the robot arm is connected to a screwdriver main board, and a material suction mechanism is fixed on the screwdriver main board; an adaptive feeding platform is provided on the platform of the base to cooperate with the material suction mechanism, the adaptive feeding platform includes a material-carrying base plate, a plurality of floating blocks arranged circumferentially on the material-carrying base plate, and springs connected to the back of the floating blocks; the plurality of floating blocks form a contour groove adapted to the shape of the material.

[0005] Furthermore, the material suction mechanism includes a suction cup fixing plate, with suction cup fixing plates at both ends. Multiple suction cups are provided on the suction cup fixing plates, and a thrust block is provided at one end of each of the two suction cup fixing plates. The thrust blocks are vertically fixed to the end face of the suction cup fixing plates, and the two thrust blocks are located on the same side.

[0006] Furthermore, the suction cup fixing plate is provided with three waist holes, and the suction cup is fixed in the waist holes.

[0007] Furthermore, the six-axis robot includes a first robotic arm, one end of which is rotatably connected to the robot arm base. A second robotic arm is hinged to the other end of the first robotic arm. A third robotic arm is hinged to the end of the second robotic arm. A fourth robotic arm, which rotates circumferentially along its own axis, is connected to the end of the third robotic arm. A fifth robotic arm is hinged to the end of the fourth robotic arm. The end of the fifth robotic arm is connected to the central axis of the screwdriver motherboard.

[0008] Furthermore, the base is provided with two screen stands placed opposite each other, a keyboard sheet metal for placing the keyboard is fixed between the screen stands, a screen fixing plate is fixed between the upper ends of the screen stands, and a display is fixed on the screen fixing plate.

[0009] Furthermore, the base has multiple feet on its bottom plane, and the bottom of each foot is screwed to a foot cup.

[0010] Furthermore, the front of the screwdriver mainboard is also provided with a locking slide cylinder, and a screwdriver bracket is fixed to the moving end of the locking slide cylinder. At least one electric screwdriver is provided on the screwdriver bracket. The screwdriver bit direction is consistent with the suction direction of the suction cup, and the locking slide cylinder is used to drive the electric screwdriver to extend downward and beyond the end face of the suction cup, or to retract upward and avoid the material suction mechanism.

[0011] Furthermore, a flexible buffer assembly is connected between the suction cup and the suction cup fixing sheet metal. The flexible buffer assembly includes a guide sleeve, a buffer rod that slides through the guide sleeve, and a return spring sleeved on the outside of the buffer rod. The suction cup is fixed to the bottom end of the buffer rod, and the two ends of the return spring abut against the end face of the guide sleeve and the back face of the suction cup, respectively.

[0012] Furthermore, a visual positioning bracket extends from one side of the screwdriver motherboard, on which a CCD camera and a ring light source surrounding the CCD camera lens are fixed; the shooting center axis of the CCD camera is set at a fixed offset from the suction center of the material suction mechanism.

[0013] Furthermore, the bottom of the thrust block is provided with a chamfered guide surface, and a miniature contact switch is embedded on the inner side of the thrust block, with the trigger end of the miniature contact switch protruding from the inner side of the thrust block.

[0014] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it according to the contents of the specification, the preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings. Specific embodiments of the present invention are given in detail below with reference to the accompanying drawings. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the technical description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram of the structure of the robotic arm according to a preferred embodiment of the present invention;

[0018] Figure 3 This is a schematic diagram of the material suction mechanism according to a preferred embodiment of the present invention;

[0019] Figure 4 This is a schematic diagram of the foot base and foot cup of a preferred embodiment of the present invention;

[0020] The components are: 1. Base, 2. Robotic arm base, 3. Robotic arm, 31. First robotic arm, 32. Second robotic arm, 33. Third robotic arm, 34. Fourth robotic arm, 35. Fifth robotic arm, 4. Screwdriver motherboard, 5. Suction cup fixing plate, 6. Suction cup fixing sheet metal, 7. Suction cup, 8. Thrust block, 9. Waist hole, 10. Screen stand, 11. Keyboard sheet metal, 12. Screen fixing plate, 13. Monitor, 14. Foot base, 15. Foot cup. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. 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.

[0022] like Figure 1-4 As shown, this embodiment discloses an automatic material handling device, including a base 1, a robotic arm base 2 on the base 1, a robotic arm 3 on the robotic arm base 2, and a screwdriver main board 4 connected to the end shaft of the robotic arm 3. A material suction mechanism is fixed on the screwdriver main board 4.

[0023] To achieve precise material positioning and flexible feeding, the base 1 has an adaptive feeding platform 16 that cooperates with the material suction mechanism. The adaptive feeding platform 16 includes a material-carrying base plate, multiple floating blocks arranged circumferentially on the base plate, and spring clips connected to the back of the floating blocks. The multiple floating blocks form a contouring groove that conforms to the shape of the material. When the material is placed into the contouring groove, the spring clips, in conjunction with the floating blocks, can accommodate minor dimensional tolerances of the material and act as a self-centering mechanism, ensuring relative consistency in the feeding position each time.

[0024] The material suction mechanism includes a suction cup fixing plate 5, with suction cup fixing plates 6 at both ends of the suction cup fixing plate 5. Multiple suction cups 7 are mounted on the suction cup fixing plates 6. Each of the two suction cup fixing plates 6 has a thrust block 8 at one end, which is vertically fixed to the end face of the suction cup fixing plate 6. The two thrust blocks 8 are located on the same side. The thrust blocks 8 prevent axial movement of the suctioned material, thereby maintaining the normal operation of the equipment.

[0025] Furthermore, to improve the error tolerance and foolproof capability of the equipment during gripping, the bottom of the thrust block 8 is provided with a chamfered guide surface, and a miniature contact switch is embedded on the inner side of the thrust block 8, with the trigger end of the miniature contact switch protruding from the inner side of the thrust block 8. The chamfered guide surface can forcefully guide slightly deviated material into the correct position when pressed down, while the miniature contact switch is used to detect whether the material is firmly attached to the thrust block 8, forming a closed-loop gripping confirmation signal.

[0026] The suction cup fixing plate has three waist holes 9, and the suction cup 7 is fixed in the waist holes 9. The waist holes 9 make the fixing position of the suction cup 7 more flexible. The position of the suction cup 7 can be finely adjusted along the length of the waist holes 9 as needed, ensuring the flexibility and accuracy of the equipment.

[0027] To prevent damage to fragile materials caused by rigid downward pressure, a flexible buffer assembly 17 is connected between the suction cup 7 and the suction cup fixing sheet 6. The flexible buffer assembly 17 includes a guide sleeve, a buffer rod that slides through the guide sleeve, and a return spring sleeved on the outside of the buffer rod. The suction cup 7 is fixed to the bottom end of the buffer rod, and the two ends of the return spring abut against the end face of the guide sleeve and the back face of the suction cup 7, respectively.

[0028] A visual positioning bracket 18 extends from one side of the screwdriver motherboard 4. A CCD camera 19 and a ring light source surrounding the lens of the CCD camera 19 are fixed on the visual positioning bracket 18. The shooting center axis of the CCD camera 19 is set at a fixed offset from the suction center of the material suction mechanism.

[0029] To achieve a high degree of integration between the material picking and screw-driving processes, the front of the screwdriver main board 4 is also provided with a locking slide cylinder 20. The moving end of the locking slide cylinder 20 is fixed with a screwdriver bracket, and the screwdriver bracket is provided with at least one electric screwdriver 21. The direction of the screwdriver bit of the electric screwdriver 21 is consistent with the suction direction of the suction cup 7, and the locking slide cylinder 20 is used to drive the electric screwdriver 21 to extend downward and beyond the end face of the suction cup 7, or to retract upward and avoid the material picking mechanism.

[0030] The robotic arm 3 is a six-axis robotic arm, comprising a first robotic arm 31, one end of which is rotatably connected to the robotic arm base 2. A second robotic arm 32 is hinged to the other end of the first robotic arm 31. A third robotic arm 33 is hinged to the end of the second robotic arm 32. A fourth robotic arm 34, rotating circumferentially along its own axis, is hinged to the end of the third robotic arm 33. A fifth robotic arm 35 is hinged to the end of the fourth robotic arm 34. The end of the fifth robotic arm 35 is connected to the central axis of the screwdriver motherboard 4. The six-axis robotic arm makes the grasping action more flexible, adaptable to different operating environments, and more flexible.

[0031] The base 1 has two opposing screen stands 10, with a keyboard sheet metal 11 fixed between the screen stands 10 for placing the keyboard. A screen fixing plate 12 is fixed between the upper ends of the screen stands 10, and a display 13 is fixed on the screen fixing plate 12. The automated operation of the device can be flexibly controlled through the keyboard of the keyboard sheet metal 11 and the display 13, enabling direct digital operation and reducing the footprint of the device.

[0032] The base 1 has multiple feet 14 on its bottom plane, and foot cups 15 are screwed to the bottom of each foot 14. The foot cups 15 allow the device to be flexibly adjusted, and the working plane of the device can be adjusted according to actual needs, further increasing the flexibility of the device and making it easier to adjust the balance performance of the device, thus ensuring the normal operation of the device.

[0033] When using it (complete working principle):

[0034] The automatic material handling device in this embodiment is placed at a certain station on the production line. When the material enters the adaptive feeding platform 16 on the base 1, the floating stop is centered and positioned by the action of the spring; then, the robot arm 3 drives the screwdriver motherboard 4 to move, first taking pictures of the material through the CCD camera 19 and calculating the precise coordinate deviation; then, the robot arm 3 translates and compensates according to the "fixed offset", so that the suction cup 7 is precisely aligned above the material and pressed down.

[0035] During the downward pressing process, the chamfered guide surface at the bottom of the thrust block 8 further constrains the material until the side of the material touches and presses against the micro contact switch, and the system receives a confirmation signal of being in place; at the same time, the reset spring in the flexible buffer component 17 is compressed to absorb the downward impact force and protect the material from being crushed. Then, the suction cup 7 draws a vacuum to firmly pick up the material.

[0036] After the robotic arm 3 transfers the material to the next workstation (such as the assembly workstation) and puts it down, the locking slide cylinder 20 is activated, driving the electric screwdriver 21 to extend downward and out of the suction cup end face, directly completing the screw fastening work of the material at the current workstation; after the fastening is completed, the cylinder retracts and resets.

[0037] This embodiment achieves a high-precision, high-tolerance "material handling-assembly-locking" integrated process through the ingenious combination of a six-axis robotic arm and a multi-functional end effector integrating vision, buffering, error-proof detection, and automatic locking. This significantly improves production efficiency and yield, reduces production costs, and is highly suitable for large-scale, highly flexible automated production on assembly lines.

[0038] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A highly automated material handling robot, comprising a base, characterized in that: The base is equipped with a robotic arm seat, and the robotic arm is mounted on the robotic arm seat. The robotic arm is a six-axis robotic arm, and its end axis is connected to a screwdriver motherboard. A material suction mechanism is fixed on the screwdriver motherboard. The platform of the base is equipped with an adaptive feeding platform that cooperates with the material suction mechanism. The adaptive feeding platform includes a material-carrying base plate, multiple floating blocks arranged circumferentially on the material-carrying base plate, and springs connected to the back of the floating blocks. The multiple floating blocks form a contour groove that conforms to the shape of the material.

2. The highly automated material handling robot according to claim 1, characterized in that: The material suction mechanism includes a suction cup fixing plate, with suction cup fixing plates at both ends. Multiple suction cups are provided on the suction cup fixing plates, and a thrust block is provided at one end of each of the two suction cup fixing plates. The thrust blocks are vertically fixed to the end face of the suction cup fixing plates, and the two thrust blocks are located on the same side.

3. The highly automated material handling robot according to claim 2, characterized in that: The suction cup fixing plate has three waist holes, and the suction cup is fixed in the waist holes.

4. The highly automated material handling robot according to claim 1, characterized in that: The six-axis robotic arm includes a first robotic arm, one end of which is rotatably connected to the robotic arm base. A second robotic arm is hinged to the other end of the first robotic arm. A third robotic arm is hinged to the end of the second robotic arm. A fourth robotic arm, which rotates circumferentially along its own axis, is connected to the end of the third robotic arm. A fifth robotic arm is hinged to the end of the fourth robotic arm. The end of the fifth robotic arm is connected to the central axis of the screwdriver motherboard.

5. The highly automated material handling robot according to claim 1, characterized in that: The base is provided with two screen stands placed opposite each other, and a keyboard sheet metal for placing the keyboard is fixed between the screen stands. A screen fixing plate is fixed between the upper ends of the screen stands, and a monitor is fixed on the screen fixing plate.

6. The highly automated material handling robot according to claim 1, characterized in that: The base has multiple feet on its bottom plane, and foot cups are connected to the bottom of the feet by screws.

7. The highly automated material handling robot according to claim 1, characterized in that: The front of the screwdriver mainboard is also provided with a locking slide cylinder. The moving end of the locking slide cylinder is fixed with a screwdriver bracket. The screwdriver bracket is provided with at least one electric screwdriver. The screwdriver bit direction is consistent with the suction direction of the suction cup. The locking slide cylinder is used to drive the electric screwdriver to extend downward and beyond the end face of the suction cup, or to retract upward and avoid the material suction mechanism.

8. The highly automated material handling robot according to claim 2, characterized in that: A flexible buffer assembly is connected between the suction cup and the suction cup fixing sheet metal. The flexible buffer assembly includes a guide sleeve, a buffer rod that slides through the guide sleeve, and a return spring sleeved on the outside of the buffer rod. The suction cup is fixed to the bottom end of the buffer rod, and the two ends of the return spring abut against the end face of the guide sleeve and the back side of the suction cup, respectively.

9. The highly automated material handling robot according to claim 1 or 2, characterized in that: A visual positioning bracket extends from one side of the screwdriver motherboard, on which a CCD camera and a ring light source surrounding the CCD camera lens are fixed; the shooting center axis of the CCD camera is offset from the suction center of the material suction mechanism by a fixed amount.

10. The highly automated material handling robot according to claim 2, characterized in that: The bottom of the thrust block is provided with a chamfered guide surface, and a miniature contact switch is embedded on the inner side of the thrust block. The trigger end of the miniature contact switch protrudes from the inner side of the thrust block.

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