Flexible feeding robot device

Abstract

The utility model discloses a flexible feeding robot device, and particularly relates to the field of feeding devices.The flexible feeding robot device comprises a bottom plate, a flexible vibration disc is installed in the middle of the top end of the bottom plate, a case is installed on one side of the flexible vibration disc, a rotating arm is connected to the top end of the case, and a four-axis robot is supported at one end of the rotating arm; an output shaft of the four-axis robot is a spline lead screw, a first clamping assembly is installed at the bottom end of the spline lead screw and is a pneumatic clamping claw, a supporting frame is arranged on the other side of the flexible vibration disc, a lifting mechanism is installed on the supporting frame, a CCD is installed on the lifting mechanism, a first motor is installed in the machine box, and a second motor is installed in the machine box. The output end of the first motor is connected with a rotating rod, and the top end of the rotating rod is connected with the rotating arm. The feeding device has the advantages that the feeding efficiency can be improved, the labor use cost is reduced, and therefore the production cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of feeding devices, and more specifically, to a flexible feeding robot device. Background Art

[0002] With the rapid development of the manufacturing industry, automation of production machinery has become an irreversible trend. In the machining industry, the loading process of small mechanical parts plays a crucial role. This is especially true for sheet-shaped parts, which need to be placed one by one on the jig after machining.

[0003] Traditionally, manual loading is typically performed by picking up parts one by one and placing them. However, due to the small size of the parts, placement is difficult, resulting in extremely low loading efficiency, requiring a large amount of manpower, increasing costs, and being prone to errors, which cannot meet the needs of modern production. Therefore, the development of an efficient, precise, and flexible flexible loading robot device is of great significance for improving production efficiency and reducing production costs. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a flexible loading robot device to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a flexible loading robot device, comprising a base plate, a flexible vibration disk installed in the middle of the top of the base plate, a chassis installed on one side of the flexible vibration disk, a rotating arm connected to the top of the chassis, one end of the rotating arm supports a four-axis robot, the output shaft of the four-axis robot is a spline screw, a first clamping assembly is installed at the bottom end of the spline screw, the first clamping assembly is a pneumatic clamp, a support frame is provided on the other side of the flexible vibration disk, a lifting mechanism is installed on the support frame, and a CCD is installed on the lifting mechanism.

[0006] Preferably, a first motor is installed in the chassis, an output end of the first motor is connected to a rotating rod, and a top end of the rotating rod is connected to a rotating arm.

[0007] Preferably, the lifting mechanism includes a second motor, a screw, a guide rod, a slider and a support rod. The second motor is installed on the support frame. The output end of the second motor is connected to the screw. Guide rods are provided on both sides of the screw. The slider is sleeved on the screw, and the slider is slidably connected to the two guide rods. A support rod is installed on one side of the slider, and a CCD is installed on the end of the support rod.

[0008] Preferably, a second clamping assembly is installed at the bottom end of the spline screw rod.

[0009] Preferably, the second clamping assembly includes a fixed frame, a third motor, a fixed plate, a vacuum pump, a vacuum tube and an adsorption head. The fixed frame is installed at the bottom end of the spline screw, and the third motor is installed on the fixed frame. The output shaft of the third motor is connected to the fixed plate. Two vacuum pumps are installed at the bottom end of the fixed plate, and two vacuum tubes are provided at the bottom end of each vacuum pump, and an adsorption head is installed at the bottom end of each vacuum tube.

[0010] Technical effects and advantages of this utility model:

[0011] 1. The material is vibrated by the flexible vibration plate, and the CCD detects the position of the material on the flexible vibration plate and the flat angle. Then the first motor runs, so that the rotating rod drives the rotating arm to rotate, and the four-axis robot runs again, first swinging and adjusting, and then the spline screw is raised and lowered, so that the pneumatic clamp clamps the material on the flexible vibration plate. Then, according to the position of the fixture, the first motor and the four-axis robot cooperate to position the clamped material on the fixture, so that the material can be loaded accurately and the loading efficiency is improved. In the loading process, the CCD can re-detect the position of the material on the flexible vibration plate, so that when the pneumatic clamp loads the material again, the positioning time of the material on the flexible vibration plate can be shortened, further improving the loading efficiency, and more suitable for bulk materials.

[0012] 2. By lowering the spline screw and running the vacuum pump, negative pressure is generated in the vacuum tube, so that the adsorption head pressed on the material can adsorb and fix the material. After one material is adsorbed and fixed, the operation of the third motor causes the fixed plate to rotate appropriately, so that the other set of adsorption heads can cooperate with the other material for adsorption, so that two materials can be fed at the same time, further improving the feeding efficiency. Moreover, through the setting of the third motor, the adsorption position can be adjusted with a smaller amplitude, reducing the large structural swing of the device, thereby reducing the adjustment time, thereby further improving the feeding efficiency, and is more suitable for sheet materials.

[0013] 3. The second motor is operated to rotate the screw, so that the slider can move up and down along the guide rod, so that the CCD installed on the support rod can be adjusted in height as it moves up and down, thereby facilitating the adjustment of the height of the CCD, so as to facilitate accurate position detection of the material on the flexible vibration plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a structural diagram of embodiment 1 of the present utility model.

[0015] Figure 2 This is a schematic diagram of the rotary arm connection structure of the present utility model.

[0016] Figure 3It is a structural schematic diagram of the lifting mechanism of the utility model.

[0017] Figure 4 This is a structural diagram of embodiment 2 of the present utility model.

[0018] Figure 5 This is a schematic structural diagram of the second clamping assembly of the present invention.

[0019] The accompanying drawings are marked as follows: 1. Base plate; 2. Flexible vibration disk; 3. Chassis; 4. Rotating arm; 5. Four-axis robot; 6. Spline screw; 7. First clamping assembly; 8. Support frame; 9. Lifting mechanism; 901. Second motor; 902. Screw; 903. Guide rod; 904. Slider; 905. Support rod; 10. CCD; 11. First motor; 12. Rotating rod; 13. Second clamping assembly; 1301. Fixed frame; 1302. Third motor; 1303. Fixed plate; 1304. Vacuum pump; 1305. Vacuum tube; 1306. Adsorption head. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0021] Example 1

[0022] As attached Figure 1-3 As shown, a flexible loading robot device provided in the present embodiment includes a base plate 1, characterized in that: a flexible vibration disk 2 is installed in the middle of the top of the base plate 1, a chassis 3 is installed on one side of the flexible vibration disk 2, the top of the chassis 3 is connected to a rotating arm 4, one end of the rotating arm 4 supports a four-axis robot 5, the output shaft of the four-axis robot 5 is a spline screw 6, the bottom end of the spline screw 6 is installed with a first clamping assembly 7, the first clamping assembly 7 is a pneumatic clamp, a support frame 8 is provided on the other side of the flexible vibration disk 2, a lifting mechanism 9 is installed on the support frame 8, a CCD 10 is installed on the lifting mechanism 9, a first motor 11 is installed in the chassis 3, the output end of the first motor 11 is connected to a rotating rod 12, and the top of the rotating rod 12 is connected to the rotating arm 4.

[0023] During specific implementation, the material is vibrated by the flexible vibration disk 2, and the CCD10 detects the material position and the flattening angle on the flexible vibration disk 2. Then the first motor 11 runs, so that the rotating rod 12 drives the rotating arm 4 to rotate, and the four-axis robot 5 runs again, first swinging and adjusting, and then the spline screw 6 is raised and lowered, so that the pneumatic clamp clamps the material on the flexible vibration disk 2. Then, according to the position of the fixture, the first motor 11 and the four-axis robot 5 cooperate to position the clamped material on the fixture, so that the material can be loaded accurately and the loading efficiency is improved. In the loading process, CCD10 can detect the material position on the flexible vibration disk 2 again, so that when the pneumatic clamp loads again, the positioning time of the material on the flexible vibration disk 2 can be shortened, further improving the loading efficiency, and more suitable for block materials.

[0024] The lifting mechanism 9 includes a second motor 901, a screw 902, a guide rod 903, a slider 904 and a support rod 905. The second motor 901 is installed on the support frame 8. The output end of the second motor 901 is connected to the screw 902. Guide rods 903 are provided on both sides of the screw 902. The slider 904 is sleeved on the screw 902, and the slider 904 is slidably connected to the two guide rods 903. A support rod 905 is installed on one side of the slider 904, and a CCD10 is installed on the end of the support rod 905.

[0025] During specific implementation, the second motor 901 is operated to rotate the screw 902, so that the slider 904 can be lifted and slid along the guide rod 903, so that the CCD10 installed on the support rod 905 can be adjusted in height as it is lifted and lowered, thereby facilitating the adjustment of the height of the CCD10, so as to facilitate accurate position detection of the material on the flexible vibration disk 2.

[0026] Example 2

[0027] As attached Figure 2-5 As shown, the flexible loading robot device provided in the second embodiment is different from that in the first embodiment in that a second clamping assembly 13 is installed at the bottom end of the spline screw 6, and the second clamping assembly 13 includes a fixed frame 1301, a third motor 1302, a fixed plate 1303, a vacuum pump 1304, a vacuum tube 1305 and an adsorption head 1306. The fixed frame 1301 is installed at the bottom end of the spline screw 6, and a third motor 1302 is installed on the fixed frame 1301. The output shaft of the third motor 1302 is connected to the fixed plate 1303, and two vacuum pumps 1304 are installed at the bottom end of the fixed plate 1303. Two vacuum tubes 1305 are provided at the bottom end of each of the vacuum pumps 1304, and an adsorption head 1306 is installed at the bottom end of each of the vacuum tubes 1305.

[0028] During specific implementation, the spline screw 6 descends and the vacuum pump 1304 operates, so that negative pressure is generated in the vacuum tube 1305, so that the adsorption head 1306 pressed on the material can adsorb and fix the material. After one material is adsorbed and fixed, the third motor 1302 is operated to make the fixed plate 1303 rotate appropriately, so that another group of adsorption heads 1306 can cooperate with another material for adsorption, so that two materials can be loaded at the same time, further improving the loading efficiency. Moreover, through the setting of the third motor 1302, the adsorption position can be adjusted with a smaller amplitude, reducing the large structural swing of the device, thereby reducing the adjustment time, thereby further improving the loading efficiency, and being more suitable for sheet materials.

[0029] 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, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible loading robot device, comprising a base plate (1), characterized in that: A flexible vibration disk (2) is installed at the middle of the top of the base plate (1), a chassis (3) is installed on one side of the flexible vibration disk (2), a rotating arm (4) is connected to the top of the chassis (3), one end of the rotating arm (4) supports a four-axis robot (5), the output shaft of the four-axis robot (5) is a spline screw (6), the bottom end of the spline screw (6) is installed with a first clamping assembly (7), the first clamping assembly (7) is a pneumatic clamp, a support frame (8) is provided on the other side of the flexible vibration disk (2), a lifting mechanism (9) is installed on the support frame (8), and a CCD (10) is installed on the lifting mechanism (9).

2. A flexible loading robot device according to claim 1, characterized in that: A first motor (11) is installed in the chassis (3); an output end of the first motor (11) is connected to a rotating rod (12); and a top end of the rotating rod (12) is connected to a rotating arm (4).

3. The flexible loading robot device according to claim 2, characterized in that: The lifting mechanism (9) comprises a second motor (901), a screw (902), a guide rod (903), a slider (904) and a support rod (905); the second motor (901) is mounted on a support frame (8); the output end of the second motor (901) is connected to the screw (902); guide rods (903) are provided on both sides of the screw (902); the slider (904) is sleeved on the screw (902); the slider (904) is slidably connected to the two guide rods (903); a support rod (905) is mounted on one side of the slider (904); and a CCD (10) is mounted on the end of the support rod (905).

4. The flexible loading robot device according to claim 1, characterized in that: A second clamping assembly (13) is installed at the bottom end of the spline screw rod (6).

5. The flexible loading robot device according to claim 4, characterized in that: The second clamping assembly (13) comprises a fixed frame (1301), a third motor (1302), a fixed plate (1303), a vacuum pump (1304), a vacuum tube (1305) and an adsorption head (1306), wherein the fixed frame (1301) is mounted on the bottom end of the spline screw (6), the third motor (1302) is mounted on the fixed frame (1301), the output shaft of the third motor (1302) is connected to the fixed plate (1303), two vacuum pumps (1304) are mounted on the bottom end of the fixed plate (1303), two vacuum tubes (1305) are provided at the bottom end of each vacuum pump (1304), and an adsorption head (1306) is mounted at the bottom end of each vacuum tube (1305).

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