Product taking and placing manipulator

Abstract

The utility model discloses a product pick-and-place manipulator which comprises an installation frame, a transverse linear module is fixedly installed on the top in the installation frame, a longitudinal linear module is fixedly installed on the lower surface of a movable block of the transverse linear module, a cross-shaped sliding table is formed by the transverse linear module and the longitudinal linear module, and a motor is fixedly installed on the lower surface of a movable block of the longitudinal linear module. A first electric push rod is fixedly mounted on the lower surface of the motor, and a suction mechanism is rotationally mounted on the outer surface of a piston rod of the first electric push rod. Through the design of the sucking and fixing mechanism, the sucking and fixing mechanism can adjust the grabbing posture according to the form information of the product, the product can be correctly grabbed, the parallel relation between the sucking and fixing mechanism and the surface of the product is kept, the accuracy and stability of the grabbing action can be ensured, and therefore it is ensured that the suction cup can accurately suck and fix the product, and the production efficiency and quality are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and specifically is a product picking and placing manipulator. Background Technology

[0002] In light mechanical processing or electronic products, such as POS machine processing, robots are usually used to complete the placement of semi-finished products or product raw materials. Usually these robots are independent. For example, one set of robots is used to place semi-finished products, and another set of robots is used to place product raw materials. If the robots that complete different operations can be integrated together, it can reduce the installation space for some intensive assembly lines, and it is easier to manage and save production costs.

[0003] For example, the patent with the national authorized patent announcement number CN207844431U discloses a product picking and placing robot, including a workbench and a main frame, a sliding track is installed on the main frame, a first sliding platform and a second sliding platform are installed side by side on the sliding track, and a first servo motor and a second servo motor are installed at both ends of the main frame respectively; the first servo motor drives the first sliding platform to slide through the first ball screw, and the second servo motor drives the second sliding platform to slide through the second ball screw; a suction cup mounting frame is installed on the first sliding platform, and a number of first suction cups are installed on the suction cup mounting frame; another suction cup mounting frame is installed on the second sliding platform, and a number of second suction cups are installed on the suction cup mounting frame; the first sliding platform and the second sliding platform are respectively installed with a first upper and lower telescopic cylinder and a second upper and lower telescopic cylinder, and the suction cups are respectively connected. The utility model installs two sets of separately controlled product picking and placing robots on a pair of sliding tracks, so as to realize the simultaneous picking and placing of semi-finished products and processing raw materials, and the equipment integration is higher.

[0004] However, the above-mentioned product placement robot cannot adjust the robot to perform the grasping operation according to the angle of the product when grasping the product. When the product is in an inclined position or irregularly placed, the robot cannot perform the corresponding tilt adjustment, which leads to unstable grasping action of the robot, and it is easy to fail to grasp or the product falls off. Contents of utility model

[0005] The purpose of the utility model is to provide a product picking and placing robot to solve the problem in the above background technology that the robot cannot be adjusted to perform the grabbing operation according to the angle of the product during the grabbing process.

[0006] To achieve the above purpose, the utility model provides the following technical solutions:

[0007] A product picking and placing manipulator, comprising: a mounting frame, a horizontal linear module is fixedly installed on the inner top of the mounting frame, a vertical linear module is fixedly installed on the lower surface of the moving block of the horizontal linear module, so as to form a cross slide table, a motor is fixedly installed on the lower surface of the moving block of the vertical linear module, a first electric push rod is fixedly installed on the lower surface of the motor, and a suction and fixation mechanism is rotatably installed on the outer surface of the piston rod of the first electric push rod.

[0008] Preferably, a camera is fixedly installed on the inner top of the mounting frame, a signal transmitting end of the camera is connected to a signal receiving end of a controller, the camera can provide a vision system for the horizontal linear module, the vertical linear module, the motor, the first electric push rod and the suction and fixation mechanism to calibrate the suction and fixation position, and is controlled by the controller.

[0009] Preferably, the motor can provide a 90° steering function for the suction and fixation mechanism and the first electric push rod, and the suction and fixation mechanism will adjust the suction and fixation position by tilting and rotating itself again.

[0010] Preferably, the suction and fixation mechanism includes a first docking plate, the first docking plate is rotatably installed on the outer surface of the piston rod of the first electric push rod, a micro vacuum pump is fixedly installed on the lower surface of the first docking plate, an X-shaped plate is fixedly installed on the lower surface of the micro vacuum pump, suction cups are fixedly installed on the lower surfaces of the four corners and the center of the X-shaped plate, and the suction cups are communicated with the air ports of the micro vacuum pump through pipelines.

[0011] Preferably, a Z-shaped plate is fixedly installed on the outer surface of the piston rod of the first electric push rod, a second electric push rod is rotatably installed on the lower surface of the Z-shaped plate, a piston rod of the second electric push rod is installed in a second docking plate, and the second docking plate is fixedly installed at one end of the micro vacuum pump.

[0012] Preferably, the second electric push rod and the micro vacuum pump are controlled by the controller.

[0013] Compared with the prior art, the beneficial effects of the present utility model are:

[0014] 1. Through the design of the horizontal linear module, vertical linear module, moving block, motor, first electric push rod and suction fixing mechanism, when grasping the product, the camera on the mounting frame will capture the product image and use image processing algorithms to identify the position, shape, angle and other features of the product in the image. The system will extract the features of the product from the image, such as edge and contour information, and use these features to determine the position and posture of the product. According to the features of the product in the image, the system will calculate the tilt angle of the product relative to the horizontal plane, which can be achieved by detecting the slope of the product edge or the change of the contour. Once the tilt angle of the product is determined, the visual recognition system of the camera will transmit this information to the controller, and the controller will send a regulation signal to the suction fixing mechanism. The suction fixing mechanism will perform corresponding tilt regulation operations according to the tilt state of the product, and will also perform rotation regulation operations within 90° through the motor. Then, it will drive the suction fixing mechanism to move directly above the product through the horizontal linear module and vertical linear module. Then, the first electric push rod will be activated to push the suction fixing mechanism to precisely fit on the smooth surface of the product and suck it. Subsequently, the first electric push rod can lift the suction fixing mechanism and move the product to the next operation position again through the horizontal linear module and vertical linear module. Furthermore, the suction fixing mechanism can adjust the grasping posture according to the morphological information of the product through the visual system of the camera, so that it can correctly grasp the product, maintain a parallel relationship with the product surface, and ensure the accuracy and stability of the grasping action. In this way, the camera and the visual recognition system can realize the automatic recognition and adjustment of the tilt angle of the product, so as to ensure that the manipulator can accurately grasp the product and improve production efficiency and quality.

[0015] 2. Through the design of the micro vacuum pump, suction cup and the second electric push rod, when the position and attitude of the product are determined, the visual recognition system of the camera will transmit this information to the controller, and the controller will send control signals to the second electric push rod and the motor. Then the second electric push rod will push or pull the piston rod to push or pull the second docking plate, and thus the second docking plate can drive the micro vacuum pump to tilt and rotate on the outer surface of the piston rod of the first electric push rod through the first docking plate. Furthermore, it can drive the X-shaped plate and the suction cup on the lower surface of the micro vacuum pump to perform corresponding tilt rotation until it stops after rotating to be flush with the inclined surface of the product. At the same time, the motor is started to drive the suction cup to adjust the angle so that it can be horizontally opposite to the inclined surface of the product. Subsequently, the suction cup is driven by the horizontal linear module and the vertical linear module to move directly above the product. Then the first electric push rod can be started to push the suction cup to precisely fit on the smooth surface of the product and the micro vacuum pump is started to firmly suck and hold on the surface of the product through the suction cup for grasping. Then the first electric push rod can lift the product sucked and held by the suction cup and move the product to the next operation position again through the horizontal linear module and the vertical linear module. Thus, it can adjust the grasping posture according to the morphological information of the product so that it can correctly grasp the product and maintain a parallel relationship with the product surface. Description of the Drawings

[0016] Figure 1 It is a schematic diagram of the overall structure of the present utility model;

[0017] Figure 2 It is a schematic diagram of the camera structure of the present utility model;

[0018] Figure 3 It is a schematic diagram of the motor and the first electric push rod structure of the present utility model;

[0019] Figure 4 It is a schematic diagram of the suction and fixation mechanism structure of the present utility model.

[0020] In the figure: 1. Mounting frame; 101. Horizontal linear module; 102. Vertical linear module; 103. Moving block; 104. Motor; 2. First electric push rod; 3. Suction and fixation mechanism; 301. Micro vacuum pump; 302. First docking plate; 303. X-shaped plate; 304. Second docking plate; 305. Suction cup; 306. Second electric push rod; 307. Z-shaped plate; 4. Camera. Detailed Embodiment

[0021] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] Please refer to Figures 1-4 , the present invention provides a technical solution:

[0023] As Figures 1-2 shown, a product picking and placing manipulator includes: a mounting frame 1. A horizontal linear module 101 is fixedly installed at the inner top of the mounting frame 1. A vertical linear module 102 is fixedly installed on the lower surface of the moving block 103 of the horizontal linear module 101, forming a cross slide table. A motor 104 is fixedly installed on the lower surface of the moving block 103 of the vertical linear module 102. A first electric push rod 2 is fixedly installed on the lower surface of the motor 104. A suction fixing mechanism 3 is rotatably installed on the outer surface of the piston rod of the first electric push rod 2.

[0024] A camera 4 is fixedly installed at the inner top of the mounting frame 1. The signal transmitting end of the camera 4 is connected to the signal receiving end of the controller. The camera 4 can provide a vision system for the horizontal linear module 101, the vertical linear module 102, the motor 104, the first electric push rod 2 and the suction fixing mechanism 3 to calibrate the suction fixing position and is controlled by the controller.

[0025] The motor 104 can provide a 90° steering function for the suction fixing mechanism 3 and the first electric push rod 2. The suction fixing mechanism 3 will further adjust the suction fixing position by tilting and rotating itself.

[0026] Through the design of the horizontal linear module 101, vertical linear module 102, moving block 103, motor 104, first electric push rod 2 and suction fixing mechanism 3, when grasping the product, the camera 4 on the mounting frame 1 will capture the product image and use image processing algorithms to identify the position, shape, angle and other features of the product in the image. The system will extract the features of the product from the image, such as edge and contour information, and use these features to determine the position and posture of the product. According to the features of the product in the image, the system will calculate the tilt angle of the product relative to the horizontal plane, which can be achieved by detecting the slope of the product edge or the change of the contour. Once the tilt angle of the product is determined, the visual recognition system of the camera 4 will transmit this information to the controller, and the controller will send a regulation signal to the suction fixing mechanism 3. The suction fixing mechanism 3 will perform corresponding tilt regulation operations according to the tilt state of the product, and will also perform rotation regulation operations within 90° through the motor 104. Then, it will drive the suction fixing mechanism 3 to move directly above the product through the horizontal linear module 101 and vertical linear module 102. Then, the first electric push rod 2 is started to push the suction fixing mechanism 3 to precisely fit on the smooth surface of the product and suck it. Subsequently, the first electric push rod 2 can lift the suction fixing mechanism 3 and move the product to the next operation position again through the horizontal linear module 101 and vertical linear module 102. Furthermore, the suction fixing mechanism 3 can adjust the grasping posture according to the shape information of the product through the visual system of the camera 4, so that it can correctly grasp the product and maintain a parallel relationship with the product surface, ensuring the accuracy and stability of the grasping action. In this way, the camera 4 and the visual recognition system can realize the automatic recognition and adjustment of the tilt angle of the product, thus ensuring that the manipulator can accurately grasp the product and improving production efficiency and quality.

[0027] As Figures 3-4 shown, the suction fixing mechanism 3 includes a first docking plate 302, which is rotatably installed on the outer surface of the piston rod of the first electric push rod 2. A micro vacuum pump 301 is fixedly installed on the lower surface of the first docking plate 302. An X-shaped plate 303 is fixedly installed on the lower surface of the micro vacuum pump 301. Suction cups 305 are fixedly installed on the lower surfaces of the four corners and the center of the X-shaped plate 303. The suction cups 305 are connected to the air ports of the micro vacuum pump 301 through pipes.

[0028] A Z-shaped plate 307 is fixedly installed on the outer surface of the piston rod of the first electric push rod 2. A second electric push rod 306 is rotatably installed on the lower surface of the Z-shaped plate 307. The piston rod of the second electric push rod 306 is installed in a second docking plate 304, and the second docking plate 304 is fixedly installed at one end of the micro vacuum pump 301.

[0029] The second electric push rod 306 and the micro vacuum pump 301 are controlled by the controller, and the controller can be selected as an S7-200 ultra-miniature PLC controller.

[0030] Through the design of the micro vacuum pump 301, the suction cup 305 and the second electric push rod 306, when the position and posture of the product are determined, the visual recognition system of the camera 4 will transmit this information to the controller, and the controller will send control signals to the second electric push rod 306 and the motor 104. Then the second electric push rod 306 will push or pull the piston rod to push or pull the second docking plate 304. Thus, the second docking plate 304 can drive the micro vacuum pump 301 to tilt and rotate on the outer surface of the piston rod of the first electric push rod 2 through the first docking plate 302. Further, it can drive the X-shaped plate 303 and the suction cup 305 on the lower surface of the micro vacuum pump 301 to perform corresponding tilting rotations until it stops after rotating to be flush with the inclined surface of the product. At the same time, the motor 104 is started to drive the suction cup 305 to adjust the angle so that it can be horizontally opposite to the inclined surface of the product. Subsequently, the suction cup 305 is driven by the horizontal linear module 101 and the vertical linear module 102 to move directly above the product. Then the first electric push rod 2 can be started to push the suction cup 305 to precisely fit on the smooth surface of the product and the micro vacuum pump 301 is started to firmly suck the product through the suction cup 305 for grasping. Subsequently, the first electric push rod 2 can lift the product sucked and fixed by the suction cup 305 and move the product to the next operation position again through the horizontal linear module 101 and the vertical linear module 102. Thus, it can adjust the grasping posture according to the morphological information of the product, enabling it to correctly grasp the product and maintain a parallel relationship with the product surface.

[0031] Summarize and sort out the working steps of this solution according to the above technical solution: When grasping the product, the camera 4 on the mounting frame 1 will identify the position, shape, angle and other features of the product in the image by capturing the product image and using image processing algorithms. The system will extract the features of the product from the image, such as edge and contour information, and use these features to determine the position and posture of the product. According to the features of the product in the image, the system will calculate the tilt angle of the product relative to the horizontal plane, which can be achieved by detecting the slope of the product edge or the change of the contour. Once the tilt angle of the product is determined, the visual recognition system of the camera 4 will transmit this information to the controller, and the controller will send control signals to the second electric push rod 306 and the motor 104. The second electric push rod 306 will push or pull the piston rod to push or pull the second docking plate 304, and then the second docking plate 304 can drive the micro vacuum pump 301 to tilt and rotate on the outer surface of the piston rod of the first electric push rod 2 through the first docking plate 302. Then, the X-shaped plate 303 and the suction cup 305 on the lower surface of the micro vacuum pump 301 can be driven to tilt and rotate accordingly until it stops after rotating to be flush with the inclined surface of the product. At the same time, the motor 104 is started to drive the suction cup 305 to adjust the angle so that it can be horizontally opposite to the inclined surface of the product. Subsequently, the suction cup 305 is driven by the horizontal linear module 101 and the vertical linear module 102 to move above the product. Then, the first electric push rod 2 can be started to push the suction cup 305 to accurately fit on the smooth surface of the product, and the micro vacuum pump 301 is started to firmly suck on the surface of the product through the suction cup 305 for grasping. Then, the first electric push rod 2 can lift the product sucked and fixed by the suction cup 305, and then move the product to the next operation position through the horizontal linear module 101 and the vertical linear module 102 again, that is, the pick-and-place operation of the product is realized.

[0032] In summary: It can adjust the grasping posture according to the morphological information of the product, so that it can correctly grasp the product, maintain a parallel relationship with the product surface, ensure the accuracy and stability of the grasping action, so as to ensure that the suction cup 305 can accurately suck and fix the product, and improve production efficiency and quality.

[0033] Parts not involved in the present utility model are the same as or can be implemented by using the prior art. Although the embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims and their equivalents.

Claims

1. A product picking and placing robot, characterized in that: include: A mounting frame (1) is provided, wherein a transverse linear module (101) is fixedly mounted on the top of the mounting frame (1), a longitudinal linear module (102) is fixedly mounted on the lower surface of a movable block (103) of the transverse linear module (101), so as to form a cross slide, a motor (104) is fixedly mounted on the lower surface of the movable block (103) of the longitudinal linear module (102), a first electric push rod (2) is fixedly mounted on the lower surface of the motor (104), and a suction mechanism (3) is rotatably mounted on the outer surface of the piston rod of the first electric push rod (2).

2. A product picking and placing robot according to claim 1, characterized in that: A camera (4) is fixedly installed at the top of the mounting frame (1); a signal transmitting end of the camera (4) is connected to a signal receiving end of the controller; the camera (4) can provide a visual system for the transverse linear module (101), the longitudinal linear module (102), the motor (104), the first electric push rod (2) and the suction mechanism (3) to calibrate the suction position, and all are controlled by the controller.

3. A product picking and placing robot according to claim 1 or 2, characterized in that: The motor (104) can provide a 90° steering function for the fixation mechanism (3) and the first electric push rod (2), and the fixation mechanism (3) can adjust the fixation position again by tilting and rotating itself.

4. A product picking and placing robot according to claim 1, characterized in that: The suction mechanism (3) comprises a first docking plate (302), the first docking plate (302) being rotatably mounted on the outer surface of the piston rod of the first electric push rod (2), a micro vacuum pump (301) being fixedly mounted on the lower surface of the first docking plate (302), an X-shaped plate (303) being fixedly mounted on the lower surface of the micro vacuum pump (301), suction cups (305) being fixedly mounted on the four corners and the lower surface of the center of the X-shaped plate (303), and the suction cups (305) being connected to the air port of the micro vacuum pump (301) through a pipeline.

5. A product picking and placing robot according to claim 4, characterized in that: A Z-shaped plate (307) is fixedly mounted on the outer surface of the piston rod of the first electric push rod (2), a second electric push rod (306) is rotatably mounted on the lower surface of the Z-shaped plate (307), the piston rod of the second electric push rod (306) is mounted in a second docking plate (304), and the second docking plate (304) is fixedly mounted on one end of the micro vacuum pump (301).

6. A product picking and placing robot according to claim 5, characterized in that: The second electric push rod (306) and the micro vacuum pump (301) are controlled by a controller.

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