Classification carrying mechanical arm

Abstract

The utility model belongs to the technical field of workpiece carrying, and discloses a classified carrying mechanical arm. The mechanical arm is arranged above the bearing base and can move in a discrete mode in the first direction, the second direction and the vertical direction, and the first direction and the second direction are both the horizontal direction and are perpendicular to each other. The multiple adsorption mechanisms are arranged on the mechanical arm at intervals, the distance between every two adjacent adsorption mechanisms is adjustable, each adsorption mechanism comprises a suction nozzle and a vacuum part, the suction nozzles can move in the vertical direction relative to the mechanical arm, and the vacuum parts communicate with the suction nozzles so that the suction nozzles can generate adsorption force. Through discrete movement of the mechanical arm, rapid coarse adjustment of the position of the suction nozzle is achieved, and then fine adjustment of the position of the suction nozzle is achieved by adjusting the distance between the adsorption mechanisms and the height of the suction nozzle. Each adsorption mechanism is controlled by an independent vacuum piece, workpieces can be selectively adsorbed, for example, a plurality of good products or defective products at non-adjacent positions are adsorbed from a mixing station at a time, and the efficiency of classifying and placing the workpieces is improved.

Description

Technical Field

[0001] This utility model relates to the field of workpiece handling technology, and in particular to a sorting and handling robotic arm. Background Technology

[0002] In industrial manufacturing, quality inspection of workpieces is a crucial step in ensuring product quality. After workpieces complete various inspection processes, classifying and arranging good and defective products according to the inspection results is an essential step. This operation not only facilitates subsequent production scheduling—for example, good products can directly proceed to the next process or packaging stage, while defective products can undergo further analysis and processing—but also improves the efficiency of the entire production process and the scientific nature of management. Traditional classification and placement methods often rely on manual labor or simple mechanical devices, requiring significant investment of manpower and time, and are prone to classification errors, affecting the accuracy and efficiency of production.

[0003] Currently, some companies use adsorption-based robotic arms to handle workpieces. However, because good and defective products are mixed after inspection, the robotic arm can only adsorb and transport workpieces one by one. In each handling process, the robotic arm needs to first locate a workpiece, complete the adsorption action, and then transport it to the corresponding good or defective product storage area before returning to find the next workpiece. This operating mode means that the robotic arm wastes most of its time on back-and-forth movement and repetitive positioning, resulting in extremely low overall handling efficiency and seriously affecting the output speed and economic benefits of the production line. Utility Model Content

[0004] The purpose of this invention is to provide a sorting and handling robotic arm to solve the problem in the prior art where good and defective products are mixed, the robotic arm can only perform adsorption and transport operations on the workpieces one by one and can only position one workpiece at a time, resulting in back-and-forth movement and repeated positioning, which leads to low efficiency.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] A sorting and handling robotic arm is provided, comprising:

[0007] Support;

[0008] A robotic arm is positioned above the support base and can move discretely along a first direction, a second direction, and a vertical direction. The first direction and the second direction are both horizontal and perpendicular to each other.

[0009] An adsorption mechanism is provided, comprising multiple adsorption mechanisms spaced apart on the robotic arm, with adjustable spacing between adjacent adsorption mechanisms. Each adsorption mechanism includes a suction nozzle and a vacuum component. The suction nozzle can move relative to the robotic arm along the vertical direction, and the vacuum component is connected to the suction nozzle to allow the suction nozzle to adsorb the workpiece.

[0010] As an optional technical solution for a sorting and handling robotic arm, the sorting and handling robotic arm further includes a support frame, which is mounted on the bearing seat. The support frame includes a first gantry frame, a second gantry frame, and a first crossbeam. The top of both the first gantry frame and the second gantry frame is provided with a second crossbeam. The second crossbeam extends along the first direction, and the first crossbeam extends along the second direction with both ends slidably mounted on the second crossbeam. The robotic arm is mounted on the first crossbeam.

[0011] As an optional technical solution for a sorting and handling robotic arm, a first guide is provided on the top surface of the second crossbeam extending along the first direction, and a first mating member is provided at both ends of the first crossbeam. The first mating member and the first guide member cooperate to drive the first crossbeam to move along the first direction, thereby driving the robotic arm to move along the first direction.

[0012] As an optional technical solution for a sorting and handling robotic arm, the support frame further includes a support plate, the robotic arm is mounted on the support plate, the first crossbeam extends along the second direction and is provided with a second guide member, and a second mating member is provided on one side of the support plate. The second mating member cooperates with the second guide member to drive the support plate to move along the second direction, thereby driving the robotic arm to move along the second direction.

[0013] As an optional technical solution for a sorting and handling robotic arm, there are two second guide members, which are respectively set on two mutually perpendicular side walls of the first crossbeam, and two corresponding second mating members are provided.

[0014] As an optional technical solution for a sorting and handling robotic arm, a third guide is provided on the other side of the support plate along the vertical direction, and the robotic arm is provided with a third mating component. The third mating component cooperates with the third guide component to drive the robotic arm to move along the vertical direction.

[0015] As an optional technical solution for the sorting and handling robotic arm, the sorting and handling robotic arm further includes a detection mechanism. The detection mechanism includes a first detection component, which includes a first blocking member and a first identification member. The first identification member is disposed on the periphery of the second crossbeam, and the first blocking member is disposed on the first mating member. The first mating member moves along the first direction to drive the first blocking member to be identified by the first identification member.

[0016] As an optional technical solution for a sorting and handling robotic arm, the detection mechanism includes a second detection component, which includes a second blocking member and a second identification member. The second identification member is disposed on the periphery of the first crossbeam, and the second blocking member is disposed on the second mating member. The second mating member moves along the second direction to drive the second blocking member to be identified by the second identification member.

[0017] As an optional technical solution for a sorting and handling robotic arm, the detection mechanism includes a third detection component, which includes a third blocking component and a third identification component. The third identification component is disposed on the periphery of the support plate, and the third blocking component is disposed on the third mating component. The third mating component moves along the vertical direction to drive the third blocking component to be identified by the third identification component.

[0018] As an optional technical solution for a sorting and handling robotic arm, multiple first identification elements are spaced apart along the first direction; multiple second identification elements are spaced apart along the second direction; and multiple third identification elements are spaced apart along the vertical direction.

[0019] The beneficial effects of this utility model are:

[0020] This application discloses a sorting and handling robotic arm, including a support base, a robotic arm, and adsorption mechanisms. The robotic arm is positioned above the support base and can move discretely along a first direction, a second direction, and a vertical direction. The first and second directions are both horizontal and perpendicular to each other. Multiple adsorption mechanisms are spaced apart on the robotic arm, with adjustable spacing between adjacent adsorption mechanisms. Each adsorption mechanism includes a suction nozzle and a vacuum component. The suction nozzle can move vertically relative to the robotic arm, and the vacuum component is connected to the suction nozzle to generate adsorption force. Rapid coarse adjustment of the suction nozzle position is achieved through the discrete movement of the robotic arm, and fine adjustment of the nozzle position is achieved by adjusting the spacing between the adsorption mechanisms and the height of the suction nozzle. Each adsorption mechanism is controlled by an individual vacuum component, allowing selective adsorption of workpieces, such as adsorbing multiple good or defective products from non-adjacent positions from a mixed workstation at once, thus improving the efficiency of sorting and placing workpieces. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model 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 content of the embodiments of this utility model and these drawings without creative effort.

[0022] Figure 1 This is a first-view schematic diagram of the sorting and handling robotic arm provided in this embodiment of the utility model;

[0023] Figure 2 This is a second-view schematic diagram of the sorting and handling robotic arm provided in this embodiment of the utility model;

[0024] Figure 3 This is a third-view schematic diagram of the sorting and handling robotic arm provided in this embodiment of the utility model.

[0025] In the picture:

[0026] 10. Support base;

[0027] 20. Robotic arm; 21. Third mating component;

[0028] 30. Adsorption mechanism; 31. Suction nozzle; 32. Vacuum component;

[0029] 41. First gantry frame; 411. Second crossbeam; 4111. First guide component; 412. Column; 42. Second gantry frame; 43. First crossbeam; 431. First mating component; 432. Second guide component; 44. Support plate; 441. Second mating component; 442. Third guide component; 45. Connecting plate;

[0030] 51. First detection component; 511. First blocking component; 512. First identification component; 52. Second detection component; 521. Second blocking component; 522. Second identification component; 53. Third detection component; 531. Third blocking component; 532. Third identification component. Detailed Implementation

[0031] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0032] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0035] In existing technologies, adsorption-based robotic arms are used to handle workpieces. However, because good and defective products are mixed after inspection, the robotic arm can only perform adsorption and transport operations on a one-by-one basis. During each transport process, the robotic arm needs to first locate a workpiece, complete the adsorption action, and then transport it to the corresponding good or defective product storage area before returning to find the next workpiece. This operating mode results in the robotic arm wasting most of its time on back-and-forth movement and repetitive positioning, leading to extremely low overall transport efficiency and severely impacting production line output speed and economic benefits.

[0036] To address the aforementioned problems, this embodiment provides a sorting and handling robotic arm, see reference. Figures 1-3 The sorting and handling robotic arm includes a support base 10, a robotic arm 20, and an adsorption mechanism 30.

[0037] Furthermore, the robotic arm 20 is positioned above the support base 10 and can move discretely along a first direction, a second direction, and a vertical direction. The first and second directions are both horizontal and perpendicular to each other. Specifically, the sorting and handling robotic arm also includes a support frame, which is positioned on the support base 10. The support frame includes a first gantry 41, a second gantry 42, and a first crossbeam 43. A second crossbeam 411 is provided at the top of both the first gantry 41 and the second gantry 42. The second crossbeam 411 extends along the first direction, and the first crossbeam 43 extends along the second direction with its two ends slidably mounted on the second crossbeam 411. The robotic arm 20 is positioned on the first crossbeam 43. Specifically, both the first gantry 41 and the second gantry 42 include columns 412. Two columns 412 are spaced apart on the support base 10 along the first direction, and the two ends of the second crossbeam 411 are fixed to the tops of the two columns 412.

[0038] Furthermore, a first guide member 4111 extends along the first direction from the top surface of the second crossbeam 411, and first mating members 431 are provided at both ends of the first crossbeam 43. The first mating members 431 cooperate with the first guide member 4111 to drive the first crossbeam 43 to move along the first direction, thereby driving the robotic arm 20 to move along the first direction. In this embodiment, the first guide member 4111 is configured as a slide rail, and the first mating member 431 is configured as a slider, with the slider slidingly engaging with the slide rail. In other embodiments, the first guide member 4111 can be configured as a slide groove and a lead screw, and the first mating member 431 can be configured as a pulley and a nut, etc.

[0039] Furthermore, the support frame also includes a support plate 44, with the robotic arm 20 mounted on the support plate 44. A first crossbeam 43 extends along a second direction and is provided with a second guide member 432. A second mating member 441 is provided on one side of the support plate 44. The second mating member 441 cooperates with the second guide member 432, driving the support plate 44 to move along the second direction, thereby driving the robotic arm 20 to move along the second direction. In this embodiment, the second guide member 432 is configured as a slide rail, and the second mating member 441 is configured as a slider. In other embodiments, the second guide member 432 can be configured as a groove and a lead screw, and the second mating member 441 can be correspondingly configured as a pulley and a nut, etc.

[0040] Specifically, there are two second guide members 432, which are respectively disposed on two mutually perpendicular side walls of the first crossbeam 43, and two corresponding second mating members 441 are disposed. In this embodiment, the support frame also includes a connecting plate 45, which is disposed on the side of the support plate 44 near the first crossbeam 43. The connecting plate 45 is configured as an "L" shape, with one connecting part fixed to the support plate 44, and the other connecting part located on the top of the first crossbeam 43 and used to fix one of the second mating members 441. The other second mating member 441 is directly fixed to the support plate 44.

[0041] Furthermore, a third guide member 442 extends vertically from the other side of the support plate 44, and a third mating member 21 is provided on the robotic arm 20. The third mating member 21 cooperates with the third guide member 442 to drive the robotic arm 20 to move vertically. Specifically, the robotic arm 20 is a plate. In this embodiment, the third guide member 442 is a slide rail, and the third mating member 21 is a slider, which slides in cooperation with the slide rail. In other embodiments, the third guide member 442 can be a groove and a lead screw, and the third mating member 21 can be a pulley and a nut, etc.

[0042] Furthermore, the sorting and handling robotic arm also includes a detection mechanism, which includes a first detection component 51. The first detection component 51 includes a first blocking member 511 and a first identification member 512. The first identification member 512 is disposed around the second crossbeam 411, and the first blocking member 511 is disposed around the first mating member 431. The first mating member 431 moves along a first direction to cause the first blocking member 511 to be identified by the first identification member 512. The detection mechanism also includes a second detection component 52, which includes a second blocking member 521 and a second identification member 522. The second identification member 522 is disposed around the first crossbeam 431, and the second blocking member 521 is disposed around the second mating member 441. The second mating member 441 moves along a second direction to cause the second blocking member 521 to be identified by the second identification member 522. The detection mechanism includes a third detection component 53, which includes a third blocking member 531 and a third identification member 532. The third identification member 532 is located on the periphery of the support plate 44, and the third blocking member 531 is located on the third mating member 21. The third mating member 21 moves in the vertical direction to drive the third blocking member 531 to be identified by the third identification member 532.

[0043] In this embodiment, the first blocking member 511, the second blocking member 521, and the third blocking member 531 are all configured as baffles, and the first identifying member 512, the second identifying member 522, and the third identifying member 532 are configured as photogates. When the baffle passes through the photogate, it blocks the signals from the signal transmitting end and the signal receiving end of the photogate. It should be noted that since photogate triggering is prior art, it will not be described in detail here. In other embodiments, the first blocking member 511, the second blocking member 521, and the third blocking member 531 can be configured as laser sensors, capacitive sensors, or Hall sensors, etc., and the first identifying member 512, the second identifying member 522, and the third identifying member 532 can be configured as plates, metal parts, and magnetic parts, respectively.

[0044] Furthermore, multiple first identification elements 512 are spaced apart along a first direction; multiple second identification elements 522 are spaced apart along a second direction; and multiple third identification elements 532 are spaced apart along a vertical direction. By using multiple spaced first identification elements 512, second identification elements 522, and third identification elements 532, the robotic arm 20 can quickly reach the positions of the aforementioned fixed points, improving the efficiency of workpiece positioning.

[0045] Furthermore, multiple adsorption mechanisms 30 are spaced apart on the robotic arm 20. The distance between two adjacent adsorption mechanisms 30 is adjustable. Each adsorption mechanism 30 includes a suction nozzle 31 and a vacuum component 32. The suction nozzle 31 can move vertically relative to the robotic arm 20. The vacuum component 32 is connected to the suction nozzle 31 to allow the suction nozzle 31 to adsorb the workpiece. Specifically, the adjustable distance between two adjacent adsorption mechanisms 30 and the vertical movement of the suction nozzle 31 relative to the robotic arm 20 include slider-rail cooperation, lead screw and nut, etc., which will not be elaborated here. Specifically, the power source for adjusting the distance includes a motor, cylinder, or manual operation, which will not be elaborated here.

[0046] Specifically, the suction nozzle 31 is made of PEEK material. PEEK (polyetheretherketone) is a high-performance thermoplastic engineering plastic, belonging to aromatic semi-crystalline polymers. Its molecular structure consists of alternating benzene rings, ether bonds, and ketone groups. Its Shore D hardness is approximately 80HB-85HB, far lower than that of metal materials such as aluminum alloys and steel. When the suction nozzle 31 comes into contact with the workpiece surface, it undergoes slight elastic deformation, forming a flexible buffer layer to effectively disperse contact stress and prevent scratches on the workpiece surface due to excessive local pressure. In this embodiment, three suction nozzles 31 are provided, all with the same diameter. However, each of the three suction nozzles 31 has a partition inside to divide it into two or four parts. The diameter of the four parts is 0.6mm, and the diameter of the two parts is 1.2mm. It should be noted that the size of the three suction nozzles 31 can be adjusted adaptively according to the adsorption position of the three suction nozzles 31 and the shape and weight of the workpiece.

[0047] Specifically, the adsorption mechanism 30 also includes an elastic element, preferably a spring, which is disposed between the power source and the suction nozzle 31, so that the suction nozzle 31 floats and abuts against the workpiece, reducing the probability of the suction nozzle 31 crushing or scratching the surface of the workpiece.

[0048] Furthermore, the carrier 10 includes a mixing station, a good product station, and a defective product station. After the suction nozzle 31 can adsorb multiple qualified workpieces from non-adjacent positions at the mixing station in a single operation, it transports the workpieces to the good product station, and then transports the other unqualified workpieces to the defective product station. In other embodiments, the carrier 10 also includes a sorting station. After the suction nozzle 31 can adsorb multiple qualified workpieces from non-adjacent positions at the mixing station in a single operation, it places the multiple workpieces one by one in the sorting station, and then transports all the sorted workpieces to the good product station.

[0049] The sorting and handling robotic arm provided in this embodiment achieves rapid coarse adjustment of the position of the suction nozzle 31 through the discrete movement of the robotic arm 20, and then achieves fine adjustment of the position of the suction nozzle 31 by adjusting the spacing between the suction mechanisms 30 and the height of the suction nozzle 31. Each suction mechanism 30 is controlled by an individual vacuum component 32, which can selectively adsorb workpieces, such as adsorbing multiple good or defective products from non-adjacent positions from a mixed workstation at one time, thereby improving the efficiency of sorting and placing workpieces.

[0050] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A robotic arm for sorting and handling, characterized in that, include: Support seat (10); A robotic arm (20) is disposed above the support base (10) and can move discretely along a first direction, a second direction and a vertical direction. The first direction and the second direction are both horizontal and perpendicular to each other. The adsorption mechanism (30) is a plurality of such adsorption mechanisms (30) and is spaced apart on the robotic arm (20). The spacing between two adjacent adsorption mechanisms (30) is adjustable. The adsorption mechanism (30) includes a suction nozzle (31) and a vacuum component (32). The suction nozzle (31) can move relative to the robotic arm (20) in the vertical direction. The vacuum component (32) is connected to the suction nozzle (31) so that the suction nozzle (31) adsorbs the workpiece.

2. The sorting and handling robotic arm according to claim 1, characterized in that, The sorting and handling robotic arm also includes a support frame, which is mounted on the bearing seat (10). The support frame includes a first gantry (41), a second gantry (42), and a first crossbeam (43). The top of the first gantry (41) and the second gantry (42) are both provided with a second crossbeam (411). The second crossbeam (411) extends along the first direction, and the first crossbeam (43) extends along the second direction and is slidably mounted on the second crossbeam (411) at both ends. The robotic arm (20) is mounted on the first crossbeam (43).

3. The sorting and handling robotic arm according to claim 2, characterized in that, The top surface of the second crossbeam (411) extends along the first direction and is provided with a first guide member (4111). The two ends of the first crossbeam (43) are provided with first mating members (431). The first mating members (431) cooperate with the first guide member (4111) to drive the first crossbeam (43) to move along the first direction, thereby driving the robotic arm (20) to move along the first direction.

4. The sorting and handling robotic arm according to claim 3, characterized in that, The support frame also includes a support plate (44), the robotic arm (20) is disposed on the support plate (44), the first crossbeam (43) extends along the second direction and is provided with a second guide member (432), a second mating member (441) is provided on one side of the support plate (44), the second mating member (441) cooperates with the second guide member (432) to drive the support plate (44) to move along the second direction, thereby driving the robotic arm (20) to move along the second direction.

5. The sorting and handling robotic arm according to claim 4, characterized in that, There are two second guide members (432), which are respectively disposed on two mutually perpendicular side walls of the first crossbeam (43), and two corresponding second mating members (441).

6. The sorting and handling robotic arm according to claim 4, characterized in that, A third guide (442) is provided on the other side of the support plate (44) extending along the vertical direction. The robotic arm (20) is provided with a third mating part (21). The third mating part (21) cooperates with the third guide (442) to drive the robotic arm (20) to move along the vertical direction.

7. The sorting and handling robotic arm according to claim 6, characterized in that, The sorting and handling robotic arm also includes a detection mechanism, which includes a first detection component (51). The first detection component (51) includes a first blocking member (511) and a first identification member (512). The first identification member (512) is disposed on the periphery of the second crossbeam (411), and the first blocking member (511) is disposed on the first mating member (431). The first mating member (431) moves along the first direction to drive the first blocking member (511) to be identified by the first identification member (512).

8. The sorting and handling robotic arm according to claim 7, characterized in that, The detection mechanism includes a second detection component (52), which includes a second blocking member (521) and a second identification member (522). The second identification member (522) is disposed on the periphery of the first crossbeam (43), and the second blocking member (521) is disposed on the second mating member (441). The second mating member (441) moves along the second direction to drive the second blocking member (521) to be identified by the second identification member (522).

9. The sorting and handling robotic arm according to claim 8, characterized in that, The detection mechanism includes a third detection component (53), which includes a third blocking member (531) and a third identification member (532). The third identification member (532) is disposed on the periphery of the support plate (44), and the third blocking member (531) is disposed on the third mating member (21). The third mating member (21) moves along the vertical direction to drive the third blocking member (531) to be identified by the third identification member (532).

10. The sorting and handling robotic arm according to claim 9, characterized in that, The first identification element (512) is provided in multiple spaced intervals along the first direction; the second identification element (522) is provided in multiple spaced intervals along the second direction; and the third identification element (532) is provided in multiple spaced intervals along the vertical direction.

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