Flexible composite robot feeding and discharging device

Abstract

The utility model discloses a flexible composite robot feeding and discharging device which comprises a carrying vehicle, a feeding device, a discharging device, a feeding device and a discharging device. A multi-axis rotating driving arm mechanism is arranged on the robot in a driving mode, and sensing equipment is arranged on the side face of the end of the driving arm mechanism; the clamping jaw mechanism is connected with the end of the driving arm mechanism and comprises a swing arm, a first linkage plate, a second linkage plate and a flexible clamping finger, the swing arm is hinged to the middle of the first linkage plate, and the end of the second linkage plate is hinged to the end of the first linkage plate and the side face of the clamping jaw mechanism. Through the detachable design of the positioning jig, the driving arm mechanism driven by multi-shaft rotation is matched with the product position sensing of the sensing equipment, and the multiple driving and hinging structures of the clamping jaw mechanism, the shape adjustment of the clamping jaw mechanism of the flexible composite robot is more flexible and diversified, so that the more accurate and stable alignment and clamping of products are ensured, and the production efficiency is improved. And efficient feeding and discharging operation of products of different sizes and models is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of loading and unloading devices, in particular to a flexible composite robot loading and unloading device. Background Art

[0002] Flexible robots usually refer to robots with flexible joints and considering the flexible deformation of joints. Compared with common types of robots, this design can control and operate objects more flexibly. However, the loading and unloading devices and their positioning fixtures for common assembled flexible robots are mostly fixed, making it difficult to perform loading and unloading operations on products of different sizes and models; the robot and the product cannot achieve precise alignment, and the adjustment methods and forms of the clamping mechanisms on the robot are single, with poor adjustment flexibility, resulting in poor stability of clamping and loading and unloading different products. Content of the Utility Model

[0003] The purpose of the utility model is to provide a flexible composite robot loading and unloading device to solve the problems that the loading and unloading devices and their positioning fixtures for common assembled flexible robots are mostly fixed, making it difficult to perform loading and unloading operations on products of different sizes and models, and the robot and the product cannot achieve precise alignment, and the adjustment methods and forms of the clamping mechanisms on the robot are single, with poor adjustment flexibility, resulting in poor stability of clamping and loading and unloading different products.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme: a flexible composite robot loading and unloading device, comprising:

[0005] A handling vehicle, on which a positioning fixture is detachably arranged, and the product to be loaded and unloaded is positioned on the positioning fixture;

[0006] A robot, the bottom base of which is connected to the control device in the handling vehicle, a driving arm mechanism with multi-axis rotation is driven on the base, and a sensing device is arranged on the side of the end of the driving arm mechanism;

[0007] A clamping jaw mechanism, which is connected to the end of the driving arm mechanism, includes a swing arm driven by a motor to rotate, a first linkage plate, a second linkage plate, and flexible fingers positioned on the first linkage plate. The swing arm is hinged in the middle of the first linkage plate, and the ends of the second linkage plate are respectively hinged to the end of the first linkage plate and the side of the clamping jaw mechanism. A notch corresponding to the surface of the product is arranged inside the flexible fingers.

[0008] As a further description of the above technical scheme:

[0009] The positioning fixture is assembled on the handling vehicle by bolts or pins, and positioning grooves corresponding to the product are radially or matrixially arranged on the positioning fixture.

[0010] As a further description of the above technical solution:

[0011] The handling vehicle is provided with heat dissipation holes which are arranged radially.

[0012] As a further description of the above technical solution:

[0013] The driving arm mechanism includes a rotating motor drive, a first driving arm, a second driving arm, a third driving arm and a fourth driving arm which are sequentially butted at the ends, and the fourth driving arm is rotationally drivingly connected with the clamping jaw mechanism.

[0014] As a further description of the above technical solution:

[0015] The induction device is assembled on the mounting bracket, and one side of the mounting bracket is positioned on the side surface of the end of the driving arm mechanism through a locking hoop.

[0016] As a further description of the above technical solution:

[0017] The induction device is a vision camera, and a light shielding disc is arranged at the bottom of the induction device.

[0018] As a further description of the above technical solution:

[0019] One end of the second linkage plate is hinged to the connecting seat, and the connecting seat is slidably arranged in the chute through the driving of the motor in the clamping jaw mechanism.

[0020] In summary, due to the adoption of the above technical solution, the present utility model has the following

[0021] Advantages:

[0022] Through the detachable design of the positioning fixture of the present utility model, it is convenient to replace the positioning fixture, and it is matched with the movement of the handling vehicle to be docked with a variety of processing devices, so as to realize the loading and unloading operations of products of different sizes and models; the driving arm mechanism cooperates with the product position induction of the induction device to perform multi-axis rotation and position adjustment of the clamping jaw mechanism, so as to realize accurate alignment with the product; through the rotational drive of the swing arm and the telescopic drive of the connecting seat to perform multiple drives and hinge structures for the rotational adjustment of the second linkage plate, the form adjustment of the clamping jaw mechanism of the flexible composite robot is more flexible and diverse, and it is matched with the notch of the flexible finger to ensure more stable clamping of the product, so as to realize efficient loading and unloading. Description of the Drawings

[0023] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present utility model, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0024] Figure 1 It is a schematic structural diagram of a feeding and discharging device for a flexible composite robot.

[0025] Figure 2 It is a schematic structural diagram of a jaw mechanism in a feeding and discharging device for a flexible composite robot.

[0026] Legend description:

[0027] 1. Robot; 11. First driving arm; 12. Second driving arm; 13. Third driving arm; 14. Fourth driving arm; 2. Jaw mechanism; 21. Swing arm; 22. First linkage plate; 23. Second linkage plate; 24. Connecting seat; 25. Flexible finger; 26. Chute; 3. Induction device; 31. Mounting frame; 32. Lock hoop; 33. Shading disc; 4. Handling cart; 41. Positioning fixture; 42. Heat dissipation hole; 5. Product. Detailed implementation manners

[0028] The following will clearly and completely describe the technical solutions in the embodiments of the present utility model in conjunction with the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present utility model.

[0029] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying 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 construed as a limitation of the present utility model.

[0030] Please refer to Figure 1-2 , the present utility model provides a technical solution: a feeding and discharging device for a flexible composite robot, including:

[0031] A handling cart 4, on which a positioning fixture 41 is detachably arranged, and the product 5 to be fed and discharged is positioned on the positioning fixture 41;

[0032] Robot 1, whose bottom base is connected to the control device in the carrier vehicle 4. A drive arm mechanism with multi-axis rotation is driven on the base, and a sensing device 3 is arranged on the side of the end of the drive arm mechanism;

[0033] Jaw mechanism 2, which is connected to the end of the drive arm mechanism, includes a swing arm 21 driven by a motor to rotate, a first linkage plate 22, a second linkage plate 23, and flexible jaws 25 positioned on the first linkage plate 22. The swing arm 21 is hinged in the middle of the first linkage plate 22, and the ends of the second linkage plate 23 are respectively hinged to the end of the first linkage plate 22 and the side of the jaw mechanism 2. A notch corresponding to the surface of the product 5 is arranged inside the flexible jaws 25.

[0034] The positioning fixture 41 is assembled on the carrier vehicle 4 by bolts or pins. Radially or in a matrix, positioning grooves corresponding to the product 5 are arranged on the positioning fixture 41, so as to facilitate the replacement of the positioning fixture 41, cooperate with the movement of the carrier vehicle 4 to be docked with various processing devices, and realize the loading and unloading operations of products of different sizes and models.

[0035] Radiating holes 42 are arranged on the carrier vehicle 4, and the radiating holes 42 are arranged radially, ensuring sufficient heat dissipation and efficient operation of the robot and the internal control device.

[0036] The drive arm mechanism includes a first drive arm 11, a second drive arm 12, a third drive arm 13, and a fourth drive arm 14 driven by a rotating motor and sequentially docked at the ends. The fourth drive arm 14 is rotationally driven to connect to the jaw mechanism 2, and cooperates with the sensing device 3 to perform multi-axis rotation and position adjustment of the jaw mechanism 2, so as to achieve precise alignment with the product.

[0037] The sensing device 3 is assembled on the mounting bracket 31. One side of the mounting bracket 31 is positioned on the side of the end of the drive arm mechanism through a lock hoop 32, which is convenient for disassembly, installation and maintenance of the sensing device.

[0038] The sensing device 3 is a vision camera. A light shielding disc 33 is arranged at the bottom of the sensing device 3. Through visual product sensing and positioning, and in cooperation with the light shielding disc, a clearer visual image of the product position is obtained, ensuring the efficient and accurate drive of the drive arm mechanism, and realizing the alignment and clamping of the jaw mechanism 2 and the product 5.

[0039] One end of the second linkage plate 23 is hinged to the connecting seat 24. The connecting seat 24 is driven by a motor inside the jaw mechanism 2 and is slidably arranged in the chute 26. Through the multiple driving and hinged structure of the rotation drive of the swing arm 21 and the telescopic drive of the connecting seat 24 for the rotation adjustment of the second linkage plate 23, the shape adjustment of the jaw mechanism 2 of the flexible composite robot is more flexible and diverse. Matching with the notch of the flexible finger 25 to ensure more stable gripping of the product and realize efficient loading and unloading.

[0040] The working principle of the loading and unloading device of the flexible composite robot in this embodiment includes: During assembly, the induction device 3 is positioned on the fourth driving arm 14 through the mounting frame 31. According to the product size type, the positioning fixture 41 is selected and positioned on the transport vehicle 4. The transport vehicle 4 is moved to be docked with the processing device. During use, the induction device 3 cooperates with the shading disc 33 to obtain the image of the product 5 for positioning. The control device drives the multi-axis rotation of the driving arm mechanism to adjust the position of the jaw mechanism 2 to dock with the product 5. Based on the pre-set scheme for the driving and gripping shape of the jaw mechanism 2 for products 5 of different sizes and types, by driving the connecting seat 24 to slide in the chute 26 and the swing arm 21 to rotate, and the linkage plate is adaptively adjusted to realize stable loading and unloading operations for the product.

[0041] In summary, due to the adoption of the above technical solutions, the loading and unloading device of the flexible composite robot in this embodiment has the following beneficial effects compared with the prior art:

[0042] In the present utility model, through the detachable design of the positioning fixture, it is convenient to replace the positioning fixture. Cooperating with the movement of the transport vehicle and docking with various processing devices, the loading and unloading operations of products of different sizes and models are realized; the driving arm mechanism cooperates with the product position sensing of the induction device to perform multi-axis rotation and position adjustment of the jaw mechanism to achieve precise alignment with the product; through the multiple driving and hinged structure of the rotation drive of the swing arm and the telescopic drive of the connecting seat for the rotation adjustment of the second linkage plate, the shape adjustment of the jaw mechanism of the flexible composite robot is more flexible and diverse. Matching with the notch of the flexible finger to ensure more stable gripping of the product and realize efficient loading and unloading.

[0043] The above is only the preferred specific embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution of the present utility model and its inventive concept, makes equivalent substitutions or changes, and all should be covered within the protection scope of the present utility model.

Claims

1. A flexible composite robot loading and unloading device, characterized in that Comprising: A handling cart, on which a positioning fixture is detachably arranged, and a product to be loaded and unloaded is positioned on the positioning fixture; A robot, the bottom base of which is connected to the control device in the handling cart, a driving arm mechanism with multi-axis rotation is driven and arranged on the base, and an induction device is arranged on the side of the end of the driving arm mechanism; A gripper mechanism, which is connected to the end of the driving arm mechanism, includes a swing arm driven by a motor to rotate, a first linkage plate, a second linkage plate, and flexible fingers positioned on the first linkage plate. The swing arm is hinged in the middle of the first linkage plate, and the ends of the second linkage plate are respectively hinged to the end of the first linkage plate and the side of the gripper mechanism. A notch corresponding to the surface of the product is arranged inside the flexible fingers.

2. The feeding and discharging device for the flexible composite robot according to claim 1, wherein, The positioning fixture is assembled on the handling cart by bolts or pins, and positioning grooves corresponding to the product are arranged radially or in a matrix on the positioning fixture.

3. The feeding and unloading device for a flexible composite robot according to claim 1, wherein, Heat dissipation holes are arranged on the handling cart, and the heat dissipation holes are arranged radially.

4. A flexible composite robot loading and unloading device according to claim 1, characterized in that, The driving arm mechanism includes a first driving arm, a second driving arm, a third driving arm, and a fourth driving arm that are driven by a rotating motor and are sequentially butted at the ends. The fourth driving arm is rotationally driven to connect the gripper mechanism.

5. The flexible composite robot loading and unloading device according to claim 1, characterized in that, The induction device is assembled on a mounting bracket, and one side of the mounting bracket is positioned on the side of the end of the driving arm mechanism through a lock hoop.

6. The flexible composite robot loading and unloading device according to claim 1, characterized in that The induction device is a vision camera, and a light-shielding disc is arranged at the bottom of the induction device.

7. A flexible composite robot loading and unloading device according to claim 1, characterized in that, One end of the second linkage plate is hinged to a connecting seat, and the connecting seat is driven by a motor in the gripper mechanism to slide in a chute.

Images