Intelligent storage manipulator for flexible copper-clad plates

Abstract

The utility model provides an intelligent storage manipulator for flexible copper-clad plates, which comprises a base, a mechanical arm component and a mounting seat which is positioned on the base and is used for mounting the mechanical arm component, and a universal grabbing head component is mounted at the tail end of the mechanical arm component. The universal grabbing head assembly comprises a universal rotating head connected with the mechanical arm assembly, a base plate connected to the lower portion of the universal rotating head, an adsorption structure arranged on the base plate and used for adsorbing copper-clad plate packages, and a grabbing structure used for grabbing a large metal tray. The mechanical arm assembly is provided with a driving assembly used for driving the mechanical arm assembly to act and driving the universal rotating head to rotate. The intelligent storage manipulator for the flexible copper-clad plates is simple in structure and high in intelligence, carton deformation or damage is not prone to being caused when the intelligent storage manipulator is used, and the finished product quality of the flexible copper-clad plates can be well guaranteed.

Description

Technical Field

[0001] This utility model relates to the field of intelligent warehouse automation equipment technology, specifically to an intelligent warehouse robot for flexible copper-clad laminates. Background Technology

[0002] A robotic arm is an automated device that can mimic certain movements and functions of a human arm. It is programmed to grasp, move, or operate tools. Its key feature is that it can be programmed to complete various expected tasks. In terms of structure and performance, it combines the advantages of both humans and machines. It can replace heavy human labor to achieve mechanization and automation of production. It can operate in hazardous environments to protect personal safety, and is therefore widely used in production lines.

[0003] Currently, finished flexible copper-clad laminates are packaged in rolls and sealed in cartons. Individual cartons then need to be neatly stacked onto individual metal pallets according to a predetermined stacking direction, either manually or using mechanical grippers. This process is labor-intensive, and because the rolled-up flexible copper-clad laminates leave gaps after sealing, both mechanical grippers and manual handling can cause bulging at the top of the cartons, easily leading to deformation or damage. This negatively impacts subsequent transportation of the flexible copper-clad laminates and the quality of the finished product. Utility Model Content

[0004] The purpose of this utility model is to overcome the shortcomings of the existing technology and provide an intelligent warehousing robot for flexible copper-clad laminates. This intelligent warehousing robot for flexible copper-clad laminates has a simple structure, high intelligence, and is not prone to causing deformation or damage to cartons during use, thus ensuring the quality of the finished flexible copper-clad laminate.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] A smart warehousing robot for flexible copper-clad laminates includes a base, a robotic arm assembly, and a mounting base on the base for mounting the robotic arm assembly. The end of the robotic arm assembly is equipped with a universal gripping head assembly. The universal gripping head assembly includes a universal rotating head connected to the robotic arm assembly, a base plate connected below the universal rotating head, and an adsorption structure for picking up copper-clad laminate packaging and a gripping structure for gripping large metal pallets disposed on the base plate. The robotic arm assembly is provided with a drive assembly for driving the movement of the robotic arm assembly and the rotation of the universal rotating head.

[0007] The intelligent warehousing robot for flexible copper-clad laminates described above has a control system on its base for controlling the adsorption structure, gripping structure, and drive components.

[0008] The intelligent warehousing robot for flexible copper-clad laminates described above has an adsorption structure that is a powerful electromagnetic adsorption disk installed in the middle area below the substrate, and the powerful electromagnetic adsorption disk is electrically connected to the control system.

[0009] The intelligent warehousing robot for flexible copper-clad laminates described above has a gripping structure consisting of electromagnetic adsorption strips installed on both sides below the substrate, and the electromagnetic adsorption strips are electrically connected to the control system.

[0010] The intelligent warehousing robot for flexible copper-clad laminates as described above includes a turntable mounted on the robot mounting base, a first robot arm movably connected to the turntable, and a second robot arm movably connected to the first robot arm, wherein the second robot arm is rotatably connected to the universal gripper assembly.

[0011] The intelligent warehousing robot for flexible copper-clad laminates as described above includes a drive assembly comprising a first servo motor for driving the turntable to rotate about a vertical axis, a second servo motor for driving the first robotic arm to rotate about a horizontal axis to adjust the pitch angle of the first robotic arm, a third servo motor for driving the second robotic arm to swing about a horizontal axis to adjust the pitch angle of the second robotic arm, and a rotation drive mechanism for driving the universal head to rotate.

[0012] The intelligent warehousing robot for flexible copper-clad laminates described above has a first roller shaft connected between the first robotic arm and the turntable, and the first roller shaft is electrically connected to the second servo motor.

[0013] As described above, the intelligent warehousing robot for flexible copper-clad laminates has a reciprocating tension mechanism connected between the turntable and the first robotic arm to limit the rotation angle of the first robotic arm.

[0014] The intelligent warehousing robot for flexible copper-clad laminates described above has a second roller shaft connected between the first robotic arm and the second robotic arm, and the second roller shaft is electrically connected to the third servo motor.

[0015] The intelligent warehousing robot for flexible copper-clad laminates described above has a visual recognition system electrically connected to the control system on the robotic arm assembly.

[0016] Compared with the prior art, the present invention has the following advantages:

[0017] 1. The intelligent warehousing robot for flexible copper clad laminates of this utility model has a simple structure, which can improve the efficiency of warehousing and entering the warehouse of finished flexible copper clad laminates. Moreover, it is not easy to cause deformation or damage when handling and packaging copper clad laminates, and can well guarantee the quality of finished flexible copper clad laminates.

[0018] 2. The universal gripping head assembly of the intelligent warehousing robot for flexible copper-clad laminates of this utility model is equipped with a powerful electromagnetic adsorption plate and an electromagnetic adsorption strip on its base plate. The powerful electromagnetic adsorption plate is used for gripping, handling and stacking the copper-clad laminate packaging into a single large metal pallet, effectively preventing the roll-shaped flexible copper-clad laminate from being compressed and deformed. The electromagnetic adsorption strip can be used for handling and returning the single large metal pallet, realizing fully unmanned intelligent warehousing. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the intelligent warehousing robot for flexible copper-clad laminates according to an embodiment of this utility model;

[0020] Figure 2 One of the structural schematic diagrams of the universal gripper head of the intelligent warehousing robot for flexible copper-clad laminates according to an embodiment of this utility model;

[0021] Figure 3 This is the second schematic diagram of the omnidirectional gripping head of the intelligent warehousing robot for flexible copper-clad laminates, as described in the utility model embodiment. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1-3 As shown, this utility model discloses an intelligent warehousing robot for flexible copper-clad laminates, including a base 1, a robotic arm assembly 2, and a mounting base 3 located on the base 1 for mounting the robotic arm assembly 2. The end of the robotic arm assembly 2 is equipped with a universal gripping head assembly 4. The universal gripping head assembly 4 includes a universal rotating head 41 connected to the robotic arm assembly 2, a base plate 42 connected below the universal rotating head 41, and an adsorption structure 43 for picking up copper-clad laminate packaging 11 and a gripping structure 44 for gripping a large metal pallet 12 disposed on the base plate 42. The robotic arm assembly 2 is provided with a drive assembly 5 for driving the robotic arm assembly 2 to move and the universal rotating head 41 to rotate.

[0024] The intelligent warehousing robot for flexible copper-clad laminates of this utility model has a simple structure and can improve the efficiency of warehousing and entering the warehouse of finished flexible copper-clad laminates. By using the adsorption structure 43 to pick up the copper-clad laminate packaging 11, the copper-clad laminate is less likely to cause deformation or damage to the carton during handling, which can well ensure the quality of the finished flexible copper-clad laminate. Moreover, this structure can both handle the copper-clad laminate packaging 11 and grab the large metal pallet 12 on which the copper-clad laminate packaging 11 is placed, achieving the technical effect of dual-purpose machine.

[0025] In this invention, the base 1 is equipped with a control system 6 for controlling the actions of the adsorption structure 43, the gripping structure 44, and the drive component 5. The control system 6 enables intelligent and unmanned handling and palletizing operations by controlling the actions of the adsorption structure 43 and the gripping structure 44.

[0026] Specifically, the universal gripper head assembly 4 has a gripping structure 44 and an adsorption structure 43 installed on its base plate 42. The adsorption structure 43 is used for gripping, handling and stacking copper-clad laminate packaging into a single large metal pallet, effectively preventing the roll of flexible copper-clad laminate from being compressed and deformed. The gripping structure 44 can be used for handling and returning the single large metal pallet. The control system 6 can control the gripping and stacking of the gripping structure 44 and the adsorption structure 43 by controlling their actions, thus realizing unmanned intelligent warehousing throughout the entire process.

[0027] More specifically, such as Figure 2-3 As shown, in this embodiment, the adsorption structure 43 is a powerful electromagnetic adsorption disk 431 installed in the middle area below the substrate 42. The powerful electromagnetic adsorption disk 431 is electrically connected to the control system 6. The control system 6 can control the magnetic force of the powerful electromagnetic adsorption disk 431 to achieve the picking up and unloading of the large metal tray 12. The gripping structure 44 is an electromagnetic adsorption strip 441 installed on both sides below the substrate 42. The electromagnetic adsorption strip 441 is electrically connected to the control system 6. The control system 6 can control the magnetic force of the electromagnetic adsorption strip 441 to achieve the picking up and stacking of the copper-clad laminate packaging 11. Of course, in practical applications, the gripping structure 44 can also be a gripping mechanical claw or other clamping structure.

[0028] like Figure 1As shown, the robotic arm assembly 2 includes a turntable 21 mounted on the robotic arm mounting base 3, a first robotic arm 22 movably connected to the turntable 21, and a second robotic arm 23 movably connected to the first robotic arm 22, with the second robotic arm 23 rotatably connected to the universal gripper assembly 4. The drive assembly 5 includes a first servo motor 51 for driving the turntable 21 to rotate about a vertical axis, a second servo motor 52 for driving the first robotic arm 22 to rotate about a horizontal axis to adjust the pitch angle of the first robotic arm 22, a third servo motor 53 for driving the second robotic arm 23 to swing about a horizontal axis to adjust the pitch angle of the second robotic arm 23, and a rotation drive mechanism 54 for driving the universal gripper 41 to rotate. In this embodiment, the second servo motor 52 adjusts the pitch angle of the first robotic arm 22, and the third servo motor 53 adjusts the pitch angle of the second robotic arm 23, thereby enabling both robotic arms to swing with multiple degrees of freedom. In conjunction with the first servo motor 51 controlling the rotation of the turntable 21, the position of the robotic arm assembly 2 is adjusted, so that the orientation of the robotic arm assembly 2 can be changed, further improving the degree of freedom of the robotic arm. The rotation drive mechanism 54 drives the rotation of the universal head 41 to achieve precise gripping of the copper-clad laminate packaging 11 or the single metal tray 12.

[0029] Specifically, such as Figure 1 As shown, a first roller 71 is connected between the first robotic arm 22 and the turntable 21, and the first roller 71 is electrically connected to the second servo motor 52. The second servo motor 52 controls the rotation angle of the first robotic arm 22 by driving the rotation of the first roller 71. Further, in this embodiment of the invention, a reciprocating tension mechanism 8 is connected between the turntable 21 and the first robotic arm 22 to limit the rotation angle of the first robotic arm 22. The reciprocating tension mechanism 8 allows the first robotic arm 22 to quickly return to its original position and perform cyclical movement by limiting the rotation angle of the first robotic arm 22.

[0030] A second roller 72 is connected between the first robotic arm 22 and the second robotic arm 23, and the second roller 72 is electrically connected to the third servo motor 53. The third servo motor 53 controls the swing angle of the second robotic arm 23 by driving the rotation of the second roller 72.

[0031] like Figure 1 As shown in the embodiment of this utility model, the robotic arm assembly 2 is equipped with a vision recognition system 9 electrically connected to the control system 6. The vision recognition system 9 can identify whether there is a palletizing task. If there is a palletizing task, the vision recognition system 9 feeds this information back to the control system 6, and the control system 6 starts the handling program, controlling the robotic arm of this utility model to perform the handling work.

[0032] The specific implementation of a smart warehousing robot for flexible copper-clad laminates in this embodiment is as follows: The control system 6 is first powered on and automatically checks if the program is normal. It waits for the laser-guided smart forklift in the smart warehouse to transport the pallet to the palletizing station. When the robot's vision recognition system 9 detects a palletizing task, the control system 6 starts the handling program. The first servo motor 51 drives the turntable 21 to rotate, the second servo motor 52 drives the first robotic arm 22 to adjust its elevation angle, and the third servo motor 53 drives the second robotic arm 23 to adjust its elevation angle. The rotation drive mechanism 54 drives the universal gripper head assembly 4 to rotate freely. The control system 6 controls the adsorption structure 43 to perform an "opening and closing" action to grip or release the goods packaging boxes, realizing automatic picking, placing, and handling of goods packaging boxes. When the machine recognizes an empty single metal pallet, the control system 6 controls the universal gripper head assembly 4 to implement the pallet handling program and controls the gripping structure 44 to complete the gripping of the metal pallet, thereby realizing automatic pallet handling and meeting the needs of automated unmanned operation in warehouse palletizing.

Claims

1. A smart warehousing robot for flexible copper-clad laminates, comprising a base (1), a robotic arm assembly (2), and a mounting base (3) located on the base (1) for mounting the robotic arm assembly (2), characterized in that... The end of the robotic arm assembly (2) is equipped with a universal gripping head assembly (4). The universal gripping head assembly (4) includes a universal rotating head (41) connected to the robotic arm assembly (2), a base plate (42) connected below the universal rotating head (41), and an adsorption structure (43) for picking up copper-clad laminate packaging (11) and a gripping structure (44) for gripping a large metal tray (12) provided on the base plate (42). The robotic arm assembly (2) is provided with a drive assembly (5) for driving the robotic arm assembly (2) to move and the universal rotating head (41) to rotate.

2. The intelligent warehousing robot for flexible copper-clad laminates according to claim 1, characterized in that... The base (1) is provided with a control system (6) for controlling the action of the adsorption structure (43), the gripping structure (44) and the driving component (5).

3. The intelligent warehousing robot for flexible copper-clad laminates according to claim 2, characterized in that... The adsorption structure (43) is a powerful electromagnetic adsorption disk (431) installed in the middle area below the substrate (42), and the powerful electromagnetic adsorption disk (431) is electrically connected to the control system (6).

4. The intelligent warehousing robot for flexible copper-clad laminates according to claim 2, characterized in that... The gripping structure (44) is an electromagnetic adsorption strip (441) installed on both sides below the substrate (42), and the electromagnetic adsorption strip (441) is electrically connected to the control system (6).

5. The intelligent warehousing robot for flexible copper-clad laminates according to claim 1 or 2, characterized in that... The robotic arm assembly (2) includes a turntable (21) mounted on the robotic arm mounting base (3), a first robotic arm (22) movably connected to the turntable (21), and a second robotic arm (23) movably connected to the first robotic arm (22), and the second robotic arm (23) is rotatably connected to the universal gripper assembly (4).

6. The intelligent warehousing robot for flexible copper-clad laminates according to claim 5, characterized in that... The drive assembly (5) includes a first servo motor (51) for driving the turntable (21) to rotate about a vertical axis, a second servo motor (52) for driving the first robotic arm (22) to rotate about a horizontal axis to adjust the pitch angle of the first robotic arm (22), a third servo motor (53) for driving the second robotic arm (23) to swing about a horizontal axis to adjust the pitch angle of the second robotic arm (23), and a rotation drive mechanism (54) for driving the universal head (41) to rotate.

7. The intelligent warehousing robot for flexible copper-clad laminates according to claim 6, characterized in that... A first roller (71) is connected between the first robotic arm (22) and the turntable (21), and the first roller (71) is electrically connected to the second servo motor (52).

8. The intelligent warehousing robot for flexible copper-clad laminates according to claim 7, characterized in that... A reciprocating tension mechanism (8) for limiting the rotation angle of the first robotic arm (22) is connected between the turntable (21) and the first robotic arm (22).

9. The intelligent warehousing robot for flexible copper-clad laminates according to claim 6, characterized in that... A second roller (72) is connected between the first robotic arm (22) and the second robotic arm (23), and the second roller (72) is electrically connected to the third servo motor (53).

10. The intelligent warehousing robot for flexible copper-clad laminates according to claim 2, characterized in that... The robotic arm assembly (2) is equipped with a visual recognition system (9) that is electrically connected to the control system (6).

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