Pick-and-place composite robot

Abstract

This utility model discloses a material handling and loading robot, comprising: a trolley equipped with rollers, a control cabinet, and a support frame; the control cabinet housing a battery and a controller for power supply; a robotic arm rotatably mounted on the support frame and connected to a drive motor; and a thermal gripping device including a thermal support base and a gripping mechanism. The thermal support base includes a thermal tray, a guide rail, and a linear motion module. The moving parts of the linear motion module are connected to the robotic arm. The gripping mechanism includes a motor and a gripper. The motor is connected to a lead screw, and the gripper is mounted on the lead screw via a moving block. The moving block is threadedly connected to the lead screw and slidably mounted on the guide rail. The thermal tray is equipped with a thermal tilt sensor, a level detector, and several laser sensors. The thermal tilt sensor, level detector, and laser sensors are all connected to the controller. This robot ensures accurate and stable handling of goods on the placement platform and thermal tray, and the robot exhibits high overall flexibility.

Description

Technical Field

[0001] This utility model belongs to the technical field of intelligent equipment, and in particular relates to a material handling and loading composite robot. Background Technology

[0002] Currently available hot-field loading and unloading robots have the following problems: they are not accurate in placing semiconductors and cannot be calibrated when there is a deviation; their overall size is too large, and they are relatively rigid in operation and cannot flexibly avoid obstacles. They can only operate in a specified and set track, and there will be collisions if there are obstacles. Utility Model Content

[0003] The purpose of this invention is to solve at least one problem of the prior art and to propose a material handling and loading robot.

[0004] To achieve the above objectives, this utility model proposes a material handling and loading robot, comprising:

[0005] The trolley is equipped with rollers, a control cabinet and a support frame, and the control cabinet contains a battery and a controller for power supply.

[0006] A robotic arm, which is rotatably mounted on a support frame, is connected to a drive motor via a transmission mechanism, and the drive motor is mounted on the support frame.

[0007] A thermal field gripping device includes a thermal field support base and a gripping mechanism mounted on the thermal field support base. The thermal field support base is equipped with a thermal field tray, a guide rail, and a linear motion module. The moving parts of the linear motion module are connected to a robotic arm to adjust the horizontal installation position of the thermal field support base relative to the robotic arm. The gripping mechanism includes a motor and grippers. The output end of the motor is connected to a lead screw. The grippers are mounted on the lead screw via a moving block, which is threadedly connected to the lead screw. The moving block is slidably mounted on the guide rail. The thermal field tray is located below the gripping mechanism. The thermal field tray is equipped with a thermal field tilt sensor, a level detector, and several laser sensors. The thermal field tilt sensor, level detector, and laser sensors are all connected to a controller. The controller is electrically connected to the drive motor, the power source of the motor, and the linear motion module, thereby controlling the gripping state of the grippers, the movement state of the thermal field support base, and the working state of the robotic arm.

[0008] A placement platform, which is mounted on a support frame and positioned relative to a heated pallet, is used for placing goods.

[0009] Preferably, the control cabinet is provided with a charging port, which is electrically connected to the battery.

[0010] Preferably, the control cabinet is equipped with an emergency stop button, which is electrically connected to the controller.

[0011] Preferably, the control cabinet is equipped with a door and ventilation openings.

[0012] Preferably, the support frame or control cabinet is equipped with a control display screen, which is electrically connected to the controller.

[0013] Preferably, the vehicle is an AGV (Automated Guided Vehicle).

[0014] Preferably, the linear motion module is a lead screw slider module, a lead screw slide module, or a synchronous belt linear module.

[0015] Preferably, the hot zone tray has an opening, the placement platform is located in the opening, and the placement platform is mounted on a support frame by a number of support rods.

[0016] Preferably, the transmission mechanism is a synchronous belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.

[0017] Preferably, two robotic arms are provided and symmetrically arranged on the support frame. The lower ends and middle parts of the two robotic arms are connected by couplings and rotating shafts. The lower ends of the robotic arms are rotatably mounted on the support frame through bearings and bearing seats. The transmission mechanism is connected to the rotating shaft between the lower ends of the two robotic arms. One of the robotic arms is equipped with a control motor. The control motor and the rotating shaft in the middle of the robotic arm are connected by a second transmission mechanism. The second transmission mechanism is a synchronous belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.

[0018] The beneficial effects of this utility model are as follows: This utility model mounts a robotic arm and a thermal field gripping device on a trolley. The thermal field gripping device is slidably connected to the robotic arm. The thermal field gripping device is equipped with a movable gripper, a thermal field tilt sensor, a level detector, and a laser sensor. The thermal field tilt sensor is used to detect whether the goods held by the gripper are tilted. The level detector is used to determine whether the goods placed on the thermal field gripping device are flat. The laser sensor is used to calibrate the alignment of the goods, thereby ensuring the accuracy of loading, unloading, picking, and placing on the placement platform and thermal field pallet in the thermal field. The goods are placed relatively stably when gripping, the position of the gripper is adjustable arbitrarily, the robot has high overall flexibility, and moves smoothly.

[0019] The features and advantages of this utility model will be described in detail through embodiments and accompanying drawings. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present utility model.

[0021] Figure 2 This is a front view of an embodiment of the present utility model.

[0022] Figure 3 This is a partial schematic diagram of an embodiment of the present utility model.

[0023] Figure 4 This is a schematic diagram of the installation structure of the robotic arm and thermal field gripping device according to an embodiment of the present invention.

[0024] Figure 5 This is a right view of the mounting structure of the robotic arm and thermal field gripping device according to an embodiment of the present invention.

[0025] Figure 6 This is a top view of the thermal field clamping device according to an embodiment of the present invention.

[0026] Figure 7 This is a schematic diagram of the thermal field clamping device according to an embodiment of the present invention.

[0027] Figure 8 This is a schematic diagram of the installation of the thermal field gripping device and the robotic arm according to an embodiment of the present invention.

[0028] In the diagram: 1-cart, 2-control cabinet, 3-robotic arm, 4-support frame, 5-placement platform, 6-thermal support seat, 7-clamping mechanism, 8-linear movement module, 61-level detector, 62-laser sensor, 63-thermal tilt sensor, 71-gripper, 72-moving block, 73-guide rail, 74-motor. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. In the description of this application, it should be noted that the terms "inner," "outer," etc., indicating orientation or positional relationships are based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationships commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, 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, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0031] The present invention will now be described in detail with reference to the accompanying drawings.

[0032] See Figures 1 to 8 This embodiment provides a material handling and loading robot, including:

[0033] Cart 1, which is equipped with rollers, control cabinet 2 and support frame 4. The control cabinet 2 contains a battery and controller for power supply.

[0034] Robotic arm 3 is rotatably mounted on support frame 4. Robotic arm 3 is connected to drive motor by transmission mechanism. Drive motor is mounted on support frame 4.

[0035] A thermal field clamping device includes a thermal field support base 6 and a clamping mechanism 7 mounted on the thermal field support base 6. The thermal field support base 6 is provided with a thermal field tray 64, a guide rail 73, and a linear motion module 8. The moving part of the linear motion module 8 is connected to a robotic arm 3 to adjust the horizontal installation position of the thermal field support base 6 relative to the robotic arm 3. The clamping mechanism 7 includes a motor 74 and a gripper 71. The output end of the motor 74 is connected to a lead screw. The gripper 71 is mounted on the lead screw via a moving block 72, which is threadedly connected to the lead screw. The moving block 72 is slidably mounted on the guide rail 73. The thermal field tray 64 is located on the clamping mechanism 7. Below, the thermal field support plate 64 is equipped with a thermal field tilt sensor 63, a level detector 61, and three laser sensors 62. The three laser sensors 62 are arranged in a triangle below the thermal field support plate 64. The thermal field tilt sensor 63, the level detector 61, and the laser sensors 62 are all connected to the controller. The controller is electrically connected to the drive motor, the motor 74, and the power source of the linear motion module, thereby controlling the gripping state of the gripper 71, the movement state of the thermal field support 6, and the working state of the robotic arm 8. The power source of the linear motion module is a servo motor, and the moving parts of the linear motion module are sliders or slides.

[0036] Placement platform 5, which is mounted on support frame 4 and positioned relative to hot zone pallet 64, is used for placing goods.

[0037] In this embodiment, the control cabinet 2 is provided with a charging port and a teach pendant socket. The charging port is electrically connected to the battery for charging, and the teach pendant socket is connected to the controller to realize human-computer interaction.

[0038] In this embodiment, the control cabinet 2 is equipped with an emergency stop button, which is electrically connected to the controller. The emergency stop button facilitates timely stopping of the robot.

[0039] In this embodiment, the control cabinet 2 is equipped with a door and a ventilation opening, which facilitates the inspection and replacement of electrical components inside the control cabinet. The ventilation opening can improve the heat dissipation effect of the control cabinet.

[0040] In this embodiment, the support frame 4 or the control cabinet 2 is equipped with a control display screen, which is electrically connected to the controller. The control display screen is a touch screen or a button screen.

[0041] In this embodiment, the vehicle 1 is an AGV vehicle, which can identify and avoid obstacles during driving. The AGV vehicle is an existing structure, so it will not be described in detail in this application.

[0042] In this embodiment, the linear motion module 8 is a lead screw slider module, a lead screw slide module, or a synchronous belt linear module.

[0043] In this embodiment, the thermal support plate 64 has an opening, the placement platform 5 is located inside the opening, and the placement platform 8 is mounted on the support frame 4 by a number of support rods.

[0044] In this embodiment, the transmission mechanism is a synchronous belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.

[0045] In this embodiment, two robotic arms 3 are provided and symmetrically arranged on the support frame 4. The lower ends and middle parts of the two robotic arms 3 are connected by couplings and rotating shafts. The lower ends of the robotic arms 3 are rotatably mounted on the support frame 4 through bearings and bearing seats. The transmission mechanism is connected to the rotating shaft between the lower ends of the two robotic arms 3. One of the robotic arms 3 is equipped with a control motor. The control motor and the rotating shaft in the middle of the robotic arm 3 are connected by a second transmission mechanism. The second transmission mechanism is a synchronous belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.

[0046] In actual use, the robotic arm includes a large arm, a small arm, and a mounting part. The large arm is mounted on the support frame via a mounting base. The large arm and the small arm are rotatably connected. The mounting part is connected to the two small arms. The thermal gripping device is mounted on the mounting part.

[0047] The working process of this utility model:

[0048] During operation, the trolley moves, driving the robotic arm and the heated gripping device to move. When it reaches the predetermined position in the heated zone, the drive motor and control motor drive the robotic arm to move to the position relative to the gripping goods. The gripping mechanism's motor drives the gripper to hold the goods. Then, the robotic arm retracts, causing the gripper to hold the goods above the heated zone pallet and the placement platform. After the gripper releases, the goods are placed on the placement platform.

[0049] The above embodiments are illustrative of the present invention and are not intended to limit the present invention. Any simple modifications to the present invention are within the protection scope of the present invention.

Claims

1. A pick-and-place composite robot, characterized by, include: The trolley is equipped with rollers, a control cabinet and a support frame, and the control cabinet contains a battery and a controller for power supply. A robotic arm, which is rotatably mounted on a support frame, is connected to a drive motor via a transmission mechanism, and the drive motor is mounted on the support frame. A thermal field gripping device includes a thermal field support base and a gripping mechanism mounted on the thermal field support base. The thermal field support base is equipped with a thermal field tray, a guide rail, and a linear motion module. The moving parts of the linear motion module are connected to a robotic arm to adjust the horizontal installation position of the thermal field support base relative to the robotic arm. The gripping mechanism includes a motor and grippers. The output end of the motor is connected to a lead screw. The grippers are mounted on the lead screw via a moving block, which is threadedly connected to the lead screw. The moving block is slidably mounted on the guide rail. The thermal field tray is located below the gripping mechanism. The thermal field tray is equipped with a thermal field tilt sensor, a level detector, and several laser sensors. The thermal field tilt sensor, level detector, and laser sensors are all connected to a controller. The controller is electrically connected to the drive motor, the power source of the motor, and the linear motion module, thereby controlling the gripping state of the grippers, the movement state of the thermal field support base, and the working state of the robotic arm. A placement platform, which is mounted on a support frame and positioned relative to a heated pallet, is used for placing goods.

2. The pick-and-place composite robot of claim 1, wherein: The control cabinet is equipped with a charging port, which is electrically connected to the battery.

3. The pick-and-place composite robot of claim 1, wherein: The control cabinet is equipped with an emergency stop button, which is electrically connected to the controller.

4. The pick-and-place composite robot of claim 1, wherein: The control cabinet is equipped with a door and ventilation openings.

5. The pick-and-place composite robot of claim 1, wherein: The support frame or control cabinet is equipped with a control display screen, which is electrically connected to the controller.

6. The pick-and-place composite robot of claim 1, wherein: The vehicle in question is an AGV (Automated Guided Vehicle).

7. The pick-and-place composite robot of claim 1, wherein: The linear motion module is a lead screw slider module, a lead screw slide module, or a synchronous belt linear module.

8. The pick-and-place composite robot of claim 1, wherein: The hot zone tray has an opening, and the placement platform is located inside the opening. The placement platform is mounted on a support frame by several support rods.

9. The pick-and-place composite robot of claim 1, wherein: The transmission mechanism is a synchronous belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.

10. The pick-and-place composite robot of claim 1, wherein: Two robotic arms are symmetrically arranged on the support frame. The lower ends and middle parts of the two robotic arms are connected by couplings and rotating shafts. The lower ends of the robotic arms are rotatably mounted on the support frame through bearings and bearing seats. The transmission mechanism is connected to the rotating shaft between the lower ends of the two robotic arms. One of the robotic arms is equipped with a control motor. The control motor and the rotating shaft in the middle of the robotic arm are connected by a second transmission mechanism, which is a synchronous belt transmission mechanism, a gear transmission mechanism, or a chain transmission mechanism.

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