Robot feeding mechanism

Abstract

The utility model provides a robot feeding mechanism. The robot feeding mechanism comprises a base frame, a clamping mechanism, an adsorption assembly and a detection camera. The base frame is used for being connected with an external mechanical arm; the clamping mechanism is connected to one side of the base frame and used for clamping materials in the material tray. The adsorption assembly is connected to the base frame and located on the other side of the clamping mechanism, and the adsorption assembly is used for adsorbing the material tray; the detection camera is connected to the base frame and located on the same side of the clamping mechanism. The detection camera is used for obtaining image signals of the materials. According to the robot feeding mechanism, the clamping mechanism and the adsorption assembly are arranged to be matched with the base frame, so that the robot feeding mechanism has the advantages of being multifunctional and intelligent, the operation flexibility and efficiency in the complex environment are improved, and the increasingly-improved technical requirement of the modern manufacturing industry for automation equipment can be met.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical automation equipment, and particularly relates to a robot feeding mechanism. BACKGROUND

[0002] With the rapid development of modern manufacturing industry, automation technology is increasingly widely applied in various industries, especially in the field of robots. The feeding mechanism of the robot, as an important part of realizing automated production, directly affects the operation of the whole production line in terms of efficiency and flexibility. However, the existing feeding mechanism generally has the problem of single function, which is difficult to meet the diversified needs in complex production environments.

[0003] Traditional feeding mechanisms often only have simple material grabbing functions, lack necessary intelligence and flexibility, and are prone to improper material handling, low work efficiency, and even damage or omission. For example, when transferring materials such as batteries, the existing feeding equipment can only perform single-function grabbing when grabbing multiple layers of materials, and the combination structure of the material tray and the material needs to be replaced with a gripper or manually transferred, which significantly reduces production efficiency.

[0004] Therefore, it is necessary to improve the above problems to change the status quo. CONTENT OF THE INVENTION

[0005] The present application provides a robot feeding mechanism to solve the problems of single function of the existing feeding mechanism, inability to meet various feeding operation needs, and low feeding efficiency.

[0006] The first aspect of the present application provides a robot feeding mechanism, comprising:

[0007] a base frame for connecting with an external robot arm;

[0008] a clamping mechanism connected to one side of the base frame, the clamping mechanism being used for clamping materials in a material tray;

[0009] a suction assembly connected to the base frame and located on the other side of the clamping mechanism, the suction assembly being used for suctioning the material tray; and

[0010] a detection camera connected to the base frame and located on the same side of the clamping mechanism, the detection camera being used for acquiring image signals of the materials.

[0011] In a possible implementation, the clamping mechanism comprises a clamping assembly and a clamping connecting assembly, the clamping connecting assembly is movably connected to the base frame, and the clamping assembly comprises a pneumatic finger and a clamping buffer, the pneumatic finger is connected to the clamping connecting assembly, the clamping buffer is arranged on the inner side of the pneumatic finger and used to contact the material, and the clamping connecting assembly is used to drive the pneumatic finger to move relative to the base frame.

[0012] In a possible implementation, the clamping connecting assembly comprises a clamping movable frame, a clamping guide shaft and a clamping elastic element, the clamping guide shaft is connected to the clamping movable frame, the clamping guide shaft is slidably matched with the base frame, the clamping elastic element is arranged between the base frame and the clamping movable frame, and the pneumatic finger is connected to the clamping movable frame.

[0013] In a possible implementation, the clamping connecting assembly further comprises a clamping limiting element, the clamping limiting element is detachably connected to the clamping movable frame, and the clamping limiting element is used to abut against the base frame.

[0014] The clamping connecting assembly further comprises a clamping connecting sensor, the base frame is provided with a sensing plate, the clamping connecting sensor and the sensing plate are arranged on the base frame and the clamping movable frame respectively, and the clamping connecting sensor is used to acquire a position signal of the sensing plate.

[0015] In a possible implementation, the clamping mechanism further comprises a positioning assembly, the positioning assembly comprises a positioning cylinder and a positioning push plate, the positioning cylinder is connected to the clamping movable frame, the positioning push plate is connected to the output end of the positioning cylinder, and the positioning assembly is used to abut against the material tray when the clamping assembly clamps the material.

[0016] In a possible implementation, the positioning assembly further comprises a positioning buffer, the positioning buffer is arranged at the front end of the positioning push plate, and the positioning buffer is used to contact the material tray.

[0017] In a possible implementation, the clamping assembly further comprises a clamping sensor, the clamping sensor is connected to the clamping movable frame and used to acquire a signal of the material.

[0018] In a possible implementation, the detection camera comprises a CCD camera and a camera connecting frame, the base frame is provided with a mounting groove and a strip-shaped camera adjusting groove, the camera connecting frame is movably accommodated in the mounting groove, and the camera connecting frame is connected to the base frame by being arranged in the camera adjusting groove through fasteners; the CCD camera is connected to the camera connecting frame, and the shooting direction of the CCD camera is the same as that of the clamping mechanism.

[0019] In a possible implementation, the robot feeding mechanism further comprises a light supplement assembly, the light supplement assembly comprises a light supplement lamp, a light supplement fixed frame and a light supplement connecting frame, the light supplement fixed frame is provided with a light supplement adjusting groove, the light supplement fixed frame is connected to the base frame, and the light supplement connecting frame is connected to the light supplement lamp and the light supplement fixed frame respectively, and the light supplement fixed frame is connected to the light supplement connecting frame through the fastener penetrating the light supplement adjusting groove.

[0020] In a possible implementation, the suction assembly comprises a vacuum suction disc, a suction disc connecting piece and a suction disc mounting frame, the suction disc mounting frame is connected to the side adjacent to the clamping mechanism of the base frame, and the vacuum suction disc is detachably connected to the suction disc mounting frame through the suction disc connecting piece; wherein the vacuum suction disc and the suction disc connecting piece are one-to-one corresponding and in multiple groups, and the multiple groups of vacuum suction discs are evenly arranged on the suction disc mounting frame.

[0021] The implementation of the present application has the following beneficial effects:

[0022] The robot feeding mechanism in the embodiment effectively solves the problems of single feeding function, insufficient flexibility, low efficiency and the like in the prior art by cooperation of the clamping mechanism and the suction assembly, and significantly improves the intelligent level and adaptability of material processing.

[0023] Firstly, the design of the base frame enables the mechanism to be quickly connected with an external mechanical arm, having good compatibility and adaptability. This feature not only simplifies the combination process of the robot and the feeding equipment, but also provides a stable support foundation for subsequent material processing.

[0024] Secondly, the dual design of the clamping mechanism and the suction assembly enables the feeding mechanism to simultaneously clamp and suction the material tray and the upper layer of materials. Therefore, when the robot feeding mechanism of the embodiment is used for multi-layer material grabbing, it is not necessary to frequently replace the clamping jaw or manually transfer, thereby effectively reducing human intervention in the material processing process and improving the operation efficiency and safety. Especially when processing fragile materials such as batteries, the risk of mistaken grabbing or dropping is avoided, and the material safety is improved.

[0025] In addition, the introduction of the detection camera enables the mechanism to have intelligent visual recognition capability. By obtaining the image signal of the material, the robot can judge the state of the battery (such as horizontal or vertical placement) in real time and intelligently adjust the clamping posture. This visual-based adjustment capability greatly improves the success rate of material grabbing, thereby further shortening the operation cycle and enhancing the overall efficiency of the production line.

[0026] In the robot feeding mechanism of the embodiment, the clamping mechanism and the suction assembly are matched with the base frame, so that the robot feeding mechanism has the characteristics of multifunction and intelligence, and the operation flexibility and efficiency in complex environment are improved, and the technical requirements of modern manufacturing industry for automation equipment are met. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description can also be obtained by those skilled in the art without creative labor.

[0028] Fig. 1 A perspective view of the robot feeding mechanism in the embodiment of the utility model is shown;

[0029] Fig. 2 A perspective view of the robot feeding mechanism in the embodiment of the utility model is shown;

[0030] Fig. 3 A partial structure schematic view of the robot feeding mechanism in the embodiment of the utility model is shown;

[0031] Fig. 4 A partial structure schematic view of the robot feeding mechanism in the embodiment of the utility model is shown;

[0032] Reference signs:

[0033] 10-robot feeding mechanism;

[0034] 100-base frame; 110-mounting groove; 120-camera adjusting groove; 130-sensing plate;

[0035] 200-clamping mechanism; 210-clamping assembly; 211-pneumatic finger; 212-clamping buffer; 213-clamping sensor; 220-clamping connecting assembly; 221-clamping movable frame; 222-clamping guide shaft; 223-clamping elastic member; 224-clamping limiting member; 225-clamping connecting sensor; 230-positioning assembly; 231-positioning air cylinder; 232-positioning push plate; 233-positioning buffer;

[0036] 300-suction assembly; 310-vacuum chuck; 320-chuck connecting piece; 330-chuck mounting frame;

[0037] 400-detection camera; 410-CCD camera; 420-camera connecting frame;

[0038] 500 - light supplement assembly; 510 - light supplement lamp; 520 - light supplement fixed frame; 521 - light supplement adjusting groove; 530 - light supplement connecting frame. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0040] With the rapid development of modern manufacturing industry, automation technology is increasingly widely applied in various industries, especially in the field of robots. The feeding mechanism of the robot, as an important part of realizing automated production, its efficiency and flexibility directly affect the operation of the whole production line. However, the existing feeding mechanism generally has the problem of single function, which is difficult to meet the diversified needs in complex production environment.

[0041] Traditional feeding mechanism often only has simple material grabbing function, lacks necessary intelligence and flexibility, and is easy to cause improper material handling, low operation efficiency, and even damage or missing phenomenon. For example, when transferring materials such as batteries, the existing feeding equipment can only perform single-function grabbing when grabbing multi-layer materials, and the combination structure of the material tray and the material needs to replace the clamping jaw to transfer, or manually transfer the material tray, which significantly reduces the production efficiency.

[0042] Based on this, referring to Figs. 1 to 4 The utility model discloses a robot feeding mechanism 10, it includes base frame 100, clamping mechanism 200, adsorption component 300 and detection camera 400, base frame 100 is used to be connected with the mechanical arm of outside, clamping mechanism 200 is connected in one side of base frame 100, and clamping mechanism 200 is used to clamp the material in material tray, adsorption component 300 is connected in base frame 100 and is located in the other side of clamping mechanism 200, and adsorption component 300 is used to adsorb material tray, detection camera 400 is connected in base frame 100 and is located in the same side of clamping mechanism 200, and detection camera 400 is used to obtain the image signal of material.

[0043] The robot feeding mechanism 10 in the embodiment cooperates the clamping mechanism 200 and the adsorption component 300, effectively solves the problems of single feeding function, insufficient flexibility and low efficiency in the prior art, and significantly improves the intelligence level and adaptability of material handling.

[0044] Firstly, the design of the base frame 100 enables the robot to quickly connect with the external mechanical arm, with good compatibility and adaptability. This feature not only simplifies the combination process of the robot and the feeding equipment, but also provides a stable support foundation for subsequent material processing.

[0045] Secondly, the dual design of the clamping mechanism 200 and the adsorption assembly 300 enables the robot feeding mechanism to simultaneously clamp and adsorb the material tray and the upper layer of materials. Therefore, when using the robot feeding mechanism 10 of the present embodiment to grasp multi-layer materials, it is not necessary to frequently replace the clamping jaw or perform manual transfer, thereby effectively reducing human intervention during material processing and improving work efficiency and safety. Especially when handling fragile materials such as batteries, the risk of misgrasping or dropping is avoided, and the safety of the materials is improved.

[0046] In addition, the introduction of the detection camera 400 enables the robot to have intelligent visual recognition capability. By obtaining the image signal of the material, the robot can judge the state of the battery (such as horizontal or vertical placement) in real time and intelligently adjust the clamping posture. This visual-based adjustment capability greatly improves the success rate of material grasping, thereby further shortening the operation cycle and enhancing the overall efficiency of the production line.

[0047] In the robot feeding mechanism 10 of the present embodiment, by setting the clamping mechanism 200 and the adsorption assembly 300 in cooperation with the base frame 100, not only multifunctional and intelligent characteristics are achieved, but also the operation flexibility and efficiency in complex environments are improved, which can meet the increasing technical requirements of modern manufacturing industry for automated equipment.

[0048] Specifically, the clamping mechanism 200 includes a clamping assembly 210 and a clamping connection assembly 220, the clamping connection assembly 220 is movably connected to the base frame 100, the clamping assembly 210 includes a pneumatic finger 211 and a clamping buffer 212, the pneumatic finger 211 is connected to the clamping connection assembly 220, the clamping buffer 212 is arranged on the inner side of the pneumatic finger 211 and used to contact the material, and the clamping connection assembly 220 is used to drive the pneumatic finger 211 to move relative to the base frame 100.

[0049] In this embodiment, by setting the clamping assembly 210 to cooperate with the clamping connecting assembly 220, during the clamping process, the clamping connecting assembly 220 can drive the clamping assembly 210 to move relative to the base frame 100 to adjust the clamping position of the clamping assembly 210, so as to adapt to material pallets of different heights and shapes, improving the adaptability of clamping. This height flexibility enables the robot to achieve precise material positioning and clamping in complex production environments, reducing the failure of grabbing caused by improper placement of materials. In addition, the cooperation of the pneumatic fingers 211 in the clamping assembly 210 and the clamping buffer 212 ensures the stability of the material during clamping. When the pneumatic fingers 211 clamp the material, the clamping buffer 212 can provide soft contact to absorb the impact caused by the collision, avoiding damage to the material during clamping, especially suitable for handling fragile materials such as batteries. This optimized design not only improves the success rate of material handling, but also ensures the safety of various materials during handling, thereby improving the overall production efficiency while effectively reducing material loss and replacement costs.

[0050] In an embodiment, the clamping connecting assembly 220 includes a clamping movable frame 221, a clamping guide shaft 222, and a clamping elastic member 223. The clamping guide shaft 222 is connected to the clamping movable frame 221, and the clamping guide shaft 222 is in sliding cooperation with the base frame 100. The clamping elastic member 223 is arranged between the base frame 100 and the clamping movable frame 221, and the pneumatic fingers 211 are connected to the clamping movable frame 221.

[0051] In this embodiment, by setting the clamping movable frame 221 to cooperate with the clamping guide shaft 222 in sliding, the pneumatic fingers 211 can move more flexibly in the vertical direction, thereby adapting to materials of different heights. This design not only improves the accuracy during clamping, but also reduces the errors that may occur during operation, ensuring the stability of the material when grabbing. In addition, the introduction of the clamping elastic member 223 provides a buffering effect for the clamping connecting assembly. When the clamping movable frame 221 approaches the material pallet and the material, the clamping elastic member 223 can effectively absorb the impact force, reducing the risk of damage to the material. The combination of this structure enables the robot feeding mechanism 10 to achieve more reliable clamping and safe handling when facing a variety of materials, especially when handling materials with complex shapes or fragile materials, its advantages are particularly obvious.

[0052] Further, the clamping connection assembly 220 further comprises a clamping limiting piece 224, which is detachably connected to the clamping movable frame 221 and is used to abut against the base frame 100; and / or the clamping connection assembly 220 further comprises a clamping connection sensor 225, and the base frame 100 is provided with a sensing plate 130, the clamping connection sensor 225 and the sensing plate 130 are respectively arranged on the base frame 100 and the clamping movable frame 221, and the clamping connection sensor 225 is used to obtain the position signal of the sensing plate 130.

[0053] By the above arrangement, by adopting the detachable design of the clamping limiting piece 224, the user can effectively limit the activity range of the clamping movable frame 221 according to actual needs, preventing material damage or equipment failure caused by clamping too deep or too high during operation. At the same time, the arrangement of the clamping limiting piece 224 can effectively reduce the possibility of misoperation, ensuring the stability and safety of the feeding process. On the other hand, the application of the clamping connection sensor 225 enables the clamping connection assembly 220 to monitor the distance change between the clamping connection sensor 225 and the sensing plate 130 in real time, providing accurate position information. This feedback mechanism provides data support for the clamping process, which can optimize the execution time of the clamping action, so that the clamping fingers 211 can be more accurate when contacting the material, avoiding clamping failure caused by position deviation. In addition, the clamping connection sensor 225 adopts photoelectric sensor technology, which has high sensitivity and fast response characteristics, and can maintain stable performance in various complex working environments, effectively improving the automation level of the robot feeding mechanism 10.

[0054] In an embodiment, the clamping mechanism 200 further comprises a positioning assembly 230, which comprises a positioning cylinder 231 and a positioning push plate 232, the positioning cylinder 231 is connected to the clamping movable frame 221, the positioning push plate 232 is connected to the output end of the positioning cylinder 231, and the positioning assembly 230 is used to abut against the material tray when the clamping assembly 210 clamps the material.

[0055] In this embodiment, the clamping mechanism 200 significantly improves the accuracy and reliability of the clamping operation by adding the positioning assembly 230. The cooperation of the positioning cylinder 231 and the positioning push plate 232 enables stable abutment on the material tray when the clamping assembly 210 clamps the material, thereby effectively avoiding displacement of the material due to gravity or external factors. This design not only improves the positioning accuracy when clamping the material, but also enhances the stability of the grabbing process, reduces clamping errors, ensures the improvement of clamping success rate, and effectively reduces the rate of defective products in the production process. In addition, the positioning push plate 232 can provide additional support force at the moment of material clamping, so that the clamping mechanism can maintain the fixed position of the material during movement and operation, preventing accidental dropping or damage due to loose clamping. Therefore, the clamping mechanism 200 as a whole achieves better control of the material, not only improving production efficiency, but also enhancing safety during production, thereby positively promoting the optimization of automated production lines and improving overall work level.

[0056] Further, the positioning assembly 230 further comprises a positioning buffer 233, which is arranged at the front end of the positioning push plate 232 and used to contact the material tray.

[0057] In this embodiment, by introducing the positioning buffer 233 in the positioning assembly 230, the performance and safety of the clamping mechanism 200 during the material clamping process are further improved. The positioning buffer 233 is arranged at the front end of the positioning push plate 232 and can provide soft and effective contact when the clamping assembly 210 clamps the material, reducing the direct impact force of hard materials on the material tray, thereby effectively preventing damage to the tray and the material. In addition, the buffering characteristics of the positioning buffer help to disperse the pressure acting on the tray, reduce the displacement of the material caused by sudden external forces, and effectively ensure the stability of the material during clamping and movement. This technical solution not only improves the clamping accuracy, but also improves the safety and reliability of the entire operation process, reducing the potential risks to operators and equipment.

[0058] In an embodiment, the clamping assembly 210 further comprises a clamping sensor 213 connected to the clamping movable frame 221 and used to acquire signals of the material.

[0059] In this embodiment, by setting the clamping sensor 213 in cooperation with the clamping movable frame 221, the clamping mechanism 200 has higher automation degree and sensitivity during material operation. The setting of the clamping sensor 213 can monitor the material state in real time during the clamping process, and realize dynamic feedback of the clamping force, position and state by acquiring signals about the material. This feedback mechanism greatly improves the accuracy and safety of clamping, ensuring that the clamping mechanism can automatically adjust the clamping force to adapt to the characteristics of different materials, avoiding damage to the material due to excessive clamping or falling due to insufficient clamping.

[0060] Specifically, the detection camera 400 includes a CCD camera 410 and a camera connecting frame 420, the base frame 100 is provided with a mounting slot 110 and a strip-shaped camera adjusting slot 120, the camera connecting frame 420 is movably accommodated in the mounting slot 110, and the camera connecting frame 420 is connected with the base frame 100 by being threaded in the camera adjusting slot 120 through fasteners; the CCD camera 410 is connected to the camera connecting frame 420, and the shooting direction of the CCD camera 410 is the same as that of the clamping mechanism 200.

[0061] Through the combined design of the mounting slot 110 and the camera adjusting slot 120, the camera connecting frame 420 can be conveniently installed and adjusted in position, so as to realize more flexible shooting angles and ranges, and ensure that the camera can accurately capture the material state during clamping. The setting of the CCD camera 410 can effectively collect and feedback data, which helps to improve the accuracy of material identification, so that the system can monitor the appearance, position and deformation of the clamped material in real time, and timely discover possible clamping abnormalities or failures. Through the combination of the mounting slot 110 and the camera connecting frame 420, the detection camera 400 and the base frame 100 can also have a compact combined structure, and be convenient to adjust.

[0062] Further, the robot feeding mechanism 10 further comprises a light supplement assembly 500, the light supplement assembly 500 comprising a light supplement lamp 510, a light supplement fixed frame 520 and a light supplement connecting frame 530, the light supplement fixed frame 520 being provided with a light supplement adjusting slot 521, the light supplement fixed frame 520 being connected to the base frame 100, the light supplement connecting frame 530 being connected to the light supplement lamp 510 and the light supplement fixed frame 520 respectively, and the light supplement fixed frame 520 being connected with the light supplement connecting frame 530 by being threaded in the light supplement adjusting slot 521 through fasteners.

[0063] By introducing the light supplement assembly 500, especially the combination design of the light supplement lamp 510, the light supplement fixed frame 520 and the light supplement connecting frame 530 in the robot feeding mechanism 10, the technical scheme significantly improves the accuracy of material identification and the quality of the photographed image. The light supplement lamp 510 provides a stable light source, eliminating the interference caused by environmental light changes, ensuring that the CCD camera 410 can clearly capture the details of the clamped material under different lighting conditions. This light supplement mechanism not only optimizes the imaging effect of the camera, but also enhances the visibility of the features on the material surface, greatly improving the reliability in material quality monitoring and defect detection. In addition, the design of the light supplement fixed frame 520 and the light supplement adjusting groove 521 allows the light supplement assembly to be flexibly adjusted in height and angle according to different work requirements to achieve the best lighting effect, further improving the adaptability and flexibility of the detection system. Combined with the adjustable characteristics of the camera adjusting frame, the overall system forms a high-efficiency and accurate visual recognition environment, which not only reduces the recognition errors caused by environmental factors, but also reduces the image distortion caused by insufficient light, ensuring the efficiency and accuracy of information collection.

[0064] In an embodiment, the adsorption assembly 300 includes a vacuum suction cup 310, a suction cup connecting piece 320, and a suction cup mounting frame 330 connected to the side of the base frame 100 adjacent to the clamping mechanism 200, and the vacuum suction cup 310 is detachably connected to the suction cup mounting frame 330 through the suction cup connecting piece 320; wherein the vacuum suction cup 310 and the suction cup connecting piece 320 are one-to-one corresponding and multiple groups, and the multiple groups of vacuum suction cups 310 are evenly arranged on the suction cup mounting frame 330.

[0065] In this embodiment, the adsorption assembly 300 is designed to allow the detachable connection of the vacuum suction cup 310 and the suction cup connecting piece 320 and the uniform arrangement of multiple groups, greatly improving the flexibility and adaptability of the clamping mechanism 200. The introduction of multiple groups of vacuum suction cups 310 can effectively expand the adsorption range and stability of the robot feeding mechanism 10, allowing rapid adjustment of the adsorption strength when handling different types and sizes of material trays, achieving efficient operation. This design not only improves the adsorption performance, but also greatly reduces the risk of material displacement or damage caused by uneven adsorption. At the same time, the close connection of the suction cup mounting frame 330 and the base frame 100 enhances the stability of the overall structure, helping to ensure the continuous and reliable adsorption process in high-load working environments. In addition, the vacuum suction cup 310 and the multiple groups make replacement and maintenance simple, thereby improving the operating efficiency and service life of the equipment and reducing maintenance costs.

[0066] In the description of the embodiments of the present application, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0067] In the description of the embodiments of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0068] In the embodiments of the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0069] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present specification and the features of different embodiments or examples without contradiction.

[0070] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same; although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot loading mechanism, characterized in that, include: The base frame is used to connect to an external robotic arm; A clamping mechanism is connected to one side of the base frame, and the clamping mechanism is used to clamp the material in the material tray; An adsorption assembly is connected to the base frame and located on the other side of the clamping mechanism; the adsorption assembly is used to adsorb the material tray. as well as A detection camera is connected to the base frame and located on the same side as the clamping mechanism. The detection camera is used to acquire image signals of the material.

2. The robot feeding mechanism according to claim 1, characterized in that, The clamping mechanism includes a clamping assembly and a clamping connection assembly. The clamping connection assembly is movably connected to the base frame. The clamping assembly includes a pneumatic finger and a clamping buffer. The pneumatic finger is connected to the clamping connection assembly. The clamping buffer is located on the inner side of the pneumatic finger and is used to contact the material. The clamping connection assembly is used to drive the pneumatic finger to move relative to the base frame.

3. The robot feeding mechanism according to claim 2, characterized in that, The clamping connection assembly includes a clamping movable frame, a clamping guide shaft, and a clamping elastic element. The clamping guide shaft is connected to the clamping movable frame and is slidably engaged with the base frame. The clamping elastic element is disposed between the base frame and the clamping movable frame. The pneumatic finger is connected to the clamping movable frame.

4. The robot feeding mechanism according to claim 3, characterized in that, The clamping connection assembly further includes a clamping limiting member, which is detachably connected to the clamping movable frame and is used to abut against the base frame. And / or the clamping connection assembly further includes a clamping connection sensor, the base frame is provided with a sensing plate, the clamping connection sensor and the sensing plate are respectively disposed on the base frame and the clamping movable frame, and the clamping connection sensor is used to acquire the position signal of the sensing plate.

5. The robot feeding mechanism according to claim 3, characterized in that, The clamping mechanism further includes a positioning component, which includes a positioning cylinder and a positioning push plate. The positioning cylinder is connected to the clamping movable frame, and the positioning push plate is connected to the output end of the positioning cylinder. The positioning component is used to abut against the material tray when the clamping component clamps the material.

6. The robot feeding mechanism according to claim 5, characterized in that, The positioning component further includes a positioning buffer, which is located at the front end of the positioning push plate and is used to contact the material tray.

7. The robot feeding mechanism according to claim 3, characterized in that, The clamping assembly also includes a clamping sensor, which is connected to the clamping frame and used to acquire signals from the material.

8. The robot feeding mechanism according to claim 1, characterized in that, The detection camera includes a CCD camera and a camera mounting bracket. The base frame has a mounting slot and a strip-shaped camera adjustment slot. The camera mounting bracket is movably accommodated in the mounting slot and is connected to the base frame by fasteners passing through the camera adjustment slot. The CCD camera is connected to the camera mounting bracket, and the shooting direction of the CCD camera is the same as that of the clamping mechanism.

9. The robot feeding mechanism according to claim 1, characterized in that, The robot loading mechanism also includes a supplementary lighting component, which includes a supplementary light, a supplementary lighting fixing frame, and a supplementary lighting connecting frame. The supplementary lighting fixing frame has a supplementary lighting adjustment slot. The supplementary lighting fixing frame is connected to the base frame. The supplementary lighting connecting frame is connected to the supplementary light and the supplementary lighting fixing frame respectively. The supplementary lighting fixing frame is connected to the supplementary lighting connecting frame through fasteners that pass through the supplementary lighting adjustment slot.

10. The robot feeding mechanism according to claim 1, characterized in that, The adsorption assembly includes a vacuum suction cup, a suction cup connector, and a suction cup mounting frame. The suction cup mounting frame is connected to the side of the base frame adjacent to the clamping mechanism. The vacuum suction cup is detachably connected to the suction cup mounting frame via the suction cup connector. The vacuum suction cup and the suction cup connector are arranged in a one-to-one correspondence and there are multiple sets of them. The multiple sets of vacuum suction cups are evenly arranged on the suction cup mounting frame.

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