Manipulator feeding and sorting mechanism

Abstract

The utility model relates to the technical field of enameled wire processing, in particular to a manipulator feeding and sorting mechanism which comprises a feeding position and a processing position, a material collecting structure is arranged between the feeding position and the processing position, and the manipulator feeding and sorting mechanism is arranged between the feeding position and the processing position and distributed on one side of the material collecting structure. The sorting mechanism is used for sorting materials from a feeding position to a processing position or a collecting structure; the mechanical arm feeding and sorting mechanism comprises a driving device, a lower arm, a first connecting arm, a second connecting arm, an upper arm, a clamping jaw structure and a camera. A camera is arranged, so that the materials can be detected; the driving device, the lower arm, the first connecting arm, the second connecting arm and the upper arm which are matched with transmission can achieve rotation, lifting and lowering actions of the mechanical arm, a sorting procedure is executed while feeding is conducted in cooperation with a camera detection result, damaged materials are prevented from entering a machining procedure, and the product forming yield is increased; and the arrangement of the wire arrangement pipe is beneficial to wire routing and wire protection.

Description

Technical Field

[0001] The utility model relates to the technical field of enameled wire processing, in particular to a manipulator loading and sorting mechanism. Background Art

[0002] On the industrial production line of enameled wire, robots are used to grab wire materials for loading.

[0003] In the actual production process, there is a problem that some wire materials are inevitably damaged due to handling and production defects. The robot used in traditional technology does not have a sorting function, so damaged materials enter the processing program, affecting the yield rate of product processing and molding. In addition, during the use of the robot used in traditional technology, the wires exposed to the outside are easily twisted or worn during the movement of the robot, affecting the electrical connection effect between the robot arms. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a robot loading and sorting mechanism for solving the problem that the robot used in the prior art does not have a sorting function and a wire harness protection function.

[0005] To achieve the above-mentioned and other related purposes, the present invention provides a manipulator loading and sorting mechanism, comprising a machine platform, wherein a feeding position and a processing position are provided at the upper end of the machine platform, and a manipulator structure is provided between the feeding position and the processing position;

[0006] A material collection structure is provided in the machine, which is located between the feeding position and the processing position and distributed on one side of the manipulator structure. The manipulator structure is used to sort materials from the feeding position to the processing position or the material collection structure.

[0007] The manipulator structure comprises:

[0008] A driving device, the driving device comprising at least a driving motor and a control circuit;

[0009] A lower arm, a first connecting arm, and a second connecting arm are serially connected in sequence, wherein the upper end of the second connecting arm is rotatably connected to the upper arm, and the end of the upper arm is provided with an openable and closable clamping structure; the lower arm is rotatably connected to the driving device via a rotating connecting member; the driving device is electrically connected to the lower arm, the first connecting arm, the second connecting arm, and the upper arm via wires;

[0010] A camera electrically connected to the drive device, the camera being suspended above the feeding position, for taking photos to detect the appearance and discharge direction of the material and transmitting detection signals to the drive device;

[0011] The same wire management tube is provided on the lower arm, the first connecting arm and the second connecting arm, and the wires are routed through the wire management tube.

[0012] In one embodiment of the present invention, a limiting pile is provided at the lower end of the lower arm, and a limiting protrusion is provided at the upper end of the driving device. The lower arm rotates relative to the driving device so that the limiting pile abuts against the limiting protrusion to form a circumferential rotation limit.

[0013] In one embodiment of the present invention, the material collection structure includes a material collection box and an arc-shaped material guide plate overlapped on the upper end of the material collection box, and the arc-shaped material guide plate is distributed obliquely from top to bottom.

[0014] In one embodiment of the present invention, at least two material collecting structures are provided, and the two material collecting structures are distributed on both sides of the robot loading and sorting mechanism.

[0015] In one embodiment of the present invention, a through hole is provided in an area of the machine corresponding to the upper end of the material guide plate.

[0016] In one embodiment of the present invention, a conveying structure is provided on the feeding position, and the conveying structure includes a base, a direct drive motor is provided in the base, tracks are provided at both ends of the base, a movable slide is provided on the track, the output end of the direct drive motor is connected to the slide, and the material is placed on the slide.

[0017] In one embodiment of the present invention, the camera is a high-precision CCD visual inspection machine.

[0018] In one embodiment of the present invention, the cable management tube is a corrugated hose with free bending performance.

[0019] As described above, the robot loading and sorting mechanism of the present invention has the following beneficial effects:

[0020] 1. By setting up a camera, the camera can take pictures and detect before the manipulator loads the material, which is conducive to sorting out materials with damaged appearance; by setting up a lower arm that is rotatably connected to the driving device, the manipulator can realize the rotation and movement of the feeding position, the gathering structure, and the processing position; by setting up a first connecting arm and a second connecting arm that are serially linked on the lower arm, the lifting and lowering actions can be realized. Qualified materials placed at the feeding position after being inspected by the camera can be sorted to the processing position, and damaged materials are sorted to the gathering structure, avoiding damaged materials from entering the processing program, thereby improving the yield rate of product processing and molding; the upper arm rotatably connected to the second connecting arm can complete the action of adjusting the clamping direction. Materials with inconsistent discharge directions detected by the camera can be adjusted in direction during the material picking process, thereby improving the consistency of the material placement direction and facilitating subsequent material processing;

[0021] 2. By setting up a wire management tube, the wires that realize the electrical connection of the drive device to the outside can be routed through the wire management tube, preventing the wire harness from being twisted or worn during the movement of the manipulator, and improving the electrical connection effect of the equipment;

[0022] 3. By setting the limit pile and the limit convex part used in conjunction, when the lower arm rotates relative to the driving device, the limit pile hits the limit convex part to form a circumferential rotation limit, which limits the maximum single movement of the manipulator to within one circle, which is conducive to resetting the manipulator to zero and prevents the wires from being damaged due to excessive winding, thereby extending the service life of the manipulator;

[0023] 4. The robot loading and sorting mechanism provided by the present invention and the camera setting can detect the materials; the driving device, lower arm, first connecting arm, second connecting arm and upper arm of the transmission can realize the rotation and lifting and lowering actions of the robot, and cooperate with the camera detection results to execute the sorting program while loading the materials, so as to avoid damaging the materials entering the processing program and improve the product molding yield; the setting of the wire management tube is conducive to the routing of wires and the formation of wire protection; the limit piles and the limit convex parts are set together to facilitate the reset of the robot action to zero, and at the same time prevent the wires from being damaged due to excessive winding, thereby extending the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a schematic diagram of the overall structure of the utility model.

[0025] Figure 2 Shown is a structural schematic diagram of the utility model without the machine platform.

[0026] Figure 3 Shown is an enlarged structural schematic diagram of the robot structure in the present utility model.

[0027] Figure 4 Display as Figure 3 Enlarged view of point A in the middle.

[0028] Figure 5 Shown is a schematic diagram of the exploded structure of the transmission structure of the present invention.

[0029] Component number description

[0030] Feeding position 1; processing position 2; material collection structure 3; material collection box 31; arc-shaped material guide plate 32; driving device 4; limiting protrusion 41; lower arm 5; limiting pile 51; first connecting arm 6; second connecting arm 7; camera 8; upper arm 9; clamping claw structure 10; clamping claw cylinder 101; clamping claw 102; wire management tube 11; machine table 12; base 13; direct drive motor 14; track 15; slide 16. DETAILED DESCRIPTION

[0031] The following describes the implementation of the present invention through specific embodiments. People familiar with this technology can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0032] See also Figures 1 to 5 . It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of this utility model. Therefore, they have no substantive technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by this utility model without affecting the efficacy and purpose that can be achieved by this utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of this utility model. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of this utility model without substantially changing the technical content.

[0033] See also Figure 1-5 The utility model provides a robot loading and sorting mechanism, including a machine platform 12, wherein a feeding position 1 and a processing position 2 are provided at the upper end of the machine platform 12, and a robot structure is provided between the feeding position 1 and the processing position 2; a gathering structure 3 is provided in the machine platform 12, and the gathering structure 3 is located between the feeding position 1 and the processing position 2 and is distributed on one side of the robot structure, and the material is sorted from the feeding position 1 to the processing position 2 or the gathering structure 3 through the robot structure.

[0034] The feeding position 1 is provided with a conveying structure, which includes a base 13, a direct drive motor 14 is provided in the base 13, rails 15 are provided at both ends of the base 14, and a movable slide 16 is matched with the rail 15. The output end of the direct drive motor 14 is connected to the slide 16, and the material is placed on the slide 16. The direct drive motor 14 provides power to drive the slide 16 to move along the rail 15 to convey the material.

[0035] The robot structure includes a drive unit 4, a lower arm 5, a first connecting arm 6, and a second connecting arm 7, all serially connected, and a camera 8 electrically connected to the drive unit 4. The camera 8 utilizes a high-precision CCD visual inspection system, utilizing machine vision technology. Through the CCD industrial camera 8, system control ensures minimal error and high efficiency, enabling simultaneous inspection of all materials within a pallet. The camera 8 enables photo inspection before the robot loads materials, facilitating the sorting of visually damaged materials. The upper end of the second connecting arm 7 is rotatably connected to the upper arm 9, and the end of the upper arm 9 is provided with an openable and closable clamping claw structure 10, which includes a clamping claw cylinder 101 and a pair of detachable clamping claws 102 connected to the output end of the clamping claw cylinder 101. The clamping claws 102 are driven by the clamping claw cylinder 101 to grab and discharge the material; the driving device 4 includes at least a driving motor and a control circuit, and the lower arm 5 is rotatably connected to the driving device 4 through a rotating connecting piece; the camera 8 is suspended above the feeding position 1, and is used to take pictures to detect the appearance and discharge direction of the material and transmit the detection signal to the driving device 4; by setting the lower arm 5 rotatably connected to the driving device 4, It can realize the rotation and movement of the manipulator between the feeding position 1, the aggregate structure 3, and the processing position 2; by setting the first connecting arm 6 and the second connecting arm 7 serially linked on the lower arm 5, the lifting and lowering actions can be realized, and the qualified materials placed at the feeding position 1 after being detected by the camera 8 can be sorted to the processing position 2, and the damaged materials are sorted to the aggregate structure 3, so as to avoid the damaged materials from entering the processing program and improve the yield rate of product processing and molding; the upper arm 9 rotatably connected to the second connecting arm can complete the action of adjusting the clamping direction. The materials with inconsistent discharge directions detected by the camera 8 can adjust the direction during the material picking process, thereby improving the consistency of the material placement direction and facilitating subsequent material processing.

[0036] The driving device 4 is electrically connected to the lower arm 5, the first connecting arm 6, the second connecting arm 7, and the upper arm 9 through electric wires; the same wire management tube 11 is provided on the lower arm 5, the first connecting arm 6, and the second connecting arm 7, and the wires are routed through the wire management tube 11; the wire management tube 11 adopts a corrugated hose with free bending performance. The corrugated hose has good flexibility and elasticity, and is suitable for the wiring layout and design of a robot that performs multiple actions; the setting of the wire management tube 11 can prevent the wiring harness from being twisted or worn during the movement of the robot, thereby improving the electrical connection effect of the equipment.

[0037] A limit pile 51 is provided at the lower end of the lower arm 5, and a limit protrusion 41 is provided at the upper end of the driving device 4. When the lower arm 5 rotates relative to the driving device 4, the limit pile 51 abuts against the limit protrusion 41 to form a circumferential rotation limit, which limits the single maximum movement of the manipulator to within one circle, is conducive to resetting the manipulator movement to zero, and at the same time prevents the wires from being damaged due to excessive winding, thereby extending the service life of the manipulator.

[0038] The aggregate structure 3 includes an aggregate box 31 and an arc-shaped guide plate 32 overlapped on the upper end of the aggregate box 31. The arc-shaped guide plate 32 is tilted from top to bottom, which is conducive to guiding materials from top to bottom by gravity; the area of the machine 12 corresponding to the upper end of the guide plate 32 is provided with a through hole, and the damaged material grasped by the robot structure is dropped into the arc-shaped guide plate 32 through the through hole, and enters the arc-shaped guide plate 32 through the arc-shaped guide plate 32; there are at least two aggregate structures 3, and the two aggregate structures 3 are distributed on both sides of the robot loading and sorting mechanism, one of the aggregate structures 3 is used to collect materials detected abnormally by the camera, and the other aggregate structure 3 is used to collect materials with processing abnormalities.

[0039] In summary, the manipulator loading and sorting mechanism provided by the present invention and the setting of the camera 8 can detect the materials; the driving device 4, the lower arm 5, the first connecting arm 6, the second connecting arm 7, and the upper arm 9 that cooperate with the transmission can realize the rotation and lifting and lowering actions of the manipulator, and cooperate with the detection results of the camera 8 to execute the sorting program while loading the materials, so as to avoid damaging the materials entering the processing program and improve the product molding yield; the setting of the wire management tube 11 is conducive to the routing of wires and the formation of wire protection; the coordinated setting of the limit pile 51 and the limit protrusion 41 is conducive to the reset of the manipulator action to zero, and at the same time prevents the wires from being damaged due to excessive winding, thereby extending the service life of the manipulator. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0040] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed in the present invention are intended to be covered by the claims of the present invention.

Claims

1. A robot loading and sorting mechanism, characterized by: The machine comprises a platform, wherein a feeding position and a processing position are provided at the upper end of the platform, and a manipulator structure is provided between the feeding position and the processing position; A material collection structure is provided in the machine, which is located between the feeding position and the processing position and distributed on one side of the manipulator structure. The manipulator structure is used to sort materials from the feeding position to the processing position or the material collection structure. The manipulator structure comprises: A driving device, the driving device comprising at least a driving motor and a control circuit; The lower arm, the first connecting arm, and the second connecting arm are serially connected in sequence. The upper end of the second connecting arm is rotatably connected to the upper arm, and the end of the upper arm is provided with an openable and closable clamping structure. The lower arm is rotatably connected to the driving device via a rotating connecting member. The driving device is electrically connected to the lower arm, the first connecting arm, the second connecting arm, and the upper arm via wires. A camera electrically connected to the drive device, the camera being suspended above the feeding position, for taking photos to detect the appearance and discharge direction of the material and transmitting detection signals to the drive device; The same wire management tube is provided on the lower arm, the first connecting arm and the second connecting arm, and the wires are routed through the wire management tube.

2. The robot loading and sorting mechanism according to claim 1, characterized in that: A limiting pile is provided at the lower end of the lower arm, and a limiting convex portion is provided at the upper end of the driving device. The lower arm rotates relative to the driving device so that the limiting pile abuts against the limiting convex portion to form a circumferential rotation limit.

3. The robot loading and sorting mechanism according to claim 1, characterized in that: The material collection structure includes a material collection box and an arc-shaped material guide plate overlapped on the upper end of the material collection box, and the arc-shaped material guide plate is distributed obliquely from top to bottom.

4. The robot loading and sorting mechanism according to claim 3, characterized in that: There are at least two material collecting structures, and the two material collecting structures are distributed on both sides of the manipulator loading and sorting mechanism.

5. The robot loading and sorting mechanism according to claim 3, characterized in that: The machine platform is provided with a through hole in the area corresponding to the upper end of the material guide plate.

6. The robot loading and sorting mechanism according to claim 1, characterized in that: A conveying structure is provided on the feeding position, and the conveying structure includes a base, a direct drive motor is provided in the base, tracks are provided at both ends of the base, a movable slide is provided on the track, the output end of the direct drive motor is connected to the slide, and the material is placed on the slide.

7. The robot loading and sorting mechanism according to claim 1, characterized in that: The camera adopts a high-precision CCD visual inspection machine.

8. The robot loading and sorting mechanism according to claim 1, characterized in that: The cable management pipe is a corrugated hose with free bending performance.

Images