Goods picking arm device for industrial robot

Abstract

The utility model provides a picking arm device for an industrial robot. The picking arm device comprises a base; the rotary table mechanism is arranged on the base; the encoder mechanism is arranged on the base and is connected with the rotary table mechanism; the counter is connected with the encoder mechanism; the first rotary joint is arranged on the rotary table mechanism; the first arm section is connected with the first rotary joint; the second rotating joint is arranged at the end part of the first arm section; the second arm section is connected with the second rotary joint; the third rotary joint is arranged at the end part of the second arm section; the third arm section is connected with the third rotary joint; the grabbing mechanism is arranged at the end part of the third arm section; the pressure sensor is arranged on the grabbing mechanism; the pulse modulator is arranged on the base and is in signal connection with the pressure sensor; and the output end of the pulse modulator is connected with the counter. According to the goods picking arm device for the industrial robot, goods can be picked in a classified mode, the number of the picked goods can be accurately counted, and investment of labor cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of sorting equipment, and more specifically, to a picking arm device for an industrial robot. Background Art

[0002] Industrial robots are a kind of high-tech automated production equipment, and industrial robot arms are an important branch of industrial robots. They are programmed to complete various expected tasks and are widely used in various industrial fields such as electronics, logistics, and chemicals. With the development of the market logistics economy, the proportion of sorting operations in the overall operations of distribution centers has become increasingly larger, becoming the most labor-intensive and time-consuming operation, making the use of industrial robot arms for sorting a general trend.

[0003] In the current sorting lines, when using robot arms to pick up goods, it is usually necessary to sort and pick goods according to the goods label information or transportation area, so that different picking arms pick up different quantities of goods, and the number of goods needs to be counted later. In the prior art, the number of goods counted after the robot arm picks up is generally done manually, and infrared sensors and other devices are usually set on the robot arm to count the goods passing through the arm. However, since the goods need to be picked up in categories, counting devices such as infrared sensors will count all the goods passing through the robot arm, regardless of whether the arm picks up the goods, resulting in inaccurate statistics on the number of sorted goods, which cannot meet the existing counting needs.

[0004] Therefore, how to provide a picking arm device for an industrial robot that can classify and pick up goods, accurately count the number of picked goods, and reduce the investment in labor costs has become a technical problem that needs to be urgently solved by technical personnel in this field. Utility Model Content

[0005] In order to solve the above technical problems, the present application provides a picking arm device for an industrial robot, which can pick up goods by category, accurately count the number of picked goods, and reduce the investment in labor costs.

[0006] The technical solutions provided by this application are as follows:

[0007] The present application provides a picking arm device for an industrial robot, comprising: a base; a turntable mechanism arranged on the base; an encoder mechanism arranged on the base and connected to the turntable mechanism; a counter connected to the encoder mechanism; a first rotating joint arranged on the turntable mechanism; a first arm section connected to the first rotating joint; a second rotating joint arranged at the end of the first arm section; a second arm section connected to the second rotating joint; a third rotating joint arranged at the end of the second arm section; a third arm section connected to the third rotating joint; a grasping mechanism arranged at the end of the third arm section; a pressure sensor arranged on the grasping mechanism; a pulse modulator arranged on the base and connected to the pressure sensor signal; the output end of the pulse modulator is connected to the counter.

[0008] Furthermore, in a preferred embodiment of the present invention, the turntable mechanism comprises:

[0009] A driving motor disposed on the base;

[0010] A coupling drive member connected to the drive motor;

[0011] a turntable connected to the coupling drive;

[0012] A protrusion disposed at the center of the plane of the turntable;

[0013] A first groove is arranged on the side wall of the protrusion.

[0014] Furthermore, in a preferred embodiment of the present invention, the encoder mechanism comprises:

[0015] An incremental encoder disposed on the counter;

[0016] A pulley connected to the incremental encoder shaft;

[0017] The pulley is provided with a second groove;

[0018] A belt connects the first groove and the second groove.

[0019] Furthermore, in a preferred embodiment of the present invention, the picking arm device for an industrial robot further comprises: a display disposed on the base and connected to the counter.

[0020] Furthermore, in a preferred embodiment of the present invention, the gripping mechanism comprises:

[0021] a driving mechanism connected to the third arm section;

[0022] A mechanical gripper connected to the drive mechanism.

[0023] Furthermore, in a preferred embodiment of the present invention, a non-slip rubber pad is provided on the side wall of the hook of the mechanical gripper.

[0024] Furthermore, in a preferred embodiment of the present invention, the pressure sensor is disposed between the side wall of the mechanical gripper hook and the anti-slip rubber pad.

[0025] Furthermore, in a preferred embodiment of the present invention, the first rotary joint, the second rotary joint and the third rotary joint are provided with a rotary drive component and a joint execution component connected to the rotary drive component.

[0026] Furthermore, in a preferred embodiment of the present utility model, the picking arm device for an industrial robot further comprises: a workpiece scanner disposed on the gripping mechanism;

[0027] A sorting information processor disposed on the base and connected to the workpiece scanner signal;

[0028] The sorting information processor is connected to the display.

[0029] Furthermore, in a preferred embodiment of the present invention, the workpiece scanner includes: a label information identifier, a high-definition camera and a lighting component.

[0030] The utility model provides a picking arm device for an industrial robot, comprising: a base; a turntable mechanism arranged on the base; an encoder mechanism arranged on the base and connected to the turntable mechanism; a counter connected to the encoder mechanism; a first rotating joint arranged on the turntable mechanism; a first arm section connected to the first rotating joint; a second rotating joint arranged at the end of the first arm section; a second arm section connected to the second rotating joint; a third rotating joint arranged at the end of the second arm section; a third arm section connected to the third rotating joint; a grasping mechanism arranged at the end of the third arm section; a pressure sensor arranged on the grasping mechanism; a pulse modulator arranged on the base and connected to the pressure sensor signal; the output end of the pulse modulator is connected to the counter. For the picking arm device for the industrial robot, its main structure for realizing picking is composed of the base, the turntable mechanism, the first rotating joint, the first arm section, the second rotating joint, the second arm section, the third rotating joint, the third arm section and the grasping mechanism. The first rotating joint, the first arm section, the second rotating joint, the second arm section, the third rotating joint and the third arm section are connected in sequence to form an arm structure with multiple degrees of freedom. The grasping mechanism is arranged at the end of the arm structure to perform the sorting operation of the goods. For the counting work of the sorted goods, the picking arm device for the industrial robot is provided with two sets of counting schemes. The first is to arrange a pressure sensor on the grasping mechanism. When the grasping mechanism picks up specific goods, the pressure sensor will obtain the pressure signal. Through the The pulse modulator converts the pressure signal into a pulse signal and transmits it to the counter. Each time a pressure signal is obtained, the counter counts by one, thereby completing the counting operation of sorting goods. This type of counting scheme is suitable for claw-shaped grasping mechanisms, but for disc-shaped grasping mechanisms, the counting may not be accurate. The second technology is set as a supplementary scheme. This scheme is based on the need to use the turntable mechanism to rotate the fixed axis when picking up specific goods, change the position of the goods, and set an encoder mechanism. The encoder mechanism is connected to the turntable mechanism and rotates synchronously with the turntable mechanism. The encoder mechanism outputs a pulse signal once the turntable mechanism rotates once, and the signal is transmitted to the counter to count once, thereby realizing the counting of goods, which can reduce the subsequent manual statistical costs. Therefore, compared with the prior art, the technical solution provided by the utility model can classify and pick up goods, accurately count the number of picked goods, and reduce the investment in labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0032] Figure 1 A schematic diagram of the structure of the picking arm device for an industrial robot provided in an embodiment of the utility model;

[0033] Figure 2 A schematic diagram of the structure of the turntable mechanism provided in an embodiment of the utility model;

[0034] Description of reference numerals:

[0035] Base 1; turntable mechanism 2; encoder mechanism 3; counter 4; first rotary joint 5; first arm section 6; second rotary joint 7; second arm section 8; third rotary joint 9; third arm section 10; grasping mechanism 11; pressure sensor 12; pulse modulator 13; display 14; workpiece scanner 15; anti-slip rubber pad 16; drive motor 17; coupling drive 18; turntable 19; bump 20; incremental encoder 21; pulley 22; belt 23. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of this application.

[0037] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0038] It should be understood that the terms "length", "width", "up", "down", "front", "back", "first", "second", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0039] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0040] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0041] like Figure 1 to Figure 2 As shown, the picking arm device for an industrial robot provided in an embodiment of the present application includes: a base 1, a turntable mechanism 2, an encoder mechanism 3, a counter 4, a first rotary joint 5, a first arm section 6, a second rotary joint 7, a second arm section 8, a third rotary joint 9, a third arm section 10, a grasping mechanism 11, a pressure sensor 12 and a pulse modulator 13.

[0042] The utility model provides a picking arm device for an industrial robot, specifically comprising: a base 1; a turntable mechanism 2 arranged on the base 1; an encoder mechanism 3 arranged on the base 1 and connected to the turntable mechanism 2; a counter 4 connected to the encoder mechanism 3; a first rotary joint 5 arranged on the turntable mechanism 2; a first arm section 6 connected to the first rotary joint; a second rotary joint 7 arranged at the end of the first arm section 6; a second arm section 8 connected to the second rotary joint; a third rotary joint 9 arranged at the end of the second arm section 8; a third arm section 10 connected to the third rotary joint 9; a gripping mechanism 11 arranged at the end of the third arm section 10; a pressure sensor 12 arranged on the gripping mechanism 11; a pulse modulator 13 arranged on the base 1 and connected to the pressure sensor 12 signal; the output end of the pulse modulator 13 is connected to the counter 4. Compared with the prior art, the technical solution provided by the utility model can classify and pick up goods, accurately count the number of picked goods, and reduce the investment of labor costs.

[0043] The technical solution of the utility model is described in detail below in conjunction with specific embodiments:

[0044] Specifically, in a specific embodiment of the utility model, the turntable mechanism 2 includes: a driving motor 17 arranged on the base 1; a coupling driving member 18 connected to the driving motor 17; a turntable 19 connected to the coupling driving member 18; a protrusion 20 arranged at the center of the plane on the turntable 19; and a first groove is arranged on the side wall of the protrusion 20.

[0045] Among them, in this embodiment, the turntable mechanism 2 is used to drive the entire picking arm structure to rotate on a plane; the drive motor 17 provides rotational power, and the coupling drive 18 is connected to the output shaft of the drive motor 17 downward, and is connected to the turntable 19 upward by meshing or clamping, driving the entire picking arm structure on the turntable 19 to rotate, thereby realizing a specific picking operation.

[0046] Specifically, in a specific embodiment of the utility model, the encoder mechanism 3 includes: an incremental encoder 21 arranged on the counter 4; a pulley 22 connected to the rotating shaft of the incremental encoder 21; a second groove is arranged on the pulley 22; and a belt 23 connecting the first groove and the second groove.

[0047] In this embodiment, the encoder mechanism 3 is used to obtain the number of goods sorted by the picking arm device by recording the number of repeated angular displacements of the turntable 19; wherein the pulley 22 is connected to the turntable 19 through the belt 23, driving the rotating shaft of the incremental encoder 21 to rotate, and outputting a pulsating signal each time it rotates, and the counter 4 records the number of pulse signals, thereby obtaining the number of rotations of the turntable 19 and indirectly obtaining the number of goods sorted.

[0048] Specifically, in a specific embodiment of the present utility model, the picking arm device for an industrial robot further includes: a display 14 disposed on the base 1 and connected to the counter 4 .

[0049] Among them, in this embodiment, the display 14 is set to view the number of goods sorted by the arm, so that the quantity information of the goods sorted by the picking arm device can be obtained in real time from the display 14 when the picking arm device is used in the actual assembly line.

[0050] Specifically, in a specific embodiment of the present utility model, the grasping mechanism 11 includes: a driving mechanism connected to the third arm section 10; and a mechanical gripper connected to the driving mechanism.

[0051] Specifically, in a specific embodiment of the present utility model, an anti-slip rubber pad 16 is provided on the side wall of the hook of the mechanical gripper.

[0052] Among them, in this embodiment, the grasping mechanism 11 is used to clamp, transfer and place the goods according to the operation requirements; the mechanical gripper is a commonly used grasping structure, and the anti-slip rubber pad 16 is arranged on the mechanical gripper to increase friction so that the mechanical gripper can firmly grasp the goods.

[0053] Specifically, in a specific embodiment of the present utility model, the pressure sensor 12 is disposed between the side wall of the mechanical gripper hook and the anti-slip rubber pad 16 .

[0054] Specifically, in a specific embodiment of the present utility model, a rotation driving component and a joint execution component connected to the rotation driving component are provided in the first rotation joint 5, the second rotation joint 7 and the third rotation joint 9.

[0055] In this embodiment, the two ends of the first rotary joint 5 are respectively connected to the turntable 19 and the first arm section 6, and are used to drive the first arm section 6 to swing around the end point or to rotate around the arm section center axis; the two ends of the second rotary joint 7 are respectively connected to the first arm section 6 and the second arm section 8, and are used to drive the second arm section 8 to swing around the end point or to rotate around the arm section center axis; the two ends of the third rotary joint 9 are respectively connected to the second arm section 8 and the third arm section 10, and are used to drive the third arm section 10 to swing around the end point or to rotate around the arm section center axis; wherein, the rotary drive component is used to provide power for the arm section to swing or rotate around the fixed axis, and the joint execution component performs the execution operation after obtaining the power.

[0056] Specifically, in a specific embodiment of the utility model, the picking arm device for the industrial robot also includes: a workpiece scanner 15 arranged on the grasping mechanism 11; a sorting information processor arranged on the base 1 and connected to the workpiece scanner signal; the sorting information processor is connected to the display 14.

[0057] Among them, in this embodiment, in order to realize the classification and picking of goods according to factors such as label information or transportation area, the workpiece scanner 15 is set on the grasping mechanism 11 to obtain the goods information on the assembly line, and the picking arm device performs sorting operations according to the goods information.

[0058] Specifically, in a specific embodiment of the present utility model, the workpiece scanner 15 includes: a label information identifier, a high-definition camera and a lighting component.

[0059] As described above, the picking arm device for industrial robots provided by the embodiment of the utility model can solve the problem of inaccurate statistics of the number of goods sorted by traditional picking arms. For the picking arm device for industrial robots, its main structure for realizing picking is composed of the base 1, the turntable mechanism 2, the first rotating joint 5, the first arm section 6, the second rotating joint 7, the second arm section 8, the third rotating joint 9, the third arm section 10 and the grasping mechanism 11. The first rotating joint 5, the first arm section 6, the second rotating joint 7, the second arm section 8, the third rotating joint 9, and the third arm section 10 are sequentially connected to form an arm structure with multiple degrees of freedom. The grasping mechanism 11 is arranged at the end of the arm structure to perform the sorting operation of goods. As for the counting work of the sorted goods, the picking arm device for industrial robots is provided with two sets of counting schemes. The first is to arrange a pressure sensor 12 on the grasping mechanism 11. When the grasping mechanism 11 picks up specific goods, the pressure sensor 12 will obtain the pressure signal. The pulse modulator 13 converts the pressure signal into a pulse signal and transmits it to the counter 4. Each time a pressure signal is obtained, the counter 4 counts one more, thereby completing the counting operation of sorting goods. This type of counting scheme is suitable for claw-shaped grasping mechanisms 11, while for disc-shaped grasping mechanisms 11, the counting may not be accurate. A second technology is set as a supplementary scheme. This scheme is based on the need to use the turntable mechanism 2 to rotate the fixed axis when picking up specific goods, change the position of the goods, and set an encoder mechanism 3. The encoder mechanism 3 is connected to the turntable mechanism 2 and rotates synchronously with the turntable mechanism 2. When the turntable mechanism 2 rotates once, the encoder mechanism 3 outputs a pulse signal. The signal is transmitted to the counter 4 and counts once, thereby realizing the counting of goods, which can reduce the subsequent manual statistical costs. Therefore, compared with the prior art, the technical solution provided by the utility model can classify and pick up goods, accurately count the number of picked goods, and reduce the investment in labor costs.

[0060] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be 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 present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A picking arm device for an industrial robot, characterized in that: include: Base; A turntable mechanism disposed on the base; An encoder mechanism disposed on the base and connected to the turntable mechanism; a counter connected to the encoder mechanism; A first rotating joint provided on the turntable mechanism; A first arm section connected to the first rotating joint; a second rotating joint disposed at an end of the first arm section; a second arm section connected to the second rotary joint; A third rotating joint provided at an end of the second arm section; a third arm section connected to the third rotating joint; A gripping mechanism disposed at the end of the third arm section; a pressure sensor disposed on the gripping mechanism; a pulse modulator disposed on the base and connected to the pressure sensor signal; The output end of the pulse modulator is connected to the counter.

2. The picking arm device for an industrial robot according to claim 1, characterized in that: The turntable mechanism comprises: A driving motor disposed on the base; A coupling drive member connected to the drive motor; a turntable connected to the coupling drive; A protrusion disposed at the center of the plane of the turntable; A first groove is arranged on the side wall of the protrusion.

3. The picking arm device for an industrial robot according to claim 2, characterized in that: The encoder mechanism comprises: An incremental encoder disposed on the counter; A pulley connected to the rotating shaft of the incremental encoder; The pulley is provided with a second groove; A belt connects the first groove and the second groove.

4. The picking arm device for an industrial robot according to claim 1, characterized in that: The industrial robot picking arm device also includes: A display is arranged on the base and connected to the counter.

5. The picking arm device for an industrial robot according to claim 1, characterized in that: The grabbing mechanism comprises: a driving mechanism connected to the third arm section; A mechanical gripper connected to the drive mechanism.

6. The picking arm device for an industrial robot according to claim 5, characterized in that: An anti-slip rubber pad is arranged on the side wall of the hook of the mechanical gripper.

7. The picking arm device for an industrial robot according to claim 6, characterized in that: The pressure sensor is arranged between the side wall of the mechanical gripper hook and the anti-slip rubber pad.

8. The picking arm device for an industrial robot according to claim 1, characterized in that: The first rotary joint, the second rotary joint and the third rotary joint are provided with a rotary drive component and a joint execution component connected to the rotary drive component.

9. The picking arm device for an industrial robot according to claim 4, characterized in that: The industrial robot picking arm device also includes: A workpiece scanner disposed on the gripping mechanism; A sorting information processor disposed on the base and connected to the workpiece scanner signal; The sorting information processor is connected to the display.

10. The picking arm device for an industrial robot according to claim 1, characterized in that: The workpiece scanner includes: a label information identifier, a high-definition camera, and a lighting component.

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