Material taking and assembling machine head structure

Abstract

The utility model belongs to the technical field of assembling machinery, and particularly relates to a material taking and assembling machine head structure which comprises a mounting plate, a motor, a cam, a lifting seat, a rotating driving piece, a rotating shaft, a sliding block, a connecting shaft, a suction nozzle and a height detection mechanism. The motor is arranged on the back side of the mounting plate, the cam is arranged on a main shaft of the motor, and a first sliding rail is arranged on the front side of the mounting plate; the lifting seat is connected with the first sliding rail, a roller is arranged at the upper end of the lifting seat, the rotary driving piece is arranged on the supporting part of the mounting plate, and the rotating shaft is rotationally connected with the supporting part and is connected with the rotary driving piece; the rotating shaft is provided with a connecting hole, the connecting shaft is in sliding connection with the connecting hole, the rotating shaft is further provided with a limiting piece, and the connecting shaft is provided with a limiting face matched with the limiting piece. The sliding block is connected with the lower end of the connecting shaft, a second sliding rail is arranged between the sliding block and the lifting base, and the height detection mechanism is connected to the lower end of the lifting base. The suction nozzle is arranged at the bottom end of the connecting shaft; an abutting piece is arranged at the bottom end of the lifting base and used for limiting the bottom end of the sliding block.

Description

Technical Field

[0001] This utility model belongs to the field of assembly machinery technology, and in particular relates to a material handling assembly head structure. Background Technology

[0002] In automated production lines, robotic arms are typically used to transfer and assemble parts, thereby replacing manual labor and improving production efficiency and quality.

[0003] Existing material handling robots typically use electric screws, cylinders, or cam structures to drive the lifting of picking components (e.g., pneumatic grippers, suction nozzles, etc.) to pick up and assemble parts. For example, Chinese invention patent application CN118522581A discloses a mobile terminal button assembly device, which includes: a machine base; an assembly mechanism mounted on the machine base for picking up mobile terminal buttons from their picking position and assembling or unloading them; the assembly mechanism includes a robot arm, a mounting plate connected to the end of the robot arm, a suction component mounted on the mounting plate, and a first CCD vision module. The suction component includes a suction nozzle for adsorbing the mobile terminal buttons, and the suction component can drive the suction nozzle to rotate; the first CCD vision module is spaced apart on one side of the suction component and is used to capture images of the mobile terminal buttons at the picking position to locate the mobile terminal buttons; the second CCD vision module... A CCD vision module is mounted on the machine and located on one side of the assembly mechanism. The second CCD vision module is used to capture the outer contour image of the mobile terminal button being picked up by the suction nozzle and the character image at the bottom of the mobile terminal button that represents the color information of the mobile terminal button. The controller is electrically connected to the robot arm, the suction component, the first CCD vision module, and the second CCD vision module. The controller is used to control the suction component to drive its suction nozzle to rotate to adjust the angle and position of the mobile terminal button based on the outer contour image captured by the second CCD vision module, and to confirm whether the mobile terminal button is a pre-assembled button based on the character image captured by the second CCD vision module. If the picked-up mobile terminal button is not a pre-assembled button, the controller controls the assembly mechanism to unload the mobile terminal button. The assembly mechanism, controlled by the controller, picks up the mobile terminal buttons from their picking positions and assembles or unloads them. Specifically, the robotic arm of the assembly mechanism drives the mounting plate and its first CCD vision module and suction component to the picking position. The first CCD vision module captures an image of the mobile terminal button at the picking position to locate it and obtain its position information. Then, it controls the suction nozzle of the suction component to pick up the button from the picking position and perform subsequent operations. Before assembling the button into the button hole of the mobile terminal, the assembly mechanism first drives the mounting plate and its suction component to the second CCD vision module. The second CCD vision module then captures an image of the outer contour of the button held by the suction nozzle. Based on the outer contour image captured by the second CCD vision module, the controller calculates the installation angle deviation between the button and the button hole of the mobile terminal and controls the suction component to rotate its suction nozzle to adjust the angle position of the button, achieving automatic correction of the installation angle deviation. This ensures that the button is aligned with the button hole of the mobile terminal, thereby improving assembly accuracy.In addition, the bottom of the mobile terminal button has characters to represent its color information. When the second CCD vision module captures the outer contour image of the mobile terminal button held by the nozzle, it also captures the character image at the bottom of the mobile terminal button. The controller also uses the character image captured by the second CCD vision module to confirm whether the mobile terminal button is a pre-assembled button. If the captured mobile terminal button is not a pre-assembled button, the controller controls the assembly mechanism to unload the mobile terminal button to prevent incorrect button assembly, thereby improving the accuracy of mobile terminal button assembly.

[0004] The technical solution disclosed in the aforementioned patent documents utilizes a suction assembly to pick up materials. This suction assembly includes a first drive assembly, which comprises a first drive motor, a first driving wheel, a first driven wheel, and a first transmission belt. The first drive motor is mounted on the side of the mounting plate opposite to the rotating shaft. The first driving wheel is sleeved and fixed on the output shaft of the first drive motor, and the first driven wheel is sleeved and fixed on the rotating drum. The first transmission belt passes through the mounting plate and is sleeved on both the first driving wheel and the first driven wheel. This drives the suction nozzle to move up and down. However, the height of the suction nozzle is controlled by a set program. In actual operation, the material being sucked up may have a height difference, leading to errors in the suction height and assembly height during picking up or assembling. This can cause variations in the force exerted on the material during assembly, potentially resulting in damage to the object being subjected to the force. Utility Model Content

[0005] The purpose of this utility model is to provide a material handling and assembly head structure to solve the problem that existing material handling and assembly robots may cause material damage or inaccurate assembly due to different forces caused by object height errors.

[0006] To achieve the above objectives, this utility model provides a material handling and assembly head structure for mounting on a moving mechanism. It includes a mounting plate, a motor, a cam, a lifting seat, a rotary drive component, a rotating shaft, a slider, a connecting shaft, a suction nozzle, and a height detection mechanism. The mounting plate connects to the moving mechanism. A mounting position is provided on the back of the mounting plate, the motor is located at the mounting position, the cam is mounted on the main shaft of the motor, and a track surface is provided on the outer side of the cam. A first slide rail is provided on the front side of the mounting plate, the lifting seat is connected to the first slide rail, and a roller is provided at the upper end of the lifting seat, supporting the track surface. The front side of the mounting plate also... The device includes a support portion, on which the rotary drive component is mounted. A rotating shaft is rotatably connected to the support portion and also to the rotary drive component. The rotating shaft has a connecting hole, and the connecting shaft is slidably connected to the connecting hole. The rotating shaft also has a limiting component, and the connecting shaft has a limiting surface that engages with the limiting component. A slider is connected to the lower end of the connecting shaft, and a second slide rail is provided between the slider and the lifting seat. A height detection mechanism is connected to the lower end of the lifting seat and is used to detect the height position of the slider. A suction nozzle is located at the bottom end of the connecting shaft. The bottom end of the lifting seat has an abutment component for limiting the bottom end of the slider.

[0007] Furthermore, the height detection mechanism includes a connecting block, a grating reading head, and a grating ruler; the grating ruler is located on one side of the slider, the connecting block is located at the lower end of the lifting seat, and the grating reading head is located on the connecting block for reading the value of the grating ruler.

[0008] Furthermore, the limiting member includes two pulleys disposed at the bottom end of the rotating shaft, a guide groove is formed between the two pulleys, and the connecting shaft is provided with a flat part, which passes through the guide groove.

[0009] Furthermore, the support portion is provided with a clearance space, and the clearance space is equipped with a sensor for detecting the rotation angle of the rotating shaft.

[0010] Furthermore, it also includes a connecting seat and a translation mechanism. The connecting seat is used to connect the moving mechanism. The top side of the connecting seat is provided with a support platform, and the support platform is provided with a guide rail. The upper back side of the mounting plate is provided with a mounting seat, and the mounting seat is slidably connected to the guide rail. The translation mechanism is located on the support platform and connected to the mounting seat, and is used to drive the mounting seat to translate back and forth.

[0011] Furthermore, the translation mechanism includes a drive motor and a lead screw assembly, the drive motor is mounted on the support platform, and the lead screw assembly connects the mounting base and the drive motor.

[0012] Furthermore, the upper end of the mounting plate is provided with a clearance notch, the support platform is provided with an extension that passes through the clearance notch, and the drive motor is located on the extension.

[0013] Furthermore, the front side of the mounting plate is also equipped with two cameras for positioning the workpiece.

[0014] The above-mentioned technical solutions in the material handling and assembly head structure provided in this embodiment of the utility model have at least the following technical effects:

[0015] 1. During material handling or assembly, the motor drives the cam to rotate. As the roller gradually contacts the lowest point of the cam, the lifting seat descends due to gravity. Therefore, the slider and the connecting shaft connected to the slider also fall freely downwards under their own weight. When the suction nozzle at the bottom of the connecting shaft contacts the workpiece, or when the suction nozzle picks up the workpiece and assembles it at the workstation, the workpiece only needs to overcome the weight of the slider and connecting shaft. Therefore, there is no problem of excessive pressure on taller workpieces and insufficient pressure on shorter workpieces due to height differences. This ensures that the force on the workpiece remains the same, avoiding damage caused by excessive force due to height differences. Furthermore, during assembly, the workpiece is subjected to assembly pressure by the weight of the connecting shaft or slider, ensuring that the pressure on the workpiece assembled with other objects is constant, thus guaranteeing the assembly accuracy of the workpiece with other objects.

[0016] 2. For workpieces with threaded assembly, and where assembly accuracy needs to be controlled: The suction nozzle picks up the workpiece to be assembled. During assembly, the workpiece is moved to the assembly position, the cam rotates, and under the action of the slider's own gravity, the threaded workpiece can contact the assembly workpiece. The rotating drive drives the rotating shaft, and the limiting component of the rotating shaft drives the connecting shaft to rotate together, so that the threaded workpiece connects with the threaded hole of the assembly workpiece, and the workpiece and slider as a whole will descend. At this time, the height detection mechanism detects the overall descent height, thereby controlling the assembly accuracy of the workpiece and the assembly workpiece. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a front view of the material handling and assembly head structure provided in an embodiment of the present utility model.

[0019] Figure 2This is a structural diagram of the material handling and assembly head structure provided in an embodiment of the present utility model.

[0020] Figure 3 This is a structural diagram of the other side of the material handling and assembly head structure provided in an embodiment of this utility model.

[0021] Figure 4 This is a structural diagram of the connecting shaft portion of the material handling and assembly head structure provided in an embodiment of the present utility model. Detailed Implementation

[0022] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the embodiments of this utility model, and should not be construed as limiting the utility model.

[0023] In the description of the embodiments of this utility model, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only for the convenience of describing the embodiments of 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.

[0024] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of embodiments of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0025] In this embodiment of the invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this embodiment of the invention according to the specific circumstances.

[0026] In one embodiment of the material handling and assembly head structure of this utility model, please refer to... Figures 1 to 4The material picking and assembly head structure of this embodiment is used to be mounted on a moving mechanism to realize the picking and assembly of workpieces. Specifically, the material picking and assembly head structure of this embodiment includes a mounting plate 100, a motor 200, a cam 300, a lifting seat 400, a rotary drive component 500, a rotating shaft 600, a slider 700, a connecting shaft 800, a suction nozzle 900, and a height detection mechanism 10. The mounting plate 100 is used to connect the moving mechanism. The back side of the mounting plate 100 is provided with a mounting position. The motor 200 is located at the mounting position. The cam 300 is located on the main shaft of the motor 200. The outer side of the cam 300 is provided with a track surface 301. Specifically, the track surface 301 has a high point and a low point. The front side of the mounting plate 100 is provided with a first slide rail 101. The lifting seat 400 is connected to the first slide rail 101. The upper end of the lifting seat 400 is provided with a roller 401, which is supported on the track surface 301. The front side of the mounting plate 100 is also provided with a support part 102, and a rotary drive 500 is provided on the support part 102. Specifically, the rotary drive 500 is a motor provided on the support part 102. The rotating shaft 600 is rotatably connected to the support part 102 and connected to the rotary drive 500. The rotating shaft 600 is provided with a connecting hole, and the connecting shaft 800 is slidably connected to the connecting hole. The rotating shaft 600 is also provided with a limiting member 610, and the connecting shaft 800 is provided with a limiting surface 801, which cooperates with the limiting member 610. The slider 700 is connected to the lower end of the connecting shaft 800, and a second slide rail 710 is provided between the slider 700 and the lifting seat 400. The height detection mechanism 10 is connected to the lower end of the lifting seat 400 and is used to detect the height position of the slider 700. The suction nozzle 900 is provided at the bottom end of the connecting shaft 800; the bottom end of the lifting seat 400 is provided with an abutment 410 for limiting the bottom end of the slider 700.

[0027] Specifically, in this embodiment, during the material handling or assembly process, the motor 200 drives the cam 300 to rotate. As the roller 401 gradually contacts the lowest point of the track surface 301 of the cam 300, the lifting seat 400 descends due to gravity. Therefore, the slider 700 and the connecting shaft 800 connected to the slider 700 also fall freely downwards under their own gravity. When the suction nozzle 900 at the bottom of the connecting shaft 800 contacts the workpiece or when the suction nozzle 900 picks up the workpiece and assembles it at the workstation, the workpiece only needs to overcome the gravity of the slider 700 and the connecting shaft 800. Therefore, there is no problem of excessive pressure on the taller workpiece and insufficient pressure on the shorter workpiece due to height differences. This ensures that the force on the workpiece remains the same, avoiding the problem of excessive force and damage to the workpiece due to height differences. Furthermore, during the assembly process, the workpiece is subjected to assembly pressure by the gravity of the connecting shaft 800 or the slider 700, ensuring that the pressure of assembling the workpiece with other objects remains constant, thus guaranteeing the assembly accuracy of the workpiece with other objects. For workpieces with threaded assembly, where assembly accuracy needs to be controlled, the suction nozzle 900 picks up the workpiece to be assembled. During assembly, the workpiece is moved to the assembly position, and the motor 200 drives the cam 300 to rotate. Under the action of the slider 700's own gravity, the threaded workpiece can contact the assembly workpiece. The rotation drive 500 drives the rotating shaft 600, and the limiting member 610 of the rotating shaft 600 drives the connecting shaft 800 to rotate together, so that the threaded workpiece connects with the threaded hole of the assembly workpiece, and the workpiece and slider as a whole will descend. At this time, the height detection mechanism 10 detects the overall descent height, thereby controlling the assembly accuracy of the workpiece and the assembly. More specifically, a zero-position boss can be set on the workpiece assembly fixture. Therefore, during workpiece assembly, the bottom end of the lifting seat 400 can be supported on the zero-position boss, causing the roller 401 to disengage from the track surface 301. At this time, the workpiece adsorbed by the suction nozzle 900 is just located at the assembly position, and under the action of the two assembly parts, it overcomes the gravity of the connecting shaft 800 and the slider 700. At this time, the height detection mechanism 10 positions the assembly zero position, and then the rotary drive 500 drives the rotating shaft 600 to rotate, thereby driving the assembled workpiece to rotate. Under the action of the threaded engagement, the assembly is realized. At the same time, the workpiece moves downward, and the connecting shaft 800 and the slider 700 move downward at the same time. The height detection mechanism 10 detects the height difference of the slider 700, thereby controlling the assembly accuracy.

[0028] Specifically, refer to Figure 4 The height detection mechanism 10 includes a connecting block 11, a grating reading head 12, and a grating ruler 13. The grating ruler 13 is located on one side of the slider 700, the connecting block 11 is located at the lower end of the lifting seat 400, and the grating reading head 12 is located on the connecting block 11 for reading the value of the grating ruler 13.

[0029] Furthermore, refer to Figure 4 The limiting member 610 includes two pulleys located at the bottom end of the rotating shaft 600, forming a guide groove between the two pulleys. The connecting shaft 800 has a flat section that passes through the guide groove. Specifically, a mounting groove is provided at the bottom end of the rotating shaft 600, and the two pulleys are located within the mounting groove. By limiting the connecting shaft 800 with the two pulleys, the connecting shaft 800 can move smoothly up and down, and the independent rotation of the connecting shaft 800 can be prevented.

[0030] Furthermore, refer to Figure 2 The support part 102 is provided with a clearance space 103, and the clearance space 103 is provided with a sensor 104. The sensor 104 is used to detect the rotation angle of the rotating shaft 600. This further controls the orientation of the assembled workpiece.

[0031] Furthermore, refer to Figure 2 and Figure 3 The material handling and assembly head structure also includes a connecting seat 110 and a translation mechanism 120. The connecting seat 110 is used to connect the moving mechanism. A support platform 111 is provided on the top side of the connecting seat 110, and a guide rail 112 is provided on the support platform 111. A mounting seat 130 is provided on the upper back side of the mounting plate 110, and the mounting seat 130 is slidably connected to the guide rail 112. The translation mechanism 120 is provided on the support platform 111 and connected to the mounting seat 130, and is used to drive the mounting seat 130 to translate back and forth. In this embodiment, the mounting plate 100 can be moved by the translation mechanism 120, thereby adjusting the front and rear position of the mounting plate 100.

[0032] Furthermore, refer to Figure 2 and Figure 3 The translation mechanism 120 includes a drive motor 121 and a lead screw assembly 122. The drive motor 121 is mounted on the support platform 111, and the lead screw assembly 122 connects the mounting base 130 and the drive motor 121. Specifically, the drive motor 121 drives the lead screw 122, thereby driving the mounting base 130 and the mounting plate 100 connected to the mounting base 130 to translate together. This allows for adjustment of the position of the suction nozzle 900.

[0033] Furthermore, refer to Figure 2 The mounting plate 100 has a clearance notch 105 at its upper end, and the support platform 111 has an extension 113 passing through the clearance notch 105. The drive motor 121 is mounted on the extension. In this embodiment, the drive motor 121 is mounted on the front side of the mounting plate 100 to avoid interference between the mounting of the connecting seat 110 and the moving mechanism of the robot arm. This makes the overall structure more compact.

[0034] Furthermore, the front side of the mounting plate 100 is also equipped with two cameras 140 for positioning the workpiece.

[0035] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A material handling and assembly head structure for mounting on a moving mechanism, characterized in that, The device includes a mounting plate, a motor, a cam, a lifting seat, a rotary drive component, a rotating shaft, a slider, a connecting shaft, a suction nozzle, and a height detection mechanism. The mounting plate connects to the moving mechanism. A mounting position is provided on the back of the mounting plate, where the motor is located. The cam is mounted on the main shaft of the motor, and a track surface is provided on the outer side of the cam. A first slide rail is provided on the front of the mounting plate, and the lifting seat is connected to the first slide rail. A roller is provided at the upper end of the lifting seat, and the roller is supported on the track surface. A support portion is also provided on the front of the mounting plate, and the rotary drive component is mounted on the support portion. The rotating shaft is rotatably connected to the support and to the rotating drive; the rotating shaft has a connecting hole, the connecting shaft is slidably connected to the connecting hole, the rotating shaft also has a limiting member, the connecting shaft has a limiting surface, and the limiting surface cooperates with the limiting member; the slider is connected to the lower end of the connecting shaft, and a second slide rail is provided between the slider and the lifting seat; the height detection mechanism is connected to the lower end of the lifting seat and is used to detect the height position of the slider; the suction nozzle is located at the bottom end of the connecting shaft; the bottom end of the lifting seat has an abutment member for limiting the bottom end of the slider.

2. The material handling and assembly head structure according to claim 1, characterized in that: The height detection mechanism includes a connecting block, a grating reading head, and a grating ruler; the grating ruler is located on one side of the slider, the connecting block is located at the lower end of the lifting seat, and the grating reading head is located on the connecting block for reading the value of the grating ruler.

3. The material handling and assembly head structure according to claim 1, characterized in that: The limiting component includes two pulleys located at the bottom of the rotating shaft, with a guide groove formed between the two pulleys. The connecting shaft has a flat section that passes through the guide groove.

4. The material handling and assembly head structure according to any one of claims 1 to 3, characterized in that: The support portion is provided with a clearance space, and the clearance space is equipped with a sensor, which is used to detect the rotation angle of the rotating shaft.

5. The material handling and assembly head structure according to any one of claims 1 to 3, characterized in that: It also includes a connecting seat and a translation mechanism. The connecting seat is used to connect the translation mechanism. The top side of the connecting seat is provided with a support platform, and the support platform is provided with a guide rail. The upper back side of the mounting plate is provided with a mounting seat, and the mounting seat is slidably connected to the guide rail. The moving mechanism is located on the support platform and connected to the mounting seat, and is used to drive the mounting seat to translate back and forth.

6. The material handling and assembly head structure according to claim 5, characterized in that: The translation mechanism includes a drive motor and a lead screw assembly. The drive motor is mounted on the support platform, and the lead screw assembly connects the mounting base and the drive motor.

7. The material handling and assembly head structure according to claim 6, characterized in that: The mounting plate has a clearance notch at its upper end, the support platform has an extension that passes through the clearance notch, and the drive motor is mounted on the extension.

8. The material handling and assembly head structure according to claim 1, characterized in that: The front side of the mounting plate is also equipped with two cameras for positioning the workpiece.

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