Suction manipulator

Abstract

The utility model provides a suction manipulator which comprises a base used for being installed on an external platform to provide support; the bottom of the multi-axis mechanical arm is rotationally arranged on the base; the suction mechanism is connected to the movable end of the multi-axis mechanical arm and is used for sucking and transferring the coating workpiece; the suction mechanism comprises a suction support and a plurality of suction assemblies installed on the suction support, the suction support is in transmission connection with the movable end of the multi-axis mechanical arm, the suction support is driven by the multi-axis mechanical arm to move and rotate, and the suction assemblies are configured to suck and rotate coating workpieces. Through the design of the multi-axis mechanical arm provided by the invention, the manipulator can realize multi-direction and multi-angle movement to adapt to coating workpieces at different positions and in different directions, so that the flexibility and efficiency of transferring and feeding are improved.

Description

Technical Field

[0001] This application relates to the field of automation equipment technology, specifically to a suction robot for picking up and transferring coated workpieces. Background Technology

[0002] In the vacuum coating process of small workpieces, the workpieces undergo multiple processing steps. Each step requires placing the workpieces in appropriate fixtures or jigs to meet the processing needs. For small workpieces, due to the large number processed each time, and the fact that improper placement can affect the coating quality, manual operation is not only physically demanding but also prone to quality problems.

[0003] To address the shortcomings of manual operation, some companies are currently using automated equipment to assist in material feeding, mostly employing gripper gripping methods. However, gripper mechanisms can easily cause scratches and abrasions to the surface of coated workpieces requiring precision machining, and for operations that require adjusting the position of coated workpieces, manual adjustment is still the most common method.

[0004] Therefore, researching a feeding device that is not easily damaged and allows for easy adjustment of the placement of coated workpieces has become an urgent problem for those skilled in the art. Utility Model Content

[0005] In order to overcome the shortcomings of the prior art, this application provides a suction robot for transferring and loading / unloading workpieces between different processes of coating. It can avoid scratching the surface of the coated workpiece and can flexibly adjust the placement position.

[0006] Specifically, this application provides a suction robot, which includes:

[0007] A base for mounting on an external platform to provide support;

[0008] A multi-axis robotic arm, with its bottom rotating on a base;

[0009] The suction mechanism is connected to the movable end of the multi-axis robotic arm and is used to pick up and transfer coated workpieces;

[0010] The suction mechanism includes a suction bracket and several suction components mounted on the suction bracket. The suction bracket is connected to the movable end of a multi-axis robotic arm. The suction bracket moves and rotates under the drive of the multi-axis robotic arm. The suction components are configured to pick up and rotate the coated workpiece.

[0011] In one alternative implementation, a rotating base is provided at the bottom of the multi-axis robotic arm, which is mounted on the upper surface of the base and configured to drive the multi-axis robotic arm to rotate; a mounting joint is provided at the movable end of the multi-axis robotic arm, which is connected to the suction bracket of the suction mechanism and configured to drive the suction mechanism to rotate.

[0012] In one alternative implementation, the suction bracket includes an adapter plate, a support plate, and at least one mounting plate. The top surface of the adapter plate is fixedly connected to a mounting joint, the bottom surface of the adapter plate is fixedly connected to the top surface of the support plate, and the mounting plate is vertically connected to the bottom surface of the support plate.

[0013] In one alternative implementation, the suction assembly includes a cylinder, a lifting plate, a drive motor, a motor plate, a rotating shaft, a floating shaft, and a suction cup. The cylinder is fixedly connected to the suction bracket and also slidably connected to the lifting plate. The telescopic end of the cylinder is fixedly connected to the lifting plate to drive the lifting plate to move vertically. The motor plate is fixedly connected to the lifting plate, and the drive motor is mounted on the motor plate. The rotation output end of the drive motor is drivenly connected to the upper end of the rotating shaft to drive the rotating shaft to rotate around the central axis. The lower end of the rotating shaft is connected to the floating shaft, and the suction cup is located at the bottom end of the floating shaft.

[0014] In one alternative implementation, the floating shaft has an inner cavity with an opening at the lower end, and air holes are provided through the side wall of the floating shaft. A suction cup is disposed in the inner cavity of the floating shaft, and the air holes are connected to the suction cup.

[0015] In one alternative implementation, the suction assembly further includes a connecting plate and a bearing housing, the connecting plate being fixedly connected to the bottom surface of the motor plate, the bearing housing being fixedly connected to the connecting plate, and the rotating shaft passing through the bearing housing.

[0016] In one alternative implementation, the suction assembly further includes a sensor and a position sensor. The sensor is fixedly connected to the rotating shaft to rotate synchronously with the rotating shaft, and the position sensor is mounted on a bearing housing or a connecting plate. The sensor and the position sensor are coupled to sense the rotational position of the rotating shaft.

[0017] In one alternative implementation, the position sensor is a groove-type photoelectric sensor.

[0018] In one alternative implementation, the sensing element includes a rotating part and a sensing plate. The rotating part is fixedly connected to a rotating shaft, and the sensing plate extends outward and is disposed on the outer wall of the rotating part. The sensing plate is configured to couple with the groove of a groove-type photoelectric sensor.

[0019] According to the technical solution provided by the aforementioned implementation method, the suction robot has at least the following advantages:

[0020] (1) Through the design of multi-axis robotic arms, the robotic arm can realize multi-directional and multi-angle movement, adapt to coating workpieces in different positions and directions, and improve the flexibility and efficiency of transfer loading.

[0021] (2) The suction mechanism of this application enables the suction assembly to perform precise lifting and lowering operations in the vertical direction, and through the design of the rotating shaft and the floating shaft, it achieves stable suction and rotation of the workpiece, ensuring the stability and positioning accuracy of the workpiece during the transfer process.

[0022] (3) The design of the lifting plate driven by the cylinder in this application enables the suction cup to move up and down precisely to adapt to workpieces of different heights. The connection design between the rotating shaft and the floating shaft enables the suction cup to rotate after picking up the workpiece, ensuring the stability and precise positioning of the workpiece during the transfer process.

[0023] (4) This application, through the cooperation of sensing elements and position sensors, can monitor the rotation position of the rotating shaft in real time, provide accurate position information, facilitate the control system to perform precise motion control, and improve the operation accuracy and response speed of the robot. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the suction robot provided in one embodiment of this application.

[0026] Figure 2 for Figure 1 Enlarged view of part A in the middle.

[0027] Figure 3 This is a schematic diagram of the suction mechanism provided in one embodiment of this application.

[0028] Figure 4 This is a schematic diagram of the suction bracket provided in one embodiment of this application.

[0029] Figure 5 This is a schematic diagram of the structure of the suction component provided in one embodiment of this application.

[0030] Figure 6 This is a structural schematic diagram of the suction component provided in one embodiment of this application from another perspective.

[0031] Figure 7 This is a structural schematic diagram of the suction component provided in one embodiment of this application from another perspective.

[0032] Figure 8 This is a schematic diagram of the structure of the sensing element provided in one embodiment of this application.

[0033] Explanation of reference numerals in the attached figures:

[0034] 1. Base; 2. Multi-axis robotic arm; 3. Suction mechanism; 21. Rotating seat; 22. Mounting connector; 31. Suction bracket; 311. Adapter plate; 312. Bearing plate; 313. Mounting plate; 32. Suction assembly; 321. Cylinder; 3211. Slider; 3212. Telescopic end; 322. Lifting plate; 3221. Slide rail; 323. Drive motor; 324. Motor plate; 325. Rotating shaft; 326. Floating shaft; 3261. Inner cavity; 3262. Air hole; 327. Suction cup; 328. Connecting plate; 3281. Bearing seat; 329. Coupling; 331. Sensing element; 3311. Rotating part; 3312. Sensing plate; 332. Position sensor. Detailed Implementation

[0035] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] In this document, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "multiple" means two or more.

[0037] Furthermore, in this article, directional terms such as "upper" and "lower" are defined relative to the orientation of the structure as shown in the attached drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the orientation of the structure.

[0038] Please see Figures 1 to 8 This application provides a suction robot to facilitate the transfer and loading of coated workpieces between different process fixtures.

[0039] Combination Figure 1As shown, in one embodiment, a suction robot is provided, which includes: a base 1 for mounting on an external platform to provide support; a multi-axis robotic arm 2, the bottom of which is rotatably mounted on the base 1; and a suction mechanism 3 connected to the movable end of the multi-axis robotic arm 2 for suction and transfer of coated workpieces.

[0040] Through the design of the multi-axis robotic arm 2, the robotic arm can achieve multi-directional and multi-angle movements, adapt to coating workpieces in different positions and directions, and improve the flexibility and efficiency of transfer and loading.

[0041] Combination Figure 3 As shown, the suction mechanism 3 includes a suction bracket 31 and several suction components 32 mounted on the suction bracket 31. The suction bracket 31 is connected to the movable end of the multi-axis robotic arm 2 via a transmission. The suction bracket 31 moves and rotates under the drive of the multi-axis robotic arm 2. The suction components 32 are configured to suction and rotate the coated workpiece.

[0042] Combination Figure 1 and Figure 2 As shown, the bottom of the multi-axis robotic arm 2 is provided with a rotating seat 21, which is mounted on the upper surface of the base 1. The rotating seat 21 is configured to drive the multi-axis robotic arm 2 to rotate. The movable end of the multi-axis robotic arm 2 is provided with a mounting joint 22, which is connected to the suction bracket 31 of the suction mechanism 3. The mounting joint 22 is configured to drive the suction mechanism 3 to rotate.

[0043] Specifically, the rotating base 21 can have a built-in rotating motor that can drive the multi-axis robotic arm 2 to rotate. The multi-axis robotic arm 2 can be a four-axis robotic arm, a five-axis robotic arm, or a six-axis robotic arm.

[0044] Combination Figure 4 As shown, in this embodiment, the suction bracket 31 includes an adapter plate 311, a support plate 312, and at least one mounting plate 313. The top surface of the adapter plate 311 is fixedly connected to the mounting joint 22, and the bottom surface of the adapter plate 311 is fixedly connected to the top surface of the support plate 312. The mounting plate 313 is vertically connected to the bottom surface of the support plate 312. This structure enhances the stability and load-bearing capacity of the suction bracket 31, enabling the suction mechanism 3 to maintain good mechanical strength and rigidity during operation, thus improving the reliability of the overall structure.

[0045] Combination Figures 5 to 7As shown, the suction assembly 32 includes a cylinder 321, a lifting plate 322, a drive motor 323, a motor plate 324, a rotating shaft 325, a floating shaft 326, and a suction cup 327. The cylinder 321 is fixedly connected to the suction bracket 31 and is also slidably connected to the lifting plate 322. The telescopic end 3212 of the cylinder 321 is fixedly connected to the lifting plate 322 to drive the lifting plate 322 to move vertically. The motor plate 324 is fixedly connected to the lifting plate 322, and the drive motor 323 is mounted on the motor plate 324. The rotation output end of the drive motor 323 is connected to the upper end of the rotating shaft 325 to drive the rotating shaft 325 to rotate around the central axis. The lower end of the rotating shaft 325 is connected to the floating shaft 326, and the suction cup 327 is located at the bottom end of the floating shaft 326.

[0046] Combination Figure 3 and Figure 5 As shown, in this embodiment, one side of the cylinder 321 is fixedly connected to the suction bracket 31, and the other side of the cylinder 321 is slidably connected to the lifting plate 322. The telescopic end 3212 of the cylinder 321 is fixedly connected to the lifting plate 322. Through this structural design, the cylinder 321 can be kept in a fixed position with the suction bracket 31, and the lifting plate 322 can be driven to move up and down in the vertical direction.

[0047] Specifically, in combination Figure 7 As shown, in this embodiment, the body of the cylinder 321 is fixedly connected to a slider 3211, and the lifting plate 322 is provided with a slide rail 3221. Through the cooperation of the slider 3211 and the slide rail 3221, the movement path of the lifting plate 322 can be constrained.

[0048] Combination Figure 6 and Figure 7 As shown, the floating shaft 326 has an inner cavity 3261 with an opening at the lower end, and an air hole 3262 is provided through the side wall of the floating shaft 326. The suction cup 327 is disposed in the inner cavity 3261 of the floating shaft 326, and the air hole 3262 is connected to the suction cup 327.

[0049] By installing the suction cup 327 in the inner cavity 3261 of the floating shaft 326, the inner cavity 3261 of the floating shaft 326 can be used to increase the suction negative pressure during suction, preventing the coated workpiece from falling off. On the other hand, it can also protect the suction cup 327.

[0050] Combination Figures 5 to 7 In this embodiment, the suction assembly 32 further includes a connecting plate 328 and a bearing seat 3281. The connecting plate 328 is fixedly connected to the bottom surface of the motor plate 324, and the bearing seat 3281 is fixedly connected to the connecting plate 328. The rotating shaft 325 passes through the bearing seat 3281. The connecting plate 328 facilitates the installation of the bearing seat 3281; the bearing seat 3281 provides rotational support for the rotating shaft 325.

[0051] In this embodiment, the suction assembly 32 further includes a sensor 331 and a position sensor 332. The sensor 331 is fixedly connected to the rotating shaft 325 to rotate synchronously with the rotating shaft 325. The position sensor 332 is mounted on the bearing seat 3281 or the connecting plate 328. The sensor 331 and the position sensor 332 are coupled to sense the rotation position of the rotating shaft 325.

[0052] By fixing the sensor 331 to the rotating shaft 325, the sensor 331 can rotate synchronously with the rotating shaft 325. The position sensor 332 is mounted on the bearing housing 3281 or the connecting plate 328, and the sensor 331 is coupled with the position sensor 332, which can sense the rotational position of the rotating shaft 325.

[0053] In this embodiment, the position sensor 332 is a groove-type photoelectric sensor.

[0054] Specifically, the groove-type photoelectric sensor can be a commercially available product, such as existing products from companies like Omron.

[0055] In other embodiments, the position sensor 332 may also be other sensors.

[0056] Combination Figure 8 As shown, in order to form a better coupling with the groove-type photoelectric sensor, in this embodiment, the sensing element 331 includes a rotating part 3311 and a sensing plate 3312. The rotating part 3311 is fixedly connected to the rotating shaft 325, and the sensing plate 3312 extends outward and is disposed on the outer wall of the rotating part 3311. The sensing plate 3312 is configured to be coupled with the groove of the groove-type photoelectric sensor.

[0057] Combination Figures 5 to 7 In order to facilitate better coordination between the rotation output of the motor and the rotating shaft 325, in this embodiment, the suction assembly 32 also includes a coupling 329, which is connected between the rotation output end of the drive motor 323 and the upper end of the rotating shaft 325.

[0058] This suction robot, through its multi-axis robotic arm and optimized suction mechanism design, achieves efficient and precise suction and transfer of coated workpieces. It has the advantages of flexible operation, high degree of automation, strong adaptability and high control precision, which can significantly improve production efficiency and product quality, and meet the needs of modern manufacturing industry for high-performance transfer and feeding equipment.

[0059] The above provides a detailed description of the suction robot provided by the embodiments of this application. Specific embodiments have been used to illustrate the principles and implementation methods of this application. The above description is only for the purpose of helping to understand the method and its core mechanism of this application. At the same time, for those skilled in the art, there will be changes in specific embodiments and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A suction robot for transferring and loading coated workpieces, characterized in that, The suction robot includes: A base for mounting on an external platform to provide support; A multi-axis robotic arm, wherein the bottom of the multi-axis robotic arm is rotatably mounted on the base; A suction mechanism, connected to the movable end of the multi-axis robotic arm, is used to suction and transfer the coated workpiece; The suction mechanism includes a suction bracket and several suction components mounted on the suction bracket. The suction bracket is connected to the movable end of the multi-axis robotic arm. The suction bracket moves and rotates under the drive of the multi-axis robotic arm. The suction components are configured to suction and rotate the coated workpiece.

2. The suction robot according to claim 1, characterized in that: The multi-axis robotic arm has a rotating base at its bottom, which is mounted on the upper surface of the base and is configured to drive the multi-axis robotic arm to rotate. The movable end of the multi-axis robotic arm has a mounting joint, which is connected to the suction bracket of the suction mechanism and is configured to drive the suction mechanism to rotate.

3. The suction robot according to claim 2, characterized in that: The suction bracket includes an adapter plate, a support plate, and at least one mounting plate. The top surface of the adapter plate is fixedly connected to the mounting joint, the bottom surface of the adapter plate is fixedly connected to the top surface of the support plate, and the mounting plate is vertically connected to the bottom surface of the support plate.

4. The suction robot according to claim 1, characterized in that: The suction assembly includes a cylinder, a lifting plate, a drive motor, a motor plate, a rotating shaft, a floating shaft, and a suction cup. The cylinder is fixedly connected to the suction bracket and slidably connected to the lifting plate. The telescopic end of the cylinder is fixedly connected to the lifting plate to drive the lifting plate to move vertically. The motor plate is fixedly connected to the lifting plate, and the drive motor is mounted on the motor plate. The rotation output end of the drive motor is drivenly connected to the upper end of the rotating shaft to drive the rotating shaft to rotate around its central axis. The lower end of the rotating shaft is connected to the floating shaft, and the suction cup is located at the bottom end of the floating shaft.

5. The suction robot according to claim 4, characterized in that: The floating shaft has an inner cavity with an opening at the lower end, and air holes are provided through the side wall of the floating shaft. The suction cup is disposed in the inner cavity of the floating shaft, and the air holes are connected to the suction cup.

6. The suction robot according to claim 4, characterized in that: The suction assembly further includes a connecting plate and a bearing housing. The connecting plate is fixedly connected to the bottom surface of the motor plate, the bearing housing is fixedly connected to the connecting plate, and the rotating shaft passes through the bearing housing.

7. The suction robot according to claim 6, characterized in that: The suction assembly further includes a sensor and a position sensor. The sensor is fixedly connected to the rotating shaft to rotate synchronously with the rotating shaft. The position sensor is mounted on the bearing seat or the connecting plate. The sensor and the position sensor are coupled to sense the rotational position of the rotating shaft.

8. The suction robot according to claim 7, characterized in that: The position sensor is a groove-type photoelectric sensor.

9. The suction robot according to claim 8, characterized in that: The sensing element includes a rotating part and a sensing plate. The rotating part is fixedly connected to the rotating shaft, and the sensing plate extends outward and is disposed on the outer wall of the rotating part. The sensing plate is configured to couple with the groove of the groove-type photoelectric sensor.

10. The suction robot according to claim 4, characterized in that: The suction assembly also includes a coupling that connects the rotation output end of the drive motor to the upper end of the rotating shaft.

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