Automatic assembling and packaging line body with highly symmetrical mechanical arms

Abstract

The utility model discloses an automatic assembling and packing line body with highly symmetrical manipulators, which comprises a line body main body, a visual positioning assembly comprises a support fixed on one side of a conveyor belt, the top of the support extends towards the center of the conveyor belt and is provided with a fixing plate parallel to the conveyor belt, and the fixing plate is provided with a positioning camera. The mechanical arm assembly comprises a mounting base and a first shaft arm, first Y-axis mounting bases are arranged on the two sides of the upper end of the first shaft arm and assembled with the second shaft arm, a second Y-axis mounting base is arranged at one end of the second shaft arm and assembled with the third shaft arm, and a second parallel rotating shaft is arranged at one end of the third shaft arm. The other end of the second parallel rotating shaft is connected with a fourth shaft arm, third Y-axis connecting positions on the two sides of the fifth shaft arm are assembled through one end of the fourth shaft arm, and a third parallel rotating shaft is arranged at the bottom of the fifth shaft arm. According to the utility model, the problems of low installation efficiency and low accuracy caused by manual product placement in the prior art are solved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm applications, and in particular to an automatic assembly and packaging line with a highly symmetrical robotic arm. Background Technology

[0002] With labor costs rising year by year, manufacturers are prioritizing cost reduction, and using automated equipment and devices to replace manual labor in some tasks has become a way to lower labor costs. However, current methods typically involve manual installation and boxing, placing parts into products or packaging products into boxes. This approach has low automation, and manual operation cannot guarantee proper placement. After prolonged work, due to limited energy, errors in orientation and a gradual decrease in efficiency are inevitable.

[0003] In view of this, this technical solution proposes an automated assembly and packaging line with a highly symmetrical robotic arm. This line, combined with the symmetrical robotic arm, not only operates stably, but also works with a positioning camera to achieve precise picking and placing through a "5-point positioning" method, thereby improving overall efficiency. Utility Model Content

[0004] The present invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the main objective of this invention is to provide an automated assembly and packaging line with a highly symmetrical robotic arm, aiming to address the problems of low efficiency and low accuracy in manual product placement and installation in existing technologies.

[0005] To achieve the above objectives, this utility model provides an automated assembly and packaging line with a highly symmetrical robotic arm, comprising a main body of the line consisting of a conveyor belt, a vision positioning component, and a robotic arm component.

[0006] The vision positioning component and the robotic arm component are located on opposite sides of the conveyor belt near the unloading end.

[0007] The visual positioning component includes a bracket fixed to one side of the conveyor belt, the top of the bracket extending towards the center of the conveyor belt, and fitted with a fixing plate parallel to the conveyor belt. The fixing plate is equipped with a positioning camera for capturing images of the area below.

[0008] The robotic arm assembly includes a mounting base and a first upper arm connected via a first parallel rotation axis that rotates upwards along the X-axis. The first arm has first Y-axis mounting bases on both sides of its upper end. A second arm is assembled to the first Y-axis mounting bases via first Y-axis connection points. A second Y-axis mounting base is located on both sides of one end of the second arm, and a third arm is assembled to the second Y-axis mounting base via second Y-axis connection points. A second parallel rotation axis is located at one end of the third arm, and the other end of the second parallel rotation axis is connected to a fourth arm. A third Y-axis connection point is located on both sides of the fifth arm at one end of the fourth arm via a third Y-axis mounting base. A third parallel rotation axis is located at the bottom of the fifth arm.

[0009] The first, second, third, fourth, and fifth shaft arms are all symmetrical structures. The second parallel axis is a rotating shaft parallel to the third and fourth shaft arms, and the third parallel rotating axis is a rotating shaft parallel to the fifth shaft arm and the conveyor belt.

[0010] As a further embodiment of this utility model, the robotic arm assembly is mounted on a foot on one side of the conveyor belt. The foot includes a base and a cast steel profile mounted on the base. The top of the cast steel profile is provided with a mounting platform that is fixed to the mounting base.

[0011] As a further embodiment of this invention, a receiving box is provided on one side of the conveyor belt, near the robotic arm assembly.

[0012] As a further improvement of this utility model, the back of the mounting base is provided with an adjustment knob for adjusting the running speed.

[0013] As a further embodiment of this utility model, the back of the mounting base is provided with a snap-fit ​​mounting base for compatible snap-fit ​​assembly.

[0014] As a further embodiment of this utility model, guide rail structures are formed on both sides of the top of the bracket for the fixing plate to slide into and be fixed.

[0015] The beneficial effects of this utility model are as follows:

[0016] In this solution, the support of the vision positioning component is fixed to the camera mounting plate via a top guide rail structure, allowing for flexible adjustment of the shooting range. Combined with a "5-point positioning" mechanism, it captures the product coordinates on the conveyor belt in real time, providing precise grasping guidance for the robotic arm. The robotic arm component adopts a symmetrical structure from the first to the fifth axis, with multi-degree-of-freedom linkage of the first parallel rotary axis, each Y-axis mounting base, and the second and third parallel rotary axes, ensuring torque balance during joint movement, reducing inertial deviation, and maintaining stability of the end effector during high-speed movement. In particular, the design of the second and third parallel rotary axes ensures that the grasping posture is always parallel to the conveyor belt, avoiding placement deviation. The base enhances the vibration resistance of the robotic arm base through cast steel profiles and a mounting platform, adapting to high-speed continuous operation. The receiving box near the robotic arm directly receives finished products, reducing transfer links. The adjustment knob on the back of the mounting base can quickly adjust the movement speed of the robotic arm, balancing the slow-speed anti-collision requirements of precision parts and the high-speed cycle requirements of small and light parts. The snap-fit ​​mounting base supports quick replacement of grippers, inspection tools, etc., expanding functional adaptability. The overall solution improves assembly efficiency by 2-3 times while increasing accuracy to nearly 100%. Furthermore, its modular design enables low maintenance costs and high environmental adaptability, making it particularly suitable for high-precision automated production lines in industries such as electronics and automotive parts. Attached Figure Description

[0017] To more clearly illustrate the technical solutions 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 the technical solutions 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.

[0018] Figure 1 This is a schematic diagram showing the overall arrangement of the main components of the line body in this utility model.

[0019] Figure 2 This is a schematic diagram of the footrest set at the bottom of the robotic arm assembly in this utility model.

[0020] Figure 3 This is a schematic diagram of the various components of the foot bracket in this utility model.

[0021] Figure 4 This is a schematic diagram of the movement of each joint in the robotic arm assembly of this utility model.

[0022] Figure 5 This is a disassembly diagram of the components of the robotic arm assembly in this utility model.

[0023] Figure 6 This is a schematic diagram of the 5-point positioning path involved in this utility model.

[0024] Explanation of reference numerals for main components / assemblies

[0025] label name label name 1 Line body 1220 First Axis Arm 10 Conveyor belt 1221 First Y-axis mounting bracket 11 Visual positioning components 123 First Y-axis connection position 110 support 1230 Second arm 111 Fixed plate 1231 Second Y-axis mounting bracket 112 Positioning camera 124 Second Y-axis connection position 12 robotic arm components 1240 Third axis arm 120 foot base 125 Second parallel rotation axis 1200 base 126 Fourth arm 1201 Cast steel profiles 1260 Third Y-axis mounting bracket 1202 Installation platform 127 Fifth arm 121 Mounting base 1270 Third Y-axis connection position 1210 Adjustment knob 1271 Third parallel rotation axis 1211 Snap-on mounting base 2 receiving box 122 First parallel rotation axis Detailed Implementation

[0026] as follows:

[0027] Please see the appendix Figure 1-6 ,

[0028] The main structure includes a line body (1) consisting of a conveyor belt (10), a vision positioning component (11), and a robotic arm component (12). The vision positioning component (11) and the robotic arm component (12) are located on opposite sides of the conveyor belt (10) near the unloading end. The vision positioning component (11) includes a bracket (110) fixed to one side of the conveyor belt (10). The top of the bracket (110) extends toward the center of the conveyor belt (10) and is fitted with a fixing plate (111) parallel to the conveyor belt (10). A positioning camera (112) for capturing images of the area below is provided on the fixed plate (111). The robotic arm assembly (12) includes a mounting base (121) and a first upper arm (1220) connected by a first parallel rotation axis (122) that rotates upward along the X-axis. First Y-axis mounting seats (1221) are provided on both sides of the upper end of the first arm (1220). The first Y-axis mounting seats (1221) assemble a second arm (1230) through a first Y-axis connection point (123). 1230) has a second Y-axis mounting base (1231) on both sides of one end. The second Y-axis mounting base (1231) assembles the third shaft arm (1240) through the second Y-axis connecting position (124). The third shaft arm (1240) has a second parallel rotating shaft (125) on one end. The other end of the second parallel rotating shaft (125) is connected to the fourth shaft arm (126). The fourth shaft arm (126) connects the third Y-axis on both sides of the fifth shaft arm (127) through the third Y-axis mounting base (1260). The fifth shaft arm (127) is assembled at the bottom of the fifth shaft arm (127) with a third parallel rotating shaft (1271). The first shaft arm (1220), the second shaft arm (1230), the third shaft arm (1240), the fourth shaft arm (126) and the fifth shaft arm (127) are all symmetrical structures. The second parallel shaft is a rotating shaft that is parallel to the third shaft arm (1240) and the fourth shaft arm (126). The third parallel rotating shaft (1271) is a rotating shaft that is parallel to the fifth shaft and the conveyor belt (10).

[0029] The working principle is as follows:

[0030] This technical solution addresses the problems of low assembly efficiency, insufficient placement accuracy, and fatigue-induced errors caused by manual operation in existing technologies. It achieves significant improvements by optimizing the design of the robotic arm structure and the visual positioning system. When placing products manually in the traditional way, efficiency is limited by the operating speed, and it is difficult to ensure the consistency of the orientation or position of each product. In particular, fatigue-induced errors are common during continuous operation. This solution uses the bracket (110) and fixed plate (111) structure in the visual positioning component (11) to precisely suspend the positioning camera (112) above the conveyor belt (10). Combined with the shooting angle parallel to the conveyor belt (10), the product position and posture can be captured in real time, forming a "5-point positioning" mechanism to ensure accurate coordinate correction before the robotic arm grasps the product. The robotic arm assembly (12) adopts a highly symmetrical design. The first axis arm (1220) to the fifth axis arm (127) are all arranged in a symmetrical structure. With the multi-degree-of-freedom linkage of the first parallel rotation axis (122), the first to third Y-axis mounting bases (1221, 1231, 1260), and the second and third parallel rotation axes (125, 1271), each axis arm can achieve balanced movement in the X, Y axes and rotational dimensions. This not only improves the overall rigidity of the robotic arm, but also reduces the inertial deviation caused by the asymmetrical structure, thereby maintaining stability during rapid movement. At the same time, the design of the second parallel rotation axis (125) connecting the third axis arm (1240) and the fourth axis arm (126), together with the third parallel rotation axis (1271) at the bottom of the fifth axis arm (127), ensures that the end effector remains parallel to the conveyor belt (10) when gripping, avoiding placement errors caused by angular deviation. The base (120) adopts a combination structure of cast steel profile (1201) and mounting platform (1202) to enhance the vibration resistance of the robotic arm base and adapt to high-speed operation conditions. In addition, the adjustment knob (1210) on the back of the mounting base (121) can adjust the movement speed of the robotic arm according to different product requirements, the snap-fit ​​mounting base (1211) facilitates compatibility with various end tools, and the guide rail structure on the top of the bracket (110) simplifies the installation and fine-tuning of the fixed plate (111). Through the above structural combination, this solution improves assembly efficiency while increasing the product placement accuracy to nearly 100%, which is especially suitable for automated production lines that require high precision and high cycle time.

[0031] The "5-point positioning" (path can be found in the appendix) includes... Figure 6The mechanism is as follows: The calibration plate is placed at the center of the camera's field of view; the robotic arm is moved to the top of the calibration plate and adheres to it, completing the adsorption; the robotic arm's X-axis is moved to 1 / 6 of the X-coordinate of the camera's field of view, ensuring the calibration plate height is the same as the product height, and the robotic arm moves out of the camera's field of view, triggering the camera to take a picture; the camera takes a picture to complete the first calibration; the robotic arm is moved to position "1" to adsorb the calibration plate, and then moved along the X-axis to position "2" to place the calibration plate, moving the robotic arm out of the field of view and triggering the camera to take a picture; the robotic arm is moved to position "2" to adsorb the calibration plate. With the calibration plate attached, move the robot arm along the X-axis to position "3" to place the calibration plate. Move the robot arm out of the field of view and trigger the camera to take a picture. Move the robot arm to position "3" to attach the calibration plate, move it to position "2" and rotate the R-axis to position "4" to place the calibration plate. Move the robot arm out of the field of view and trigger the camera to take a picture. Move the robot arm to position "4" to attach the calibration plate, move it to position "2" to place the calibration plate. Move the robot arm out of the field of view and trigger the camera to take a picture. Move the robot arm to position "2" to attach the calibration plate, move it to position "2" and rotate the R-axis to position "5" to place the calibration plate. Move the robot arm out of the field of view and trigger the camera to take a picture.

[0032] After all the appeal procedures are completed, based on the five appeal images, the visual coordinate system and the robot's material coordinate system are combined to realize the mutual conversion relationship between the visual pixel coordinate system and the robot's physical coordinate system, and to determine the rotation center of the vision system.

[0033] The assembly and disassembly process of the structure can be,

[0034] During assembly, the base (1200) is fixed to the ground, and the cast steel profile (1201) is vertically installed on the base (1200). The top mounting platform (1202) is ensured to be horizontal. Then, the mounting base (121) of the robotic arm assembly (12) is fixed to the mounting platform (1202) with bolts. The main body of the conveyor belt (10) is erected at the center of the line. A bracket (110) for the visual positioning assembly (11) is installed on one side of the conveyor belt (10). After adjusting the height of the bracket (110), the fixing plate (111) is horizontally slid in and locked using the guide rail structure on both sides of the top. Finally, the positioning camera (112) is installed at the center of the fixing plate (111). The first shaft arm (1220) is connected to the mounting base (121) via the first parallel rotating shaft (122) (X-axis), ensuring symmetry on both sides of the rotating shaft. Install the first Y-axis mounting base (1221) on both sides of the upper end of 1220. Insert the second shaft arm (1230) through the first Y-axis connection position (123) and fix it with a pin. Install the second Y-axis mounting base (1231) on both sides of the end of the second shaft arm (1230). Assemble the third shaft arm (1240) through the second Y-axis connection position (124) and adjust it to be parallel to the conveyor belt (10). Connect the second parallel rotating shaft (125) at the end of the third shaft arm (1240) to the fourth shaft arm (126) to ensure that the two shaft arms are parallel. Install the third Y-axis mounting base (1260) at the end of the fourth shaft arm (126). Fix the fifth shaft arm (127) through the third Y-axis connection position (1270). Finally, install the third parallel rotating shaft (1271) at the bottom of the fifth shaft arm (127) (parallel to the conveyor belt (10)).

[0035] When disassembling, turn off the power to the equipment, disconnect the pneumatic / electrical interface of the end effector, remove the tools, and starting from the fifth axis arm (127), loosen the fixing pin of the third Y-axis connection position (1270), separate the fourth axis arm (126) from the fifth axis arm (127), remove the connecting bolt of the second parallel rotating shaft (125) between the third axis arm (1240) and the fourth axis arm (126), separate the two axes arm, and sequentially remove the third axis arm (1240) (removed from the second Y-axis mounting base (1231)) and the second axis arm (1230) (removed from the first Y-axis mounting base (1270)). 21) Disassembly), finally disconnect the first shaft arm (1220) from the mounting base (121), disassemble the vision positioning component (11): loosen the guide rail locking device of the fixing plate (111), pull out the fixing plate (111) horizontally and remove the positioning camera (112); remove the bracket (110) on one side of the conveyor belt (10), remove the connecting bolts between the mounting base (121) and the foot (120) platform, and lift the robotic arm component (12); disassemble the cast steel profile (1201) and base (1200) of the foot (120), and finally disassemble the main body of the conveyor belt (10).

[0036] Reference Appendix Figure 2 , 3 In a preferred embodiment of the present invention, the robotic arm assembly (12) is mounted on a foot (120) on one side of the conveyor belt (10). The foot (120) includes a base (1200) and a cast steel profile (1201) mounted on the base (1200). The top of the cast steel profile (1201) is provided with a mounting platform (1202) fixed to the mounting base (121).

[0037] In this technical solution, the foot (120) of the robotic arm provides stable support through the bottom base (1200), the upper cast steel profile (1201) enhances the overall rigidity, and the top mounting platform (1202) is tightly fixed to the robotic arm base, which can effectively buffer the vibration during high-speed movement, ensure that the robotic arm maintains accurate positioning in complex movements, and adapt to the needs of different ground or production environments.

[0038] Reference Appendix Figure 1 In a preferred embodiment of the present invention, a receiving box (2) is provided on one side of the conveyor belt (10) and near the robotic arm assembly (12).

[0039] A receiving box (2) is set up near the robotic arm so that the finished product can be accurately put into the box directly after the robotic arm completes the assembly or packaging, eliminating the intermediate transfer link, shortening the motion stroke and improving efficiency, and avoiding collision or misalignment problems that may be caused by manual handling.

[0040] Reference Appendix Figure 5 In a preferred embodiment of this utility model, the mounting base (121) has an adjustment knob (1210) on its back for adjusting the running speed.

[0041] This solution allows for direct manual adjustment of the movement speed of each axis of the robotic arm via the adjustment knob (1210) on the back of the mounting base (121), adapting to the assembly needs of products of different sizes or precision. This not only improves the efficiency of quick gripping of small objects but also reduces the inertial impact during the operation of precision parts, achieving "one machine for multiple uses".

[0042] Reference Appendix Figure 5 In a preferred embodiment of this utility model, the mounting base (121) has a snap-fit ​​mounting base (1211) on its back for compatible snap-fit ​​assembly.

[0043] The snap-fit ​​mounting base (1211) supports quick replacement of grippers or sensors and other tools without tools, adapting to different operational needs, shortening changeover time, and expanding the detection or cleaning functions of the robotic arm.

[0044] Reference Appendix Figure 1 In a preferred embodiment of this utility model, the top two sides of the bracket (110) form guide rail structures for the fixing plate (111) to slide into and be fixed.

[0045] This technical solution uses the guide rail structure at the top of the bracket (110) to allow the fixing plate (111) to slide in and lock quickly along the rail, which facilitates the adjustment of the lateral position of the positioning camera (112) and ensures that it is accurately aligned with the center area of ​​the conveyor belt (10). It can adapt to the shooting needs of different product sizes without additional tools, while maintaining the overall structural stability.

[0046] The above are merely preferred embodiments of the present utility model and do not limit the patent scope of the present utility model. Any equivalent structural transformations made using the contents of the present utility model specification and drawings under the concept of the present utility model, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. An automatic assembly and packing line with a highly symmetrical robot, characterized in that, include The main body of the production line consists of a conveyor belt, a vision positioning component, and a robotic arm component. The vision positioning component and the robotic arm component are located on opposite sides of the conveyor belt near the unloading end. The visual positioning component includes a bracket fixed to one side of the conveyor belt, the top of the bracket extending towards the center of the conveyor belt, and fitted with a fixing plate parallel to the conveyor belt. The fixing plate is equipped with a positioning camera for capturing images of the area below. The robotic arm assembly includes a mounting base and a first upper arm connected via a first parallel rotation axis that rotates upwards along the X-axis. The first arm has first Y-axis mounting bases on both sides of its upper end. A second arm is assembled to the first Y-axis mounting bases via first Y-axis connection points. A second Y-axis mounting base is located on both sides of one end of the second arm, and a third arm is assembled to the second Y-axis mounting base via second Y-axis connection points. A second parallel rotation axis is located at one end of the third arm, and the other end of the second parallel rotation axis is connected to a fourth arm. A third Y-axis connection point is located on both sides of the fifth arm at one end of the fourth arm via a third Y-axis mounting base. A third parallel rotation axis is located at the bottom of the fifth arm. The first, second, third, fourth, and fifth shaft arms are all symmetrical structures. The second parallel rotation axis is a rotation axis parallel to the third and fourth shaft arms, and the third parallel rotation axis is a rotation axis parallel to the fifth shaft arm and the conveyor belt.

2. The automatic assembly and packing line with high-symmetry robot hands according to claim 1, characterized in that, The robotic arm assembly is mounted on a foot on one side of the conveyor belt. The foot includes a base and a cast steel profile mounted on the base. The top of the cast steel profile is provided with a mounting platform that is fixed to the mounting base.

3. The automatic assembly and packing line with high-symmetry robot hands according to claim 1, characterized in that, A receiving box is located on one side of the conveyor belt, near the robotic arm assembly.

4. The automatic assembly and packing line with high-symmetry robot hands according to claim 1, characterized in that, The mounting base has an adjustment knob on the back for adjusting the running speed.

5. The automatic assembly and packing line with high-symmetry robot hands according to claim 1, characterized in that, The mounting base has a snap-fit ​​mounting base on its back for compatible snap-fit ​​assembly.

6. The automatic assembly and packing line with high-symmetry robot hands according to claim 1, characterized in that, The top two sides of the bracket form guide rail structures for the fixing plate to slide into and be fixed.

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