Flexible automatic positioning and carrying device

Abstract

The utility model discloses a flexible automatic positioning carrying device which comprises a mechanical arm body, a fixing support, transmission wheels, a driving component, a clamping component and a visual identification component, the fixing support is installed at the action end of the mechanical arm body, the transmission wheels are installed at the two symmetrical ends of the fixing support, and the two transmission wheels are in transmission connection through a transmission belt. The driving component is arranged on one side of the fixing support and used for providing driving force for the transmission wheel, the clamping components are arranged on the upper side and the lower side of the transmission belt, the clamping ends of the two clamping components are located on the same horizontal line and generate relative movement along with movement of the transmission belt, and the visual recognition component is installed on the fixing support. The transmission wheel and the transmission belt are introduced and are in linkage fit with the clamping component and the visual identification component, so that the adaptability and the flexibility of the carrying device are improved, the production cost increase caused by frequent replacement of parts is reduced, and meanwhile, the capacity of a production line for quickly responding to market changes is also improved.

Description

Technical Field

[0001] The utility model relates to the technical field of material handling, in particular to a flexible automatic positioning and handling device. Background Art

[0002] In today's rapidly developing manufacturing industry, with advancements in artificial intelligence and automation technologies, automated production lines have become a key means of improving production efficiency and reducing costs. With the increasing variety of products on the market and the diversification of consumer demands, the diversity of product formats has placed higher demands on the flexibility and adaptability of production lines. Traditional automated handling mechanisms often rely on specific mechanical structures to position and secure products. Barcode scanners then read the product's barcode or QR code to obtain product information. Finally, linear modules and clamping cylinders complete the product clamping and handling operations. This model performs well for products with regular shapes and uniform dimensions, but its limitations become apparent when faced with products of varying shapes and sizes. Whenever a product type needs to be changed, traditional mechanisms often require disassembly and replacement of corresponding components to accommodate the positioning and handling requirements of the new product. This not only increases production costs but also severely restricts the production line's flexibility and ability to quickly respond to market changes. Utility Model Content

[0003] In view of this, the present invention aims to address the deficiencies in the existing technology, and its main purpose is to provide a flexible automatic positioning and handling device, which solves the technical problem that traditional automated handling mechanisms need to frequently replace parts to adapt to the positioning and handling requirements of new products when faced with products of varying shapes and sizes, thereby increasing production costs and limiting the flexibility of the production line.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The utility model provides a flexible automatic positioning and handling device, comprising:

[0006] A manipulator body, wherein a control unit is provided in the manipulator body;

[0007] A fixed bracket, mounted on the action end of the manipulator body;

[0008] Transmission wheels are mounted on both symmetrical ends of the fixed bracket, and the two transmission wheels are connected by a transmission belt;

[0009] A driving component, disposed on one side of the fixing bracket, for providing driving force for the transmission wheel;

[0010] Clamping parts are provided on the upper and lower sides of the transmission belt, the clamping ends of the two clamping parts are located on the same horizontal line, and generate relative movement with the movement of the transmission belt;

[0011] A visual recognition component is mounted on the fixing bracket and is used for identifying and positioning. Both the driving component and the visual recognition component are electrically connected to the control unit.

[0012] As a preferred solution, a linear slide rail is further provided between the two transmission wheels, the linear slide rail is installed on the fixed bracket and is located between the upper and lower sides of the transmission belt, the clamping component is slidably installed on the linear slide rail through a guide slider, and the guide slider is fixedly connected to the transmission belt through a clamping fixture.

[0013] As a preferred solution, a guide limit slot is further provided on the fixed bracket, a guide limit plate is provided on the guide limit slot, one end of the guide limit plate passes through the guide limit slot and is fixedly connected to any one of the guide sliders.

[0014] As a preferred solution, a limit adjustment plate is also installed on the fixed bracket, a limit guide groove is provided on the limit adjustment plate, an adjustable limit block is installed on the limit guide groove, and the end of the guide limit plate away from the guide slider is slidably installed on the limit guide groove through a sliding block.

[0015] As a preferred solution, the clamping component includes:

[0016] A connecting member is installed on a side of the guide slider close to the transmission wheel;

[0017] A clamping piece, one end of which is mounted on the connecting piece, and a clamping claw is provided at the other end, a mounting groove is provided on the side where the two clamping claws are close to each other, a clamping block is movably mounted on the mounting groove, and the clamping block is elastically connected to the clamping claw.

[0018] As a preferred solution, guide positioning pins are provided on both sides of the mounting groove, and an elastic member is provided between the two guide positioning pins. One end of the elastic member is connected to the clamping claw, and the other end is connected to the clamping block. A positioning hole that is compatible with the guide positioning pin is also provided on the side of the clamping block close to the clamping claw.

[0019] As a preferred solution, the clamping block is L-shaped, and an elastic gasket is installed on the side of the clamping block away from the clamping jaws.

[0020] As a preferred solution, the clamping block includes a vertical portion and a transverse portion connected to the vertical portion, the vertical portion is connected to the clamping claw through the elastic member, the positioning hole is opened on the vertical portion, the transverse portion is arranged on the side of the vertical portion away from the clamping claw, and the side of the transverse portion away from the vertical portion is also provided with a guide slope.

[0021] As a preferred solution, the visual recognition component is installed in the middle of the fixed bracket through a connecting frame. The visual recognition component includes a visual camera and a light source. The visual camera and the light source are both installed on the connecting frame and electrically connected to the control unit. The light source is arranged at the recognition end of the visual camera.

[0022] As a preferred solution, it further includes a shell cover, which is installed on the fixing bracket.

[0023] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical solution that it mainly improves the adaptability and flexibility of the handling device when facing products with various shapes and sizes by introducing transmission wheels and transmission belts, and coordinating with clamping components and visual recognition components, reduces the increase in production costs caused by frequent replacement of parts, and also improves the ability of the production line to quickly respond to market changes.

[0024] In order to more clearly illustrate the structural features and effects of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic structural diagram of a flexible automatic positioning and handling device according to an embodiment of the present application;

[0026] Figure 2 This is a partial structural diagram of a flexible automatic positioning and handling device according to an embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of the partial structure decomposition of the flexible automatic positioning and handling device according to an embodiment of the present application;

[0028] Figure 4 This is a partial structural exploded diagram of the flexible automatic positioning and handling device from another perspective of an embodiment of the present application;

[0029] Figure 5 This is an embodiment of the present application Figure 4 A enlarged view;

[0030] Figure 6 This is an embodiment of the present application Figure 4 Enlarged view of point B.

[0031] Description of reference numerals:

[0032] 10. Robot body;

[0033] 20. Fixed bracket; 21. Linear guide rail; 22. Guide slider; 23. Clamping fixture; 24. Guide limit slot; 25. Limit adjustment plate; 251. Limit guide slot; 26. Adjustable limit block;

[0034] 30. Transmission wheel;

[0035] 40. Transmission belt;

[0036] 50. Driving components;

[0037] 60. Clamping member; 61. Connecting member; 62. Clamping member; 63. Clamping claw; 631. Mounting groove; 632. Guide positioning pin; 64. Clamping block; 641. Positioning hole; 642. Vertical portion; 643. Horizontal portion; 644. Guide slope; 65. Elastic member; 66. Elastic gasket;

[0038] 70. Visual recognition component; 71. Connecting frame; 72. Visual camera; 73. Light source;

[0039] 80. Guide limit plate; 81. Sliding block;

[0040] 90. Shell cover. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and implementation examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly attached to the other element or there may be an intermediate element. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only.

[0043] See also Figures 1 to 6 The present invention provides a flexible automatic positioning and handling device, comprising:

[0044] The robot body 10, as the execution body of the entire device, is responsible for performing the basic movements of the handling operation. A control unit is provided within the robot body 10. Specifically, the robot body 10 is a multi-axis assembly, including but not limited to a four-axis robot, a five-axis robot, and a six-axis robot, which is selected according to the needs of the application scenario.

[0045] The fixed bracket 20 is installed at the action end of the manipulator body 10 to firmly support and transmit the power and movement of the manipulator body 10 .

[0046] The transmission wheels 30 are mounted at both ends of the fixed bracket 20 to ensure the stability and balance of the transmission. The two transmission wheels 30 are connected by a transmission belt 40 to achieve power transmission and motion conversion.

[0047] The driving component 50 is provided on one side of the fixing bracket 20 and is used to provide a rotational driving force for the transmission wheel 30 to ensure the normal operation of the transmission system.

[0048] The clamping members 60 are positioned above and below the transmission belt 40. The clamping ends of the two clamping members 60 are located on the same horizontal line and move relative to each other with the movement of the transmission belt 40, thereby clamping and releasing the product. The transmission belt 40 includes, but is not limited to, a flat belt, a synchronous belt, and a chain.

[0049] The visual recognition component 70 is installed on the fixed bracket 20 and is used for identifying and positioning the product, realizing the automatic positioning function of the product and improving the efficiency and accuracy of the handling operation. The driving component 50 and the visual recognition component 70 are both electrically connected to the control unit.

[0050] Here, the linkage between the clamping component 60, the transmission belt 40 and the visual recognition component 70 makes it unnecessary for the handling device to frequently replace parts to adapt to the positioning and handling requirements of new products when facing products of various shapes and sizes, thereby reducing production costs and improving the flexibility of the production line.

[0051] In this example, see Figures 4 to 6 A linear slide 21 is also provided between the two transmission wheels 30. The linear slide 21 is installed on the fixed bracket 20 and is located between the upper and lower sides of the transmission belt 40, ensuring the linearity and stability of the movement of the clamping component 60, and improving the accuracy of the overall transmission. The clamping component 60 is slidably installed on the linear slide 21 through the guide slider 22, realizing the smooth sliding of the clamping component 60 on the linear slide 21, enhancing the smoothness of the movement, and the guide slider 22 is fixedly connected to the transmission belt 40 through the clamping fixing member 23, ensuring a firm connection between the transmission belt 40 and the clamping component 60, and avoiding loosening during movement.

[0052] A guide limit slot 24 is also provided on the fixed bracket 20, and a guide limit plate 80 is provided on the guide limit slot 24. One end of the guide limit plate 80 passes through the guide limit slot 24 and is fixedly connected to any one of the guide sliders 22, effectively limiting the moving range of the guide slider 22 to a predetermined path, thereby enhancing the stability and reliability of the operation of the transport device.

[0053] A limit adjustment plate 25 is also installed on the fixed bracket 20, which provides a flexible adjustment function. A limit guide slot 251 is provided on the limit adjustment plate 25, and an adjustable limit block 26 is installed on the limit guide slot 251. The design of the limit guide slot 251 enables the adjustable limit block 26 to adjust its position as needed, thereby achieving precise adjustment of the moving range of the guide limit plate 80. The end of the guide limit plate 80 away from the guide slider 22 is slidably installed on the limit guide slot 251 through the sliding block 81, ensuring the stability and accuracy of the guide limit plate 80 during the adjustment process.

[0054] Further, see Figure 6 , the clamping member 60 includes:

[0055] The connecting member 61 is installed on the side of the guide slider 22 close to the transmission wheel 30, and is used to stably connect the clamping component 60 to the guide slider 22 to ensure accurate execution of the clamping action.

[0056] The clamping member 62 has one end mounted on the connecting member 61 and a clamping claw 63 at the other end. A mounting groove 631 is provided on the side where the two clamping claws 63 are close to each other. A clamping block 64 is movably mounted on the mounting groove 631. The design of the mounting groove 631 provides the necessary space for the installation and movement of the clamping block 64. The clamping block 64 is elastically connected to the clamping claw 63. A sensor is also provided on the clamping block 64, and the sensor is electrically connected to the control unit, which not only realizes the flexible and stable movement of the clamping block 64 on the clamping claw 63, but also has compatibility when clamping the product, avoiding rigid collision at the moment of clamping, and at the same time has a clamping pre-tightening effect. The driving component 50 can be adjusted according to the feedback of the sensor to realize the adjustment of the clamping tightness.

[0057] Guide positioning pins 632 are provided on both sides of the mounting groove 631. These two guide positioning pins 632 play a role of positioning and guiding. An elastic member 65 is provided between the two guide positioning pins 632. One end of the elastic member 65 is connected to the clamping claw 63, and the other end is connected to the clamping block 64. This elastic member 65 is designed to provide elastic force for the movement of the clamping block 64 to ensure that the clamping block 64 can fit tightly on the product to be clamped. A positioning hole 641 that is compatible with the guide positioning pin 632 is also provided on the side of the clamping block 64 close to the clamping claw 63. This design enables the clamping block 64 to maintain a stable positioning during movement, avoiding shaking or deviation.

[0058] The clamping block 64 is L-shaped, allowing it to better accommodate objects of varying shapes and sizes, enhancing its flexibility and adaptability. An elastic gasket 66 is also mounted on the side of the clamping block 64 away from the jaws 63. This increases friction between the clamping block 64 and the product being clamped, ensuring secure and stable grip while preventing damage to the product's surface.

[0059] Furthermore, the clamping block 64 includes a vertical portion 642 and a horizontal portion 643 connected to the vertical portion 642. The vertical portion 642 is connected to the clamping jaw 63 through an elastic member 65, ensuring the stable movement of the clamping block 64 on the clamping jaw 63. The positioning hole 641 is opened on the vertical portion 642, which provides precise positioning for the movement of the clamping block 64 on the guide positioning pin 632. The horizontal portion 643 is arranged on the side of the vertical portion 642 away from the clamping jaw 63. This layout enables the clamping block 64 to better wrap and clamp the product. The side of the horizontal portion 643 away from the vertical portion 642 is also provided with a guide slope 644. This design facilitates the clamping block 64 to slide in and fit smoothly when contacting the object, thereby improving the efficiency and accuracy of clamping.

[0060] See also Figure 3 The visual recognition component 70 is installed in the middle of the fixed bracket 20 through the connecting frame 71. This installation position ensures that the visual recognition component 70 can fully and accurately identify the product. The visual recognition component 70 includes a visual camera 72 and a light source 73. This combined design provides high-quality image capture capabilities. Among them, the visual camera 72 uses a visual algorithm to capture the characteristics of the product and calculate the coordinates of the product, and sends the coordinates to the robot. At the same time, it can also take pictures and scan the barcode or QR code on the product, and upload the scan results to the system. The visual camera 72 and the light source 73 are both installed on the connecting frame 71 and electrically connected to the control unit, which not only ensures the stability of the relative position and angle between the two, but also ensures the transmission of information. The light source 73 is set at the recognition end of the visual camera 72, providing sufficient lighting for the visual camera 72, thereby improving the clarity and accuracy of image recognition.

[0061] In addition, the flexible automatic positioning and handling device also includes a shell cover 90 for protecting the internal mechanism from interference and damage from the external environment. The shell cover 90 is installed on the fixed bracket 20, which not only provides necessary protection but also makes the entire device more beautiful and tidy.

[0062] Specific working process:

[0063] The product is transported by other conveying mechanisms to the vicinity of the flexible automatic positioning and handling device. A visual camera 72 takes a picture of the product and uses an algorithm to identify the product's features and barcode or QR code. The barcode or QR code information is then converted and uploaded to other devices to bind the product information. Simultaneously, by calculating the location of the product's features, the specific coordinates of the product at that moment are indirectly calculated and transmitted to the robot. Based on these coordinates, the robot drives the gripper 63 to the designated position. The drive unit 50 activates, the transmission wheel 30 drives the transmission belt 40, and the gripper 63 clamps the product. The robot then performs the handling action, moving the product to the designated location. Once the product reaches the designated location, the drive unit 50 activates the gripper 63, which releases the product. The robot then resets the gripper 63 and waits for the next product to arrive, completing a handling cycle.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible automatic positioning and handling device, characterized in that: include: A manipulator body (10), wherein a control unit is provided in the manipulator body (10); A fixed bracket (20) is mounted on the action end of the manipulator body (10); Transmission wheels (30) are mounted on symmetrical ends of the fixed bracket (20), and the two transmission wheels (30) are connected by a transmission belt (40); a driving component (50), disposed on one side of the fixing bracket (20), and configured to provide driving force for the transmission wheel (30); Clamping parts (60) are arranged on the upper and lower sides of the transmission belt (40), and the clamping ends of the two clamping parts (60) are located on the same horizontal line and move relative to each other as the transmission belt (40) moves; A visual recognition component (70) is mounted on the fixing bracket (20) and is used for identifying and positioning. Both the driving component (50) and the visual recognition component (70) are electrically connected to the control unit.

2. The flexible automatic positioning and handling device according to claim 1, characterized in that: A linear slide rail (21) is further provided between the two transmission wheels (30). The linear slide rail (21) is mounted on the fixed bracket (20) and is located between the upper and lower sides of the transmission belt (40). The clamping component (60) is slidably mounted on the linear slide rail (21) via a guide slider (22). The guide slider (22) is fixedly connected to the transmission belt (40) via a clamping fixture (23).

3. The flexible automatic positioning and handling device according to claim 2, characterized in that: The fixed bracket (20) is further provided with a guide limiting slot (24), the guide limiting slot (24) is provided with a guide limiting plate (80), one end of the guide limiting plate (80) passes through the guide limiting slot (24) and is fixedly connected to any one of the guide sliders (22).

4. The flexible automatic positioning and handling device according to claim 3, characterized in that: A limit adjustment plate (25) is also installed on the fixed bracket (20), a limit guide slot (251) is provided on the limit adjustment plate (25), an adjustable limit block (26) is installed on the limit guide slot (251), and an end of the guide limit plate (80) away from the guide slider (22) is slidably installed on the limit guide slot (251) through a sliding block (81).

5. The flexible automatic positioning and handling device according to claim 2, characterized in that: The clamping member (60) comprises: A connecting member (61) is mounted on a side of the guide slider (22) close to the transmission wheel (30); A clamping member (62), one end of the clamping member (62) is mounted on the connecting member (61), and the other end is provided with a clamping claw (63), a mounting groove (631) is provided on a side where the two clamping claws (63) are close to each other, a clamping block (64) is movably mounted on the mounting groove (631), and the clamping block (64) is elastically connected to the clamping claw (63).

6. The flexible automatic positioning and handling device according to claim 5, characterized in that: Guide positioning pins (632) are provided on both sides of the installation groove (631), and an elastic member (65) is provided between the two guide positioning pins (632). One end of the elastic member (65) is connected to the clamping claw (63), and the other end is connected to the clamping block (64). A positioning hole (641) adapted to the guide positioning pin (632) is also provided on the side of the clamping block (64) close to the clamping claw (63).

7. The flexible automatic positioning and handling device according to claim 5, characterized in that: The clamping block (64) is L-shaped, and an elastic gasket (66) is installed on the side of the clamping block (64) away from the clamping claw (63).

8. The flexible automatic positioning and handling device according to claim 6, characterized in that: The clamping block (64) includes a vertical portion (642) and a transverse portion (643) connected to the vertical portion (642); the vertical portion (642) is connected to the clamping claw (63) through the elastic member (65); the positioning hole (641) is provided on the vertical portion (642); the transverse portion (643) is provided on a side of the vertical portion (642) away from the clamping claw (63); and a guide slope (644) is further provided on a side of the transverse portion (643) away from the vertical portion (642).

9. The flexible automatic positioning and handling device according to claim 1, characterized in that: The visual recognition component (70) is installed in the middle of the fixed bracket (20) through a connecting frame (71). The visual recognition component (70) includes a visual camera (72) and a light source component (73). The visual camera (72) and the light source component (73) are both installed on the connecting frame (71) and electrically connected to the control unit. The light source component (73) is arranged at the recognition end of the visual camera (72).

10. The flexible automatic positioning and handling device according to claim 1, characterized in that: It also includes a shell cover (90), which is installed on the fixing bracket (20).

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