Manipulator automatic quick-change part taking device

Abstract

The utility model discloses an automatic quick-change part taking device of a manipulator, which comprises a six-axis manipulator, a visual guide structure, a positioning tool, a part taking tool magazine and a part taking structure, and the visual guide structure comprises a visual detection camera and a light source positioned in front of a lens of the visual detection camera; the pick-up tool magazine is used for placing a pick-up structure; the part taking structure comprises a profiling positioning block, a switching positioning block, a quick-change male head and a quick-change female head, the switching positioning block and the profiling positioning block are connected with the quick-change male head and the quick-change female head respectively, and the switching positioning block is connected with the visual guiding structure; the six-axis manipulator detects the model of a workpiece through the visual detection camera, and selects a proper workpiece taking structure to carry the workpiece. According to the utility model, the visual inspection technology is used for identifying the type of a workpiece, and a workpiece taking structure capable of quickly replacing the profiling positioning block is designed aiming at a visual guide structure, so that the quick assembly of the lamp is realized, and the assembly efficiency of the lamp is greatly improved. And the positioning precision is ensured, and meanwhile, the die changing time can be saved.

Description

Technical Field

[0001] The utility model relates to the technical field of lamp assembly, in particular to a mechanical arm automatic quick-change and fetching device. Background Art

[0002] With the rapid changes of the times, my country's traditional machinery and industrial manufacturing are rapidly developing towards automation, intelligence and miniaturization. The times are changing and technology is innovating. In order to better meet customer needs, control project costs and improve the degree of automation, we urgently need to design automation devices.

[0003] During the lamp assembly process, since each lamp product has a different appearance, the workpiece cannot be transferred through the same fixture. Currently, lamp assembly is still carried out manually. However, large amounts of manual operation are required in mass production, which increases the labor costs of the company's operations. In addition, manual switching of lamp products has low accuracy and is prone to positioning deviation, leading to risks such as scratches on the lamps.

[0004] Therefore, it is necessary to design an automatic pickup device that can quickly switch and transfer different lighting products. Utility Model Content

[0005] In order to solve the technical problems in the prior art of manually assembling lamps, which leads to increased production costs and easy scratches on the lamps, the utility model provides a manipulator automatic quick-change and retrieval device to solve the above problems.

[0006] The utility model adopts the following technical scheme to solve the technical problems: a robot automatic quick-change picking device, comprising a six-axis robot, a visual guidance structure, a positioning tool, a picking tool magazine and a picking structure, wherein the visual guidance structure is installed at the end of the six-axis robot, and the visual guidance structure comprises a visual detection camera and a light source located in front of the lens of the visual detection camera; the positioning tool is used to locate the workpiece; the picking tool magazine is used to place the picking structure; the picking structure comprises a contour positioning block, a transfer positioning block, a quick-change male head and a quick-change female head, the contour positioning block has a workpiece placement surface that is contoured with the workpiece, the workpiece placement surface is provided with a suction cup, the transfer positioning block and the contour positioning block are respectively connected to the quick-change male head and the quick-change female head, and the transfer positioning block is connected to the visual guidance structure; the six-axis robot detects the model of the workpiece through the visual detection camera and selects a suitable picking structure to transport the workpiece.

[0007] Furthermore, the quick-change male head and the quick-change female head are pneumatic quick-change connectors.

[0008] Further, the vision guiding structure further includes an L-shaped support, a detection connection plate connected to one end of the L-shaped support, and a bracket connected to the other end of the L-shaped support. The adapter positioning block is fixed to the detection connection plate, the light source is fixed on the bracket, and the vision detection camera is fixed on the L-shaped support and arranged coaxially with the light source.

[0009] Further, a pick-up connection plate is fixed to the top of the profiling positioning block, the quick-change female head is connected to the pick-up connection plate, and the pick-up connection plate has positioning portions protruding from both sides of the profiling positioning block. A positioning sleeve is provided on each positioning portion; the pick-up tool magazine has positioning pins adapted to the positioning sleeves.

[0010] Further, the pick-up tool magazine includes a plurality of support seats and guide columns connecting the support seats. Positioning pins are provided on each support seat, and each pick-up structure cooperates with the positioning pins of two adjacent support seats.

[0011] Further, among the two positioning pins cooperating with each pick-up structure, the cross-section of one positioning pin is non-circular.

[0012] Further, the guide columns are all fixed to the tool magazine connection plate.

[0013] Further, the six-axis robot and the pick-up tool magazine are fixed on the workbench surface.

[0014] Further, the positioning fixture is transplanted to a specified position through a transfer platform.

[0015] The beneficial effects of the present utility model are as follows:

[0016] (1) The present utility model uses vision detection technology to identify the workpiece model, and designs a pick-up structure that can quickly replace the profiling positioning block for the vision guiding structure, thereby realizing the rapid assembly of lamps, greatly improving the lamp assembly efficiency. While ensuring the positioning accuracy, the die change time can also be saved.

[0017] (2) The pick-up structure in the present utility model uses a pneumatic quick-change joint to achieve the quick connection and separation of the vision guiding structure and the profiling positioning block, meeting the requirements of automatic tool change. Description of the Drawings

[0018] The present utility model will be further described below in conjunction with the drawings and embodiments.

[0019] Figure 1 is a perspective view of the specific implementation manner of the automatic quick pick-up device of the robot described in the present utility model;

[0020] Figure 2 is a perspective view of the vision guiding structure in the present utility model;

[0021] Figure 3It is a three-dimensional diagram of the picking structure in the utility model;

[0022] Figure 4 It is a three-dimensional diagram of the tool magazine for taking out pieces in the utility model.

[0023] In the figure, 1. six-axis manipulator, 2. visual guidance structure, 201. visual inspection camera, 202. light source, 203. L-shaped support, 204. inspection connecting plate, 205. bracket, 3. positioning tool, 4. tool magazine for picking up parts, 401. support seat, 402. guide column, 403. positioning pin, 404. tool magazine connecting plate, 5. picking up parts structure, 501. contour positioning block, 5011. workpiece placement surface, 502. transfer positioning block, 503. quick-change male head, 504. quick-change female head, 505. suction cup, 506. picking up parts connecting plate, 5061. positioning part, 5062. positioning sleeve, 6. work table, 7. conveying platform. DETAILED DESCRIPTION

[0024] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0025] like Figures 1-4 As shown, a robot automatic quick-change pickup device includes a six-axis robot 1, a visual guide structure 2, a positioning tool 3, a pickup tool magazine 4 and a pickup structure 5. The six-axis robot 1 and the pickup tool magazine 4 are fixed on a work surface 6. The visual guide structure 2 is installed at the end of the six-axis robot 1. The visual guide structure 2 includes a visual inspection camera 201 and a light source 202 located in front of the lens of the visual inspection camera 201. The visual inspection camera 201 can shoot the workpiece, and the light source 202 is used to provide lighting to facilitate the acquisition of high-quality and high-contrast images. The visual inspection camera 201 identifies the correctness of the incoming material, and after the OK signal is fed back, the pickup structure 5 at the front end of the six-axis robot 1 picks up the lamp, turns on the automatic handling mode, and repeats the above actions; if the product needs to be switched, the six-axis robot 1 automatically switches the pickup structure 5 at the pickup tool magazine 4 according to the point set by the program. The visual inspection camera 201 can identify the type of workpiece through the overall image, or by scanning the nameplate. These are all existing technologies. The utility model does not modify the visual inspection camera 201 and the corresponding operating procedures, but only designs a quick way to pick up items. That is, the connection method between the visual guidance structure 2, the picking structure 5 and the picking tool magazine 4 is the main improvement point of the utility model.

[0026] The positioning tooling 3 is used to position the workpiece; the picking tool magazine 4 is used to place the picking structure 5; the picking structure 5 includes a profiling positioning block 501, a transfer positioning block 502, a quick-change male head 503 and a quick-change female head 504. The profiling positioning block 501 has a workpiece placement surface 5011 that profiles the workpiece. The workpiece placement surface 5011 is provided with a suction cup 505. When picking up the workpiece, the workpiece placement surface 5011 is located at the top of the profiling positioning block 501 to support the workpiece. Then, the suction cup 505 adsorbs the workpiece on the profiling positioning block 501. The transfer positioning block 502 and the profiling positioning block 501 are respectively connected to the quick-change male head 503 and the quick-change female head 504, and the transfer positioning block 502 is connected to the vision guiding structure 2; the six-axis robot 1 detects the model of the workpiece through the vision detection camera 201 and selects the appropriate picking structure 5 to carry the workpiece. When the quick-change male head 503 is connected to the quick-change female head 504, the vision guiding structure 2 can move synchronously with the profiling positioning block 501. When the quick-change male head 503 is separated from the quick-change female head 504, the vision guiding structure 2 is separated from the profiling positioning block 501, and the profiling positioning block 501 can be replaced.

[0027] The quick-change male head 503 and the quick-change female head 504 are a set of equipment that can achieve quick connection and separation to meet the requirements of automated operation. In the present utility model, the quick-change male head 503 and the quick-change female head 504 are preferably pneumatic quick-change joints. The air pipe joint accesses negative pressure to achieve the adsorption function, and the quick-change male head 503 and the quick-change female head 504 are automatically separated after the air path is disconnected. A pin shaft for positioning is preferably provided between the quick-change male head 503 and the quick-change female head 504 to ensure that the vision guiding structure 2 and the profiling positioning block 501 are connected in the correct posture.

[0028] In a further design, as Figure 2 shown, the vision guiding structure 2 further includes an L-shaped support 203, a detection connection plate 204 connected to one end of the L-shaped support 203, and a bracket 205 connected to the other end of the L-shaped support 203. The transfer positioning block 502 is fixed to the detection connection plate 204, the light source 202 is fixed to the bracket 205, and the vision detection camera 201 is fixed to the L-shaped support 203 and is coaxially arranged with the light source 202. The L-shaped support 203 can arrange the picking structure 5 and the vision detection camera 201 both facing the workpiece. Multiple hole positions can be provided on the L-shaped support 203 to connect the vision detection camera 201 to realize the distance adjustment of the vision detection camera 201 relative to the workpiece.

[0029] When it is necessary to replace the profiling positioning block 501, the six-axis manipulator 1 drives the visual guidance structure 2 and the picking structure 5 to move toward the picking tool magazine 4, and places the profiling positioning block 501 on the picking structure 5 on the picking tool magazine 4, then cuts off the air source, separates the quick-change male head 503 and the quick-change female head 504, and the profiling positioning block 501 connected to the quick-change female head 504 remains on the picking tool magazine 4, and the transfer positioning block 502 connected to the quick-change male head 503 is driven by the six-axis manipulator 1 to move to the required profiling positioning block 501 and connected to the corresponding quick-change female head 504, and then the six-axis manipulator 1 brings the new profiling positioning block 501 to the front of the positioning tooling 3 to pick up the workpiece.

[0030] Positioning of the profiling positioning block 501 and the picking tool magazine 4:

[0031] like Figure 3 As shown, a pickup connection plate 506 is fixed on the top of the profiling positioning block 501, and the quick-change female head 504 is connected to the pickup connection plate 506. The pickup connection plate 506 has positioning parts 5061 protruding from both sides of the profiling positioning block 501, and each positioning part 5061 is provided with a positioning sleeve 5062; the pickup tool magazine 4 has a positioning pin 403 that cooperates with the positioning sleeve 5062. When the profiling positioning block 501 is placed on the pickup tool magazine 4, the two positioning sleeves 5062 on both sides of the profiling positioning block 501 are plugged and matched with the two positioning pins 403 of the pickup tool magazine 4, ensuring that the profiling positioning block 501 is stably placed, and also helping the visual guidance structure 2 to connect the profiling positioning block 501 in a correct posture.

[0032] like Figure 4 As shown, the pick-up tool magazine 4 may include, but is not limited to, a plurality of support seats 401 and guide posts 402 connecting the support seats 401, each support seat 401 is provided with a positioning pin 403, and each pick-up structure 5 cooperates with the positioning pins 403 of two adjacent support seats 401. The guide posts 402 are used to support and elevate the support seats 401, and the support seats 401 serve as a placement plane for the contour positioning block 501. The contour positioning block 501 is placed between two support seats 401, so as to reduce the weight of the entire device as much as possible.

[0033] All guide posts 402 can be fixed on the tool magazine connecting plate 404 to facilitate unified transportation and installation.

[0034] Since the workpiece placement surface 5011 is located on one side of the profiling positioning block 501, the placement of the profiling positioning block 501 on the pick-up tool magazine 4 has directionality. To avoid placing the workpiece in the wrong direction, an anti-misalignment design can be made on the pick-up tool magazine 4, that is, one of the two positioning pins 403 that cooperate with each pick-up structure 5 has a non-circular cross section. Figure 4As shown, counting from the left, the first and third locating pins 403 are circular locating pins 403, and the second and fourth locating pins 403 are multi-faceted locating pins 403. Correspondingly, the inner holes of the two locating sleeves 5062 on the profiling locating block 501 are also a combination of circular and multi-faceted shapes, thus preventing incorrect installation.

[0035] The positioning tooling 3 is used to position the workpiece. An existing positioning tooling 3 can be adopted, and the positioning tooling 3 can be installed on the conveying platform 7. The conveying platform 7 can be a conveyor belt formed by a servo motor driving a sprocket. The workpiece is conveyed to a specified position by the conveying platform 7 on the positioning tooling 3. Then, the six-axis manipulator 1 controls the vision inspection camera 201 to face the workpiece on the positioning tooling 3 for shooting and inspection to determine whether the picking structure 5 needs to be replaced.

[0036] The utility model better realizes information automation through the automatic picking and rapid tool change structures, reducing the error rate caused by manual operation.

[0037] In this specification, the schematic description of the terms does not necessarily refer to the same embodiment. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments.

[0038] Taking the above-mentioned ideal embodiment of the utility model as an inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this utility model. The technical scope of this utility model is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An automatic quick-change pick-up device for a manipulator, characterized in that, Including: Six-axis robot; Vision guiding structure, installed at the end of the six-axis robot, the vision guiding structure includes a vision detection camera and a light source located in front of the lens of the vision detection camera; Positioning tooling, used for positioning workpieces; Pick-up tool magazine, used for placing pick-up structures; Pick-up structure, including a profiling positioning block, a transfer positioning block, a quick-change male head and a quick-change female head. The profiling positioning block has a workpiece placement surface that profiles the workpiece. The workpiece placement surface is provided with suction cups. The transfer positioning block and the profiling positioning block are respectively connected to the quick-change male head and the quick-change female head. The transfer positioning block is connected to the vision guiding structure; The six-axis robot detects the model of the workpiece through the vision detection camera and selects a suitable pick-up structure to carry the workpiece.

2. The automatic quick-change picking device for a manipulator according to claim 1, characterized in that: The quick-change male head and the quick-change female head are pneumatic quick-change connectors.

3. The automatic quick-change pick-up device for the manipulator according to claim 1, characterized in that: The vision guiding structure further includes an L-shaped support, a detection connection plate connected to one end of the L-shaped support, and a bracket connected to the other end of the L-shaped support. The transfer positioning block is fixed to the detection connection plate. The light source is fixed on the bracket. The vision detection camera is fixed on the L-shaped support and is coaxially arranged with the light source.

4. The automatic quick-change pick-up device for the manipulator according to claim 1, characterized in that: A pick-up connection plate is fixed to the top of the profiling positioning block. The quick-change female head is connected to the pick-up connection plate. The pick-up connection plate has positioning parts protruding from both sides of the profiling positioning block. Each positioning part is provided with a positioning sleeve. The pick-up tool magazine has positioning pins that cooperate with the positioning sleeves.

5. The automatic quick-change pick-up device for a manipulator according to claim 4, characterized in that: The pick-up tool magazine includes several support seats and guide columns connecting the support seats. Each support seat is provided with a positioning pin. Each pick-up structure cooperates with the positioning pins of two adjacent support seats.

6. The automatic quick-change pick-up device for a manipulator according to claim 5, characterized in that: Among the two positioning pins that cooperate with each pick-up structure, the cross-section of one positioning pin is non-circular.

7. The automatic quick-change pick-up device for the manipulator according to claim 5, characterized in that: The guide columns are all fixed to the tool magazine connection plate.

8. The automatic quick-change pick-up device for a manipulator according to claim 1, characterized in that: The six-axis robot and the pick-up tool magazine are fixed on the workbench surface.

9. The automatic quick-change picking device for the manipulator according to claim 1, characterized in that: The positioning tooling is transplanted to the designated position through the transfer platform.

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