Visual guidance manipulator capable of holding, clamping, overturning and pouring materials

Abstract

The utility model relates to the technical field of automatic feeding equipment, in particular to a visual guidance manipulator capable of holding, clamping, overturning and pouring materials, which comprises a hollow box body with an open upper part and an open lower part, and a connector connected with a robot is arranged on the rear side of the box body. Clamping air cylinders with the output ends located in the box body are arranged on the two sides of the connector correspondingly, an anti-falling assembly is arranged at any one of the two corners of the rear face of the box body, a visual camera and a suction cup are arranged on the side face of the box body, a telescopic assembly is arranged between the visual camera and the box body, a fixing plate is arranged on the box body, and the suction cup is arranged on the fixing plate. An opening is formed in the middle of the fixing plate, ejection air cylinders are arranged on the front side and the rear side of the opening, and an inverted discharging hopper is arranged on the opening. According to the utility model, unmanned operation of monocrystalline silicon raw material feeding is realized, floating dust in a workshop is reduced, and material taking, material pouring and empty box recovery are completed at one time by the articulated arm robot manipulator.

Description

Technical Field

[0001] This utility model relates to the field of automated feeding equipment technology, specifically a vision-guided robotic arm that can grip, flip, and dump materials. Background Technology

[0002] Currently, the storage, transfer, and loading of monocrystalline silicon raw materials in the photovoltaic industry require manual labor, resulting in low automation, low work efficiency, and a large amount of dust in the workshop, posing certain safety risks to workshop workers. Utility Model Content

[0003] To address the aforementioned issues, this invention provides a vision-guided robotic arm capable of gripping, flipping, and unloading materials, thus resolving the safety risks associated with manual labor in storing, transferring, and loading monocrystalline silicon raw materials.

[0004] The technical solution adopted by this utility model to solve its technical problem is: a vision-guided, gripping, flipping, and dumping robotic arm connected to the robotic arm of a robot, including a hollow box with open upper and lower parts. The rear side of the box is provided with a connector for connecting to the robot. Both sides of the connector are provided with clamping cylinders with output ends located inside the box. An anti-fall component is provided at either of the two rear corners of the box. A vision camera and a suction cup are provided on the side of the box. A telescopic component is provided between the vision camera and the box. A fixing plate is provided on the top of the box. An opening is provided in the middle of the fixing plate. Ejection cylinders are provided on both the front and rear sides of the opening. An inverted discharge funnel is provided on the opening.

[0005] As an optimization, the fall protection assembly includes a fall protection cylinder fixed on the housing and an L-shaped fall protection buckle connected to the output end of the fall protection cylinder. A linear guide rail is provided between the inner wall of the fall protection buckle and the outer wall of the housing.

[0006] As an optimization, the telescopic assembly includes a telescopic cylinder disposed on the housing and a camera mounting bracket disposed at the output end of the telescopic cylinder for placing the vision camera. The camera mounting bracket is provided with a slider, and the housing is provided with a groove that cooperates with the slider.

[0007] As an optimization, the length and width of the opening are both smaller than the length and width of the box body.

[0008] As an optimization, the bottom surface of the box is inclined downwards from front to back.

[0009] As an optimization, the height of the visual camera in the housing is greater than the height of the suction cup in the housing, and a side suction cup bracket is provided between the suction cup and the housing.

[0010] As an optimization, the material of the discharge funnel is polytetrafluoroethylene.

[0011] The beneficial effects of this utility model are: This utility model provides a vision-guided robotic arm that can grip, flip, and pour materials, realizing unmanned operation of feeding monocrystalline silicon raw materials, reducing dust in the workshop, and allowing the articulated arm robotic arm to complete material picking, pouring, and empty box recycling in one go. Attached Figure Description

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

[0013] Figure 2 This is a schematic diagram of the structure of the present invention after the material box is fastened;

[0014] Figure 3 This is a schematic diagram of the anti-fall buckle of this utility model.

[0015] The components are: 1. Box body, 2. Connector, 3. Clamping cylinder, 4. Anti-fall component, 5. Vision camera, 6. Suction cup, 7. Fixing plate, 8. Ejection cylinder, 9. Discharge funnel, 10. Anti-fall cylinder, 11. Anti-fall buckle, 12. Telescopic cylinder, 13. Camera mounting bracket, 14. Material box. Detailed Implementation

[0016] It should be noted that the following detailed descriptions are illustrative and intended to provide further explanation of this application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0017] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0018] For ease of description, the words "up," "down," "left," and "right" appearing in this utility model only indicate that they are consistent with the up, down, left, and right directions of the accompanying drawings themselves, and do not limit the structure. They are merely for the purpose of facilitating the description of this invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0019] like Figure 1-3As shown, a vision-guided, gripping, flipping, and unloading robotic arm is attached to a robot's robotic arm. It includes a hollow box 1 with open top and bottom. The bottom surface of the box 1 slopes downwards from front to back, meaning the height of the front of the box 1 is less than the height of the rear. A connector 2 for connecting to the robot is located on the rear side of the box 1, and the connector 2 has a connecting flange. Clamping cylinders 3 with output ends located inside the box 1 are located on both sides of the connector 2. Anti-fall components 4 are located at either of the two rear corners of the box 1. A vision camera 5 is located on the side of the box 1. The visual camera 5 is positioned at a height greater than the suction cup 6 on the housing 1. A side suction cup 6 bracket is provided between the suction cup 6 and the housing 1. A telescopic assembly is provided between the visual camera 5 and the housing 1. A fixing plate 7 is provided on the top of the housing 1. An opening is provided in the middle of the fixing plate 7. The length and width of the opening are both less than the length and width of the housing 1. An ejector cylinder 8 with an output end extending into the housing 1 is provided on both the front and rear sides of the opening. An inverted discharge funnel 9 is provided on the top of the opening. The discharge funnel 9 is made of polytetrafluoroethylene.

[0020] When the device is fastened to the material box 14, in order to prevent the material box 14 from falling and to increase the stability of the material box 14 within the device, an anti-fall component 4 is provided. The anti-fall component 4 includes an anti-fall cylinder 10 fixed on the box body 1 and an L-shaped anti-fall buckle 11 connected to the output end of the anti-fall cylinder 10, so that the L-shaped anti-fall buckle 11 is fastened to the corner end of the box body 1 to support the material box 14. A linear guide rail is provided between the inner wall of the anti-fall buckle 11 and the outer wall of the box body 1.

[0021] The telescopic assembly includes a telescopic cylinder 12 disposed on the housing 1 and a camera mounting bracket 13 disposed at the output end of the telescopic cylinder 12 for placing the visual camera 5. The camera mounting bracket 13 is provided with a slider, and the housing 1 is provided with a groove that cooperates with the slider.

[0022] Working Principle: This utility model provides a vision-guided robotic arm capable of gripping, flipping, and unloading materials. In use, the connector 2 on this device is connected to a robot. Under the robot's control, the device moves to the palletizing bin position. The suction cup 6 is activated to pick up the material cover. Under the robot's control, the device places the material cover at the designated workstation. Then, the robot controls the device to return to the bin 14 position. The anti-fall cylinder 10 is activated, driving the anti-fall latch 11 away from the bin 1, leaving sufficient space so that the bin 14 with the material cover removed is secured. The clamping cylinder 3 is activated, driving the piston rod inside the clamping cylinder 3 to extend and press against the secured bin 14, thus fixing the bin 14. Simultaneously, the anti-fall cylinder 10 retracts, causing the anti-fall latch to move closer to the bin 1 until the anti-fall latch 11 engages. To prevent the material bin 14 from falling, under the control of the robot, the vision camera 5 identifies the position of the material cylinder to be placed and moves closer to the material cylinder. Under the action of the robot, the device aligns the discharge funnel 9 with the material cylinder and inserts it. The device slowly tilts until it is upside down, pouring the material in the material bin 14 into the material cylinder, ensuring that the material is poured out cleanly. After the material is poured out, the device is pulled out of the material cylinder by the robot and returns to an upright position. Then it moves to the material bin 14 recovery position, the anti-fall cylinder 10 extends, the anti-fall buckle 11 moves away from the box body 1 and no longer clamps the material bin 14, the clamping cylinder 3 retracts and no longer clamps the material bin 14, and drives the ejection cylinder 8 on the upper part of the box body 1, so that the piston rod of the ejection cylinder 8 pushes the material bin 14 out of the box body 1. The material bin 14 is placed in the designated position, and this operation is completed.

[0023] The above-described specific embodiments are merely specific examples of this utility model. The patent protection scope of this utility model includes, but is not limited to, the product form and style of the above-described specific embodiments. Any appropriate changes or modifications made by a person skilled in the art that conform to the claims of this utility model should fall within the patent protection scope of this utility model.

Claims

1. A vision-guided robotic arm capable of gripping, flipping, and unloading materials, attached to the robotic arm of a robot, characterized in that: The device includes a hollow box with open top and bottom. A connector for connecting to a robot is located on the rear side of the box. Clamping cylinders with output ends located inside the box are located on both sides of the connector. Anti-fall components are located at either of the two rear corners of the box. A vision camera and a suction cup are located on the side of the box. A telescopic component is located between the vision camera and the box. A fixing plate is located on the top of the box. An opening is located in the middle of the fixing plate. Ejection cylinders are located on both the front and rear sides of the opening. An inverted discharge funnel is located on the opening.

2. The vision-guided, gripping, flipping, and unloading robotic arm according to claim 1, characterized in that: The fall arrestor assembly includes a fall arrestor cylinder fixed to the housing and an L-shaped fall arrestor buckle connected to the output end of the fall arrestor cylinder. A linear guide rail is provided between the inner wall of the fall arrestor buckle and the outer wall of the housing.

3. The vision-guided, gripping, flipping, and unloading robotic arm according to claim 1, characterized in that: The telescopic assembly includes a telescopic cylinder mounted on the housing and a camera mounting bracket mounted on the output end of the telescopic cylinder for placing the vision camera. The camera mounting bracket is provided with a slider, and the housing is provided with a groove that cooperates with the slider.

4. The vision-guided, gripping, flipping, and unloading robotic arm according to claim 1, characterized in that: The length and width of the opening are both smaller than the length and width of the box body.

5. The vision-guided, gripping, flipping, and unloading robotic arm according to claim 1, characterized in that: The bottom surface of the box is inclined downwards from front to back.

6. The vision-guided, gripping, flipping, and unloading robotic arm according to claim 5, characterized in that: The height of the visual camera in the housing is greater than the height of the suction cup in the housing, and a side suction cup bracket is provided between the suction cup and the housing.

7. The vision-guided, gripping, flipping, and unloading robotic arm according to claim 1, characterized in that: The discharge funnel is made of polytetrafluoroethylene.

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