Flexible material taking device supporting floating self-adaption

Abstract

The utility model discloses a flexible material taking device supporting floating self-adaption. The flexible material taking device comprises a multi-shaft mechanical arm, a fixing plate installed on the multi-shaft mechanical arm and a floating material taking module movably installed at the bottom of the fixing plate. The floating material taking module comprises a floating plate, a first floating module, a second floating module and an elastic clamping module; the floating plate is horizontally installed on the lower surface of the fixing plate, the first floating module is arranged on the fixing plate and vertically penetrates through the fixing plate and the floating plate, the second floating module is arranged close to the first floating module and vertically penetrates through the fixing plate, and the lower end of the second floating module is connected with the upper surface of the floating plate; the elastic clamping module is mounted on the lower surface of the floating plate; based on the design of the floating clamp, the multi-material-level product can be processed at the same time, operation efficiency is improved, flexible operation is achieved in the material taking and placing process, stability is effectively improved, the success rate is effectively increased, the service life is effectively prolonged, the problems of mechanism jamming and inaccurate positioning are solved, and high-precision operation is ensured.

Description

Technical Field

[0001] This utility model relates to the field of industrial robots, and in particular to a flexible material handling device that supports floating and adaptive operation. Background Technology

[0002] In modern production lines, the material handling mechanism plays a crucial role, and its performance directly affects production efficiency and product quality. However, the material handling mechanisms currently in widespread use often exhibit significant limitations when dealing with miniature or fragile materials. These materials, due to their small size or fragile nature, require extremely high levels of force control and flexibility during the material handling process. Unfortunately, most existing material handling mechanisms adopt rigid structures and lack necessary flexible adjustment mechanisms, making it difficult to avoid physical damage to the materials during the material handling process, such as scratches, deformation, or even breakage, which seriously affects the product yield and overall quality.

[0003] In addition, the precise positioning and placement of micro or fragile materials is a major challenge for existing material handling mechanisms. Due to the small size, diverse shapes and surface characteristics of the materials, traditional material handling mechanisms often suffer from insufficient precision in positioning, making it difficult to achieve precise placement and placement operations. This not only reduces production efficiency but also increases the difficulty of subsequent processing and assembly, further affecting the overall performance and consistency of the product.

[0004] In summary, existing material handling mechanisms in production lines suffer from insufficient flexibility, easy damage to materials, and low positioning accuracy when dealing with micro-sized or fragile materials. These problems severely restrict the efficient operation of the production line and the improvement of product quality. Therefore, it is particularly important to develop a new material handling mechanism that can overcome these limitations and achieve flexible material handling and precise positioning. Utility Model Content

[0005] The main objective of this invention is to provide a flexible material handling device that supports floating and adaptive operation, thereby solving all or one of the aforementioned problems in the prior art.

[0006] To solve the above-mentioned technical problems, the present invention provides a flexible material handling device that supports floating and adaptive behavior, comprising:

[0007] A multi-axis robotic arm, a fixed plate mounted at the end of the multi-axis robotic arm, and a floating material handling module movably mounted at the bottom of the fixed plate;

[0008] The floating material handling module includes: a floating plate, a first floating module, a second floating module, and an elastic clamping module; the floating plate is horizontally mounted on the lower surface of the fixed plate, the first floating module is disposed on the fixed plate and vertically penetrates the fixed plate and the floating plate, the second floating module is disposed close to the first floating module and vertically penetrates the fixed plate, and the lower end of the second floating module is connected to the upper surface of the floating plate; the elastic clamping module is mounted on the lower surface of the floating plate.

[0009] The multi-axis robotic arm is used to control the alignment of the fixed plate with the material to be grasped;

[0010] The elastic clamping module is used to grip the material to be gripped;

[0011] The first floating module is used to provide a floating gap between the floating plate and the fixed plate when the elastic clamping module grips the material to be gripped;

[0012] The second floating module is used to smooth the floating action of the floating plate.

[0013] As an improved solution, vertically arranged positioning pins are connected to both sides of the floating plate, with the lower end of the positioning pins vertically downward and away from the floating plate; the positioning pins are used for floating positioning when the fixed plate is aligned with the material to be grasped.

[0014] A gap is provided between the upper surface of the floating plate and the lower surface of the fixed plate.

[0015] As an improved solution, the first floating module includes: a Teflon gasket and a height-equalizing bolt;

[0016] The Teflon gasket is horizontally installed on the upper surface of the fixed plate and corresponds to the position of the floating plate. The Teflon gasket is annular and hollow.

[0017] Both the fixed plate and the floating plate have interconnected clearance grooves at the positions corresponding to the cutouts of the Teflon gasket. The equal-height bolts are vertically installed in the clearance grooves, and there is a floating gap between the perimeter of the equal-height bolts and the groove wall of the clearance groove in the fixed plate.

[0018] The lower end of the equal-height bolt is fixedly connected to the clearance groove inside the floating plate.

[0019] As an improved solution, the second floating module includes: universal bearing rollers and wear-resistant pads;

[0020] The universal bearing roller is vertically embedded in the fixed plate, and the universal bearing roller vertically penetrates the fixed plate and is located near the equal-height bolt;

[0021] The upper surface of the floating plate is provided with a gasket groove corresponding to the position of the universal bearing roller, and the wear-resistant gasket is embedded in the gasket groove; the lower end of the universal bearing roller is a roller part, and the roller part is slidably located on the wear-resistant gasket.

[0022] As an improved solution, the elastic clamping module includes: a gripper cylinder and an elastic pressure plate;

[0023] The gripper cylinder is installed at the center of the lower surface of the floating plate and is vertically downward.

[0024] The gripper cylinder is connected to three gripping teeth that are positioned to avoid the positioning pin. The three gripping teeth are arranged in a trident shape and are horizontally mounted on the lower end of the gripper cylinder. There is a distance between the three gripping teeth and the gripper cylinder. The gripper cylinder is used to control the three gripping teeth to move in the horizontal direction along the direction in which the gripping teeth are oriented.

[0025] The elastic pressure plate is horizontally installed between the floating plate and the gripper cylinder teeth, and the elastic pressure plate is circular. The elastic pressure plate is arranged around the gripper cylinder, and the edge of the elastic pressure plate is elastically connected to the lower surface of the floating plate.

[0026] As an improved solution, several columns are vertically arranged along the circumference of the elastic pressure plate at its edge. The upper end of each column is telescopically connected to the lower surface of the floating plate, and an elastic element is sleeved on each column at the position corresponding to the floating plate and the elastic pressure plate.

[0027] As an improved solution, each of the three clamping teeth is provided with a horizontally extending material pick-up holder at its end;

[0028] The material-grabbing tray is used to support the material to be grasped;

[0029] The edge of the elastic pressure plate is positioned corresponding to the location of the material pick-up tray.

[0030] As an improved solution, the number of the first floating modules is three, and the three first floating modules are arranged in a triangle.

[0031] The number of the second floating modules corresponds to the number of the first floating modules, and the second floating modules are set in a one-to-one correspondence with the first floating modules.

[0032] As an improved solution, the fixing plate is I-shaped, and four installation areas are provided at the four corners of the fixing plate, each of which is used to install the floating material handling module.

[0033] As an improved solution, the elastic element includes a spring.

[0034] The beneficial effects of this utility model are:

[0035] This utility model discloses a flexible material handling device that supports floating and adaptive operation. By adopting a floating clamp design, it can handle products from four material positions simultaneously, significantly improving work efficiency and achieving flexible operation during material handling, effectively enhancing stability, success rate, and overall service life. The adaptive distance adjustment function of the floating mechanism effectively avoids problems such as mechanism jamming and inaccurate positioning, ensuring high-precision operation. At the same time, the equipped elastic pressure plate can firmly position the product and smoothly push it out during unloading, further improving the smoothness and accuracy of operation. Ultimately, it greatly improves the precision and work efficiency of the production line and reduces production costs by reducing manual intervention. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of a flexible material handling device supporting floating self-adaptation in an embodiment of this utility model;

[0037] Figure 2 yes Figure 1 Enlarged structural diagram at point A;

[0038] Figure 3 This is a three-dimensional structural diagram of the fixed plate and the floating material handling module in a flexible material handling device that supports floating self-adaptation according to an embodiment of this utility model;

[0039] Figure 4 This is a schematic diagram of the internal structure of the first floating module in a flexible material handling device that supports floating adaptation in an embodiment of this utility model.

[0040] Figure 5 This is a schematic diagram of the internal structure of the second floating module in a floating material handling module of a flexible material handling device supporting floating self-adaptation in an embodiment of this utility model;

[0041] The components in the attached diagram are labeled as follows:

[0042] 1. Multi-axis robotic arm; 2. Fixed plate; 3. Floating plate; 4. Teflon gasket; 5. Equal height bolt; 6. Clearance groove; 7. Universal bearing roller; 8. Wear-resistant gasket; 9. Roller section; 10. Gripper cylinder; 11. Gripping teeth; 12. Material pick-up support; 13. Elastic pressure plate; 14. Column; 15. Spring; 16. Positioning pin; 17. Annular material. Detailed Implementation

[0043] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0044] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0045] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0046] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0047] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0048] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only embodiments.

[0049] Please see Figures 1-5 The embodiments of this utility model include:

[0050] A flexible material handling device supporting floating and adaptive operation includes:

[0051] (1) A multi-axis robotic arm 1 is installed on the production line or the ground to provide support and displacement control. In this embodiment, it includes, but is not limited to, using a 6-axis robotic arm to achieve flexible and multi-directional displacement control. It should be noted that since the multi-axis robotic arm 1 adopts mature robot technology and is not a key component of this application, existing industrial robots with corresponding functions can be used. This does not affect the operation of the core innovative component of this application, and will not be described in detail here. Moreover, since the multi-axis robotic arm 1 is a mature technology in this field, its internal structure will not be shown in the accompanying drawings.

[0052] (2) Fixing plate 2, installed at the end of multi-axis robotic arm 1, is used to install and fix the floating material handling module; wherein, fixing plate 2 is in the shape of "I", and four circular installation areas are provided at the four corners of fixing plate 2, each installation area is used to install the floating material handling module;

[0053] (3) Floating material handling module, which is movably installed on the lower surface of the fixed plate 2, is used to perform material handling actions and supports adaptive small-amplitude fine-tuning of the floating according to the material conditions during material handling, thereby realizing flexible material handling. Its specific structural components are as follows:

[0054] (3.1) Floating plate 3 is horizontally installed in the installation area on the lower surface of fixed plate 2. Vertically arranged positioning pins 16 are connected to both sides of the floating plate 3. The positioning pins 16 are used to reach the material in advance for floating positioning during the process of lowering and grabbing the material. There is a gap between the upper surface of the floating plate 3 and the lower surface of the fixed plate 2.

[0055] (3.2) The first floating module consists of a Teflon gasket 4 and a height-equalizing bolt 5. The Teflon gasket is horizontally installed on the upper surface of the fixed plate 2 and corresponds to the position of the floating plate 3. The Teflon gasket is annular with a hollow center. Both the fixed plate 2 and the floating plate 3 have interconnected clearance grooves 6 at the positions corresponding to the hollow Teflon gasket. The height-equalizing bolt 5 is vertically installed in the clearance groove 6, and there is a gap between the periphery of the height-equalizing bolt 5 and the groove wall of the clearance groove 6 in the fixed plate 2. This gap is the floating space of the height-equalizing bolt 5 in the horizontal direction. The lower end of the height-equalizing bolt 5 is fixed to the clearance groove 6 in the floating plate 3, thereby fixing the floating plate 3 to the fixed plate 2. In this embodiment, there are three first floating modules, which are designed in a triangular shape to ensure a certain degree of stability.

[0056] (3.3) The second floating module is located close to the first floating module and corresponds one-to-one with the first floating module. The second floating module consists of a universal bearing roller 7 and a wear-resistant pad 8. The universal bearing roller 7 is vertically embedded in the fixed plate 2, and it vertically penetrates the fixed plate 2 and is located close to the equal-height bolt 5. A pad groove is opened on the upper surface of the floating plate 3 corresponding to the position of the universal bearing roller 7, and the wear-resistant pad 8 is embedded in the pad groove. The lower end roller part 9 of the universal bearing roller 7 is slidably located on the wear-resistant pad 8. Based on the first floating module and the second floating module, the horizontal floating positioning function structure of this device is completed. The floating gap of the floating plate 3 is provided by the first floating module, and the design of the universal bearing roller 7 and the wear-resistant pad 8 in the second floating module makes the movement of the floating plate 3 smoother when floating.

[0057] (3.4) The gripper cylinder 10 is installed at the center of the lower surface of the floating plate 3 and is set vertically downward; the gripper cylinder 10 has three gripping teeth 11, and the three gripping teeth 11 are horizontally distributed in a trident shape and are respectively horizontally connected to the lower end of the gripper cylinder 10. The gripper cylinder 10 is used to control the three gripping teeth 11 to move in the horizontal direction in which they face, thereby lifting the round material; there is a distance between the three gripping teeth 11 and the gripper cylinder 10; the ends of the three gripping teeth 11 are provided with horizontally extending material pickers 12; there is a distance between the gripping teeth 11 of the gripper cylinder 10 and the floating plate 3.

[0058] (3.5) The elastic pressure plate 13 is horizontally installed between the floating plate 3 and the gripper teeth 11 of the gripper cylinder 10. The elastic pressure plate 13 is circular. Several columns 14 are vertically provided on the edge of the elastic pressure plate 13. The upper end of each column 14 is telescopically connected to and extends into the lower surface of the floating plate 3. A spring 15 is sleeved on each column 14 at the position between the floating plate 3 and the elastic pressure plate 13, thereby realizing the elastic connection between the elastic pressure plate 13 and the floating plate 3. The edge of the elastic pressure plate 13 is set with the aforementioned material picker 12. Thus, when the gripper cylinder 10 performs the material gripping action, the elastic pressure plate 13 can cooperate with the material picker 12 to grip the material.

[0059] Based on the above structure, this device can achieve automated positioning and placement of the product being picked up, and can also achieve adaptive distance during picking up to prevent jamming based on the floating picking module; in one embodiment, the working principle of this device is as follows:

[0060] During material handling, the multi-axis robotic arm 1 first uses the positioning pin 16 for floating positioning; after positioning, the gripper cylinder 10 controls the three gripping teeth 11 to unfold horizontally, thereby lifting the product. During this process, the elastic pressure plate 13 cooperates with the material handling tray 12 to clamp the product. Under the action of the spring 15, the elastic pressure plate 13 elastically presses the product and lifts it up.

[0061] During material feeding, the multi-axis robotic arm 1 uses positioning pin 16 for floating positioning; after positioning, the gripper cylinder 10 controls the three gripper teeth 11 to retract, thereby releasing the product. At this time, the elastic pressure plate 13 elastically pushes out the product, completing the feeding action.

[0062] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structure made using the contents of this utility model specification and drawings, or directly or indirectly applied to other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A flexible material handling device supporting floating adaptive behavior, characterized in that, include: A multi-axis robotic arm (1), a fixed plate (2) installed at the end of the multi-axis robotic arm (1), and a floating material handling module movably installed at the bottom of the fixed plate (2); The floating material handling module includes: a floating plate (3), a first floating module, a second floating module, and an elastic clamping module; the floating plate (3) is horizontally installed on the lower surface of the fixed plate (2), the first floating module is disposed on the fixed plate (2) and vertically penetrates the fixed plate (2) and the floating plate (3), the second floating module is disposed close to the first floating module and vertically penetrates the fixed plate (2), and the lower end of the second floating module is connected to the upper surface of the floating plate (3); the elastic clamping module is installed on the lower surface of the floating plate (3); The multi-axis robotic arm (1) is used to control the alignment of the fixed plate (2) with the material to be grasped; The elastic clamping module is used to grip the material to be gripped; The first floating module is used to provide a floating gap between the floating plate (3) and the fixed plate (2) when the elastic clamping module grips the material to be gripped; The second floating module is used to smooth the floating action of the floating plate (3).

2. The flexible material handling device supporting floating adaptation according to claim 1, characterized in that: The floating plate (3) is connected to vertically arranged positioning pins (16) on both sides respectively. The lower end of the positioning pin (16) is set vertically downward away from the floating plate (3). The positioning pin (16) is used for floating positioning in the alignment of the fixed plate (2) and the material to be grabbed. A gap is provided between the upper surface of the floating plate (3) and the lower surface of the fixed plate (2).

3. The flexible material handling device supporting floating adaptation according to claim 1, characterized in that: The first floating module includes: a Teflon gasket (4) and a height-equalizing bolt (5); The Teflon gasket (4) is horizontally installed on the upper surface of the fixed plate (2) and corresponds to the position of the floating plate (3). The Teflon gasket (4) is annular and hollow. Both the fixed plate (2) and the floating plate (3) have interconnected clearance grooves (6) at the positions corresponding to the cutouts of the Teflon gasket (4). The equal-height bolts (5) are vertically installed in the clearance grooves (6). A floating gap is provided between the periphery of the equal-height bolts (5) and the groove wall of the clearance grooves (6) in the fixed plate (2). The lower end of the equal-height bolt (5) is fixedly connected to the clearance groove (6) in the floating plate (3).

4. The flexible material handling device supporting floating adaptation according to claim 3, characterized in that: The second floating module includes: a universal bearing roller (7) and a wear-resistant pad (8); The universal bearing roller (7) is vertically embedded in the fixed plate (2), and the universal bearing roller (7) vertically penetrates the fixed plate (2) and is located near the equal height bolt (5); The floating plate (3) has a gasket groove on its upper surface corresponding to the position of the universal bearing roller (7), and the wear-resistant gasket (8) is embedded in the gasket groove; the lower end of the universal bearing roller (7) is a roller part (9), and the roller part (9) is slidably located on the wear-resistant gasket (8).

5. The flexible material handling device supporting floating adaptation according to claim 2, characterized in that: The elastic clamping module includes: a gripper cylinder (10) and an elastic pressure plate (13). The gripper cylinder (10) is installed at the center of the lower surface of the floating plate (3) and is set vertically downward; The gripper cylinder (10) is connected to three gripping teeth (11) that are arranged to avoid the positioning pin (16). The three gripping teeth (11) are arranged in a trident shape. The three gripping teeth (11) are horizontally installed at the lower end of the gripper cylinder (10). There is a distance between the three gripping teeth (11) and the gripper cylinder (10). The gripper cylinder (10) is used to control the three gripping teeth (11) to move in the horizontal direction along the direction in which the gripping teeth (11) are facing. The elastic pressure plate (13) is horizontally installed between the floating plate (3) and the gripper teeth (11) of the gripper cylinder (10), and the elastic pressure plate (13) is circular. The elastic pressure plate (13) is arranged around the gripper cylinder (10), and the edge of the elastic pressure plate (13) is elastically connected to the lower surface of the floating plate (3).

6. The flexible material handling device supporting floating adaptation according to claim 5, characterized in that: Several columns (14) are vertically arranged along the circumference of the elastic pressure plate (13) at the edge of the elastic pressure plate (13). The upper end of each column (14) is telescopically connected to the lower surface of the floating plate (3). Each column (14) is fitted with an elastic element at the position between the floating plate (3) and the elastic pressure plate (13).

7. The flexible material handling device supporting floating adaptation according to claim 6, characterized in that: The ends of the three clamping teeth (11) are each provided with a horizontally extending material picker (12). The material picker (12) is used to pick up the material to be picked up; The edge of the elastic pressure plate (13) is positioned corresponding to the position of the material pick-up tray (12).

8. The flexible material handling device supporting floating adaptation according to claim 1, characterized in that: The number of the first floating modules is three, and the three first floating modules are arranged in a triangle. The number of the second floating modules corresponds to the number of the first floating modules, and the second floating modules are set in a one-to-one correspondence with the first floating modules.

9. The flexible material handling device supporting floating adaptation according to claim 1, characterized in that: The fixing plate (2) is in the shape of an I-beam, and four installation areas are provided at the four corners of the fixing plate (2), each of which is used to install the floating material handling module.

10. The flexible material handling device supporting floating adaptation according to claim 6, characterized in that: The elastic element includes: a spring (15).

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