Discharging and grabbing device of collaborative robot flat plate filling machine

Abstract

The utility model discloses an unloading and grabbing device of a collaborative robot flat plate filling machine, and belongs to the technical field of ice cream flat plate filling machines. The unloading grabbing device of the collaborative robot flat plate filling machine comprises a collaborative robot body, a clamp plate is installed at the output end of the collaborative robot body and comprises an installation plate and a supporting frame, the lower end of the supporting frame is fixedly connected with the installation plate, and the middle position of the upper surface of the supporting frame is fixedly connected with the collaborative robot body. The design of the expansion piece allows proper crumple in the adsorption process, the expansion piece is matched with the application of the pressure sensor, the ice cream cup cover is effectively prevented from being damaged due to hard contact, the expansion piece can independently adjust the distance between each suction cup and a target object, and the ice cream cup cover grabbing device is suitable for grabbing products of different sizes and shapes. And the universality and adaptability of the equipment are improved, and the automation degree is high.

Description

Technical Field

[0001] This utility model relates to the field of ice cream flat filling machine technology, and more specifically, to a collaborative robot flat filling machine unloading and gripping device. Background Technology

[0002] Existing ice cream production lines typically use fixed robotic arms or manual labor to pick up and transfer cups. However, these methods are inefficient, lack precision, and are prone to damaging the products, affecting product quality. Therefore, developing an automated solution capable of accurately and reliably performing these tasks is of great significance. Utility Model Content

[0003] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a collaborative robot flatbed filling machine unloading and gripping device to solve the above-mentioned shortcomings.

[0004] To achieve the above objectives, the technical solution provided by this utility model is as follows:

[0005] This utility model discloses a collaborative robot flat-panel filling machine unloading and gripping device, including a collaborative robot body. A clamping plate is installed at the output end of the collaborative robot body. The clamping plate includes a mounting plate and a support frame. The lower end of the support frame is fixedly connected to the mounting plate. The middle position of the upper surface of the support frame is fixedly connected to the collaborative robot body. A vacuum pump is provided on the support frame near the position where it is connected to the collaborative robot body. Reinforcing plates are provided on both sides of the support frame to improve the firmness of the connection between the support frame and the mounting plate. An array of telescopic devices is provided on the mounting plate. A suction cup is provided at the lower end of the telescopic device and is connected to the vacuum pump.

[0006] Preferably, the telescopic device includes an outer sleeve, a telescopic tube, a corrugated tube, and a support spring. The telescopic tube is sleeved with the outer sleeve, and a sealing gasket is provided at the upper end of the telescopic tube. The sealing gasket is in contact with the inner wall of the outer sleeve. The upper end of the telescopic tube is fixedly connected to the corrugated tube, and the support spring is sleeved on the outside of the corrugated tube.

[0007] Preferably, the upper end of the outer sleeve is provided with an air inlet connected to the vacuum pump, the air inlet is fixedly connected to one end of the corrugated pipe, and the air inlet is connected to the output end of the vacuum pump through a pipe.

[0008] Preferably, the lower end of the outer sleeve is provided with a limiting block, which is movably connected to the telescopic tube. The telescopic tube is provided with a sliding groove, which cooperates with the limiting block to restrict the movement path of the telescopic tube.

[0009] Preferably, an air inlet / outlet is provided on one side of the upper end of the outer tube, through which air enters or exits into the outer tube.

[0010] Preferably, the lower end of the telescopic tube is connected to the suction cup. When the vacuum pump is working, it simultaneously draws air into all the telescopic tubes, using the suction cup to adsorb the ice cream cup. The air inlet and outlet of each outer tube are individually connected to a pneumatic control system. The pneumatic control system uses a double-acting cylinder or a vacuum generator with integrated air outlet function. The suction cup is composed of three conical structures connected together. A pressure sensor is set at the connection of the upper two conical structures. When the pressure value exceeds the set threshold, the pneumatic control system is activated to control the movement position of the telescopic tube and adjust the distance between the suction cup and the target object, the ice cream cup.

[0011] Compared with the prior art, the technical solution provided by this utility model has the following advantages:

[0012] The telescoping mechanism is designed to allow for appropriate collapse during the suction process. Combined with the application of pressure sensors, it effectively prevents damage to the ice cream cup lid caused by hard contact. The telescoping mechanism can independently adjust the distance between each suction cup and the target object, making it suitable for gripping products of different sizes and shapes. This increases the versatility and adaptability of the equipment. It has a high degree of automation, reduces manual intervention, and greatly improves the working efficiency and output of the production line. Through a collaborative control system and synchronous pulse signals, it ensures that the unloading and placement positions are accurate each time, improving the stability and efficiency of production. Attached Figure Description

[0013] Figure 1 This is an overall structural diagram of the collaborative robot flat-panel filling machine unloading and gripping device of this utility model;

[0014] Figure 2 This is a structural diagram of the clamping plate of this utility model;

[0015] Figure 3 This is a structural diagram of the telescopic device of this utility model;

[0016] Figure 4 This is a diagram showing the collapse state of the expansion joint of this utility model.

[0017] In the diagram: 1. Collaborative robot body; 2. Fixture plate; 21. Mounting plate; 22. Support frame; 3. Vacuum pump; 4. Telescopic device; 41. Outer tube; 411. Air inlet; 412. Limiting block; 413. Air inlet and outlet; 42. Telescopic tube; 421. Slide groove; 43. Corrugated pipe; 44. Support spring; 5. Suction cup; 51. Pressure sensor. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] To further understand the content of this utility model, a detailed description of this utility model will be provided in conjunction with the accompanying drawings.

[0020] Combination Figures 1-4 The present invention relates to a collaborative robot flat filling machine unloading and gripping device, comprising a collaborative robot body 1, which is a six-axis or multi-joint collaborative robot capable of moving flexibly in a confined space, and a clamping plate 2 is installed at the output end of the collaborative robot body 1.

[0021] The clamp plate 2 includes a mounting plate 21 and a support frame 22. The lower end of the support frame 22 is fixedly connected to the mounting plate 21. The middle position of the upper surface of the support frame 22 is fixedly connected to the collaborative robot body 1. A vacuum pump 3 is provided near the position of the support frame 22 connected to the collaborative robot body 1. Reinforcing plates are provided on both sides of the support frame 22 to improve the firmness of the connection between the support frame 22 and the mounting plate 21. An array of telescopic devices 4 are provided on the mounting plate 21. A suction cup 5 is provided at the lower end of the telescopic device 4 and is connected to the vacuum pump 3.

[0022] Specifically, the expansion joint 4 includes an outer sleeve 41, a telescopic tube 42, a bellows 43, and a support spring 44. The upper end of the outer sleeve 41 is provided with an air inlet 411 connected to the vacuum pump 3. The air inlet 411 is fixedly connected to one end of the bellows 43. The air inlet 411 is connected to the output end of the vacuum pump 3 via a pipe. The lower end of the outer sleeve 41 is provided with a limit block 412. The telescopic tube 42 is sleeved with the outer sleeve 41, and its upper end is fixedly connected to the bellows 43. The support spring 44 is sleeved on the outside of the bellows 43. A sealing gasket is provided at the upper end of the telescopic tube 42, and the sealing gasket is in contact with the inner wall of the outer sleeve 41. Position block 412 is movably connected to telescopic tube 42. Telescopic tube 42 is provided with a sliding groove 421. The sliding groove 421 cooperates with the limiting block 412 to restrict the movement path of telescopic tube 42. An air inlet / outlet 413 is provided on one side of the upper end of outer tube 41. Air can enter or exit the outer tube 41 through the air inlet / outlet 413. When air enters the outer tube 41, the air pressure inside the outer tube 41 outside the corrugated pipe 43 increases. Under the action of air pressure and support spring 44, the telescopic tube 42 is pushed out of the outer tube 41. Conversely, when air is drawn into the outer tube 41, the air pressure inside the outer tube 41 decreases, controlling the telescopic tube 42 to retract into the outer tube 41.

[0023] The lower end of the telescopic tube 42 is connected to the suction cup 5. When the vacuum pump 3 is working, it simultaneously draws air into all the telescopic tubes 42, using the suction cup 5 to adsorb the ice cream cup. The air inlet and outlet 413 of each outer tube 41 are individually connected to the pneumatic control system. The pneumatic control system uses a double-acting cylinder or a vacuum generator with an integrated air outlet function. It achieves blowing and suction functions through a single pipe and can independently adjust the distance between the suction cup 5 and the target object, the ice cream cup. The suction cup 5 is composed of three conical structures connected together. A pressure sensor 51 is set at the connection of the two upper conical structures. When the suction cup 5 contacts the ice cream cup, the conical structure of the suction cup 5 will fold, and the two upper conical structures will move closer to each other, squeezing the pressure sensor 51. When the pressure value exceeds the set threshold, the pneumatic control system is activated to control the telescopic tube 42 to move and adjust the distance between the suction cup 5 and the target object, the ice cream cup, to ensure that the cup lid will not be damaged due to hard collision during contact.

[0024] The collaborative robot body 1, vacuum pump 3, and telescopic device 4 are controlled by a collaborative control system. The quick-freezing equipment sends precise synchronization pulse signals to guide the timing of the actions of the collaborative robot body 1 and suction cup 5, ensuring that the unloading and placement are accurate each time.

[0025] Working process: The collaborative robot body 1 is in the starting position, the telescopic device 4 on the clamping plate 2 is in the extended state, the suction cup 5 maintains a certain distance from the ice cream cup, and the vacuum pump 3 and pneumatic control system are in standby mode. The collaborative robot body 1 moves above the ice cream production template according to the preset program, aligning the suction cup 5 of the clamping plate 2 with the ice cream cup. When the suction cup 5 contacts the ice cream cup, because the suction cup 5 adopts a three-conical structure design, and a pressure sensor 51 is set at the connection of the upper two conical structures, once it contacts the ice cream cup, the conical structure will fold, triggering the pressure sensor 51. The pressure value exceeds... After reaching the set threshold, the telescopic device 4 retracts to maintain an appropriate distance between the suction cup 5 and the ice cream cup. The vacuum pump 3 is turned on, and air is simultaneously drawn into all the telescopic tubes 42. Through the negative pressure formed inside the corrugated tube 43, the suction cup 5 firmly adsorbs the ice cream cup. The support spring 44 ensures that if there is a slight pressure imbalance during the adsorption process, the telescopic tube 42 can collapse appropriately to avoid damage to the cup lid due to hard collision. The collaborative robot body 1 lifts the ice cream cup from the template and moves it to the top of the tunnel tray according to the preset trajectory. After reaching the designated position, the vacuum pump 3 is turned off, and the ice cream cup is released onto the tray.

[0026] It should be noted that, in this document, relational 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 such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention.

Claims

1. A collaborative robot flat-panel filling machine unloading and gripping device, comprising a collaborative robot body (1), characterized in that: The output end of the collaborative robot body (1) is equipped with a clamp plate (2). The clamp plate (2) includes a mounting plate (21) and a support frame (22). The lower end of the support frame (22) is fixedly connected to the mounting plate (21). The middle position of the upper surface of the support frame (22) is fixedly connected to the collaborative robot body (1). A vacuum pump (3) is provided near the position of the support frame (22) connected to the collaborative robot body (1). An array of telescopic devices (4) is provided on the mounting plate (21). A suction cup (5) is provided at the lower end of the telescopic device (4). The suction cup (5) is connected to the vacuum pump (3).

2. The collaborative robot flatbed filling machine unloading and gripping device according to claim 1, characterized in that: The telescopic device (4) includes an outer sleeve (41), a telescopic tube (42), a corrugated tube (43), and a support spring (44). The telescopic tube (42) is sleeved with the outer sleeve (41), the upper end of the telescopic tube (42) is fixedly connected to the corrugated tube (43), and the support spring (44) is sleeved on the outside of the corrugated tube (43).

3. The unloading and gripping device for a collaborative robot flatbed filling machine according to claim 2, characterized in that: The upper end of the outer sleeve (41) is provided with an air inlet (411) connected to the vacuum pump (3). The air inlet (411) is fixedly connected to one end of the bellows (43). The air inlet (411) is connected to the output end of the vacuum pump (3) through a pipe.

4. The unloading and gripping device for a collaborative robot flatbed filling machine according to claim 3, characterized in that: The lower end of the outer tube (41) is provided with a limiting block (412), which is movably connected to the telescopic tube (42), and the telescopic tube (42) is provided with a sliding groove (421).

5. The unloading and gripping device for a collaborative robot flatbed filling machine according to claim 4, characterized in that: An air inlet / outlet (413) is provided on one side of the upper end of the outer sleeve (41).

6. The unloading and gripping device for a collaborative robot flatbed filling machine according to claim 2, characterized in that: The lower end of the telescopic tube (42) is connected to the suction cup (5), which is made of three conical structures connected together. A pressure sensor (51) is provided at the connection of the upper two conical structures.

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