Positioning and shaping suction head and assembling manipulator

Abstract

The utility model relates to the technical field of transportation operation, and particularly discloses a positioning and shaping suction head and an assembling manipulator, which comprise a visual component, a positioning component, a positioning component, a shaping component and an assembling component, and are characterized in that the visual component is used for acquiring placing posture image information of a workpiece; the suction head body is used for sucking the workpiece in a vacuum manner; the driving end of the rotary driving mechanism is connected with the suction head body, and the rotary driving mechanism is used for driving the suction head body to drive the workpiece to rotate around the vertical axis so as to roughly adjust and position the workpiece; and the positioning and shaping mechanism is located at the position of the suction head body and used for accurately clamping and positioning the workpiece adsorbed by the suction head body. According to the positioning and shaping suction head and the assembling mechanical arm, the problem that an existing assembling mechanical arm needs a positioning platform for transfer positioning, and consequently production efficiency is low can be effectively solved.

Description

Technical Field

[0001] This utility model relates to the field of transportation operation technology, and in particular to a positioning and shaping suction head and an assembly robot. Background Technology

[0002] In the manufacturing process of electronic products such as smartwatches, it is often necessary to assemble workpiece A into workpiece B. Generally, there will be a slight difference between the placement angle of workpiece A when it arrives and the angle of the positioning groove on workpiece B. Therefore, before assembling workpiece A into workpiece B, it is necessary to fine-tune the position of workpiece A so that the angles of the positioning grooves on workpiece A and workpiece B are perfectly matched. Only then can workpiece A be assembled into workpiece B from top to bottom.

[0003] In the assembly process described above, the assembly robot needs to place workpiece A on the positioning platform and wait for the positioning platform to complete the positioning operation before assembling workpiece A into workpiece B. The positioning process and the handling process are separated, which undoubtedly greatly increases the time required for the assembly process, resulting in a decrease in overall production efficiency.

[0004] Therefore, this utility model aims to improve the existing assembly method to solve the problem of low production efficiency caused by the need to use a positioning platform for transfer and positioning.

[0005] The information disclosed in this background section is included only to enhance the understanding of the context of this disclosure, and therefore may contain information that does not constitute prior art known to those skilled in the art. Utility Model Content

[0006] One objective of this invention is to provide a positioning and shaping suction head and an assembly robot, which can effectively solve the problem that existing assembly robots require a positioning platform for intermediate positioning, resulting in low production efficiency.

[0007] To achieve the above objectives, this utility model provides a positioning and shaping suction head, comprising:

[0008] A vision component, wherein the vision component is used to acquire image information of the placement posture of the workpiece;

[0009] A suction head body, which is used for vacuum adsorption of the workpiece;

[0010] A rotary drive mechanism, the drive end of which is connected to the suction head body, is used to drive the suction head body to rotate the workpiece around the vertical axis in order to perform coarse positioning of the workpiece.

[0011] A positioning and shaping mechanism is located at the suction head body and is used to precisely clamp and position the workpiece adsorbed by the suction head body.

[0012] Optional, also includes:

[0013] Vertical back panel;

[0014] A floating buffer bracket is slidably connected to the vertical back plate under the action of elastic force, and the rotation drive mechanism is mounted on the floating buffer bracket.

[0015] Optional, also includes:

[0016] A downward pressure spring is abutted against the top of the floating buffer bracket to drive the floating buffer bracket to slide downward relative to the vertical back plate.

[0017] Optional,

[0018] An upper spring abuts against the bottom of the floating buffer bracket, which drives the floating buffer bracket to slide upward relative to the vertical back plate.

[0019] Optional,

[0020] A vision support is fixed to the upper end of the vertical back plate; wherein the vision component is mounted on the vision support.

[0021] Optionally, the vision component includes a camera and a supplemental light source.

[0022] Optionally, the positioning and shaping mechanism includes two opposing shaping clamps and a gripper cylinder that drives the two shaping clamps to move closer or further apart.

[0023] On the other hand, an assembly robot is provided, including any of the aforementioned positioning and shaping suction heads, and a power module for driving the positioning and shaping suction heads to move.

[0024] Optionally, the power module is an XYZ three-axis linear module, a four-axis robotic arm, or a six-axis robotic arm.

[0025] The beneficial effects of this utility model are as follows: It provides a positioning and shaping suction head and an assembly robot, the working process of which is as follows:

[0026] ① Visual recognition: The vision component acquires image information of the workpiece's placement posture and analyzes the difference between the current angle of the workpiece and the required assembly angle through image processing technology.

[0027] ② Vacuum adsorption: The suction head body performs vacuum adsorption on the workpiece to ensure that the workpiece will not fall off during the assembly process.

[0028] ③ Coarse positioning: Based on the information provided by the vision component, the rotary drive mechanism drives the suction head body to rotate the workpiece around the vertical axis to perform coarse positioning of the workpiece so that it roughly matches the required assembly angle.

[0029] ④ Precise clamping and positioning: The positioning and shaping mechanism is located at the suction head body, which clamps and positions the workpiece being adsorbed, eliminating minute angular differences and ensuring that the workpiece is at the required assembly angle.

[0030] ⑤ Assembly operation: After completing precise clamping and positioning, the assembly robot can assemble the workpiece from top to bottom, thus completing the assembly operation.

[0031] Through the above process, the positioning and shaping suction head and assembly robot provided by this utility model can achieve the following effects:

[0032] ① It eliminates the need for a positioning platform in the traditional assembly process, reduces intermediate steps, and improves production efficiency;

[0033] ② It realizes the integrated operation of workpiece from coarse adjustment and positioning to precise clamping and positioning, simplifying the assembly process;

[0034] ③ Real-time monitoring of the vision components ensures the accuracy and stability of the assembly process. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, 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.

[0036] Figure 1 A schematic diagram of the assembly robot provided in the embodiment;

[0037] Figure 2 This is a schematic diagram of the positioning and shaping suction head provided in the embodiment.

[0038] In the picture:

[0039] 100. Positioning and shaping suction head; 200. Power module;

[0040] 1. Visual components;

[0041] 2. Suction head body;

[0042] 3. Rotary drive mechanism;

[0043] 4. Positioning and shaping mechanism; 401. Shaping clamp; 402. Clamping cylinder;

[0044] 5. Vertical back panel;

[0045] 6. Floating buffer support;

[0046] 7. Compression spring;

[0047] 8. Top spring;

[0048] 9. Visual scaffold. Detailed Implementation

[0049] In this utility model, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of this utility model. The term "embodiment" appearing in various places throughout the specification does not necessarily refer to the same embodiment, nor does it specifically limit its independence or connection with other embodiments. In principle, in this utility model, as long as there are no technical contradictions or conflicts, the technical features mentioned in each embodiment can be combined in any way to form corresponding implementable technical solutions.

[0050] Unless otherwise defined, the technical terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains; the use of related terms herein is merely for the purpose of describing particular embodiments and is not intended to limit the invention.

[0051] In the description of this utility model, the term "and / or" is used to describe the logical relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A exists, B exists, and A and B exist simultaneously. Additionally, the character " / " generally indicates that the preceding and following objects have an "or" logical relationship.

[0052] In this invention, 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 actual quantity, hierarchy, or order between these entities or operations.

[0053] Without further limitations, the use of terms such as “comprising,” “including,” “having,” or other similar expressions in this invention is intended to cover non-exclusive inclusion, which does not exclude the presence of additional elements in a process, method, or product that includes the stated elements, such that a process, method, or product that includes a series of elements may include not only those defined elements but also other elements not expressly listed, or elements inherent to such a process, method, or product.

[0054] Similar to the understanding in the Examination Guidelines, in this utility model, expressions such as "greater than," "less than," and "exceeding" are understood to exclude the stated number; expressions such as "above," "below," and "within" are understood to include the stated number. Furthermore, in the description of the embodiments of this utility model, "multiple" means two or more (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups" and "multiple times," unless otherwise explicitly specified.

[0055] In the description of the embodiments of this utility model, the space-related expressions used, such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "vertical," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," indicate the orientation or positional relationship based on the orientation or positional relationship shown in the specific embodiments or drawings. They are only for the convenience of describing the specific embodiments of this utility model or for the reader's understanding, and do not indicate or imply that the device or component referred to must have a specific position, a specific orientation, or be constructed or operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this utility model.

[0056] Unless otherwise expressly specified or limited, the terms "installation," "connection," "linking," "fixing," and "setting," as used in the description of the embodiments of this utility model, should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. For those skilled in the art to which this utility model pertains, the specific meaning of the above terms in the embodiments of this utility model can be understood according to the specific circumstances.

[0057] This invention provides a positioning and shaping suction head and an assembly robot, which can effectively solve the problem that existing assembly robots need to use a positioning platform for intermediate positioning, resulting in low production efficiency.

[0058] See Figure 1 The assembly robot provided in this embodiment includes a positioning and shaping suction head 100 for simultaneously positioning and shaping the workpiece during transportation, and a power module 200 for driving the positioning and shaping suction head 100 to move.

[0059] Optionally, the power module 200 can be an XYZ three-axis linear module, a four-axis robotic arm, or a six-axis robotic arm.

[0060] The selection of XYZ three-axis linear modules, four-axis robotic arms, or six-axis robotic arms provides flexible motion capabilities, enabling assembly robots to adapt to complex production environments and assembly tasks. The precise control of these power modules ensures the accuracy and repeatability of the assembly process, improving production quality.

[0061] See Figure 2 The positioning and shaping suction head 100 includes a vision component 1, a suction head body 2, a rotary drive mechanism 3, and a positioning and shaping mechanism 4.

[0062] The vision component 1 is used to acquire image information of the workpiece's placement posture. The suction head body 2 is used to vacuum-adsorb the workpiece. The drive end of the rotary drive mechanism 3 is connected to the suction head body 2 and is used to drive the suction head body 2 to rotate the workpiece around a vertical axis for coarse positioning of the workpiece.

[0063] The positioning and shaping mechanism 4 is located at the suction head body 2 and is used to precisely clamp and position the workpiece adsorbed by the suction head body 2.

[0064] The positioning and shaping suction head 100 and assembly robot provided in this embodiment work as follows:

[0065] ① Visual recognition: The vision component 1 acquires image information of the workpiece's placement posture and analyzes the difference between the current angle of the workpiece and the required assembly angle through image processing technology.

[0066] ② Vacuum adsorption: The suction head body 2 performs vacuum adsorption on the workpiece to ensure that the workpiece will not fall off during the assembly process.

[0067] ③ Coarse positioning: Based on the information provided by the vision component 1, the rotary drive mechanism 3 drives the suction head body 2 to rotate the workpiece around the vertical axis to perform coarse positioning of the workpiece so that it roughly matches the required assembly angle.

[0068] ④ Precise clamping and positioning: The positioning and shaping mechanism 4 is located at the suction head body 2, which clamps and positions the adsorbed workpiece, eliminates slight angular differences, and ensures that the workpiece is at the required assembly angle.

[0069] ⑤ Assembly operation: After completing precise clamping and positioning, the assembly robot can assemble the workpiece from top to bottom, thus completing the assembly operation.

[0070] Through the above process, the positioning and shaping suction head 100 and assembly robot provided by this utility model can achieve the following effects:

[0071] ① It eliminates the need for a positioning platform in the traditional assembly process, reduces intermediate steps, and improves production efficiency;

[0072] ② It realizes the integrated operation of workpiece from coarse adjustment and positioning to precise clamping and positioning, simplifying the assembly process;

[0073] ③ Real-time monitoring by vision component 1 ensures the accuracy and stability of the assembly process.

[0074] Optionally, the vision component 1 includes a camera and a supplementary light source. The combination of the camera and the supplementary light source ensures that clear workpiece images can be acquired under various lighting conditions, improving the accuracy of visual recognition. The addition of the supplementary light source helps to eliminate shadows and reflections, making image processing more reliable.

[0075] The positioning and shaping suction head 100 also includes a vertical back plate 5, a floating buffer bracket 6, a downward pressure spring 7, an upward top spring 8, and a vision bracket 9.

[0076] The vision support 9 is fixed to the upper end of the vertical back plate 5; wherein the vision component 1 is mounted on the vision support 9.

[0077] The floating buffer bracket 6 is slidably connected to the vertical back plate 5 under the action of elastic force, and the rotary drive mechanism 3 is mounted on the floating buffer bracket 6. The downward pressure spring 7 abuts against the top of the floating buffer bracket 6 to drive the floating buffer bracket 6 to slide downward relative to the vertical back plate 5. The upward pressure spring 8 abuts against the bottom of the floating buffer bracket 6 to drive the floating buffer bracket 6 to slide upward relative to the vertical back plate 5.

[0078] The addition of the downward pressure spring 7 allows the floating buffer bracket 6 to apply a certain downward pressure, which helps to attract and fix the workpiece, improving the reliability of the assembly. The function of the upward pressure spring 8 is to provide a reaction force when the floating buffer bracket 6 is subjected to excessive downward pressure, protecting the workpiece from excessive compression and ensuring the integrity of the workpiece.

[0079] Under the combined action of the downward spring 7 and the upward spring 8, the floating buffer bracket 6 can move up and down elastically relative to the vertical back plate 5 to buffer the impact force when the suction head body 2 adsorbs the workpiece downwards, so as to avoid crushing the workpiece.

[0080] Furthermore, the design of the floating buffer support 6 allows the suction head to adaptively adjust according to the different heights of the workpiece during assembly, increasing flexibility.

[0081] The positioning and shaping mechanism 4 includes two opposing shaping clamping blocks 401 and a gripper cylinder 402 that drives the two shaping clamping blocks 401 to move closer or further apart. The design of the shaping clamping blocks 401 and the gripper cylinder 402 enables precise clamping and positioning of the workpiece, improving assembly accuracy and efficiency. The controllability of the gripper cylinder 402 allows the positioning and shaping mechanism 4 to adapt to workpieces of different sizes and shapes, increasing the versatility of the equipment.

[0082] It should be noted that the direct drive mechanism mentioned in this utility model can be a cylinder, hydraulic cylinder, electric cylinder, or motor lead screw linear module, etc., and the rotary drive mechanism mentioned can be a brushed motor, brushless motor, or rotary cylinder, etc. This utility model does not limit the specific structural form of the direct drive mechanism and the rotary drive mechanism.

[0083] Finally, it should be noted that although the above embodiments have been described in the text and drawings of this application, this should not limit the scope of patent protection of this application. Any technical solutions that are based on the essential concept of this application and utilize the content described in the text and drawings of this application, resulting in equivalent structural or procedural substitutions or modifications, as well as the direct or indirect application of the technical solutions of the above embodiments to other related technical fields, are all included within the scope of patent protection of this application.

Claims

1. A positioning and shaping suction head (100), characterized in that, include: Vision component (1), the vision component (1) is used to acquire image information of the placement posture of the workpiece; The suction head body (2) is used for vacuum adsorption of the workpiece; A rotary drive mechanism (3) is connected to the suction head body (2) at its drive end. The suction head body (2) is used to drive the workpiece to rotate around the vertical axis so as to perform coarse positioning of the workpiece. Positioning and shaping mechanism (4) is located at the suction head body (2) and is used to precisely clamp and position the workpiece adsorbed by the suction head body (2).

2. The positioning and shaping suction head (100) according to claim 1, characterized in that, Also includes: Vertical back panel (5); A floating buffer bracket (6) is slidably connected to the vertical back plate (5) by elastic force, and the rotation drive mechanism (3) is installed on the floating buffer bracket (6).

3. The positioning and shaping suction head (100) according to claim 2, characterized in that, Also includes: A downward pressure spring (7) abuts against the top of the floating buffer bracket (6) to drive the floating buffer bracket (6) to slide downward relative to the vertical back plate (5).

4. The positioning and shaping suction head (100) according to claim 3, characterized in that, An upper spring (8) abuts against the bottom of the floating buffer bracket (6) to drive the floating buffer bracket (6) to slide upward relative to the vertical back plate (5).

5. The positioning and shaping suction head (100) according to claim 2, characterized in that, A vision support (9) is fixed to the upper end of the vertical back plate (5); wherein the vision component (1) is mounted on the vision support (9).

6. The positioning and shaping suction head (100) according to claim 5, characterized in that, The visual component (1) includes a camera and a supplementary light source.

7. The positioning and shaping suction head (100) according to claim 1, characterized in that, The positioning and shaping mechanism (4) includes two opposing shaping clamps (401) and a gripper cylinder (402) that drives the two shaping clamps (401) to move closer or further apart from each other.

8. An assembly robot, characterized in that, It includes the positioning and shaping suction head (100) as described in any one of claims 1-7, and the power module (200) for driving the positioning and shaping suction head (100) to move.

9. The assembly robot according to claim 8, characterized in that, The power module (200) is an XYZ three-axis linear module, a four-axis robotic arm, or a six-axis robotic arm.

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