Glass ball placing robot

Abstract

The utility model discloses a glass ball placing robot which comprises a base mounting plate, a rotating mechanism, a lifting mechanism, a large arm assembly, a small arm assembly and a suction cup assembly, the rotating mechanism is fixed on the base mounting plate, the rotating mechanism is driven by a motor, and the whole rotating motion of the large arm assembly, the small arm assembly and the suction cup assembly is achieved through transmission of a synchronous belt; according to the lifting mechanism, a lead screw nut mechanism is driven by a motor, rotary motion is converted into linear motion, the precision and stability of the motion are guaranteed through guiding of a guide rail sliding block, and overall lifting motion of a large arm assembly, a small arm assembly and a suction cup assembly is achieved. The large arm assembly is driven by a motor and is driven by two sets of synchronous belts, and rotation movement of a small arm is achieved. The suction cup assembly is installed at the tail end of the small arm assembly, and the small arm assembly drives the suction cup assembly to rotate. The suction cup assembly sucks the glass balls through pneumatic control. The device is high in working efficiency and saves manpower.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot mechanical structure, specifically relating to a glass ball placement robot. Background Technology

[0002] Glass marbles, also known as glass beads, marbles, or pinballs, are primarily made of materials such as silicon dioxide and borosilicate glass. A standard size glass marble has a diameter of 16mm. They have diverse uses, such as being used at the mouth of liquor bottles to slow down the flow of liquid and even create an aesthetically pleasing wine line. They are also popular children's toys and can be used as manipulative objects in robotics exhibitions to demonstrate the flexibility and functionality of robots. For exhibition demonstrations, the focus is on the task of moving and arranging glass marbles of the same size within a certain range on a horizontal plane, with various arrangement methods. Each glass marble has a fixed hemispherical placement position. By placing the marbles in different positions, different overall patterns and shapes are created, such as triangles, pentagons, and squares, similar to the display principle of a dot-matrix LED display. In the prior art, Chinese patent "Automated palletizing device applied to automatic packaging production line" (CN117104901A, publication date (authorization): 2024.01.12) includes a lifting arm and a support column, which are movably connected by a lifting slide. A telescopic column is movably installed at one end of the lifting arm. This structure is a two-degree-of-freedom structure. Chinese patent "A packaging palletizing machine with a four-thread gripping manipulator" (CN210161160U, publication date (authorization): 2024.01.12) The first patent, "A Column-Type Palletizing Robot" (CN217513884U, publication date (authorization): 2022.09.30), includes a palletizing frame, longitudinal guide rails, lifting seat, lifting frame, moving plate, rotating seat, and palletizing mechanical gripper. This structure is a three-degree-of-freedom structure of movement-movement-rotation. The second patent, "A Column-Type Palletizing Robot" (CN217513884U, publication date (authorization): 2022.09.30), includes a rotating support seat, rotating mechanism, supporting column, lifting mechanism, horizontal sliding mechanism, and rotating clamping mechanism. This structure is also a three-degree-of-freedom structure of rotation-movement-rotation. These mechanisms are effective for palletizing tasks in scenarios with low flexibility requirements and few control points, but they are difficult to implement for tasks requiring high flexibility, such as the placement of glass marbles. In addition, Chinese patent "A Four-Degree-of-Freedom Robot with Parallel Dual-Arm Structure" (CN220840182U, publication date (authorization): 2024.04.26) includes a base, an end effector, and two identical robotic arms connected in parallel between the base and the end effector. This parallel structure allows for flexible operation within a plane, but requires sophisticated collaborative control of both arms. Chinese patent "A Four-Degree-of-Freedom Robot" (CN214136053U, publication date (authorization): 2021.09.07) includes a base, a large arm, a small arm, a ball spline, a ball screw, a gearbox, and an output flange. It can achieve rotation on the first axis, rotation on the second axis, lifting on the third axis, and vertical rotation on the fourth axis. This structure, combined with a gripper, is suitable for grasping objects in a plane at any angle. However, for tasks involving the flexible placement of glass balls within a plane, the functionality is redundant, and the three- and four-axis structures are relatively complex. Utility Model Content

[0003] The purpose of this invention is to provide a four-degree-of-freedom robot that can perform various tasks such as moving and placing glass balls of the same size within a certain range on a horizontal plane, and has a simple structure, good flexibility, and simple control, in order to overcome the shortcomings of the existing technology.

[0004] This utility model discloses a glass ball placement robot, including a base mounting plate, a rotating mechanism, a lifting mechanism, a large arm assembly, a small arm assembly, and a suction cup assembly. The rotating mechanism is fixed on the base mounting plate and includes a rotating drive motor, a rotating drive pulley, a rotating driven pulley, a rotating synchronous belt, a rotating base, and a rotating shaft. The rotating drive motor drives the rotating drive pulley to rotate, and the rotating drive pulley drives the rotating driven pulley to rotate via the rotating synchronous belt. The rotating driven pulley is connected to the rotating shaft via a key, and the rotating shaft is movably connected to the rotating base via bearings. The rotating base is fixed on the base mounting plate.

[0005] The lifting mechanism includes a lifting base plate and a lifting top plate. The lifting base plate is mounted on a rotating mechanism. A lifting motor base is mounted on the lifting top plate, and a lifting drive motor is mounted on the lifting motor base to drive a lead screw to rotate. The lead screw is connected to the output shaft of the lifting drive motor via a lead screw coupling. Lead screw end bearing seats are mounted at the top and bottom of the lead screw, and the lead screw end bearing seats are fixedly connected to the lifting base plate and the lifting top plate. The lead screw is screwed to a lead screw nut. The lifting base plate is also equipped with a lifting block connecting component, a limiting plate, and a buffer mounting seat. The limiting plate is used to limit the lifting guide rail, and a buffer is mounted on the buffer mounting seat.

[0006] The boom assembly includes a lead screw slide block, which is fixedly connected to a lead screw nut. The boom assembly also includes a lifting slider, which is fixedly connected to a lifting slider connecting block and slidably connected to a lifting guide rail. The lifting slider connecting block is fixedly connected to a boom mounting plate. A boom drive motor and a boom mounting base are mounted on the boom mounting plate. The boom drive motor is fixedly connected to a boom drive pulley. The boom drive pulley drives a driven synchronous pulley via a synchronous belt. The driven synchronous pulley drives a boom drive pulley 2 via a driven shaft. The boom drive pulley 2 drives a driven synchronous pulley 2 via a synchronous belt. Pressure rollers are mounted on both sides of the synchronous belt.

[0007] The forearm assembly includes a forearm connecting shaft. The forearm assembly is rotatably connected to the upper arm assembly via a spacer and bearings. The forearm connecting shaft is fixedly connected to a forearm connecting shaft mounting seat, which is mounted on a forearm mounting plate. The forearm mounting plate is fixedly connected to a forearm drive motor, which is fixedly connected to a forearm drive synchronous pulley. The forearm drive synchronous pulley drives a gripper driven synchronous pulley via a belt. A gripper connecting shaft and a gripper connecting seat are mounted on the gripper driven synchronous pulley. The gripper connecting shaft and the gripper driven synchronous pulley are connected by a key. The forearm mounting plate also has a gripper output shaft mounting seat 1 and a gripper output shaft mounting seat 2 fixedly mounted. The gripper connecting shaft is movably connected to the gripper output shaft mounting seats 1 and 2 via bearings. A gripper connecting shaft end retainer is mounted on the upper end of the gripper connecting shaft.

[0008] The suction cup assembly consists of a suction cup mounting plate and a suction cup. The suction cup is mounted on the suction cup mounting plate, and the suction cup mounting plate is mounted on the gripper connector.

[0009] The boom assembly is mounted on the lead screw nut and forms a sliding guide connection with the lifting guide rail through the lifting slider, allowing it to move up and down along the lead screw.

[0010] Preferably, in order to ensure that the components are not easily damaged during long-term use and reduce maintenance costs, the selection of materials for each component fully considers the special characteristics of glass ball placement operations and the stability requirements of mechanical structures, and selects materials with high strength, corrosion resistance, and low coefficient of friction.

[0011] Preferably, in order to achieve a compact layout and efficient operation of the mechanical structure, the dimensions of each component are precisely calculated and optimized based on the robot's workspace, load capacity, and the size specifications of the glass ball.

[0012] Preferably, this utility model adopts electric drive, with an electric motor as the power source. Compared with hydraulic drive, it has advantages such as long service life, low noise, and low maintenance requirements, and is more suitable for the joint rotation of small-load robotic arms.

[0013] Preferably, this invention employs a vacuum suction type end effector, utilizing negative pressure to lift glass balls. This method is suitable for smooth, easily broken glass materials and can handle glass balls weighing up to 6kg. The forearm, upper arm, base rotation mechanism, and robotic arm lifting mechanism are all connected to synchronous pulleys via motors, which in turn drive the corresponding components to rotate or lift via reducers. Based on calculations of load, moment of inertia, and angular acceleration, appropriate motor and reducer models are selected to ensure stable operation of each mechanism.

[0014] The beneficial effects of this utility model are as follows: This utility model discloses a glass ball placement robot with a reasonable mechanical structure design and coordinated operation of all components, which can achieve efficient and accurate grasping and placement of glass balls, significantly improving production efficiency and reducing production costs; strict assembly requirements and high-quality component selection ensure the stability and reliability of the mechanical structure, reduce the probability of failure, and extend the service life of the robot; the application of grease to moving parts and regular debugging and maintenance measures effectively reduce friction and wear between components, improve the operating efficiency of the mechanical structure, and ensure the stability and accuracy of the robot during long-term operation. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments 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 the structures shown in these drawings without creative effort.

[0016] Figure 1 The diagram shown is a structural schematic of a glass ball placement robot according to an embodiment of the present invention.

[0017] Figure 2 The diagram shown is a schematic diagram of the rotating mechanism of the glass ball placement robot in one embodiment of this utility model;

[0018] Figure 3 The diagram shows a schematic of the lifting mechanism of a glass ball placement robot in one embodiment of this utility model.

[0019] Figure 4 The diagram shown is a front view of the arm assembly of the glass ball placement robot in one embodiment of this utility model.

[0020] Figure 5 The diagram shown is an isometric view of the arm assembly of the glass ball placement robot in one embodiment of this utility model.

[0021] Figure 6 The diagram shown is a schematic diagram of the forearm assembly structure of a glass ball placement robot according to an embodiment of this utility model.

[0022] Figure 7 The diagram shown is a schematic diagram of the suction cup part of the glass ball placement robot in one embodiment of this utility model.

[0023] In the diagram: 1. Base mounting plate; 2. Rotating mechanism; 21. Rotary drive motor; 22. Rotary drive pulley; 23. Rotary driven pulley; 24. Rotary synchronous belt; 25. Rotary base; 26. Rotary shaft; 3. Lifting mechanism; 311. Lifting drive motor; 312. Lifting motor seat; 32. Lead screw; 321. Lead screw coupling; 322. Lead screw end bearing seat; 323. Lifting top plate; 324. Lifting bottom plate; 325. Lead screw nut; 326. Lifting guide rail; 327. Limiting plate; 331. Buffer; 332. Buffer mounting seat; 4. Boom assembly; 41. Lead screw slide; 42. Lifting slider; 43. Lifting slider connecting block; 44. Boom mounting plate; 45. Boom mounting seat; 46. Large... 471. Arm drive motor; 472. Arm drive pulley 2; 481. Arm driven synchronous pulley; 482. Arm driven synchronous pulley 2; 49. Arm driven shaft; 410. Pressure wheel; 411. Synchronous belt; 5. Arm assembly; 51. Spacer; 52. Bearing; 53. Arm connecting shaft; 54. Arm mounting plate; 551. Arm connecting shaft mounting seat; 552. Gripper output shaft mounting seat 1; 553. Gripper output shaft mounting seat 2; 56. Arm drive synchronous pulley; 57. Gripper driven synchronous pulley; 58. Arm drive motor; 59. Gripper connecting shaft; 510. Gripper connecting seat; 511. Gripper connecting shaft end retaining ring; 6. Suction cup assembly; 61. Suction cup mounting plate; 62. Suction cup. Detailed Implementation

[0024] 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.

[0025] Please see Figure 1-7 As shown, a glass ball placement robot includes a base mounting plate 1, a rotating mechanism 2, a lifting mechanism 3, a large arm assembly 4, a small arm assembly 5, and a suction cup assembly 62. The rotating mechanism 2 is fixed on the base mounting plate 1 and includes a rotating drive motor 21, a rotating drive pulley 22, a rotating driven pulley 23, a rotating synchronous belt 24, a rotating base 25, and a rotating shaft 26. The rotating drive motor 21 drives the rotating drive pulley 22 to rotate, and the rotating drive pulley 22 drives the rotating driven pulley 23 to rotate via the rotating synchronous belt 24. The rotating driven pulley 23 is connected to the rotating shaft 26 by a key, and the rotating shaft 26 is movably connected to the rotating base 25 by bearings. The rotating base 25 is fixed on the base mounting plate 1.

[0026] As a technical optimization of this utility model, the lifting mechanism 3 includes a lifting base plate 324 and a lifting top plate 323. The lifting base plate 324 is mounted on the rotating mechanism 2. A lifting motor seat 312 is mounted on the lifting top plate 323. A lifting drive motor 311 is mounted on the lifting motor seat 312 to drive the lead screw 32 to rotate. The lead screw 32 is connected to the output shaft of the lifting drive motor 311 through a lead screw coupling 321. Lead screw end bearing seats 322 are mounted on the upper and lower parts of the lead screw 32. The lead screw end bearing seats 322 are fixedly connected to the lifting base plate 324 and the lifting top plate 323. The lead screw 32 is screwed to the lead screw nut 325. A lifting guide rail 326, a limiting plate 327, and a buffer mounting seat 332 are also mounted on the lifting base plate 324. The limiting plate 327 is used to limit the lifting guide rail 326. A buffer 331 is mounted on the buffer mounting seat 332.

[0027] As a technical optimization of this utility model, the boom assembly 4 includes a lead screw slide 41, which is fixedly connected to a lead screw nut 325. The boom assembly 4 also includes a lifting slider 42, which is fixedly connected to a lifting slider connecting block 43 and slidably connected to a lifting guide rail 326. The lifting slider connecting block 43 is fixedly connected to a boom mounting plate 44. A boom drive motor 46 and a boom mounting seat 45 are mounted on the boom mounting plate 44. The boom drive motor 46 is fixedly connected to a boom drive pulley 471. The boom drive pulley 471 drives a boom driven synchronous pulley 481 via a synchronous belt 411. The boom driven synchronous pulley 481 drives a boom drive pulley 2472 via a boom driven shaft 49. The boom drive pulley 2472 drives the boom driven synchronous pulley 2482 via the synchronous belt 411. Pressure wheels 410 are mounted on both sides of the synchronous belt 411.

[0028] As a technical optimization of this utility model, the forearm assembly 5 includes a forearm connecting shaft 53. The forearm assembly 5 is rotatably connected to the boom assembly 4 via a spacer 51 and a bearing 52. The forearm connecting shaft 53 is fixedly connected to a forearm connecting shaft mounting seat 551, which is mounted on a forearm mounting plate 54. The forearm mounting plate 54 is fixedly connected to a forearm drive motor 58, which is fixedly connected to a forearm drive synchronous pulley 56. The forearm drive synchronous pulley 56 is driven by a belt. A driven synchronous belt pulley 57 for the gripper is provided. A gripper connecting shaft 59 and a gripper connecting seat 510 are mounted on the driven synchronous belt pulley 57. The gripper connecting shaft 59 is connected to the driven synchronous belt pulley 57 by a key. The forearm mounting plate 54 is also fixedly mounted with a gripper output shaft mounting seat 1552 and a gripper output shaft mounting seat 2553. The gripper connecting shaft 59 is movably connected to the gripper output shaft mounting seat 1552 and the gripper output shaft mounting seat 2553 by bearings. A gripper connecting shaft end retaining ring 511 is installed at the upper end of the gripper connecting shaft 59.

[0029] As a technical optimization of this utility model, the suction cup assembly 6 is composed of a suction cup mounting plate 61 and a suction cup 62. The suction cup 62 is mounted on the suction cup mounting plate 61, and the suction cup mounting plate 61 is mounted on the gripper connecting seat 510.

[0030] As a technical optimization of this utility model, the boom assembly 4 is installed on the lead screw nut 325 and forms a sliding guide connection with the lifting guide rail 326 through the lifting slider 42, and can move up and down along the lead screw 32.

[0031] As a technical optimization of this utility model, in order to ensure that the components are not easily damaged during long-term use and reduce maintenance costs, the selection of materials for each component fully considers the special characteristics of glass ball placement operations and the stability requirements of mechanical structures, and selects materials with high strength, corrosion resistance, and low coefficient of friction.

[0032] As a technical optimization solution of this utility model, in order to achieve a compact layout and efficient operation of the mechanical structure, in terms of size design, the dimensions of each component are precisely calculated and optimized based on the robot's workspace, load capacity and the size specifications of the glass ball.

[0033] As a technical optimization of this utility model, this utility model adopts electric drive and uses an electric motor as the power source. Compared with hydraulic drive, it has advantages such as long service life, low noise, and low maintenance requirements, and is more suitable for the joint rotation of small-load robotic arms.

[0034] As a technical optimization of this utility model, the end effector uses a vacuum suction type, utilizing negative pressure to lift glass balls. This is suitable for smooth, easily broken glass materials and can grasp glass balls weighing up to 6kg. The forearm, upper arm, base rotation mechanism, and robotic arm lifting mechanism are all connected to synchronous pulleys via motors, and the corresponding components are driven to rotate or lift via reducers. Based on calculations of load, moment of inertia, angular acceleration, etc., the motor and reducer models are rationally selected to ensure stable operation of each mechanism.

[0035] In the actual assembly of the glass ball placement robot's mechanical structure, the first step is to fix the cleaned and prepared base mounting plate 1 onto the work platform, ensuring its levelness and stability meet the requirements. Next, the rotating mechanism 2 is installed at the designated position on the base mounting plate 1 according to the design requirements, secured with appropriate fastening bolts to ensure a firm installation. Then, the lifting mechanism 3, the upper arm assembly 4, the lower arm assembly 5, and the suction cup assembly 6 are installed sequentially. During installation, the clearance between each component is strictly controlled to ensure smooth lifting movements. When installing the rotating mechanism 2, the upper arm assembly 4, and the lower arm assembly 5, their positions are precisely adjusted to ensure flexible rotation and appropriate tension of the synchronous belt pulleys. After each component is installed, its installation position and fixation are checked to ensure it meets the assembly requirements.

[0036] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0037] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other implementation schemes that can be understood by those skilled in the art.

Claims

1. A glass sphere placement robot comprising a base mounting plate (1) characterised in that: It also includes a rotating mechanism (2), a lifting mechanism (3), a boom assembly (4), a forearm assembly (5), and a suction cup assembly (6). The rotating mechanism (2) is fixed on the base mounting plate (1). The rotating mechanism (2) includes a rotating drive motor (21), a rotating drive pulley (22), a rotating driven pulley (23), a rotating synchronous belt (24), a rotating base (25), and a rotating shaft (26). The rotating drive motor (21) drives the rotating drive pulley (22) to rotate. The rotating drive pulley (22) drives the rotating driven pulley (23) to rotate through the rotating synchronous belt (24). The rotating driven pulley (23) is connected to the rotating shaft (26) by a key. The rotating shaft (26) is movably connected to the rotating base (25) through bearings. The rotating base (25) is fixed on the base mounting plate (1).

2. The glass sphere placement robot of claim 1, wherein: The lifting mechanism (3) includes a lifting base plate (324) and a lifting top plate (323). The lifting base plate (324) is mounted on the rotating mechanism (2). A lifting motor base (312) is mounted on the lifting top plate (323). A lifting drive motor (311) is mounted on the lifting motor base (312) to drive the lead screw (32) to rotate. The lead screw (32) is connected to the output shaft of the lifting drive motor (311) through a lead screw coupling (321). The lead screw (32) is mounted on both the top and bottom. The system is equipped with a lead screw end bearing seat (322), which is fixedly connected to the lifting base plate (324) and the lifting top plate (323). The lead screw (32) is screwed to the lead screw nut (325). The lifting base plate (324) is also equipped with a lifting guide rail (326), a limiting plate (327) and a buffer mounting seat (332). The limiting plate (327) is used to limit the lifting guide rail (326), and the buffer mounting seat (332) is equipped with a buffer (331).

3. The glass sphere placement robot of claim 1, wherein: The boom assembly (4) includes a lead screw slide (41) fixedly connected to a lead screw nut (325). The boom assembly (4) also includes a lifting slider (42) fixedly connected to a lifting slider connecting block (43) and slidably connected to a lifting guide rail (326). The lifting slider connecting block (43) is fixedly connected to a boom mounting plate (44). A boom drive motor (46) and a boom mounting base are mounted on the boom mounting plate (44). (45) The boom drive motor (46) is fixedly connected to the boom drive pulley (471). The boom drive pulley (471) drives the boom driven synchronous pulley (481) through the synchronous belt (411). The boom driven synchronous pulley (481) drives the boom drive pulley 2 (472) through the boom driven shaft (49). The boom drive pulley 2 (472) drives the boom driven synchronous pulley 2 (482) through the synchronous belt (411). Pressure wheels (410) are installed on both sides of the synchronous belt (411).

4. The glass sphere placement robot of claim 1, wherein: The forearm assembly (5) includes a forearm connecting shaft (53). The forearm assembly (5) is rotatably connected to the upper arm assembly (4) through a spacer (51) and a bearing (52). The forearm connecting shaft (53) is fixedly connected to a forearm connecting shaft mounting seat (551). The forearm connecting shaft mounting seat (551) is mounted on a forearm mounting plate (54). The forearm mounting plate (54) is fixedly connected to a forearm drive motor (58). The forearm drive motor (58) is fixedly connected to a forearm drive synchronous pulley (56). The forearm drive synchronous pulley (56) drives the gripper driven synchronous belt through a belt. The forearm mounting plate (54) is equipped with a forearm connecting shaft (59) and a forearm connecting seat (510) mounted on the forearm driven synchronous belt pulley (57). The forearm connecting shaft (59) is connected to the forearm driven synchronous belt pulley (57) by a key. The forearm mounting plate (54) is also fixedly equipped with a forearm output shaft mounting seat 1 (552) and a forearm output shaft mounting seat 2 (553). The forearm connecting shaft (59) is movably connected to the forearm output shaft mounting seat 1 (552) and the forearm output shaft mounting seat 2 (553) by bearings. The forearm connecting shaft (59) is equipped with a forearm connecting shaft end retaining ring (511) at the upper end of the forearm connecting shaft (59).

5. The glass sphere placement robot of claim 1, wherein: The suction cup assembly (6) consists of a suction cup mounting plate (61) and a suction cup (62). The suction cup (62) is mounted on the suction cup mounting plate (61), and the suction cup mounting plate (61) is mounted on the gripper connector (510).

6. The glass sphere placement robot of claim 3, wherein: The boom assembly (4) is mounted on the lead screw nut (325) and forms a sliding guide connection with the lifting guide rail (326) through the lifting slider (42), and can move up and down along the lead screw (32).

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