Robot feeding and discharging module

Abstract

The utility model discloses a robot feeding and discharging module which comprises a base, a six-axis robot is arranged on the base, and a clamp is arranged at the tail end of the six-axis robot. The clamp comprises a base, a six-dimensional force sensor is arranged at the top of the base, and a visual positioning sensor, a vacuum suction mechanism and two grabbing mechanisms are arranged on the four side faces of the base correspondingly. According to the utility model, the six-axis robot drives the clamp, after the visual positioning sensor on the clamp positions the material, the vacuum suction mechanism sucks the product, the six-axis robot moves the product onto the test equipment, and after the test is finished, the grabbing mechanism is switched to take down the product and move the product to the next process. According to the utility model, the procedures of positioning, sucking and pulling down the product are integrated on one clamp, and the large movement range of the six-axis robot is matched, so that the automation of feeding and discharging of the product can be realized, the labor cost is reduced, and the detection efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of optical module detection, and more specifically, to a robot loading and unloading module. Background Art

[0002] An optical module is an optoelectronic device for optoelectronic and electro-optical conversion. In the existing optical module detection process, manual loading and unloading is generally adopted. Workers wear anti-static gloves and anti-static bracelets and then grasp the optical module. There are many uncertain factors in manual loading and unloading. For example, during the manual grasping process, it is necessary to prevent the optical module from being knocked, especially not to contact the gold fingers of the optical module. In manual testing, it is difficult to avoid violent manual plugging and unplugging, which may damage the gold fingers of the optical module. In addition, manual grasping not only has a large labor intensity but also a slow grasping speed, resulting in limited detection efficiency. The existing manual loading and unloading method has a great impact on the detection efficiency and quality. Summary of the Utility Model

[0003] The utility model provides a robot loading and unloading module to solve the problems raised in the above background art. To achieve the above object, the utility model provides the following technical solution: A robot loading and unloading module includes a base, on which a six-axis robot is provided, and a fixture is provided at the end of the six-axis robot; the fixture includes a base, on the top of which a six-axis force sensor is provided, and a vision positioning sensor, a vacuum suction mechanism, and two grasping mechanisms are respectively provided on four side surfaces; the six-axis force sensor is connected to the end of the six-axis robot.

[0004] Preferably, the vision positioning sensor includes a CCD camera, a camera bracket, a supplementary light source, and a light source bracket; the camera bracket is connected to the base, the CCD camera is installed on the camera bracket; the light source bracket is located below the camera bracket and is connected to the base; the supplementary light source is installed on the supplementary light bracket; the supplementary light source is of a ring structure, and a through groove is provided in the center thereof, and the detection end of the CCD camera faces the through groove.

[0005] Preferably, the vacuum suction mechanism includes a first lifting cylinder, a suction cup bracket, and a pair of vacuum suction cups. The cylinder body of the first lifting cylinder is connected to the base, and the piston rod end thereof is connected to the suction cup bracket. The pair of vacuum suction cups are installed on the suction cup bracket; the vacuum suction cups are connected to a vacuum generator through a vacuum tube.

[0006] Preferably, the grasping mechanism includes a second lifting cylinder, a sliding frame and an electric gripper; one side of the second lifting cylinder is connected to the base, and the other side is slidably connected to the sliding frame; the cross-section of the sliding frame is an L-shaped structure, which includes a vertical plate and a horizontal plate. The piston rod end of the second lifting cylinder is connected to the bottom of the vertical plate, and the horizontal plate is connected to the electric gripper.

[0007] Preferably, the bottom of the electric gripper is provided with a first gripper end and a second gripper end which are symmetric to each other; a first clamping block is provided on the first gripper end, and a second clamping block is provided on the second gripper end; the first clamping block and the second clamping block have the same structure and are symmetrically arranged; a side groove is provided on the first clamping block, and a U-shaped cushion block is provided on the side groove.

[0008] Preferably, the U-shaped cushion block is a rubber block or a plastic block.

[0009] Preferably, the second lifting cylinder is a double-axis cylinder.

[0010] Preferably, the six-axis force sensor is any one of a strain force sensor, an optical sensor or a piezoelectric force sensor.

[0011] Preferably, the base is formed by splicing multiple metal plates, and it includes a top plate, a left side plate, a front side plate, a right side plate and a rear side plate; the top plate is a rectangular structure, its top is connected to the six-axis force sensor, and the four sides of the bottom are successively the left side plate, the front side plate, the right side plate and the rear side plate; the vision positioning sensor is arranged on the left side plate, the vacuum suction mechanism is arranged on the front side plate, and two grasping mechanisms are respectively arranged on the right side plate and the rear side plate.

[0012] Preferably, the six-axis robot includes a first axis seat, a second axis seat, a first arm, a third axis seat, a second arm, a fourth axis seat, a fifth axis seat and a sixth axis seat which are connected in sequence; a first motor is arranged on the first axis seat, a second motor is arranged on the second axis seat, a third motor is arranged on the third axis seat, a fourth motor is arranged on the fourth axis seat, a fifth motor is arranged on the fifth axis seat, and a sixth motor is arranged on the sixth axis seat; the length of the first arm is less than the length of the second arm, and the pipe diameter of the first arm is greater than the pipe diameter of the second arm; the sixth axis seat is connected to the six-axis force sensor.

[0013] Compared with the prior art, the beneficial effects of the utility model are as follows: The utility model is reasonably designed and has a simple structure. The six-axis robot drives the fixture. After the visual positioning sensor on the fixture locates the material, the vacuum suction mechanism sucks the product and moves it to the detection equipment to detect the dirt condition at the end of the optical module. Then, the grasping mechanism is used to clamp the optical module and connect the fiber optic head, and then the optical module with the fiber optic head is clamped and inserted into the testing machine for testing. The utility model integrates the processes of positioning, sucking, and unplugging the product onto one fixture, can perform rapid automatic switching of different functions, and cooperates with the large movement range of the six-axis robot, enabling the automation of product loading and unloading, reducing labor costs, lowering equipment investment, and improving detection efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a structural diagram of the robot loading and unloading module according to an embodiment of the utility model;

[0015] Figure 2 is another perspective structural diagram of the robot loading and unloading module according to an embodiment of the utility model;

[0016] Figure 3 is a structural diagram of the fixture of the robot loading and unloading module according to an embodiment of the utility model;

[0017] Figure 4 is another perspective structural diagram of the fixture of the robot loading and unloading module according to an embodiment of the utility model;

[0018] Figure 5 is another perspective structural diagram of the fixture of the robot loading and unloading module according to an embodiment of the utility model;

[0019] Figure 6 is a side view of the fixture of the robot loading and unloading module according to an embodiment of the utility model;

[0020] In Figures 1 to 6 wherein the corresponding relationship between the names of each component and the reference numerals in the drawings is:

[0021] 1 - Base, 2 - Six-axis robot, 21 - First axis base, 22 - Second axis base, 23 - First arm, 24 - Third axis base, 25 - Second arm, 26 - Fourth axis base, 27 - Fifth axis base, 28 - Sixth axis base, 3 - Fixture, 31 - Base, 32 - Six-axis force sensor, 33 - Vision positioning sensor, 331 - CCD camera, 332 - Camera support, 333 - Fill light source, 334 - Light source support, 34 - Vacuum suction mechanism, 341 - First lifting cylinder, 342 - Suction cup holder, 343 - Vacuum suction cup, 35 - Gripping mechanism, 351 - Second lifting cylinder, 352 - Sliding frame, 353 - Electric gripper, 354 - First gripper end, 355 - Second gripper end, 356 - First clamping block, 357 - Second clamping block, 3571 - Side groove, 358 - U-shaped cushion block, 4 - Optical module. Detailed implementation manners

[0022] The following further describes in detail the implementation manners of the present utility model in conjunction with the accompanying drawings and embodiments. The attached drawings are only for reference and illustration purposes and are not used to limit the embodiments of the present disclosure. The following embodiments are used to illustrate the present utility model, but cannot be used to limit the scope of the present utility model.

[0023] In the description of the present utility model, unless otherwise specified, the meaning of "a plurality of" is two or more; the orientation or positional relationships indicated by terms such as "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientation or positional relationships shown in the accompanying drawings. It 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 cannot be understood as a limitation to the present utility model. In addition, terms such as "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0024] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0025] Please refer to Figures 1 to 6, the present utility model provides a robot loading and unloading module, which includes a base 1. A six-axis robot 2 is provided on the base 1, and a fixture 3 is provided at the end of the six-axis robot 2. The fixture 3 includes a base 31. A six-axis force sensor 32 is provided on the top of the base 31, and a visual positioning sensor 33, a vacuum suction mechanism 34 and two grasping mechanisms 35 are respectively provided on four side surfaces. The six-axis force sensor 32 is connected to the end of the six-axis robot 2.

[0026] In an embodiment of the present utility model, the six-axis robot 2 is fixed on the base 1, and a fixture 3 for grasping the materials of the optical module 4 is carried at the joint end of the six-axis robot 2. The main body of the fixture 3 is the base 31. There are four surfaces on the side of the base 31, on which a visual positioning sensor 33, a vacuum suction mechanism 34 and two grasping mechanisms 35 are respectively installed. The top of the base 31 is connected to the six-axis robot 2 through a six-axis force sensor 32. Through the above structural design, the end of the six-axis robot 2 is provided with the functions of positioning, sucking and grasping, and the rapid transfer of materials between multiple processes can be realized.

[0027] Specifically, in the detection process of the optical module 4, the six-axis robot 2 moves to the storage tray for storing the optical module 4. First, the visual positioning sensor 33 performs visual positioning on the optical module 4 in the storage tray, and then the vacuum suction mechanism 34 sucks the optical module 4. The six-axis robot 2 moves the optical module 4 to the visual code scanning device on the detection line to perform code scanning and identification on the optical module 4, and then places the optical module 4 on the placement end detector to detect the dirt condition at the end of the optical module 4. The six-axis robot 2 rotates and switches to the grasping mechanism 35, and uses the grasping mechanism 35 to clamp the optical module 4 and place it on the working station for cleaning the optical module 4 and plugging the optical fiber head. Two sets of grasping mechanisms 35 are provided in this embodiment. The two grasping mechanisms 35 cooperate with each other. After the optical module 4 is cleaned and the optical fiber head is plugged in, one set of grasping mechanisms 35 grabs the optical module 4 and then moves it in front of the test equipment, and the other set of grasping mechanisms 35 removes the materials that have been tested on the test equipment, and then the grasping mechanism 35 that clamps the untested optical module 4 sends the materials to the test equipment, and alternately completes the exchange of the untested and tested optical modules 4 in turn.

[0028] In order to avoid the situation of manually inserting and unplugging violently and thus damaging the gold fingers of the optical module, in this embodiment, a six-axis force sensor 32 and a six-axis robot 2 are combined and used for the plugging and unplugging loading and unloading in the optical module testing machine. The six-axis force sensor 32 is a sensor for measuring torque, which can measure the force and torque received by an object in six degrees of freedom. By installing the six-axis force sensor 32 at the end of the six-axis robot 2, the force and torque received by the six-axis robot 2 during the operation can be measured in real time, so as to achieve high-precision control and feedback, and further avoid the situation of damaging the gold fingers due to manually inserting and unplugging violently.

[0029] By arranging a plurality of functional components at the end of the six-axis robot 2, the present utility model can adopt different material taking methods at different workstations, greatly improving the loading and unloading speed of materials, significantly enhancing the loading and unloading efficiency, increasing the product detection speed, making the cooperation between the loading and unloading and each workstation on the detection line closer, and avoiding the influence of manual grasping on product quality.

[0030] Preferably, the vision positioning sensor 33 includes a CCD camera 331, a camera bracket 332, a supplementary light source 333 and a light source bracket 334; the camera bracket 332 is connected to the base 31, and the CCD camera 331 is installed on the camera bracket 332; the light source bracket 334 is located below the camera bracket 332 and is connected to the base 31; the supplementary light source is installed on the supplementary light bracket; the supplementary light source 333 is of an annular structure with a through groove provided at its center, and the detection end of the CCD camera 331 faces the through groove.

[0031] In an embodiment of the present utility model, the CCD camera 331 is used for visual recognition and positioning of materials. To improve the recognition effect, a supplementary light source 333 of an annular structure is arranged below the CCD camera 331. The supplementary light source 333 irradiates downward, and the CCD camera 331 can recognize the materials below through the through groove in the middle of the supplementary light source 333.

[0032] Preferably, the vacuum suction mechanism 34 includes a first lifting cylinder 341, a suction cup bracket 342 and a pair of vacuum suction cups 343. The cylinder body of the first lifting cylinder 341 is connected to the base 31, and its piston rod end is connected to the suction cup bracket 342. The pair of vacuum suction cups 343 are installed on the suction cup bracket 342; the vacuum suction cups 343 are connected to a vacuum generator through a vacuum tube.

[0033] In this embodiment, the pair of vacuum suction cups 343 are installed on the base 31 through the suction cup bracket 342. A pair of parallel mounting grooves are provided on the suction cup bracket 342, and the two vacuum suction cups 343 are respectively installed in the two mounting grooves. Moreover, the vacuum suction cups 343 can move in the corresponding mounting grooves, so that their mounting positions can be adjusted within the length range of the mounting grooves to adapt to more products of different specifications.

[0034] Preferably, the grasping mechanism 35 includes a second lifting cylinder 351, a sliding frame 352, and an electric gripper 353; one side of the second lifting cylinder 351 is connected to the base 31, and the other side is slidably connected to the sliding frame 352; the cross-section of the sliding frame 352 is an L-shaped structure, which includes a vertical plate and a horizontal plate. The piston rod end of the second lifting cylinder 351 is connected to the bottom of the vertical plate, and the horizontal plate is connected to the electric gripper 353. In this embodiment, the structures of the two grasping mechanisms 35 are the same. In the grasping mechanism 35, the sliding frame 352 is slidably arranged on the cylinder body of the second lifting cylinder 351, and can rise or fall with the advance and retreat of the piston rod, and the electric gripper 353 grabs or releases the material.

[0035] Preferably, symmetric first gripper ends 354 and second gripper ends 355 are provided at the bottom of the electric gripper 353; a first clamping block 356 is provided on the first gripper end 354, and a second clamping block 357 is provided on the second gripper end 355; the first clamping block 356 and the second clamping block 357 have the same structure and are symmetrically arranged; a side groove 3571 is provided on the first clamping block 356, and a U-shaped cushion block 358 is provided on the side groove 3571.

[0036] In this embodiment, in order to facilitate the grasping of the optical module 4, the first clamping block 356 and the second clamping block 357 are respectively arranged on the first gripper end 354 and the second gripper end 355 at the bottom of the electric gripper 353, and the optical module 4 is clamped by these two clamping blocks together. At the same time, in order to reduce the damage to the optical module 4 during clamping, a U-shaped cushion block 358 is arranged on the side groove 3571 in this embodiment, and the U-shaped cushion block 358 can be made of a relatively soft material to avoid scratching the optical module 4.

[0037] Preferably, the U-shaped cushion block 358 is a rubber block or a plastic block.

[0038] Preferably, the second lifting cylinder 351 is a double-axis cylinder.

[0039] Preferably, the six-axis force sensor 32 is any one of a strain force sensor, an optical sensor, or a piezoelectric force sensor.

[0040] Preferably, the base 31 is spliced by multiple metal plates, and includes a top plate, a left side plate, a front side plate, a right side plate, and a rear side plate; the top plate is a rectangular structure, its top is connected to the six-axis force sensor 32, and the four sides of the bottom are the left side plate, the front side plate, the right side plate, and the rear side plate in sequence; the visual positioning sensor 33 is arranged on the left side plate, the vacuum suction mechanism 34 is arranged on the front side plate, and the two grasping mechanisms 35 are respectively arranged on the right side plate and the rear side plate.

[0041] In this embodiment, the base 31 is composed of multiple metal plates spliced together, and the multiple metal plates are fixedly connected by bolts. Each functional component on the base 31 is arranged in sequence. On both sides of the visual positioning sensor 33 are respectively a vacuum suction mechanism 34 and a grasping mechanism 35, and the opposite side is also a grasping mechanism 35. Through the above structural design, the fixture 3 can adapt to the loading and unloading requirements of multiple stations, making the cooperation between the loading and unloading and each station on the detection line closer, greatly improving the efficiency of loading and unloading and the detection speed of the product.

[0042] Preferably, the six-axis robot 2 includes a first axis seat 21, a second axis seat 22, a first arm 23, a third axis seat 24, a second arm 25, a fourth axis seat 26, a fifth axis seat 27, and a sixth axis seat 28 connected in sequence; a first motor is provided on the first axis seat 21, a second motor is provided on the second axis seat 22, a third motor is provided on the third axis seat 24, a fourth motor is provided on the fourth axis seat 26, a fifth motor is provided on the fifth axis seat 27, and a sixth motor is provided on the sixth axis seat 28; the length of the first arm 23 is less than the length of the second arm 25, and the pipe diameter of the first arm 23 is greater than the pipe diameter of the second arm 25; the sixth axis seat 28 is connected to the six-axis force sensor 32.

[0043] Compared with the prior art, the beneficial effects of the present utility model are as follows: The present utility model is reasonably designed and has a simple structure. The six-axis robot drives the fixture. After the visual positioning sensor on the fixture positions the material, the vacuum suction mechanism sucks the product. The six-axis robot moves the product to the testing equipment. After the test is completed, it switches to the grasping mechanism to take down the product and moves it to the next process. The present utility model integrates the processes of positioning, sucking, and unplugging the product onto one fixture, can perform rapid automatic switching of different functions, and with the large movement range of the six-axis robot, can realize the automation of product loading and unloading, reduce labor costs, lower equipment investment, and improve detection efficiency.

[0044] The embodiments of the present utility model are given for purposes of illustration and description, and are not exhaustive or limit the present utility model to the disclosed form. Many modifications and variations are obvious to those of ordinary skill in the art. The embodiments are selected and described to better illustrate the principles and practical applications of the present utility model, and enable those of ordinary skill in the art to understand the present utility model and thus design various embodiments with various modifications suitable for specific purposes.

Claims

1. A robot loading and unloading module, characterized in that, It includes a base (1), on which a six-axis robot (2) is provided, and a fixture (3) is provided at the end of the six-axis robot; the fixture includes a base (31), a six-axis force sensor (32) is provided on the top of the base, and a vision positioning sensor (33), a vacuum suction mechanism (34) and two grasping mechanisms (35) are respectively provided on four side surfaces; the six-axis force sensor is connected to the end of the six-axis robot.

2. The robot loading and unloading module according to claim 1, wherein The vision positioning sensor includes a CCD camera (331), a camera bracket (332), a supplementary light source (333) and a light source bracket (334); the camera bracket is connected to the base, and the CCD camera is installed on the camera bracket; the light source bracket is located below the camera bracket and is connected to the base; the supplementary light source is installed on the light source bracket; the supplementary light source is of an annular structure, and a through groove is provided in the center thereof, and the detection end of the CCD camera faces the through groove.

3. The robot loading and unloading module according to claim 1, wherein The vacuum suction mechanism includes a first lifting cylinder (341), a suction cup bracket (342) and a pair of vacuum suction cups (343), the cylinder body of the first lifting cylinder is connected to the base, and the piston rod end thereof is connected to the suction cup bracket, and a pair of vacuum suction cups are installed on the suction cup bracket; the vacuum suction cups are connected to a vacuum generator through a vacuum tube.

4. The robot loading and unloading module according to claim 1, wherein The grasping mechanism includes a second lifting cylinder (351), a sliding bracket (352) and an electric gripper (353); one side surface of the second lifting cylinder is connected to the base, and the other side surface is slidably connected to the sliding bracket; the cross section of the sliding bracket is of an L-shaped structure, which includes a vertical plate and a horizontal plate, the piston rod end of the second lifting cylinder is connected to the bottom of the vertical plate, and the horizontal plate is connected to the electric gripper.

5. The robot loading and unloading module according to claim 4, characterized in that, Symmetrically arranged first gripper ends (354) and second gripper ends (355) are provided at the bottom of the electric gripper; a first clamping block (356) is provided on the first gripper end, and a second clamping block (357) is provided on the second gripper end; the first clamping block and the second clamping block have the same structure and are symmetrically arranged; a side groove (3571) is provided on the first clamping block, and a U-shaped cushion block (358) is provided on the side groove.

6. The robot loading and unloading module according to claim 5, characterized in that, The U-shaped cushion block is a rubber block or a plastic block.

7. The robot loading and unloading module according to claim 6, wherein The second lifting cylinder is a double-axis cylinder.

8. The robot loading and unloading module according to claim 1, wherein The six-axis force sensor is any one of a strain type force sensor, an optical sensor or a piezoelectric type force sensor.

9. The robot loading and unloading module according to claim 1, characterized in that, The base is formed by splicing multiple metal plates, and it includes a top plate, a left side plate, a front side plate, a right side plate and a rear side plate; the top plate is of a rectangular structure, its top is connected to the six-axis force sensor, and the left side plate, the front side plate, the right side plate and the rear side plate are sequentially arranged around the bottom; the vision positioning sensor is provided on the left side plate, the vacuum suction mechanism is provided on the front side plate, and the two grasping mechanisms are respectively provided on the right side plate and the rear side plate.

10. The robot loading and unloading module according to any one of claims 1 to 9, characterized in that, The six-axis robot includes a first axis seat (21), a second axis seat (22), a first arm (23), a third axis seat (24), a second arm (25), a fourth axis seat (26), a fifth axis seat (27), and a sixth axis seat (28) connected in sequence; a first motor is provided on the first axis seat, a second motor is provided on the second axis seat, a third motor is provided on the third axis seat, a fourth motor is provided on the fourth axis seat, a fifth motor is provided on the fifth axis seat, and a sixth motor is provided on the sixth axis seat; the length of the first arm is less than the length of the second arm, and the pipe diameter of the first arm is greater than the pipe diameter of the second arm; the sixth axis seat is connected to the six-axis force sensor.

Images