Material box taking manipulator

Abstract

The utility model relates to the technical field of manipulators, in particular to a material box taking manipulator which comprises a rack, a sliding mechanism and a clamping mechanism. Wherein the sliding mechanism is arranged on the rack; the clamping mechanism comprises a driving assembly, an adsorption assembly and a clamping assembly, the driving assembly and the clamping assembly are arranged on the sliding mechanism, the adsorption assembly is connected with the driving assembly, and the driving assembly is used for driving the adsorption assembly to be close to or away from the clamping assembly; the sliding mechanism is used for driving the driving assembly and the clamping assembly to move. The material taking device has the technical effect that the application range of the material taking device is widened.

Description

Technical Field

[0001] This application relates to the technical field of robotic arms, and in particular to a material box picking robotic arm. Background Technology

[0002] The field of material handling technology has developed rapidly in recent years, especially in automated production lines, where efficient material handling has become a key factor in improving production efficiency. Among related technologies, material handling devices are mainly divided into two categories: robotic arm gripper type and vacuum adsorption type. These devices are widely used in industries such as electronics and automotive manufacturing, effectively improving the automation level of production lines, reducing the cost and error of manual operation, and also improving production safety. In practical applications, to handle different types of materials, robotic arm gripper type devices typically adjust the shape of the grippers to adapt to different materials; this flexibility makes them highly applicable in complex working conditions. Vacuum adsorption type devices, on the other hand, rely on negative pressure to adsorb materials, suitable for materials with high surface flatness. Their non-contact characteristic avoids scratches on the material surface, ensuring the integrity of the material.

[0003] However, while robotic arm gripper devices offer high flexibility, they are prone to material damage during high-speed operation, especially when handling fragile or delicate materials, where this instability is particularly pronounced. Vacuum suction devices, on the other hand, offer good stability, but their suction force decreases significantly for porous or uneven materials, compromising reliable material handling. Therefore, there is a technical limitation to the narrow applicability of material box handling devices, necessitating a more advanced material box handling robot. Utility Model Content

[0004] To broaden the applicability of the material handling device, this application provides a material box handling robot.

[0005] This application provides a material box picking robot, which adopts the following technical solution:

[0006] A material box picking robot includes:

[0007] frame;

[0008] A sliding mechanism is mounted on the frame;

[0009] The clamping mechanism includes a driving component, an adsorption component, and a clamping component. The driving component and the clamping component are respectively disposed on the sliding mechanism. The adsorption component is connected to the driving component. The driving component is used to drive the adsorption component to move closer to or away from the clamping component. The sliding mechanism is used to drive the driving component and the clamping component to move.

[0010] By adopting the above technical solution, the sliding mechanism can move precisely on the frame, ensuring that the adsorption component and clamping component accurately reach the target position. The drive component can move the adsorption component closer to or away from the clamping component, thus facilitating the adsorption component to adsorb the material box and move it to the clamping component for clamping. At this point, the sliding mechanism can move the material box to the designated position through the adsorption component and clamping component to complete the material box handling. This design enables the picking robot to handle both fragile or precision materials, as well as porous or uneven materials, effectively reducing material damage caused by improper operation. This significantly improves the applicability of the picking robot and enhances the stability and safety of the handling process.

[0011] Optionally, the sliding mechanism includes a sliding drive assembly, a slide rail, and a sliding frame. The slide rail and the sliding drive assembly are respectively disposed on the frame. The sliding frame is slidably connected to the slide rail and connected to the sliding drive assembly. The sliding drive assembly is used to drive the sliding frame to move. The drive assembly and the clamping assembly are respectively disposed on the sliding frame.

[0012] By adopting the above technical solution, the sliding rail design ensures stable horizontal movement of the sliding frame, reducing errors caused by vibration or offset. Simultaneously, the use of the sliding drive assembly allows the sliding frame to be precisely positioned at the designated location, thus preventing misalignment of the material box during loading and unloading. This design not only improves work efficiency but also enhances system reliability, avoiding potential material damage during high-speed operations.

[0013] Optionally, the sliding frame is provided with a clearance groove, and the clamping assembly includes a first clamping block and a second clamping block. The first clamping block and the second clamping block are respectively movably connected to the sliding frame. The first clamping block and the second clamping block are symmetrically arranged on both sides of the clearance groove. When the adsorption assembly drives the material box to be inserted into the clearance groove, the first clamping block and the second clamping block clamp the material box.

[0014] By adopting the above technical solution, the clearance groove design on the sliding frame allows the material box to smoothly enter the clamping area under the influence of the adsorption component. When the material box is inserted into the clearance groove, the first and second clamping blocks close, thus firmly clamping the material box. This design not only improves the stability and reliability of the material box during loading and unloading but also effectively avoids material damage caused by high-speed operation. Simultaneously, the symmetrically arranged first and second clamping blocks ensure a uniform distribution of clamping force, further enhancing the fixing effect of the material box.

[0015] Optionally, elastic elements are respectively provided between the first clamping block and the sliding frame, and between the second clamping block and the sliding frame, the elastic elements being used to push the first clamping block and the second clamping block closer to each other.

[0016] By adopting the above technical solution, when the adsorption component moves the material box into the clearance groove, the elastic element can push the first clamping block and the second clamping block to move so that the first clamping block and the second clamping block clamp the material box, thereby ensuring that the material box remains stable during the movement and avoiding the material box from loosening or shifting due to external force.

[0017] Optionally, the first clamping block and the second clamping block are respectively provided with guide surfaces on their opposite sides, the two guide surfaces are symmetrically arranged, and the guide surfaces are inclined in a direction away from the relief groove.

[0018] By adopting the above technical solution, when the material box is attracted by the adsorption component and gradually approaches the clamping component, the design of the guide surface allows the material box to be smoothly inserted between the first and second clamping blocks, reducing collisions and friction between the material box and the first and second clamping blocks, thereby improving the positioning accuracy and clamping reliability of the material box. At the same time, because the guide surface is inclined, it further ensures that the material box can be accurately positioned within a small space, enhancing the stability and safety of the entire material handling process.

[0019] Optionally, the adsorption assembly includes a support plate and a plurality of suction cups. The support plate is connected to the driving assembly, and the plurality of suction cups are distributed sequentially along the length of the support plate and are respectively connected to the driving assembly. The driving assembly is used to drive the support plate to move closer to or away from the clamping assembly and to make the suction cups adsorb the material box.

[0020] By adopting the above technical solution, the drive component can precisely control the movement of the support plate, making it move closer to or further away from the clamping component. The support plate can drive the suction cup to move, thereby ensuring that the suction cup can adsorb the material box in the appropriate position, thus improving the safety and reliability of the overall operation.

[0021] Optionally, the drive assembly includes a cylinder and an air pump. The air pump is mounted on the frame, the cylinder is mounted on the sliding mechanism and connected to the support plate, and the air pump is connected to the cylinder and a plurality of suction cups respectively.

[0022] By adopting the above technical solution, the air pump is mounted on the frame, providing the power source for the entire system. The cylinder is mounted on the sliding mechanism and connected to the support plate, enabling precise control of the support plate's movement towards or away from the clamping assembly under the drive of the air pump. When material needs to be picked up, the air pump drives the cylinder to extend or retract, bringing the suction cups on the support plate closer to the material box and adsorbing it. Simultaneously, the air pump is also connected to several suction cups, ensuring that each suction cup receives even pressure, thereby improving the reliability of the adsorption. This design not only improves the system's response speed but also effectively avoids material falling due to suction cup failure, significantly enhancing the stability and safety of the material picking process.

[0023] Optionally, the frame is provided with a track located below the adsorption assembly, and the track is used to guide the material box.

[0024] By adopting the above technical solution, the track on the frame is located below the adsorption component. This allows the adsorption component to move the material box onto the track after adsorption, facilitating the positioning of the material box by the track and guiding it accurately into the preset position. This improves the accuracy and reliability of the material handling process. Simultaneously, the track design effectively reduces material box displacement caused by external environmental factors, further enhancing the stability and safety of the entire material handling system.

[0025] Optionally, the track has a U-shaped cross-section, with one end open. Two guide blocks are symmetrically arranged near the end of the track close to the opening, and the guide blocks are inclined away from the opening.

[0026] By adopting the above technical solution, the track's cross-section is designed in a U-shape, with an opening at one end. This design not only ensures the smooth entry of the utensil into the track but also effectively prevents it from shifting during movement. Simultaneously, two guide blocks are symmetrically positioned at the end of the track near the opening, tilted away from the opening. This allows the utensil to be accurately guided as it approaches the track, further improving the success rate and accuracy of the utensil's entry. This structural design significantly enhances the stability and reliability of the utensil handling process, reducing the risk of jamming and damage caused by utensil shifting.

[0027] Optionally, a vision control mechanism is provided on the frame, which is used to determine whether the frame is aligned with the material box.

[0028] By adopting the above technical solution, the vision control mechanism can monitor the alignment of the frame and the material box in real time during the robot's operation, ensuring that the robot can accurately position the material box when picking up materials. This function significantly improves the accuracy and reliability of the robot's operation, reduces the material picking failure rate caused by misalignment, and thus improves overall production efficiency. At the same time, through feedback from the vision control mechanism, the position of the robot can be adjusted in a timely manner, further enhancing the system's adaptability and stability.

[0029] In summary, this application includes at least one of the following beneficial technical effects:

[0030] 1. Through the cooperation of the sliding mechanism, drive component, adsorption component and clamping component, the precise positioning and stable clamping of the material box are achieved, so that the picking robot can handle both fragile or precision materials and porous or uneven materials. This effectively reduces material damage caused by improper operation, thereby effectively improving the applicability of the picking robot and improving the stability and safety of the handling process.

[0031] 2. Through the cooperation of the first clamping block, the second clamping block and the elastic element, after the material box is inserted into the clearance groove, the first clamping block and the second clamping block can clamp the material box under the action of the elastic element, thereby improving the stability and reliability of the material box picking and placing process, and effectively avoiding the material damage caused by high-speed operation.

[0032] 3. Through the cooperation of the support plate, several suction cups, cylinders and air pumps, the cylinders can accurately control the support plate to move closer to or further away from the clamping components under the action of the air pump. The support plate can drive the suction cups to move, which makes it easy to accurately and stably adsorb the material box using the suction cups. This effectively avoids the problem of the material box falling due to suction cup failure, and significantly enhances the stability and safety of the material picking process. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of a material box picking robot in this application.

[0034] Figure 2 This is a partial structural diagram of a material box picking robot without a track, as described in this application.

[0035] Figure 3 This is a partial structural diagram of a material handling robot without an adsorption component, as described in this application.

[0036] Explanation of reference numerals in the attached figures:

[0037] 1. Frame; 11. Track; 111. Opening; 112. Guide block; 2. Sliding mechanism; 21. Sliding drive assembly; 211. Motor; 212. Synchronous belt; 22. Slide rail; 23. Sliding frame; 231. Clearance groove; 232. Through groove; 3. Clamping mechanism; 31. Drive assembly; 311. Cylinder; 312. Air pump; 32. Adsorption assembly; 321. Support plate; 322. Suction cup; 33. Clamping assembly; 331. First clamping block; 332. Second clamping block; 333. Elastic element; 334. Guide surface; 4. Vision control mechanism. Detailed Implementation

[0038] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0039] This application discloses a material box picking robot.

[0040] It should be noted that in the description of this utility model, the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0041] Reference Figure 1 A material box handling robot includes a frame 1, a sliding mechanism 2, and a clamping mechanism 3. The sliding mechanism 2 is mounted on the frame 1, and the clamping mechanism 3 is mounted on the sliding mechanism 2. The sliding mechanism 2 is used to drive the clamping mechanism 3 to move, and the clamping mechanism 3 is used to clamp the material box, thereby improving the safety and accuracy of material box handling.

[0042] The frame 1 is the basic structure of the entire robotic arm. It can be made of aluminum alloy or carbon fiber composite material to ensure sufficient rigidity and lightweight.

[0043] Reference Figure 1 and Figure 2 The sliding mechanism 2 includes a sliding drive assembly 21, a slide rail 22, and a sliding frame 23. The slide rail 22 and the sliding drive assembly 21 are respectively mounted on the frame 1. In this embodiment, the sliding drive assembly 21 includes a motor 211 and a synchronous belt 212, which are respectively mounted on the frame 1, and the motor 211 is connected to the synchronous belt 212.

[0044] The sliding frame 23 is slidably connected to the slide rail 22 and is also connected to the synchronous belt 212. This allows the motor 211 to drive the sliding frame 23 to move smoothly on the slide rail 22 via the synchronous belt 212, thereby reducing friction and wear. In other embodiments, rollers or linear bearings may be provided on the sliding frame 23 to reduce sliding resistance and ensure smooth movement of the sliding frame 23.

[0045] Reference Figure 1 and Figure 2 The clamping mechanism 3 includes a driving component 31, an adsorption component 32, and a clamping component 33. The driving component 31 and the clamping component 33 are respectively disposed on the sliding frame 23. The adsorption component 32 is connected to the driving component 31, and the driving component 31 is used to drive the adsorption component 32 to move closer to or away from the clamping component 33.

[0046] Two sets of clamping components 33 are provided. The two sets of clamping components 33 are evenly distributed along the height direction of the sliding frame 23, and the two sets of clamping components 33 can clamp the material box together, which helps to improve the stability of the material box after it is clamped.

[0047] Reference Figure 3 The clamping assembly 33 includes a first clamping block 331 and a second clamping block 332. The first clamping block 331 and the second clamping block 332 are respectively hinged to the sliding frame 23, with one end of the first clamping block 331 and the second clamping block 332 positioned close to each other. The sliding frame 23 has a clearance groove 231, and the first clamping block 331 and the second clamping block 332 are symmetrically arranged on both sides of the clearance groove 231.

[0048] Reference Figure 1 and Figure 3 When the adsorption component 32 drives the material box to be inserted into the clearance groove 231, the first clamping block 331 and the second clamping block 332 clamp the material box. In this embodiment, the first clamping block 331 and the second clamping block 332 can be made of stainless steel to ensure durability and reliability.

[0049] Reference Figure 3 Elastic elements 333 are connected between the first clamping block 331 and the sliding frame 23, and between the second clamping block 332 and the sliding frame 23, respectively. In this embodiment, the elastic elements 333 are springs, so that the two elastic elements 333 cooperate with each other to push the first clamping block 331 and the second clamping block 332 closer together. Furthermore, the elastic elements 333 allow the first clamping block 331 and the second clamping block 332 to move freely within a certain range, thereby adapting to material boxes of different sizes and shapes.

[0050] The first clamping block 331 and the second clamping block 332 each have a guide surface 334 on their opposite sides. The two guide surfaces 334 are symmetrically arranged and are inclined away from the relief groove 231. The design of the guide surfaces 334 avoids interference between the first clamping block 331 and the second clamping block 332 and the material box, and helps guide the material box to enter the relief groove 231 smoothly, thereby reducing the risk of jamming and displacement.

[0051] When the material box is inserted into the relief groove 231, the material box first applies a force to the two guide surfaces 334, causing the first clamping block 331 and the second clamping block 332 to move away from each other, so that the material box can be inserted into the relief groove 231. At this time, the first clamping block 331 and the second clamping block 332 clamp the material box under the action of the elastic member 333, thereby facilitating the fixing of the material box.

[0052] Reference Figure 2 The drive assembly 31 includes a cylinder 311 and an air pump 312. The air pump 312 is mounted on the frame 1, and the cylinder 311 is mounted on the sliding frame 23 and connected to the air pump 312 via a flexible hose, thereby enabling the air pump 312 to drive the cylinder 311 to extend and retract. In other embodiments, the cylinder 311 may also be connected to the air pump 312 via a bellows.

[0053] Reference Figure 1 and Figure 2 The adsorption assembly 32 includes a support plate 321 and several suction cups 322. The support plate 321 is fixedly connected to the output end of a cylinder 311, allowing the cylinder 311 to drive the support plate 321 closer to or further away from the sliding frame 23. When the support plate 321 approaches the sliding frame 23, it can be inserted into the clearance groove 231. The support plate 321 can be made of aluminum alloy to ensure sufficient rigidity and lightweight.

[0054] In this embodiment, two suction cups 322 are provided, which are sequentially distributed along the length of the support plate 321 and connected to the air pump 312 respectively, ensuring that each suction cup 322 can evenly distribute pressure, thereby improving the reliability of adsorption. The suction cups 322 can be made of silicone or nitrile rubber, which have good sealing properties and suction strength. In other embodiments, the number and distribution of suction cups 322 can be adjusted according to the size and weight of the material box to ensure evenly distributed suction.

[0055] When the material box needs to be suctioned, the air pump 312 drives the cylinder 311 to extend and retract. The cylinder 311 drives the support plate 321 to move away from the relief groove 231. The support plate 321 drives the suction cup 322 to move, so that the suction cup 322 is in contact with the surface of the material box. At this time, the air pump 312 controls the suction cup 322 to work, so that the suction cup 322 suctions the material box. Then the cylinder 311 drives the support plate 321 to move closer to the relief groove 231, so that the material box is moved to the relief groove 231, thereby facilitating the clamping of the material box by the first clamping block 331 and the second clamping block 332.

[0056] It should be noted that, in this embodiment of the application, the specific connection between the air pump 312 and the cylinder 311 and the suction cup 322, and how to control the coordinated operation of the cylinder 311 and the suction cup 322, are conventional technical means for those skilled in the art, and therefore will not be elaborated on in this embodiment of the application.

[0057] Reference Figure 1 A track 11 is mounted on the frame 1. The track 11 can be made of aluminum alloy to ensure sufficient rigidity and lightweight. The track 11 is located below the support plate 321. A through groove 232 is provided on the sliding frame 23, and one end of the track 11 passes through the through groove 232, so that the track 11 is less likely to interfere with the sliding frame 23 when it moves. In other embodiments, the bottom of the sliding frame 23 can also be designed as an inverted U-shape to avoid the track 11.

[0058] In this embodiment, the cross-section of the track 11 is U-shaped, and the end of the track 11 away from the motor 211 has an opening 111, so that the material box can enter the track 11, so that the track 11 can be used to position the material box, thereby guiding the material box to accurately enter the preset position, effectively reducing the material box deviation caused by external environmental factors, and further improving the stability and safety of the entire material handling system.

[0059] Two guide blocks 112 are symmetrically installed at one end of the track 11 near the opening 111. The guide blocks 112 are inclined away from the opening 111. Through the cooperation of the two guide blocks 112, the material box can be accurately guided when it approaches the track 11, which helps the material box to enter the track 11 smoothly and reduces the risk of jamming and deviation.

[0060] Reference Figure 1 A vision control mechanism 4 is installed on the frame 1. In this embodiment, the vision control mechanism 4 includes a camera and an image processing unit. The camera can capture the position information of the material box in real time, and the image processing unit analyzes the image to determine whether the frame 1 is aligned with the material box, thereby achieving precise positioning. The introduction of the vision control mechanism 4 greatly improves the working accuracy and reliability of the robot.

[0061] The implementation principle of a material box picking robot according to an embodiment of this application is as follows: When it is necessary to move a material box, the vision control mechanism 4 is first used to align the frame 1 with the material box. Then, the motor 211 is started, and the motor 211 drives the sliding frame 23 to move to the designated position via the synchronous belt 212. At this time, the air pump 312 is started, and the air pump 312 drives the cylinder 311 to extend. The cylinder 311 drives the suction cup 322 to move towards the material box via the support plate 321, so that the suction cup 322 is pressed against the material box. At the same time, the air pump 312 controls the suction cup 322 to work, so that the suction cup 322 adsorbs the material box.

[0062] Next, cylinder 311 retracts, driving the material box towards the sliding frame 23 via support plate 321 and suction cup 322, so that the material box moves onto track 11 and along track 11 into the clearance groove 231. At this time, the first clamping block 331 and the second clamping block 332 clamp the material box.

[0063] Finally, the motor 211 drives the sliding frame 23 to move again via the synchronous belt 212. The sliding frame 23 drives the suction cup 322, the first clamping block 331 and the second clamping block 332 to move, thereby moving the material box on the track 11 to the predetermined position to complete the handling of the material box.

[0064] It should be noted that the material handling robot in this application can handle both fragile or precision materials and porous or uneven materials, effectively reducing material damage caused by improper operation, thereby effectively improving the applicability of the material handling robot and enhancing the stability and safety of the handling process.

[0065] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A material box picking robot, characterized in that, include: Rack (1); A sliding mechanism (2) is mounted on the frame (1); The clamping mechanism (3) includes a driving component (31), an adsorption component (32), and a clamping component (33). The driving component (31) and the clamping component (33) are respectively disposed on the sliding mechanism (2). The adsorption component (32) is connected to the driving component (31). The driving component (31) is used to drive the adsorption component (32) to move closer to or further away from the clamping component (33). The sliding mechanism (2) is used to drive the driving component (31) and the clamping component (33) to move.

2. The material box handling robot according to claim 1, characterized in that: The sliding mechanism (2) includes a sliding drive assembly (21), a slide rail (22), and a sliding frame (23). The slide rail (22) and the sliding drive assembly (21) are respectively disposed on the frame (1). The sliding frame (23) is slidably connected to the slide rail (22) and connected to the sliding drive assembly (21). The sliding drive assembly (21) is used to drive the sliding frame (23) to move. The drive assembly (31) and the clamping assembly (33) are respectively disposed on the sliding frame (23).

3. The material box handling robot according to claim 2, characterized in that: The sliding frame (23) is provided with a clearance groove (231). The clamping assembly (33) includes a first clamping block (331) and a second clamping block (332). The first clamping block (331) and the second clamping block (332) are movably connected to the sliding frame (23). The first clamping block (331) and the second clamping block (332) are symmetrically arranged on both sides of the clearance groove (231). When the adsorption assembly (32) drives the material box to be inserted into the clearance groove (231), the first clamping block (331) and the second clamping block (332) clamp the material box.

4. The material box picking robot according to claim 3, characterized in that: Elastic elements (333) are respectively provided between the first clamping block (331) and the sliding frame (23) and between the second clamping block (332) and the sliding frame (23). The elastic elements (333) are used to push the first clamping block (331) and the second clamping block (332) closer to each other.

5. The material box handling robot according to claim 3, characterized in that: The first clamping block (331) and the second clamping block (332) are respectively provided with guide surfaces (334) on their opposite sides. The two guide surfaces (334) are symmetrically arranged and are inclined in a direction away from the relief groove (231).

6. The material box handling robot according to claim 1, characterized in that: The adsorption component (32) includes a support plate (321) and a plurality of suction cups (322). The support plate (321) is connected to the driving component (31). The plurality of suction cups (322) are distributed sequentially along the length of the support plate (321) and are respectively connected to the driving component (31). The driving component (31) is used to drive the support plate (321) to move closer to or away from the clamping component (33) and to make the suction cups (322) adsorb the material box.

7. The material box handling robot according to claim 6, characterized in that: The drive assembly (31) includes a cylinder (311) and an air pump (312). The air pump (312) is mounted on the frame (1). The cylinder (311) is mounted on the sliding mechanism (2) and connected to the support plate (321). The air pump (312) is connected to the cylinder (311) and a plurality of suction cups (322) respectively.

8. The material box handling robot according to claim 1, characterized in that: The frame (1) is provided with a track (11), which is located below the adsorption assembly (32) and is used to guide the material box.

9. The material box handling robot according to claim 8, characterized in that: The track (11) has a U-shaped cross-section and an opening (111) at one end. Two guide blocks (112) are symmetrically arranged at the end of the track (11) near the opening (111). The guide blocks (112) are inclined away from the opening (111).

10. The material box picking robot according to claim 1, characterized in that: The frame (1) is provided with a vision control mechanism (4), which is used to determine whether the frame (1) is aligned with the material box.

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