Appliance fine positioning mechanism for robot grabbing and releasing

Abstract

The utility model relates to an appliance fine positioning mechanism for robot grabbing and releasing, which comprises a frame main body, the left part of the frame main body is provided with a bidirectional locking mechanism, a reference block, a guide mechanism, a detection sensor assembly and a floating mechanism, the right part of the frame main body is fixedly provided with a positioning frame, and the inner side of the positioning frame is symmetrically provided with a plurality of groups of layered positioning mechanisms. The bidirectional locking mechanism and the reference block are arranged in a matched mode, the bidirectional locking mechanism comprises a servo air cylinder, a mounting frame and a push plate, and the floating mechanism comprises a floating plate, a ball seat and a limiting rod; through the design of the frame main body, the bidirectional locking mechanism, the reference block, the guide mechanism, the detection sensor assembly and the floating mechanism, the positioning mechanism has a coarse guide function, so that a forklift can conveniently put in an empty material appliance or move out of a material appliance fully loaded with parts, the additional operation time of personnel is not increased, and the working efficiency is greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tool positioning mechanisms, and more specifically to a tool precision positioning mechanism for robot grasping and releasing. Background Art

[0002] After the battery shell slides out of the unloading conveyor line at the end of the stamping line, it needs to be inspected and loaded into the material equipment. During the entire battery shell framing process, in order to ensure the framing efficiency, a robot is used to grab the qualified parts after inspection and automatically transport them to the material transfer equipment.

[0003] At present, most of them adopt manual handling of the feeding frame or adopt electric hoists to flexibly search for material tools. The tools do not have the function of precise positioning mechanism and cannot cooperate with the robot for accurate handling and loading. The utility model proposes a new solution to the above problems. Utility Model Content

[0004] In view of the problems existing in the prior art, the purpose of the utility model is to provide a precise positioning mechanism for a robot grasping and releasing tool to solve the technical problems mentioned in the background technology.

[0005] To solve the above problems, the utility model adopts the following technical solutions.

[0006] A robot grasping and placing tool precision positioning mechanism, comprising a frame body, the left part of the frame body is provided with a two-way locking mechanism, a reference block, a guide mechanism, a detection sensor assembly, and a floating mechanism, the right part of the frame body is fixed with a positioning frame, the inner side of the positioning frame is symmetrically provided with multiple groups of layered positioning mechanisms, the reference block is provided with multiple groups, the multiple groups of the reference blocks are respectively bolted to the edge of the frame body, and the two-way locking mechanism is provided with multiple groups, the multiple groups of the two-way locking mechanism are arranged in cooperation with the reference block, wherein the two-way locking mechanism includes a servo air Cylinder, mounting frame, push plate, the mounting frame is bolted to the frame body, the servo cylinder is bolted to the mounting frame, the working end of the servo cylinder is bolted to the push plate, the floating mechanism includes a floating plate, a ball seat, and a limit rod. The ball seat is provided with multiple groups, the ball seat is fixed at the four corners of the upper end surface of the left part of the frame body, the lower end surface of the ball seat is fitted with the ball of the ball seat, and there are two groups of limit rods. The two groups of limit rods are arranged perpendicular to each other, one end of the limit rod is rotatably connected to the frame body, and the other end of the limit rod is rotatably connected to one side of the floating plate.

[0007] Preferably, the detection sensor assembly includes a mounting column, a position sensor, and a positioning rod, the bottom of the mounting column is fixedly connected to the frame body, the position sensor and the positioning rod are respectively provided in multiple groups, and the position sensor and the positioning rod are respectively fixed on the mounting column at equal intervals.

[0008] In any of the above schemes, preferably, the layered positioning mechanism includes a V-shaped positioning block and a rotating shaft, and the corner of the V-shaped positioning block is rotatably connected to the frame body through the rotating shaft.

[0009] In any of the above schemes, preferably, the floating mechanism further includes a limit block, the limit block is bolted to both sides of the floating plate, a limit column is inserted into the limit block, and the limit column is connected to the limit block via a set spring.

[0010] Preferably, in any of the above solutions, two sets of bidirectional locking mechanisms are respectively fixed to two adjacent edges of the left portion of the frame body.

[0011] Compared with the prior art, the advantages of the present invention are:

[0012] In the utility model, the frame body, the two-way locking mechanism, the reference block, the guide mechanism, the detection sensor assembly, and the floating mechanism are designed. The forklift drops the empty material utensil along the detection sensor assembly of the frame body onto the left part of the frame body. The empty material utensil can float in the XY plane with the frame body through the floating mechanism. Finally, the two-way locking mechanism of the contact surface starts to lock, and the empty utensil is locked to the X reference edge and the Y reference edge to complete the reference positioning. The robot grabs the parts and puts them into the positioning frame in sequence. The positioning mechanism has a coarse guide, which is convenient for the forklift to put in the empty material utensil or remove the material utensil full of parts, does not increase the extra operation time of the personnel, and greatly improves the work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the overall structure of a precise positioning mechanism for a robot grasping and placing device of the utility model;

[0014] Figure 2 It is a structural schematic diagram of a bidirectional locking mechanism;

[0015] Figure 3 It is a structural schematic diagram of the floating mechanism;

[0016] Figure 4 Schematic diagram of the detection sensor component structure.

[0017] Description of the numbers in the figure:

[0018] 1. Frame body; 2. Bidirectional locking mechanism; 3. Reference block; 4. Guide mechanism; 5. Detection sensor assembly; 6. Floating mechanism; 7. Positioning frame; 8. Layered positioning mechanism; 201. Servo cylinder; 202. Mounting frame; 203. Push plate; 601. Floating plate; 602. Ball seat; 603. Limit rod; 501. Mounting column; 502. Position sensor; 503. Positioning rod; 801. V-shaped positioning block; 802. Rotating shaft; 604. Limit block; 605. Limit column. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model; it is obvious that the described embodiments are only part of the embodiments of the utility model, rather than all of the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the utility model without making creative work are within the scope of protection of the utility model. Example

[0020] See also Figures 1 to 4 , a precise positioning mechanism for a robot grasping and releasing tool, comprising a frame body 1, a left portion of the frame body 1 is provided with a two-way locking mechanism 2, a reference block 3, a guide mechanism 4, a detection sensor assembly 5, and a floating mechanism 6, a positioning frame 7 is fixed to the right portion of the frame body 1, and a plurality of groups of layered positioning mechanisms 8 are symmetrically arranged on the inner side of the positioning frame 7, a plurality of groups of reference blocks 3 are provided, and the plurality of groups of reference blocks 3 are respectively bolted to the edges of the frame body 1, and a plurality of groups of two-way locking mechanisms 2 are provided, and the plurality of groups of two-way locking mechanisms 2 are arranged in cooperation with the reference block 3, wherein the two-way locking mechanism 2 comprises a servo cylinder 201, a mounting frame 202, and a push plate 203, the mounting frame 202 is bolted to the frame body 1, the servo cylinder 201 is bolted to the mounting frame 202, and the working end of the servo cylinder 201 is bolted to the push plate 203, and the floating mechanism 6 comprises a floating plate 601, a ball seat 602, and a limit rod 603, the ball seat 602 is provided with a plurality of groups, and the ball seat 602 is fixed to the upper end of the left portion of the frame body 1 At the four corners of the surface, the lower end surface of the ball seat 602 is in contact with the ball of the ball seat 602, and two groups of limit rods 603 are provided. The two groups of limit rods 603 are arranged perpendicular to each other, one end of the limit rod 603 is rotatably connected to the frame body 1, and the other end of the limit rod 603 is rotatably connected to one side of the floating plate 601; the design of the frame body 1, the two-way locking mechanism 2, the reference block 3, the guide mechanism 4, the detection sensor assembly 5, and the floating mechanism 6, the forklift drops the empty material utensil along the detection sensor assembly 5 of the frame body 1 into the left part of the frame body 1, and the empty material utensil can float in the XY plane with the frame body 1 through the floating mechanism 6, and finally the two-way locking mechanism 2 of the contact surface starts to lock, and the empty utensil is locked to the X reference edge and the Y reference edge to complete the reference positioning, and the robot grabs the parts and puts them into the positioning frame 7 in turn. The positioning mechanism has a coarse guide to facilitate the forklift to put in the empty material utensil or remove the material utensil loaded with parts, without increasing the extra operation time of the personnel, and greatly improves the work efficiency.

[0021] In this embodiment, the detection sensor assembly 5 includes a mounting column 501, a position sensor 502, and a positioning rod 503. The bottom of the mounting column 501 is fixed to the frame body 1, and multiple groups of position sensors 502 and positioning rods 503 are respectively provided. The position sensors 502 and positioning rods 503 are respectively fixed on the mounting column 501 at equal intervals. The positioning rods 503 and the mounting column 501 are used to preliminarily locate the empty utensils, and the position sensor 502 is used to sense the number of empty utensils.

[0022] In this embodiment, the layered positioning mechanism 8 includes a V-shaped positioning block 801 and a rotating shaft 802. The corner of the V-shaped positioning block 801 is rotatably connected to the frame body 1 through the rotating shaft 802. The V-shaped positioning block 801 is used to accurately position the empty device and perform layering.

[0023] In this embodiment, the floating mechanism 6 also includes a limit block 604, which is bolted to both sides of the floating plate 601, and a limit column 605 is inserted into the limit block 604, and the limit column 605 is connected to the limit block 604 through a set spring; the limit column 605 and the limit block 604 are used to position the floating plate 601 in the floating mechanism 6.

[0024] In this embodiment, two sets of bidirectional locking mechanisms 2 are respectively fixed at two adjacent edges of the left portion of the frame body 1; the two sets of bidirectional locking mechanisms 2 cooperate with the reference block 3 to realize the positioning of the air device.

[0025] The working process of the utility model is as follows:

[0026] The forklift drops the empty material utensil along the detection sensor assembly 5 of the frame body 1 onto the left part of the frame body 1. The empty material utensil can float in the XY plane with the frame body 1 through the floating mechanism 6. Finally, the two-way locking mechanism 2 of the contact surface starts to lock, and the empty utensil is locked to the X reference edge and the Y reference edge to complete the reference positioning. The robot grabs the parts and puts them into the positioning frame 7 in sequence. The positioning mechanism has a coarse guide to facilitate the forklift to put in the empty material utensil or move out the material utensil fully loaded with parts, without increasing the extra operation time of the personnel, greatly improving the work efficiency.

[0027] The above is only a preferred specific implementation of the utility model; however, the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solution and improved ideas of the utility model within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model.

Claims

1. A robot pick-and-place tool precision positioning mechanism, comprising a frame body (1), characterized in that: The left part of the frame body (1) is provided with a bidirectional locking mechanism (2), a reference block (3), a guide mechanism (4), a detection sensor assembly (5), and a floating mechanism (6); the right part of the frame body (1) is fixed with a positioning frame (7); a plurality of groups of layered positioning mechanisms (8) are symmetrically arranged inside the positioning frame (7); a plurality of groups of the reference blocks (3) are provided, and the plurality of groups of the reference blocks (3) are respectively bolted to the edges of the frame body (1); and a plurality of groups of the bidirectional locking mechanisms (2) are provided, and the plurality of groups of the bidirectional locking mechanisms (2) are arranged in cooperation with the reference blocks (3); wherein the bidirectional locking mechanisms (2) comprise a servo cylinder (201), a mounting frame (202), and a push plate (203); the mounting frame (202) is bolted to the frame body ( 1), a servo cylinder (201) is bolted to a mounting frame (202), a working end of the servo cylinder (201) is bolted to a push plate (203), a floating mechanism (6) comprises a floating plate (601), a ball seat (602), and a limit rod (603), a plurality of ball seats (602) are provided, the ball seats (602) are fixed to the four corners of the upper end surface of the left part of the frame body (1), the lower end surface of the ball seat (602) is in contact with the ball of the ball seat (602), two groups of limit rods (603) are provided, the two groups of limit rods (603) are arranged perpendicular to each other, one end of the limit rod (603) is rotatably connected to the frame body (1), and the other end of the limit rod (603) is rotatably connected to one side of the floating plate (601).

2. A robot pick-and-place tool precision positioning mechanism according to claim 1, characterized in that: The detection sensor assembly (5) comprises a mounting column (501), a position sensor (502), and a positioning rod (503); the bottom of the mounting column (501) is fixedly connected to the frame body (1); a plurality of groups of the position sensor (502) and the positioning rod (503) are respectively provided; and the position sensor (502) and the positioning rod (503) are respectively fixed on the mounting column (501) at equal intervals.

3. A robot pick-and-place tool precision positioning mechanism according to claim 1, characterized in that: The layered positioning mechanism (8) comprises a V-shaped positioning block (801) and a rotating shaft (802), and the corner of the V-shaped positioning block (801) is rotatably connected to the frame body (1) via the rotating shaft (802).

4. A robot pick-and-place tool precision positioning mechanism according to claim 1, characterized in that: The floating mechanism (6) further comprises a limit block (604), the limit block (604) being bolted to two sides of the floating plate (601), a limit column (605) being inserted into the limit block (604), and the limit column (605) being connected to the limit block (604) via a provided spring.

5. The precise positioning mechanism for a robot pick-and-place tool according to claim 1, characterized in that: Two sets of bidirectional locking mechanisms (2) are respectively fixed at two adjacent edges of the left portion of the frame body (1).

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