Blanking manipulator of module assembly line

Abstract

The utility model provides a blanking manipulator for a module assembly line, and belongs to the technical field of manipulators. The module assembly line discharging manipulator comprises a robot mechanical arm, a lifting assembly, a clamping jaw grabbing part and a suction cup grabbing part. The support is arranged at the bottom of the lifting assembly, a mounting groove is formed in the bottom of the support, and the pneumatic clamping jaws are mounted on the periphery of the bottom of the support. The air cylinder is mounted in the mounting groove, and the output rod end of the air cylinder drives the suction cup part to be movably adjusted in the mounting groove and below the support. After the support is driven to the designated position under the cooperation of the robot mechanical arm and the lifting assembly, the pneumatic clamping jaw can grab the module. The air cylinder drives the suction cup part to protrude to the position below the pneumatic clamping jaw, and the suction cup part can suck the module to conduct feeding and discharging operation. According to the blanking manipulator of the module assembly line, two modes of grabbing and sucking are adopted for rapid switching adjustment, and different types of workpieces can be conveniently loaded and unloaded on the same conveying line.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a module assembly line feeding manipulator. Background Art

[0002] The module assembly line unloading robot is a specially designed automatic loading and unloading device for the module assembly line. It can automatically complete a series of actions such as grabbing the module from the assembly line, moving it to the designated location, and returning the processed module to the assembly line under the control of the preset program. The application of this robot has greatly improved the automation level and production efficiency of the module assembly line.

[0003] At present, there are two main types of robots for unloading materials: claw-type robots and suction cup-type robots. In the same production conveyor line, different types of unloading modules require the use of different robot grasping parts. Before operation, the claw structure and the suction cup structure need to be replaced by maintenance personnel at the execution end of the robot, which affects the overall progress of the production process. Utility Model Content

[0004] In order to make up for the above shortcomings, the utility model provides a module assembly line feeding robot, which aims to improve the problem that different types of modules need to be fed with different robot grasping parts, and the claw structure and suction cup structure need to be replaced by maintenance personnel at the robot execution end before operation, affecting the overall progress of the production process.

[0005] The utility model is achieved in this way:

[0006] The utility model provides a module assembly line feeding manipulator, which comprises a robot mechanical arm, a lifting component, a claw grasping part and a suction cup grasping part.

[0007] The lifting assembly is mounted on the execution end of the robot arm;

[0008] The claw grabbing part includes a support and a pneumatic claw, the support is arranged at the bottom of the lifting assembly, the bottom of the support is provided with a mounting groove, a plurality of pneumatic claws are installed on the periphery of the bottom of the support, the pneumatic claw includes a claw frame and a flexible claw block, the claw frame is connected to the flexible claw block, and a plurality of grooves are arranged on the inner side of the flexible claw block, a first communicating air channel is arranged inside the flexible claw block, and the first communicating air channel is connected to the groove through a first air hole;

[0009] The suction cup grabbing part comprises a cylinder and a suction cup member, wherein the cylinder is installed inside the mounting groove, and the output rod end of the cylinder drives the suction cup member to move and adjust inside the mounting groove and below the support.

[0010] In an embodiment of the utility model, the suction cup member includes a mounting frame and a vacuum suction cup, the mounting frame is connected to the end of the cylinder output rod, and the vacuum suction cup is mounted and matched with the mounting frame.

[0011] In an embodiment of the utility model, a guide block is provided at the end of the mounting frame, and a guide groove that is slidably matched with the guide block is provided on the inner side wall of the mounting groove.

[0012] In an embodiment of the utility model, the vacuum suction cup includes a vacuum suction cup body, a spring and a fixing rod, the fixing rod is connected to the mounting frame, the spring is sleeved outside the fixing rod, and the vacuum suction cup body is arranged at the bottom of the fixing rod.

[0013] In an embodiment of the present utility model, the vacuum suction cup further includes a nut, and the nut is arranged outside the fixing rod.

[0014] In an embodiment of the utility model, a mounting hole is provided on the mounting frame, the fixing rod passes through the mounting hole, and the two nuts are respectively arranged above and below the mounting hole.

[0015] In one embodiment of the utility model, the vacuum suction cup body includes a disc seat and a disc edge, the disc edge is integrally formed on the outer side of the disc seat, an elastic convex strip with an arc-shaped structure is arranged on the top of the disc seat, and a second air hole is arranged on the elastic convex strip, and a second connecting air channel connected to the second air hole is arranged inside the disc seat.

[0016] In an embodiment of the present invention, the plurality of vacuum suction cups are arranged in two groups equidistantly below the mounting frame.

[0017] The module assembly line feeding robot also includes a sensor module, and the sensor module is installed on the support.

[0018] The beneficial effect of the utility model is that the utility model obtains a module assembly line feeding manipulator through the above design. After the support is driven to the specified position under the cooperation of the robot arm and the lifting component, the pneumatic claw can grab the module. The cylinder drives the suction cup to protrude below the pneumatic claw. At this time, after the support is driven to the specified position under the cooperation of the robot arm and the lifting component, the suction cup can suck the module for loading and unloading operations. The module assembly line feeding manipulator adopts two modes of grabbing and sucking to quickly switch and adjust, which is convenient for loading and unloading different types of workpieces on the same conveyor line. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the implementation mode of the utility model, the drawings required for use in the implementation mode will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 This is a schematic diagram of the structure of a module assembly line feeding robot provided by an embodiment of the utility model;

[0021] Figure 2 A schematic diagram of the structure of the claw grabbing part and the sensor module provided in the embodiment of the utility model;

[0022] Figure 3 A schematic diagram of the structure of the support and the suction cup grabbing part provided in the embodiment of the utility model;

[0023] Figure 4 A schematic diagram of the structure of the suction cup grabbing part provided in an embodiment of the utility model;

[0024] Figure 5 A schematic diagram of the vacuum suction cup structure provided in an embodiment of the utility model;

[0025] Figure 6 A schematic diagram of the structure of the vacuum suction cup body provided in the embodiment of the utility model;

[0026] Figure 7 A schematic diagram of the pneumatic clamping claw structure provided in an embodiment of the utility model.

[0027] In the figure: 10-robot mechanical arm; 20-lifting assembly; 30-claw grasping part; 310-support; 320-pneumatic claw; 321, claw frame; 322, flexible claw block; 323, first connecting air channel; 324, groove; 325, first air hole; 330-mounting groove; 340-guide groove; 40-suction cup grasping part; 410-cylinder; 420-suction cup member; 421-mounting frame; 422-vacuum suction cup; 4221-vacuum suction cup body; 401, disk seat; 402, disk edge; 403, elastic convex strip; 404, second air hole; 405, second connecting air channel; 4222-spring; 4223-fixing rod; 4224-nut; 423-guide block; 50-sensor module. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the implementation of the utility model clearer, the technical solution in the implementation of the utility model will be clearly and completely described below in conjunction with the drawings in the implementation of the utility model. Obviously, the described implementation is a part of the implementation of the utility model, not all of the implementations. Based on the implementation of the utility model, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] See also Figure 1-Figure 7 The utility model provides a module assembly line unloading manipulator, including a robot arm 10, a lifting component 20, a claw grasping part 30 and a suction cup grasping part 40.

[0030] Among them, the cooperation between the robot manipulator 10 and the lifting assembly 20 enables the claw grasping part 30 and the suction cup grasping part 40 to be moved and adjusted to the desired position. The cooperation between the claw grasping part 30 and the suction cup grasping part 40 can be freely switched to whether to load or unload materials by grasping or sucking, which makes adjustment and use more convenient.

[0031] See also Figure 1-Figure 4 , the lifting assembly 20 is installed at the execution end of the robot manipulator 10. The claw grasping part 30 includes a support 310 and a pneumatic claw 320. The support 310 is arranged at the bottom of the lifting assembly 20, and a mounting groove 330 is arranged at the bottom of the support 310. A plurality of pneumatic claws 320 are installed at the periphery of the bottom of the support 310. The pneumatic claw 320 includes a claw frame 321 and a flexible claw block 322, the claw frame 321 is connected to the flexible claw block 322, and a plurality of grooves 324 are arranged on the inner side of the flexible claw block 322, and a first communicating air channel 323 is arranged inside the flexible claw block 322, and the first communicating air channel 323 is connected to the groove 324 through a first air hole 325. The suction cup grasping part 40 includes a cylinder 410 and a suction cup member 420. The cylinder 410 is installed inside the mounting groove 330, and the output rod end of the cylinder 410 drives the suction cup member 420 to move and adjust inside the mounting groove 330 and below the support 310.

[0032] When the claw grasping part 30 is needed to grasp the workpiece for loading and unloading, the cylinder 410 in the suction cup grasping part 40 drives the suction cup part 420 to retract into the mounting groove 330. At this time, after the support 310 is driven to the specified position under the cooperation of the robot mechanical arm 10 and the lifting assembly 20, the pneumatic claw 320 can grasp the module. When the suction cup grasping part 40 is needed to load and unload, the cylinder 410 drives the suction cup part 420 to protrude below the pneumatic claw 320. At this time, after the support 310 is driven to the specified position under the cooperation of the robot mechanical arm 10 and the lifting assembly 20, the suction cup part 420 can suck the module for loading and unloading. The module assembly line unloading manipulator uses two methods of grasping and sucking to quickly switch and adjust, which is convenient for loading and unloading different types of workpieces on the same conveyor line.

[0033] The first communicating air channel 323 port in the pneumatic clamping jaw 320 is connected to the pneumatic system pipeline, and the air pressure inside the first communicating air channel 323 is adjusted by the pneumatic system, that is, the workpiece can be grasped more firmly through the arrangement of the first air hole 325 and the groove 324. When the groove 324 on the side of the flexible claw block 322 contacts the workpiece, it not only has better friction, but also cooperates with the flexible claw block 322 to more easily grasp and stably transfer the workpiece.

[0034] In the above specific implementation, please refer to Figure 4 The suction cup member 420 includes a mounting frame 421 and a vacuum suction cup 422. The mounting frame 421 is connected to the output rod end of the cylinder 410, and the vacuum suction cup 422 is installed and matched with the mounting frame 421. The vacuum suction cup 422 is used to absorb and transfer the workpiece. A guide block 423 is provided at the end of the mounting frame 421, and a guide groove 340 that is slidably matched with the guide block 423 is provided on the inner side wall of the mounting groove 330. The cooperation between the guide groove 340 and the guide block 423 improves the stability of the mounting frame 421 when it moves in the vertical direction.

[0035] For details, please refer to Figure 5 The vacuum suction cup 422 includes a vacuum suction cup body 4221, a spring 4222 and a fixing rod 4223. The fixing rod 4223 is connected to the mounting frame 421, the spring 4222 is sleeved outside the fixing rod 4223, and the vacuum suction cup body 4221 is arranged at the bottom of the fixing rod 4223. The arrangement of the spring 4222 enables the vacuum suction cup body 4221 at the bottom to have a certain buffering effect, and has a certain protective effect when transferring the workpiece.

[0036] See also Figure 6 The vacuum suction cup body 4221 includes a disc base 401 and a disc edge 402. The disc edge 402 is integrally formed on the outside of the disc base 401. An elastic convex strip 403 with an arc-shaped structure is arranged on the top of the disc base 401, and a second air hole 404 is arranged on the elastic convex strip 403. A second connecting air channel 405 connected with the second air hole 404 is arranged inside the disc base 401.

[0037] When the vacuum suction cup body 4221 is pressed down to adsorb the workpiece, the elastic ridge 403 inside the disc seat 401 will also contact the surface of the workpiece. In addition to the through hole in the middle of the disc seat 401 cooperating with the disc edge 402 to adsorb the workpiece, the workpiece can also be adsorbed through the cooperation of the second connecting air channel 405 and the second air hole 404, which can further improve the adsorption stability of the workpiece.

[0038] Furthermore, the vacuum suction cup 422 also includes a nut 4224, which is arranged outside the fixing rod 4223. A mounting hole is arranged on the mounting frame 421, and the fixing rod 4223 passes through the mounting hole. Two nuts 4224 are arranged above and below the mounting hole, respectively. The multiple groups of vacuum suction cups 422 are arranged in two groups equidistantly below the mounting frame 421.

[0039] The module assembly line feeding robot also includes a sensor module 50, which is mounted on the support 310. The sensor module 50 can be used to detect the overall grasping and assembly operation of the robot.

[0040] It should be noted that the specific model specifications of the robot arm 10, lifting assembly 20, pneumatic clamping claw 320, cylinder 410, and sensor module 50 need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method adopts the existing technology in this field, so it will not be described in detail. The power supply and principle of the robot arm 10, lifting assembly 20, pneumatic clamping claw 320, cylinder 410, and sensor module 50 are clear to those skilled in the art and will not be described in detail here. Among them, the lifting assembly 20 is a commonly used lifting and lowering assembly of a motor-driven screw.

[0041] The working principle of the module assembly line feeding manipulator: When in use, when the claw grasping part 30 is needed to grasp the workpiece for loading and unloading, the cylinder 410 in the suction cup grasping part 40 drives the suction cup part 420 to retract into the mounting groove 330. At this time, after the support 310 is driven to the specified position under the cooperation of the robot mechanical arm 10 and the lifting assembly 20, the pneumatic claw 320 can grasp the module. When the suction cup grasping part 40 is needed to load and unload, the cylinder 410 drives the suction cup part 420 to protrude below the pneumatic claw 320. At this time, after the support 310 is driven to the specified position under the cooperation of the robot mechanical arm 10 and the lifting assembly 20, the suction cup part 420 can suck the module for loading and unloading. The module assembly line feeding manipulator uses two methods of grasping and sucking to quickly switch and adjust, which is convenient for loading and unloading different types of workpieces on the same conveyor line.

[0042] The above description is only the preferred implementation of the utility model, and is not intended to limit the utility model. For those skilled in the art, the utility model can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A module assembly line unloading robot, characterized in that: include A robot mechanical arm (10) and a lifting assembly (20), wherein the lifting assembly (20) is mounted on an execution end of the robot mechanical arm (10); A claw grabbing portion (30), the claw grabbing portion (30) comprising a support (310) and a pneumatic claw (320), the support (310) being arranged at the bottom of the lifting assembly (20), the support (310) being provided with a mounting groove (330) at the bottom, a plurality of pneumatic claws (320) being mounted on the periphery of the bottom of the support (310), the pneumatic claw (320) comprising a claw frame (321) and a flexible claw block (322), the claw frame (321) being connected to the flexible claw block (322), a plurality of grooves (324) being provided on the inner side of the flexible claw block (322), a first communicating air channel (323) being provided inside the flexible claw block (322), the first communicating air channel (323) being communicated with the groove (324) via a first air hole (325); A suction cup grabbing portion (40), the suction cup grabbing portion (40) comprising a cylinder (410) and a suction cup member (420), the cylinder (410) being installed inside the mounting groove (330), and the output rod end of the cylinder (410) driving the suction cup member (420) to move and adjust inside the mounting groove (330) and below the support (310).

2. A module assembly line unloading robot according to claim 1, characterized in that: The suction cup member (420) comprises a mounting frame (421) and a vacuum suction cup (422); the mounting frame (421) is connected to the output rod end of the cylinder (410); and the vacuum suction cup (422) is mounted and matched with the mounting frame (421).

3. A module assembly line unloading robot according to claim 2, characterized in that: A guide block (423) is provided at the end of the mounting frame (421), and a guide groove (340) that is slidably matched with the guide block (423) is provided on the inner side wall of the mounting groove (330).

4. A module assembly line unloading robot according to claim 2, characterized in that: The vacuum suction cup (422) comprises a vacuum suction cup body (4221), a spring (4222) and a fixing rod (4223); the fixing rod (4223) is connected to the mounting frame (421); the spring (4222) is sleeved outside the fixing rod (4223); and the vacuum suction cup body (4221) is arranged at the bottom of the fixing rod (4223).

5. A module assembly line unloading robot according to claim 4, characterized in that: The vacuum suction cup (422) further comprises a nut (4224), wherein the nut (4224) is arranged outside the fixing rod (4223).

6. A module assembly line unloading robot according to claim 5, characterized in that: The mounting frame (421) is provided with a mounting hole, the fixing rod (4223) passes through the mounting hole, and the two nuts (4224) are respectively arranged above and below the mounting hole.

7. A module assembly line unloading robot according to claim 4, characterized in that: The vacuum suction cup body (4221) comprises a disc seat (401) and a disc edge (402); the disc edge (402) is integrally formed on the outside of the disc seat (401); an elastic convex strip (403) with an arc-shaped structure is arranged at the top of the disc seat (401); a second air hole (404) is arranged on the elastic convex strip (403); and a second connecting air channel (405) connected to the second air hole (404) is arranged inside the disc seat (401).

8. The module assembly line unloading robot according to claim 2, characterized in that: The plurality of groups of vacuum suction cups (422) are arranged in two groups at equal distances below the mounting frame (421).

9. The module assembly line unloading robot according to claim 1, characterized in that: It also includes a sensor module (50), wherein the sensor module (50) is mounted on the support (310).

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