Receiving manipulator of robot feeding detection equipment

Abstract

The utility model relates to the technical field of material receiving manipulators, and provides a material receiving manipulator of robot feeding detection equipment, which comprises a six-axis robot, and an installation fixing seat is fixed at the bottom end of the six-axis robot. The jig clamping jaw air cylinder and the material disc clamping jaw air cylinder are arranged at the bottom of the air cylinder fixing plate, the double-air-cylinder design specifically solves the clamping problem of different material receiving objects, compared with a traditional single-function material receiving mechanical arm, the function is more comprehensive, the sliding table air cylinder is additionally arranged to drive the material disc clamping jaw air cylinder to move downwards, and when a material disc is clamped, the material disc clamping jaw air cylinder is not prone to falling off. The material tray clamping jaw air cylinder can move to a proper position, interference of the jig clamping jaw air cylinder on material tray clamping is avoided, the jig clamping jaw air cylinder and the material tray clamping jaw air cylinder can meet the material receiving requirements of two different objects including a jig and a material tray at the same time, and the application range of equipment is widened.

Description

Technical Field

[0001] This utility model relates to the field of material receiving robot technology, and in particular to a material receiving robot for robot loading and inspection equipment. Background Technology

[0002] After the robot loading and inspection equipment inspects the products, it will generate empty jigs and trays. In order to better recycle the empty jigs and trays generated by the robot loading and inspection equipment, it is necessary to use a corresponding receiving robot to perform the gripping and recycling of the empty jigs and trays.

[0003] Traditional robotic arms need to change the corresponding gripper to handle different types of material receiving objects, such as jigs and material trays. Frequent gripper changes not only increase the complexity and workload of the operation, but also reduce production efficiency. Furthermore, frequent gripper changes can lead to problems such as inaccurate gripper installation, which further affects the quality of material receiving. Utility Model Content

[0004] The purpose of this invention is to provide a robotic receiving arm for a robotic loading and inspection device, which solves the above-mentioned problems.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a robotic loading and inspection device for receiving materials, including a six-axis robot, a mounting base fixed to the bottom of the six-axis robot, and receiving grippers provided at the connecting end of the six-axis robot, which are used to grip the fixture and the material tray.

[0006] Preferably, the receiving gripper includes a robot arm connecting plate fixed to the connecting end of a six-axis robot. A cylinder fixing plate is provided at the bottom of the robot arm connecting plate. Guide shafts are fixed on both sides of the top of the cylinder fixing plate. The top of the guide shafts is fixedly connected to the robot arm connecting plate. Cylinder connecting plates are fixed on both sides of the robot arm connecting plate.

[0007] Preferably, a slide cylinder is provided on both sides of the bottom of the robot arm connecting plate. The slide cylinder is fixed on the inner side wall of the cylinder connecting plate and is located on both sides of the cylinder fixing plate.

[0008] Preferably, a material tray gripper cylinder is installed on the slide cylinder, and a fixture gripper cylinder is installed on both sides of the bottom end of the cylinder fixing plate, with the bottom end of the fixture gripper cylinder holding an empty fixture.

[0009] Preferably, the position of the material tray gripper cylinder is higher than the height of the fixture gripper cylinder, and there are two sets of material tray gripper cylinders and fixture gripper cylinders, which are symmetrical on both sides of the center line of the cylinder fixing plate.

[0010] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0011] This utility model provides a robotic loading and inspection device with a receiving manipulator. The receiving gripper is mounted on the end of a six-axis robot. Considering the receiving needs of two different objects—fixtures and trays—a fixture gripper cylinder and a tray gripper cylinder are located at the bottom of the cylinder fixing plate. This dual-cylinder design specifically addresses the gripping problem of different receiving objects. Compared to traditional single-function receiving manipulators, this device is more comprehensive. The addition of a sliding table cylinder drives the tray gripper cylinder downwards, allowing it to move to the appropriate position during tray gripping, avoiding interference from the fixture gripper cylinder. The fixture gripper cylinder and tray gripper cylinder can simultaneously meet the receiving needs of both fixtures and trays. Traditional receiving manipulators may require different grippers to receive different objects, while this device can complete both receiving operations with the same gripper structure, expanding its applicability. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the material receiving robot of this utility model;

[0013] Figure 2 This is a schematic diagram of the material receiving gripper structure of this utility model.

[0014] The following are the annotations in the figure: 125, receiving gripper; 126, six-axis robot; 127, mounting base; 148, cylinder connecting plate; 149, slide cylinder; 150, robot arm connecting plate; 151, cylinder fixing plate; 152, guide shaft; 153, tray gripper cylinder; 154, fixture gripper cylinder; 155, empty fixture. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings.

[0017] Combination Figure 1 and Figure 2This utility model discloses a robotic loading and inspection device for receiving materials, comprising a six-axis robot 126. A mounting base 127 is fixed to the bottom of the six-axis robot 126. A receiving gripper 125 is provided at the connecting end of the six-axis robot 126. The receiving gripper 125 is used for gripping jigs and material trays. The receiving gripper 125 includes a robot arm connecting plate 150 fixed to the connecting end of the six-axis robot 126. A cylinder fixing plate 151 is provided at the bottom of the robot arm connecting plate 150. Guide shafts 152 are fixed to both sides of the top of the cylinder fixing plate 151. The top of the guide shafts 152 is fixedly connected to the robot arm connecting plate 150. Cylinder connecting plates 148 are fixed to both sides of the robot arm connecting plate 150. Slide cylinders 149 are provided on both sides of the bottom of the robot arm connecting plate 150. The slide cylinders 149 are fixed on the inner side wall of the cylinder connecting plate 148. The slide cylinders 149 are located on both sides of the cylinder fixing plate 151. A material tray gripper cylinder 153 is installed on the slide cylinder 149. A fixture gripper cylinder 154 is installed on both sides of the bottom end of the cylinder fixing plate 151. The bottom end of the fixture gripper cylinder 154 holds an empty fixture 155. The position of the material tray gripper cylinder 153 is higher than the height of the fixture gripper cylinder 154. There are two sets of material tray gripper cylinders 153 and fixture gripper cylinders 154. The two sets of material tray gripper cylinders 153 and fixture gripper cylinders 154 are symmetrical on both sides of the center line of the cylinder fixing plate 151.

[0018] Working principle:

[0019] The robot arm connecting plate 150 is installed on the connecting end of the six-axis robot 126 to complete the installation of the receiving gripper 125. When receiving materials from the fixture and the tray, the six-axis robot 126 drives the receiving gripper 125 to move to the position of the fixture or tray. When the receiving gripper 125 moves to the position of the empty fixture 155, the six-axis robot 126 drives the receiving gripper 125 to move down, so that the fixture gripper cylinder 154 at the bottom of the cylinder fixing plate 151 approaches the empty fixture 155. The fixture gripper cylinder 154 clamps the empty fixture 155. After clamping, the six-axis robot 126 drives the empty fixture 155 clamped by the receiving gripper 125 to move to the fixture placement position, thus completing the fixture receiving operation.

[0020] When gripping the material tray, the slide cylinder 149 is used to drive the material tray gripper cylinder 153 to move down, so that the material tray gripper cylinder 153 moves to a position below the fixture gripper cylinder 154. This prevents the fixture gripper cylinder 154 from contacting the material tray first when the receiving gripper 125 grips the material tray, thus preventing the material tray gripper cylinder 153 from effectively contacting the material tray. This ensures that the material tray gripper cylinder 153 can protrude from the bottom of the receiving gripper 125 to effectively grip the material tray.

[0021] The six-axis robot 126 drives the receiving gripper 125 to move to the position of the material tray. When the receiving gripper 125 moves to the position of the material tray, the six-axis robot 126 drives the receiving gripper 125 to move down, so that the material tray gripper cylinder 153 at the bottom of the cylinder fixing plate 151 is close to the position of the material tray. The material tray gripper cylinder 153 clamps the material tray. After clamping is completed, the six-axis robot 126 drives the material tray held by the receiving gripper 125 to move to the position where the material tray is placed, thus completing the material tray receiving operation.

[0022] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0023] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic loading and inspection device for receiving materials, comprising a six-axis robot (126), characterized in that: The bottom end of the six-axis robot (126) is fixed with a mounting base (127), and the connecting end of the six-axis robot (126) is provided with a receiving gripper (125), which is used to grip the fixture and the material tray; The receiving gripper (125) includes a robot arm connecting plate (150) fixed to the connecting end of a six-axis robot (126). A cylinder fixing plate (151) is provided at the bottom of the robot arm connecting plate (150). Guide shafts (152) are fixed on both sides of the top of the cylinder fixing plate (151). The top of the guide shafts (152) is fixedly connected to the robot arm connecting plate (150). Cylinder connecting plates (148) are fixed on both sides of the robot arm connecting plate (150). Slide cylinders (149) are provided on both sides of the bottom of the robot arm connecting plate (150). The slide cylinders (149) are fixed on the inner side wall of the cylinder connecting plate (148) and are located on both sides of the cylinder fixing plate (151). A material tray gripper cylinder (153) is installed on the slide cylinder (149), and a fixture gripper cylinder (154) is installed on both sides of the bottom end of the cylinder fixing plate (151). The bottom end of the fixture gripper cylinder (154) holds an empty fixture (155).

2. The robotic loading and inspection device receiving robot according to claim 1, characterized in that: The position of the material tray gripper cylinder (153) is higher than the height of the fixture gripper cylinder (154). There are two sets of material tray gripper cylinders (153) and fixture gripper cylinders (154). The two sets of material tray gripper cylinders (153) and fixture gripper cylinders (154) are symmetrical on both sides of the center line of the cylinder fixing plate (151).

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