Robot automatic material picking equipment

Abstract

The utility model discloses robot automatic material picking equipment, and relates to the technical field of robot automatic material picking. The mechanical arm comprises a conveying device, a mechanical arm body is arranged on the back face of the conveying device, a clamping assembly is arranged on the front face of the mechanical arm body, a containing plate is fixedly connected to the back face of the conveying device, the clamping assembly comprises a fixing base, and two connecting plates are arranged below the fixing base. According to the clamping device, the clamping blocks are arranged, specifically, the arc-shaped grooves are formed in the centers of the clamping blocks, so that various circular and planar products can be clamped, the application range is wider, after the products are clamped by the clamping blocks, the clamping blocks can be squeezed, meanwhile, the first springs are squeezed, certain buffering can be achieved in the clamping process, the products are prevented from being damaged due to clamping, and the production efficiency is improved. And meanwhile, the clamping blocks can be tightly attached to the product under the elastic action of the first springs, the friction force is increased, the clamping effect is improved, the slipping condition is avoided, and the product is more stable after being clamped.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot automatic material picking, in particular to a robot automatic material picking device. Background Art

[0002] Robotic automatic picking equipment is an indispensable part of modern automated warehouses and production lines. They use machine vision technology and advanced robotic systems to achieve efficient and accurate material handling and sorting.

[0003] When existing robotic automatic sorting equipment clamps defective or unqualified products, it usually clamps them with claws. This method can easily cause the clamped products to slip and fall off, causing the products to fall. The fallen products can easily collide with intact products, thereby damaging the intact products and causing economic losses. Moreover, after the products fall, they will be transported away along with the good products, resulting in unqualified products in the finished products. Therefore, we propose a robotic automatic picking equipment. Utility Model Content

[0004] The utility model aims to provide a robot automatic picking device, which can clamp a variety of round and flat products by setting a clamping block, specifically, an arc groove is opened at the center of the clamping block, so that it can be used more widely. After the clamping block clamps the product, it will be squeezed, and at the same time, the spring will be squeezed, which can play a certain buffer in the clamping process to avoid damage to the product. At the same time, the spring can make the clamping block close to the product under the elastic effect of the spring, increase the friction, improve the clamping effect, avoid slipping, and make it more stable after clamping, which solves the problem that the existing robot automatic sorting equipment usually uses claws for clamping, which easily causes the clamped product to slip and fall off, thereby causing the product to fall.

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is a robot automatic material picking device, comprising a conveying device, a mechanical arm body is arranged at the back of the conveying device, a clamping assembly is arranged at the front of the mechanical arm body, a placing plate is fixedly connected to the back of the conveying device, the clamping assembly comprises a fixing seat, two connecting plates are arranged below the fixing seat, and the parts connected by the two connecting plates are the same;

[0007] A clamping block is provided on one side of the two connecting plates close to each other, an arc groove is provided at the center of the clamping block, and two limit rods are fixedly connected to the side of the clamping block close to the connecting plate, and a spring 1 is sleeved on the outer side of the two limit rods. By providing the clamping block, specifically an arc groove is provided at the center of the clamping block, a variety of round and flat products can be clamped, and the application is more extensive. After the clamping block clamps the product, it will be squeezed and the spring 1 will be squeezed at the same time, which can play a certain buffer in the clamping process to avoid damage to the product. At the same time, the elastic action of the spring 1 can make the clamping block close to the product, increase friction, improve the clamping effect, avoid slipping, and make it more stable after clamping.

[0008] Furthermore, a connecting seat is fixedly connected to the top of the fixing seat, an electric push rod is fixedly connected to the back of the fixing seat, the top of the connecting seat is rotatably connected to the front of the robot arm body, a support frame is fixedly connected to the front of the fixing seat, a visual recognition device is fixedly connected to the top of the support frame, and a camera is fixedly connected to the bottom of the support frame. The conveying device transports the product to the bottom of the clamping assembly, and then the visual recognition device visually recognizes the product through the camera. When it is recognized that the product is defective or unqualified, the robot arm body will be started to drive the fixed seat to move to the position of the defective product.

[0009] Furthermore, two movable seats are arranged inside the fixed seat, and the corresponding sides of the two movable seats are fixedly connected with inclined plates, and two sliding holes are provided inside the two movable seats, and the inner walls of the two sliding holes are slidably connected with sliding rods. When the movable seat moves, it will slide on the sliding rod through the sliding holes, and at the same time, the second spring is stretched, so that the movable seat can be reset by the action of elasticity.

[0010] Furthermore, a connecting block is fixedly connected to the front output end of the electric push rod, and a fixing frame is fixedly connected to the left and right sides of the connecting block. The side of the inclined plate close to the fixing frame is provided with an inclined surface, and the inclined surface on the inclined plate contacts the front of the fixing frame. By providing the inclined plate, specifically, starting the electric push rod to drive the connecting block to move forward, the fixing frame moves along with it. Since the side of the inclined plate close to the fixing frame is provided with an inclined surface, the fixing frame pushes the inclined plate after contacting the inclined plate, and the two inclined plates approach each other, so that the two clamping blocks approach each other for clamping. The structure is simpler, not easy to be damaged, and convenient for subsequent maintenance.

[0011] Furthermore, the left and right sides of the two slide rods are fixedly connected to the inner wall of the fixed seat, the side of the moving seat away from the inclined plate is fixedly connected with spring 2, the side of the spring 2 away from the moving seat is fixedly connected to the inner wall of the fixed seat, and two slide grooves are provided at the bottom of the fixed seat. The slide rod can limit and stabilize the moving seat, so that the moving seat can move in a straight line, and the slide groove can limit the connecting shaft, thereby further improving the stability during movement.

[0012] Furthermore, a fixed block is fixedly connected to one side of the connecting plate close to the clamping block, a connecting shaft is fixedly connected to the top of the fixed block, a bottom of the connecting shaft is fixedly connected to the bottom of the moving seat, an outer surface of the connecting shaft contacts the inner wall of the slide groove, the limiting rod passes through the connecting plate and extends to the outside, the limiting rod is slidably connected to the connecting plate, one end of the spring is fixedly connected to the surface of the clamping block, and the other end of the spring is fixedly connected to the surface of the connecting plate, and when the moving seat moves, it will drive the connecting plate to move together through the connecting shaft and the fixed block, thereby causing the clamping block to move together.

[0013] The utility model has the following beneficial effects:

[0014] The utility model provides a clamping block, specifically, an arc groove is opened at the center of the clamping block, so it can clamp a variety of round and flat products and is more widely applicable. After the clamping block clamps the product, it will be squeezed and the spring will be squeezed at the same time, which can play a certain buffer in the clamping process to avoid damage to the product. At the same time, the spring elasticity can make the clamping block close to the product, increase friction, improve the clamping effect, avoid slipping, and make it more stable after clamping.

[0015] The utility model sets an inclined plate, specifically, starts the electric push rod to drive the connecting block to move forward, and the fixing frame moves together. Since the side of the inclined plate close to the fixing frame is set with an inclined surface, the fixing frame will push the inclined plate after contacting the inclined plate, so that the two inclined plates are close to each other, so that the two clamping blocks are close to each other for clamping. The structure is simpler, not easy to be damaged, and convenient for subsequent maintenance.

[0016] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for describing the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the overall structure of the fixing seat of the utility model;

[0020] Figure 3 This is a schematic diagram of the cross-sectional structure of the top of the fixing seat of the utility model;

[0021] Figure 4 This is a schematic diagram of the overall structure of the mobile seat of the utility model;

[0022] Figure 5 This is a schematic diagram of the overall structure of the clamping block of the utility model.

[0023] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0024] 1. Conveying equipment; 11. Robotic arm body; 12. Clamping assembly; 121. Fixed seat; 211. Connecting seat; 212. Electric push rod; 122. Connecting plate; 221. Clamping block; 222. Fixed block; 223. Connecting shaft; 224. Arc groove; 225. Limit rod; 226. Spring 1; 123. Moving seat; 231. Inclined plate; 232. Slide hole; 124. Connecting block; 241. Fixed frame; 125. Slide groove; 126. Slide rod; 261. Spring 2; 13. Placement plate; 14. Support frame; 141. Visual recognition equipment; 142. Camera. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1-5As shown, the utility model is a robot automatic picking device, including a conveying device 1, a mechanical arm body 11 is arranged on the back of the conveying device 1, a clamping assembly 12 is arranged on the front of the mechanical arm body 11, a placing plate 13 is fixedly connected to the back of the conveying device 1, and the clamping assembly 12 includes a fixed seat 121, and two connecting plates 122 are arranged below the fixed seat 121. The parts connected by the two connecting plates 122 are the same, and the two connecting plates 122 are arranged on the side close to each other. A clamping block 221 is provided, and an arc groove 224 is opened at the center of the clamping block 221. The side of the clamping block 221 close to the connecting plate 122 is fixedly connected with two limiting The positioning rod 225 and the outer sides of the two limiting rods 225 are both sleeved with a spring 226. By setting the clamping block 221, specifically, an arc groove 224 is opened at the center of the clamping block 221, so that a variety of round and flat products can be clamped, and the application is more extensive. After the clamping block 221 clamps the product, it will be squeezed and the spring 226 will be squeezed at the same time, which can play a certain buffer in the clamping process to avoid damage to the product. At the same time, the elasticity of the spring 226 can make the clamping block 221 close to the product, increase friction, improve the clamping effect, avoid slipping, and make it more stable after clamping. A connecting seat 211 is fixedly connected to the top of the fixing seat 121, an electric push rod 212 is fixedly connected to the back of the fixing seat 121, the top of the connecting seat 211 is rotatably connected to the front of the robot arm body 11, the front of the fixing seat 121 is fixedly connected to the support frame 14, the top of the support frame 14 is fixedly connected to the visual recognition device 141, and the bottom of the support frame 14 is fixedly connected to the camera 142. The conveying device 1 transports the product to the bottom of the clamping component 12, and then the visual recognition device 141 visually recognizes the product through the camera 142. When it is recognized that the product is defective or unqualified, the robot arm body 11 will be started to drive the fixed seat 121 to move to the position of the defective product. Two movable seats 123 are arranged inside the fixed seat 121, and the corresponding sides of the two movable seats 123 are fixedly connected with inclined plates 231. Two sliding holes 232 are provided inside the two movable seats 123, and the inner walls of the two sliding holes 232 are slidably connected with sliding rods 126. When the movable seat 123 moves, it will slide on the sliding rod 126 through the sliding holes 232, and at the same time, the spring 261 is stretched, so that the movable seat 123 can be reset by the elastic action.The front output end of the electric push rod 212 is fixedly connected to the connecting block 124, and the left and right sides of the connecting block 124 are fixedly connected to the fixing frame 241. The side of the inclined plate 231 close to the fixing frame 241 is set as an inclined surface, and the inclined surface on the inclined plate 231 contacts the front of the fixing frame 241. By setting the inclined plate 231, specifically starting the electric push rod 212 to drive the connecting block 124 to move forward, the fixing frame 241 moves together. Since the side of the inclined plate 231 close to the fixing frame 241 is set as an inclined surface, the fixing frame 241 will push the inclined plate 231 after contacting with the inclined plate 231, so that the two inclined plates 231 are close to each other, so that the two clamping blocks 221 are close to each other for clamping, the structure is simpler, not easy to be damaged, and convenient for subsequent maintenance. The left and right sides of the two slide bars 126 are fixedly connected to the inner wall of the fixed seat 121, and the side of the movable seat 123 away from the inclined plate 231 is fixedly connected with a second spring 261, and the side of the second spring 261 away from the movable seat 123 is fixedly connected to the inner wall of the fixed seat 121. Two slide grooves 125 are provided at the bottom of the fixed seat 121. The slide bars can limit and stabilize the movable seat 123, so that the movable seat 123 can move in a straight line, and the slide grooves 125 can limit the connecting shaft 223, thereby further improving the stability during movement. A fixed block 222 is fixedly connected to one side of the connecting plate 122 close to the clamping block 221, a connecting shaft 223 is fixedly connected to the top of the fixed block 222, a bottom of the connecting shaft 223 is fixedly connected to the bottom of the moving seat 123, an outer surface of the connecting shaft 223 contacts the inner wall of the slide groove 125, a limiting rod 225 penetrates the connecting plate 122 and extends to the outside, the limiting rod 225 is slidably connected to the connecting plate 122, one end of a spring 226 is fixedly connected to the surface of the clamping block 221, and the other end of the spring 226 is fixedly connected to the surface of the connecting plate 122, and when the moving seat 123 moves, it will drive the connecting plate 122 to move together through the connecting shaft 223 and the fixed block 222, thereby causing the clamping block 221 to move together.

[0027] A specific application of this embodiment is:

[0028] When in use, the conveying device 1 conveys the product to the bottom of the clamping assembly 12, and then the visual recognition device 141 visually recognizes the product through the camera 142. The visual recognition device 141 refers to a device that uses machine vision technology to perform image recognition, obtains images through image capture devices such as the camera 142, and then uses algorithms to analyze and process the images to achieve specific functions, such as identifying objects, detecting defects, and navigating. When it is recognized that the product has defects or is unqualified, the robot arm body 11 will be activated to drive the fixed seat 121 to the position of the defective product. When the product is moved to the position, the electric push rod 212 is started to drive the connecting block 124 to move forward, and the fixing frame 241 moves together. Since the side of the inclined plate 231 close to the fixing frame 241 is set as an inclined surface, the fixing frame 241 will push the inclined plate 231 after contacting with the inclined plate 231, so that the two inclined plates 231 are close to each other, and at the same time drive the two moving seats 123 to be close to each other, and the moving seat 123 slides on the sliding rod 126 through the sliding hole 232, and at the same time the spring 261 is stretched, and the moving seat 123 is driven by the connecting shaft 223 and the fixing block 222. The movable connecting plates 122 are moved close to each other. When the clamping block 221 contacts the product, the product will be clamped. Since an arc groove 224 is provided at the center of the clamping block 221, a variety of round and flat products can be clamped, which is more widely applicable. After the clamping block 221 clamps the product, it will be squeezed, and the limit rod 225 will slide in the connecting plate 122, and at the same time, the spring 226 will be squeezed, which can play a certain buffer in the clamping process to avoid damage to the product. At the same time, the elasticity of the spring 226 can make the clamping block 221 close to the product to increase friction. The friction improves the clamping effect, avoids slipping, and makes the clamping more stable. Then the robot arm body 11 moves the clamped product to the placement plate 13, and then starts the electric push rod 212 to drive the connecting block 124 to move backward. The moving seat 123 is canceled and reset under the elastic action of the spring 261. Then the two connecting plates 122 drive the two clamping blocks 221 away from each other, releasing the clamping of the product, and the product falls on the placement plate 13 for collection. Then the robot arm body 11 moves the clamping assembly 12 to the product position again for identification and picking.

[0029] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0030] The preferred embodiments of the utility model disclosed above are only used to help explain the utility model. The preferred embodiments do not describe all the details in detail, nor do they limit the utility model to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the utility model, so that technicians in the relevant technical field can well understand and use the utility model. The utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A robot automatic picking device, comprising a conveying device (1), a robot arm body (11) being arranged on the back of the conveying device (1), and a clamping assembly (12) being arranged on the front of the robot arm body (11), characterized in that: The conveying device (1) is fixedly connected to a placement plate (13) on the back side, the clamping assembly (12) comprises a fixing seat (121), two connecting plates (122) are arranged below the fixing seat (121), and the parts connected by the two connecting plates (122) are the same; A clamping block (221) is provided on one side of the two connecting plates (122) close to each other, an arc-shaped groove (224) is provided at the center of the clamping block (221), two limiting rods (225) are fixedly connected to one side of the clamping block (221) close to the connecting plate (122), and a spring 1 (226) is sleeved on the outer side of the two limiting rods (225).

2. The robot automatic picking device according to claim 1, characterized in that: The top of the fixing seat (121) is fixedly connected to a connecting seat (211), the back of the fixing seat (121) is fixedly connected to an electric push rod (212), the top of the connecting seat (211) is rotatably connected to the front of the mechanical arm body (11), the front of the fixing seat (121) is fixedly connected to a support frame (14), the top of the support frame (14) is fixedly connected to a visual recognition device (141), and the bottom of the support frame (14) is fixedly connected to a camera (142).

3. The robot automatic picking device according to claim 2, characterized in that: Two movable seats (123) are arranged inside the fixed seat (121), and corresponding sides of the two movable seats (123) are fixedly connected with inclined plates (231). Two sliding holes (232) are provided inside the two movable seats (123), and inner walls of the two sliding holes (232) are slidably connected with sliding rods (126).

4. The robot automatic picking device according to claim 3, characterized in that: The front output end of the electric push rod (212) is fixedly connected to a connection block (124), the left and right sides of the connection block (124) are fixedly connected to a fixing frame (241), and a side of the inclined plate (231) close to the fixing frame (241) is provided with an inclined surface, and the inclined surface on the inclined plate (231) contacts the front of the fixing frame (241).

5. The robot automatic picking device according to claim 4, characterized in that: The left and right sides of the two slide bars (126) are fixedly connected to the inner wall of the fixed seat (121); a side of the movable seat (123) away from the inclined plate (231) is fixedly connected to a second spring (261); a side of the second spring (261) away from the movable seat (123) is fixedly connected to the inner wall of the fixed seat (121); and two slide grooves (125) are provided at the bottom of the fixed seat (121).

6. The robot automatic picking device according to claim 4, characterized in that: A fixed block (222) is fixedly connected to one side of the connecting plate (122) close to the clamping block (221); a connecting shaft (223) is fixedly connected to the top of the fixing block (222); a bottom of the connecting shaft (223) is fixedly connected to the bottom of the moving seat (123); and an outer surface of the connecting shaft (223) contacts an inner wall of the sliding groove (125).

7. The robot automatic picking device according to claim 4, characterized in that: The limiting rod (225) penetrates the connecting plate (122) and extends to the outside, the limiting rod (225) is slidably connected to the connecting plate (122), one end of the spring (226) is fixedly connected to the surface of the clamping block (221), and the other end of the spring (226) is fixedly connected to the surface of the connecting plate (122).

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