Automatic material taking and placing manipulator

Abstract

The utility model discloses an automatic material taking and placing manipulator relates to manipulator technical field, the utility model discloses a mechanical arm body, the execution end fixedly connected with connecting seat of mechanical arm body, the bottom surface fixed mounting of connecting seat has two groups of pneumatic push rod, the surface of pneumatic push rod is provided with visual detection mechanism, the utility model discloses, through pneumatic push rod makes drive elastic connection component and pneumatic sucking disc vertical movement, makes pneumatic sucking disc and workpiece contact, through the elastic connection component when picking workpiece provides certain elastic buffer, avoids damaging workpiece or leading to workpiece to slip because of rigid contact, and pneumatic sucking disc generates negative pressure through pneumatic system to adsorb small board workpiece, realizes to pick and place workpiece, after sucking workpiece, through micro vibration motor when pneumatic sucking disc adsorbs to workpiece, its synchronous start, produces vibration, is helpful to separate the workpiece that sticks together, ensures only picking single small board workpiece each time.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to an automatic material handling robotic arm. Background Technology

[0002] In modern industrial production, the application of automated equipment is becoming increasingly widespread, especially in fields such as electronics manufacturing and machining. As an important component of automated production lines, automated picking and placing robots undertake the key tasks of material handling and placement. In actual production processes, robots pick up small workpieces.

[0003] Small plate workpieces are relatively small in size, typically ranging from a few centimeters to over ten centimeters, and thin, generally between 0.5 millimeters and 2 millimeters. Due to their smooth surfaces and thin thickness, adjacent small plate workpieces are prone to electrostatic adsorption or surface tension, causing them to stick together. During storage, small plate workpieces tend to stack together, forming multiple layers of adhesion. When picking up small plate workpieces, existing robotic arms cannot effectively distinguish individual workpieces and tend to pick up multiple small plate workpieces at once, leading to errors or malfunctions in subsequent processing.

[0004] Therefore, an automatic material handling robot is proposed. Utility Model Content

[0005] The purpose of this utility model is to provide an automatic material handling robot to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model specifically adopts the following technical solution:

[0007] An automatic material handling robot includes a robotic arm body. The end of the robotic arm body is fixedly connected to a connecting seat. Two sets of pneumatic push rods are fixedly installed on the bottom surface of the connecting seat. A vision inspection mechanism is provided on the surface of the pneumatic push rods. An elastic connecting component is fixedly installed at the end of the pneumatic push rod, and a pneumatic suction cup is fixedly installed at the end of the elastic connecting component. A miniature vibration motor is fixedly installed on the pneumatic suction cup.

[0008] Furthermore, the visual inspection mechanism includes a mounting bracket fixedly mounted on the surface of a pneumatic push rod, a movable frame rotatably mounted on the surface of the mounting bracket, a threaded post fixedly mounted on the surface of the movable frame, the threaded post being located in an arc-shaped through groove on the surface of the mounting bracket, and a nut being threaded onto the end of the threaded post. A visual inspection camera is fixedly mounted on the movable frame.

[0009] Furthermore, the elastic connection assembly includes a mounting base with the bottom end of a pneumatic push rod fixedly installed. A step rod is movably inserted into the mounting base, and a limiting ring is fixedly sleeved on the surface of the step rod. A spring is sleeved on the surface of the step rod, and the two ends of the spring are fixedly connected to the top surface of the mounting base and the end face of the step rod, respectively. A pneumatic suction cup is fixedly installed at the bottom end of the step rod.

[0010] Furthermore, the visual inspection camera and the pneumatic suction cup are arranged in a corresponding manner to detect the position of the workpiece via the visual inspection camera.

[0011] Furthermore, a damping rod is fixed to the top surface of the pneumatic suction cup, and a rubber block is fixedly installed at the end of the damping rod, with the rubber block being fixedly connected to the bottom surface of the mounting base.

[0012] Furthermore, the limiting ring on the surface of the stepped rod is located above the micro vibration motor on the top surface of the pneumatic suction cup, so as to limit the movement of the stepped rod relative to the mounting base.

[0013] The beneficial effects of this utility model are as follows:

[0014] A visual inspection mechanism is used to detect and identify the position, posture, and presence of adhesion of the workpiece before picking it up, providing a basis for the precise operation of the robot arm. A pneumatic push rod drives the elastic connecting component and the pneumatic suction cup to move vertically, bringing the pneumatic suction cup into contact with the workpiece. The elastic connecting component provides a certain degree of elasticity and cushioning when picking up the workpiece, avoiding damage to the workpiece or causing it to slip due to hard contact. The pneumatic suction cup uses a pneumatic system to generate negative pressure to adsorb small plate workpieces, realizing the picking and placing of workpieces. After picking up the workpiece, a micro vibration motor starts synchronously when the pneumatic suction cup is attached to the workpiece, generating vibration, which helps to separate workpieces that are stuck together, ensuring that only a single small plate workpiece is picked up at a time. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is a partial bottom view of the present invention;

[0017] Figure 3 This is a partial side view of the present invention;

[0018] Figure 4 This is a schematic diagram of the elastic connection component of this utility model;

[0019] Reference numerals: 1. Robotic arm body; 2. Connecting seat; 3. Pneumatic push rod; 4. Vision inspection mechanism; 401. Mounting bracket; 402. Movable frame; 403. Threaded column; 404. Nut; 405. Vision inspection camera; 5. Elastic connection assembly; 501. Mounting bracket; 502. Step rod; 503. Limiting ring; 504. Spring; 505. Damping rod; 506. Rubber block; 6. Pneumatic suction cup; 7. Miniature vibration motor. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0022] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0023] In the description of the embodiments of this utility model, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the utility model product is usually placed when in use. They are only for the convenience of describing this utility model 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. Therefore, they should not be construed as limitations on this utility model.

[0024] like Figures 1 to 4 As shown, an automatic material handling robot includes a robotic arm body 1. A connecting seat 2 is fixedly connected to the end effector of the robotic arm body 1. Two sets of pneumatic push rods 3 are fixedly mounted on the bottom surface of the connecting seat 2. A vision inspection mechanism 4 is provided on the surface of the pneumatic push rods 3. Figures 1 to 3As shown, specifically, the visual inspection mechanism 4 includes a mounting bracket 401 fixedly mounted on the surface of the pneumatic push rod 3, a movable frame 402 rotatably mounted on the surface of the mounting bracket 401, a threaded post 403 fixedly mounted on the surface of the movable frame 402, and the threaded post 403 is located in the arc-shaped through groove on the surface of the mounting bracket 401, and a nut 404 is threadedly fitted at the end of the threaded post 403. A visual inspection camera 405 is fixedly mounted on the movable frame 402.

[0025] More specifically, the angle of the movable frame 402 can be finely adjusted and fixed by the threaded engagement of the nut 404 and the threaded post 403, ensuring that the vision inspection camera 405 is in the optimal position for inspection. The vision inspection camera 405 is used to capture images of the workpiece in real time and transmit the image data to the control system. The control system analyzes the image according to the image processing algorithm to identify the position, posture and whether there is adhesion of the workpiece, thereby providing accurate instructions and data support for the precise operation of the robot.

[0026] An elastic connecting component 5 is fixedly installed at the end of the pneumatic push rod 3, and a pneumatic suction cup 6 is fixedly installed at the end of the elastic connecting component 5; for example Figures 2 to 4 As shown, specifically, the elastic connection assembly 5 includes a mounting base 501 on which the bottom end of the pneumatic push rod 3 is fixedly installed. A step rod 502 is movably inserted into the mounting base 501, and a limiting ring 503 is fixedly sleeved on the surface of the step rod 502. A spring 504 is sleeved on the surface of the step rod 502, and the two ends of the spring 504 are fixedly connected to the top surface of the mounting base 501 and the end face of the step rod 502, respectively. A pneumatic suction cup 6 is fixedly installed at the bottom end of the step rod 502.

[0027] More specifically, when the pneumatic push rod 3 pushes the pneumatic suction cup 6 close to the workpiece, the spring 504 is in its natural state. When the pneumatic suction cup 6 contacts the workpiece, the spring 504 is compressed and produces elastic deformation, thereby providing a certain buffer force for the pneumatic suction cup 6. The pneumatic suction cup 6 generates negative pressure through the pneumatic system to adsorb the small plate workpiece, realizing the picking and placing of the workpiece.

[0028] In some practical applications, a damping rod 505 is fixed to the top surface of the pneumatic suction cup 6, and a rubber block 506 is fixedly installed at the end of the damping rod 505. The rubber block 506 is fixedly connected to the bottom surface of the mounting base 501.

[0029] More specifically, when the pneumatic suction cup 6 adsorbs the workpiece, the micro vibration motor 7 starts to generate vibration. During the vibration, the workpiece may experience some displacement or shaking, which is buffered and stabilized by the damping rod 505 and the rubber block 506.

[0030] In some practical applications, the limiting ring 503 on the surface of the step rod 502 is located above the micro vibration motor 7 on the top surface of the pneumatic suction cup 6 to limit the movement of the step rod 502 relative to the mounting base 501.

[0031] More specifically, when the spring 504 is compressed, the step rod 502 moves downward within the mounting base 501. The limiting ring 503 is located above the micro vibration motor 7. When the step rod 502 moves to a certain position, the limiting ring 503 contacts the bottom surface of the mounting base 501, restricting the further movement of the step rod 502. This ensures that the micro vibration motor 7 is not subjected to excessive compression or collision during operation, thus guaranteeing its normal operation and service life.

[0032] A miniature vibration motor 7 is fixedly installed on the pneumatic suction cup 6.

[0033] In some practical applications, the visual inspection camera 405 is set up in correspondence with the pneumatic suction cup 6 so that the position of the workpiece can be detected by the visual inspection camera 405.

[0034] More specifically, the vision inspection camera 405 detects the position of the workpiece in real time as the pneumatic pusher 3 pushes the pneumatic suction cup 6 closer to the workpiece. When the pneumatic suction cup 6 reaches above the workpiece, the vision inspection camera 405 can accurately detect the position information of the workpiece and transmit this information to the control system. The control system adjusts the extension length and angle of the pneumatic pusher 3 according to the detected position information to ensure that the pneumatic suction cup 6 can accurately adhere to the workpiece.

[0035] In summary: The vision inspection mechanism 4 is used to detect and identify the position, posture, and presence of adhesion of the workpiece before picking it up, providing a basis for the precise operation of the robot arm. The pneumatic push rod 3 drives the elastic connecting component 5 and the pneumatic suction cup 6 to move vertically, so that the pneumatic suction cup 6 comes into contact with the workpiece. The elastic connecting component 5 provides a certain elastic buffer when picking up the workpiece, avoiding damage to the workpiece or causing the workpiece to slip due to hard contact. The pneumatic suction cup 6 uses the pneumatic system to generate negative pressure to adsorb small plate workpieces, realizing the picking and placing of workpieces. After picking up the workpiece, the micro vibration motor 7 starts synchronously when the pneumatic suction cup 6 adsorbs the workpiece, generating vibration, which helps to separate the workpieces that are stuck together, ensuring that only a single small plate workpiece is picked up each time.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An automatic material handling robot, characterized in that, The system includes a robotic arm body (1), with a connecting seat (2) fixedly connected to the end of the robotic arm body (1). Two sets of pneumatic push rods (3) are fixedly installed on the bottom surface of the connecting seat (2). A visual inspection mechanism (4) is provided on the surface of the pneumatic push rods (3). An elastic connecting component (5) is fixedly installed at the end of the pneumatic push rods (3), and a pneumatic suction cup (6) is fixedly installed at the end of the elastic connecting component (5). A micro vibration motor (7) is fixedly installed on the pneumatic suction cup (6).

2. The automatic material handling robot according to claim 1, characterized in that, The visual inspection mechanism (4) includes a mounting bracket (401) fixedly mounted on the surface of the pneumatic push rod (3). A movable frame (402) is rotatably mounted on the surface of the mounting bracket (401). A threaded post (403) is fixedly mounted on the surface of the movable frame (402), and the threaded post (403) is located in an arc-shaped through groove on the surface of the mounting bracket (401). A nut (404) is threaded onto the end of the threaded post (403). A visual inspection camera (405) is fixedly mounted on the movable frame (402).

3. The automatic material handling robot according to claim 1, characterized in that, The elastic connection assembly (5) includes a mounting base (501) on which the bottom end of a pneumatic push rod (3) is fixedly installed. A step rod (502) is movably inserted into the mounting base (501). A limiting ring (503) is fixedly sleeved on the surface of the step rod (502). A spring (504) is sleeved on the surface of the step rod (502). The two ends of the spring (504) are fixedly connected to the top surface of the mounting base (501) and the end face of the step rod (502), respectively. A pneumatic suction cup (6) is fixedly installed at the bottom end of the step rod (502).

4. An automatic material handling robot according to claim 2, characterized in that, The visual inspection camera (405) and the pneumatic suction cup (6) are arranged in a corresponding manner to detect the position of the workpiece via the visual inspection camera (405).

5. An automatic material handling robot according to claim 3, characterized in that, The top surface of the pneumatic suction cup (6) is fixed with a damping rod (505), and a rubber block (506) is fixedly installed at the end of the damping rod (505). The rubber block (506) is fixedly connected to the bottom surface of the mounting base (501).

6. An automatic material handling robot according to claim 3, characterized in that, The limiting ring (503) on the surface of the step rod (502) is located above the micro vibration motor (7) on the top surface of the pneumatic suction cup (6) to limit the movement of the step rod (502) relative to the mounting base (501).

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