A multi-functional robot picking mechanism

Abstract

This invention discloses a multifunctional robot picking mechanism, relating to the field of picking robot technology. The multifunctional robot picking mechanism includes a base, a positioning and clamping assembly, and a distance-fixing assembly. The positioning and clamping assembly includes multiple clamping members arranged side-by-side, used to clamp products. The distance-fixing assembly includes scissor arms and guide rails. The guide rails are arranged parallel to each other on the base. Multiple clamping members are arranged side-by-side on the guide rails and can slide freely along the extension direction of the guide rails. The guide rails allow the positions of the multiple clamping members to change. Each scissor arm includes two scissor arms, hinged together at their middle portions. Multiple scissor arms are stacked end-to-end along the extension direction of the guide rails to form a scissor arm support. The hinge points of the multiple scissor arms are connected one-to-one with the multiple clamping members, and the clamping members can move with the corresponding hinge points. This invention can simultaneously pick up multiple products arranged side-by-side; it can also adjust the distance between each clamping member to accommodate products with different spacing.

Description

Technical Field

[0001] This utility model relates to the field of picking robot technology, and more specifically, to a multifunctional robot picking mechanism. Background Technology

[0002] The robotic automatic tray loading, unloading, and stacking machine can be applied to the process of collecting finished products and placing new incoming products in the processing and production of plastic, metal, and electronic products. The multi-functional robotic picking mechanism can be used to position and transport products and materials such as blister trays in the processing and production of plastic, metal, and electronic products. Accurate product positioning is achieved through a product positioning clamping structure, improving precision. In actual production, incoming products are generally spaced at intervals. The robot first picks up the spaced-interval incoming products one by one and places them into the loading tray. Then, it picks up finished products at certain intervals and places them into the blister tray. Finally, the entire blister tray filled with finished products is picked up and placed into the next process.

[0003] Existing robotic picking mechanisms have the following drawbacks: 1. They need to pick up finished products and incoming materials one by one, resulting in low work efficiency; 2. The spacing between different incoming and finished products placed side-by-side varies, and the same robotic picking mechanism cannot adaptively adjust the spacing to pick up products with different spacing; 3. Picking up blister packs, finished products, and incoming materials requires different robotic picking mechanisms; products with different spacing also require different robotic picking mechanisms. All of these factors lead to a significant increase in costs. Utility Model Content

[0004] The purpose of this invention is to provide a multifunctional robot picking mechanism that can simultaneously pick up multiple products arranged side by side; it can also adjust the spacing of each clamping component at a fixed distance to accommodate products with different spacing.

[0005] The embodiments of this utility model are implemented as follows:

[0006] This application provides a multifunctional robot picking mechanism, including:

[0007] Base;

[0008] A positioning clamping assembly includes multiple clamping members arranged side by side, the clamping members being used to clamp a product;

[0009] A distance-fixing assembly includes multiple scissor lifts and at least one guide rail. The guide rails are arranged parallel to each other on the base. Multiple clamping members are arranged side by side on the guide rails and can slide freely along the extension direction of the guide rails. Each scissor lift includes two scissor arms, which are hinged to each other at their middle parts. Multiple scissor lifts are stacked end to end along the extension direction of the guide rails to form a scissor lift bracket. The hinge points of the multiple scissor lifts are connected one-to-one with the multiple clamping members. Any clamping member can move with the corresponding hinge point.

[0010] In some embodiments of this utility model, the scissor lift bracket is connected to a pitch-changing drive mechanism, the pitch-changing drive mechanism including a pitch-changing cylinder disposed on the base, the piston rod of the pitch-changing cylinder being disposed along the extension direction of the guide rail, and the piston rod of the pitch-changing cylinder being connected to any of the clamping members.

[0011] In some embodiments of this utility model, the aforementioned clamping member includes a positioning strip and two positioning blocks. The plurality of positioning strips are arranged side by side on the guide rail and can slide freely along the extension direction of the guide rail. The extension direction of the plurality of positioning strips is perpendicular to the extension direction of the guide rail. The hinge points of the plurality of scissor bars are connected one-to-one with the plurality of positioning strips. The two positioning blocks are symmetrically arranged at both ends of the corresponding positioning strips. Any positioning block is hinged to its corresponding positioning strip, so that the positioning block can rotate around the axis of the extension direction of the guide rail.

[0012] In some embodiments of this utility model, a clamping space for clamping products is formed between the two positioning clamping blocks located on the same positioning strip, and a positioning groove is provided on the side wall of the positioning clamping block located on the clamping space side.

[0013] In some embodiments of this utility model, a product detection sensor is provided on the base. The product detection sensor includes a signal transmitter and a signal receiver. The signal transmitter and the signal receiver are respectively disposed on both sides of the base. The signal transmission direction of the signal transmitter is the same as the extension direction of the guide rail. A detection area is formed between the signal transmitter and the signal receiver. The clamping spaces are all located within the detection area. The signal emitted by the signal transmitter can pass through the clamping space in sequence and be received by the signal receiver.

[0014] In some embodiments of this utility model, a lifting mechanism is provided between the signal transmitter and the signal receiver and the base. The lifting mechanism can drive the signal receiver and the signal transmitter to move up and down synchronously in a direction perpendicular to the base.

[0015] In some embodiments of this utility model, at least one first vacuum suction cup capable of picking up the product is evenly spaced on the positioning strip.

[0016] In some embodiments of this utility model, an extension pickup assembly is also included. The extension pickup assembly includes two linear motion modules symmetrically arranged on the base. The two linear motion modules are located in the same linear direction, and the linear direction is perpendicular to the extension direction of the guide rail. The moving end of any linear motion module is connected to a lifting mechanism. The lifting end of any lifting mechanism is connected to a fixed rod. A plurality of second vacuum suction cups are evenly spaced on any fixed rod.

[0017] Compared with the prior art, the embodiments of this utility model have at least the following advantages or beneficial effects:

[0018] This invention provides a multifunctional robot picking mechanism, in which multiple clamping members arranged side-by-side can simultaneously grip products arranged side-by-side. A distance-fixing component is used to adjust the distance between adjacent clamping members. A guide rail allows for changing the position of multiple clamping members. A scissor bracket, composed of multiple scissor arms connected end-to-end along the guide rail, can adjust the distance between each hinge point through telescoping, ensuring that the adjusted distance is uniform. Since the clamping members connect to their corresponding hinge points, they move with the corresponding hinge brackets. Thus, adjusting the distance between each hinge point synchronously and at a fixed distance adjusts the distance between each clamping member. Therefore, this multifunctional robot picking mechanism can simultaneously pick up multiple products arranged side-by-side; it can also adjust the distance between each clamping member at a fixed distance to accommodate products with different spacing. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional outline view of an embodiment of the present utility model;

[0021] Figure 2 This is a three-dimensional bottom view of an embodiment of the present utility model;

[0022] Figure 3 This is a schematic diagram of the installation structure of the scissor bracket in an embodiment of this utility model;

[0023] Figure 4 This is a schematic diagram of the installation structure of the variable pitch cylinder in an embodiment of this utility model;

[0024] Figure 5 This is a schematic diagram of the installation structure of the scissor lift in an embodiment of this utility model.

[0025] Icons: 1-Base; 2-Clamping component; 201-Positioning strip; 202-Positioning clamp; 3-Scissor lift; 301-Scissor lift arm; 4-Guide rail; 5-Pin shaft; 6-Variable pitch cylinder; 7-Connecting plate; 8-Positioning groove; 9-Signal transmitter; 10-Signal receiver; 11-First vacuum suction cup; 12-Linear movement module; 13-Lifting mechanism; 14-Second vacuum suction cup; 15-Fixing rod. Detailed Implementation

[0026] 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.

[0027] 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.

[0028] In the description of the embodiments of this utility model, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," or "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the utility model product is 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, and therefore should not be construed as a limitation of this utility model. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0029] In the description of the embodiments of this utility model, "a plurality of" means at least two.

[0030] In the description of the embodiments of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" 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 mechanical connection or an electrical 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 utility model according to the specific circumstances.

[0031] Example

[0032] Please refer to Figures 1-5 This embodiment provides a multifunctional robot picking mechanism, including a base 1, a positioning and clamping assembly, and a distance-fixing assembly. The base 1 is used to install and support other components. The positioning and clamping assembly includes multiple clamping members 2 arranged side by side, which are used to clamp products. The distance-fixing assembly is used to adjust the distance between adjacent clamping members 2. The distance-fixing assembly includes multiple scissor arms 3 and at least one guide rail 4. The guide rails 4 are arranged parallel to each other on the base 1. The multiple clamping members 2 are arranged side by side on the guide rails 4 and can all slide freely along the extension direction of the guide rails 4. The guide rails 4 can change the position of the multiple clamping members 2. Each scissor arm 3 includes two scissor arms 301, which are hinged to each other at their middle parts. The multiple scissor arms 3 are stacked end to end along the extension direction of the guide rails 4 via the scissor arms 301 to form a scissor arm support. The hinge points of the multiple scissor arms 3 are connected one-to-one with the multiple clamping members 2, and each clamping member 2 can move with the corresponding hinge point.

[0033] The aforementioned distance-fixing component is used to adjust the distance between adjacent gripping members 2. The guide rail 4 allows the positions of multiple gripping members 2 to be changed. The scissor bracket, which is formed by multiple scissor arms 301 stacked end-to-end along the extension direction of the guide rail 4, can adjust the distance between each hinge point by telescoping, and the adjusted distance is the same. Since the gripping member 2 can be connected with the corresponding hinge point, the gripping member 2 will move with the corresponding hinge support. In this way, when adjusting the distance between each hinge point, the distance between each gripping member 2 is adjusted synchronously and at a fixed distance. Therefore, this multi-functional robot picking mechanism can pick up multiple products arranged side by side at the same time; it can also adjust the distance between each gripping member 2 at a fixed distance (specifically, it can achieve equidistant adjustment through the proportional scaling characteristics of the scissor bracket) to adapt to picking up products with different distances.

[0034] Specifically, the aforementioned hinge point is actually the connection point between the middle of the two clamping arms. In this embodiment, the middle of the two clamping arms is connected by a pin 5. Specifically, the pin 5 passes through the middle of the two clamping arms in sequence, allowing both clamping arms to rotate around the pin 5. The hinge point is located on the axis of the pin 5. In order for the clamping member 2 to move with the corresponding hinge point, the actual method adopted is to fix the pin 5 to the clamping member 2.

[0035] Please refer to Figure 1 , Figure 3 and Figure 4 In some embodiments of this example, the scissor lift bracket is connected to a pitch-changing drive mechanism. The pitch-changing drive mechanism includes a pitch-changing cylinder 6 mounted on the base 1. The piston rod of the pitch-changing cylinder 6 extends along the guide rail 4 and is connected to any of the clamping members 2. The pitch-changing drive mechanism is used to drive the scissor lift bracket to achieve a fixed-distance pitch change. It should be noted that the fixed distance refers to the distance between adjacent clamping members 2 remaining consistent throughout the pitch-changing process. Specifically, the piston rod of the pitch-changing cylinder 6 is actually connected to any one of the clamping members 2 located on either side via a connecting plate 7, specifically to the positioning strip 201 of the clamping member 2.

[0036] Please refer to Figures 1-5 In some embodiments of this example, any clamping member 2 includes a positioning strip 201 and two positioning clamping blocks 202. Multiple positioning strips 201 are arranged side-by-side on the guide rail 4 and can all slide freely along the extension direction of the guide rail 4. The extension directions of the multiple positioning strips 201 are all perpendicular to the extension direction of the guide rail 4. The hinge points of multiple scissor arms 3 are connected one-to-one with the multiple positioning strips 201. Two positioning clamping blocks 202 are symmetrically arranged at both ends of the corresponding positioning strips 201. Any positioning clamping block 202 is hinged to its corresponding positioning strip 201, allowing the positioning clamping block 202 to rotate around the axis of the extension direction of the guide rail 4. The aforementioned positioning strip 201 is used to mount the two positioning clamping blocks 202. After the two positioning clamping blocks 202 are attached to the positioning strip 201, the two positioning clamping blocks 202 on the same positioning strip 201 can pick up the corresponding product by rotating the positioning clamping blocks 202.

[0037] It is worth noting that the aforementioned positioning clamp 202 is connected to a corresponding rotary drive mechanism (not shown in the figure) to drive the positioning clamp 202 to rotate. The aforementioned rotary drive mechanism is an existing structure. For example, if the positioning clamp 202 is hinged to the corresponding positioning strip 201 via a rotating shaft, the rotary drive mechanism may include a driving gear, a driven gear, and a drive motor. The driving gear is sleeved on the output shaft of the drive motor, and the driven gear is sleeved on the rotating shaft, so that the driving gear and driven gear mesh. The drive motor drives the driving gear to rotate, which indirectly drives the rotating shaft to rotate, thereby driving the positioning clamp 202, which is fixedly connected to the rotating shaft, to rotate. The above rotary drive mechanism is merely an exemplary structure for realizing the rotation of the positioning clamp 202 in this embodiment; in other embodiments, other structures may also be used.

[0038] Please refer to Figure 2 Preferably, a clamping space for clamping products is formed between the two positioning clamping blocks 202 located on the same positioning strip 201, and a positioning groove 8 is provided on the side wall of the positioning clamping block 202 located on the clamping space side. The positioning groove 8 can facilitate guiding and positioning when clamping the product, making it convenient for the product to enter the clamping space.

[0039] Please refer to Figure 2 Furthermore, a product detection sensor is installed on the base 1, comprising a signal transmitter 9 and a signal receiver 10. The signal transmitter 9 and signal receiver 10 are respectively located on both sides of the base 1. The signal transmission direction of the signal transmitter 9 is the same as the extension direction of the guide rail 4. A detection area is formed between the signal transmitter 9 and the signal receiver 10, and the clamping space is located within this detection area. The signal emitted by the signal transmitter 9 passes through the clamping space sequentially and is received by the signal receiver 10. During the release of the clamped product, if the product does not enter the corresponding tray regularly, it may tilt or become upright. A tilted product will block the signal emitted by the signal generator. In this case, the signal receiver 10 will not receive the signal. Therefore, this can be used to determine whether the product is placed regularly into the tray and requires straightening.

[0040] Please refer to Figures 1-3 Preferably, a lifting mechanism 13 is provided between the signal transmitter 9 and the signal receiver 10 and the base 1. The lifting mechanism 13 can drive the signal receiver 10 and the signal transmitter 9 to move up and down synchronously in a direction perpendicular to the base 1. The lifting mechanism 13 is used to synchronously adjust the relative height position of the signal transmitter 9 and the signal receiver 10 to adapt to the testing needs of products of different sizes.

[0041] Please refer to Figure 2In some application scenarios of this embodiment, at least one first vacuum suction cup 11 capable of picking up products is evenly spaced on the positioning strip 201. The first vacuum suction cup 11 can be used to assist in picking up products, making the clamping member 2 pick up products more securely.

[0042] Please refer to Figures 1-3 In some embodiments of this example, the multifunctional robot picking mechanism further includes an extension picking component. The extension picking component includes two linear motion modules 12 symmetrically arranged on the base 1. The two linear motion modules 12 are located in the same linear direction, which is perpendicular to the extension direction of the guide rail 4. A lifting mechanism 13 is connected to the moving end of any linear motion module 12. A fixed rod 15 is connected to the lifting end of any lifting mechanism 13. Multiple second vacuum suction cups 14 are evenly spaced on any fixed rod 15. The linear motion modules 12 enable the two fixed rods 15 to extend, indirectly enabling the second vacuum suction cups 14 on the fixed rods 15 to extend. Simultaneously, the lifting mechanism 13 adjusts the height of the second vacuum suction cups 14 on both sides to adjust their relative position to the clamping member 2. This allows the second vacuum suction cups 14 on both sides to descend below the clamping member 2. At this time, the second vacuum suction cups 14 can pick up large items such as trays. Therefore, the extended pickup component, in conjunction with the aforementioned positioning and clamping component, can pick up products as well as large items such as pallets, further saving costs.

[0043] It should be noted that the linear motion module 12 and the lifting mechanism 13 described above are both existing technologies. For example, the lifting mechanism 13 can be a lifting cylinder or an electric push rod, etc. The two lifting mechanisms 13 move synchronously.

[0044] In use, based on the spacing information of the products on the corresponding tray, the variable-pitch cylinder 6 extends and retracts to move the clamping member 2. During the movement of the clamping member 2, the scissor lift bracket will move, thereby causing all clamping members 2 to adjust their spacing, so that the spacing between adjacent clamping members 2 is the same as the spacing between the products arranged side by side on the tray. Then, the base 1 is moved to the tray, so that the products arranged side by side on the tray are accommodated one by one in the clamping space. After adjusting the clamping position, the suction port of the first vacuum suction cup 11 is pressed tightly against the corresponding product, and the product is adsorbed by negative pressure; then, the two positioning clamping blocks 202 on the same positioning strip 201 are rotated to clamp the product. After clamping the product, it is picked up and placed in the corresponding position, and then the negative pressure of the first vacuum suction cup 11 is released, and the two corresponding positioning clamping blocks 202 are released. When picking up large items, the linear motion module 12 extends the two fixed rods 15, indirectly extending the second vacuum suction cups 14 on the fixed rods 15. Simultaneously, the lifting mechanism 13 adjusts the height of the second vacuum suction cups 14 on both sides to adjust their relative position to the clamping member 2. This allows the second vacuum suction cups 14 on both sides to descend below the clamping member 2 and press against the large item. At this point, the second vacuum suction cups 14, under negative pressure, can pick up large items such as trays.

[0045] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A multi-functional robotic pick-up mechanism, characterized by, include: Base; A positioning clamping assembly includes multiple clamping members arranged side by side, the clamping members being used to clamp a product; A distance-fixing assembly includes multiple scissor lifts and at least one guide rail. The guide rails are arranged parallel to each other on the base. Multiple clamping members are arranged side by side on the guide rails and can slide freely along the extension direction of the guide rails. Each scissor lift includes two scissor arms, which are hinged to each other at their middle parts. Multiple scissor lifts are stacked end to end along the extension direction of the guide rails to form a scissor lift bracket. The hinge points of the multiple scissor lifts are connected one-to-one with the multiple clamping members. Any clamping member can move with the corresponding hinge point.

2. The multi-functional robotic picking mechanism of claim 1, wherein, The scissor lift bracket is connected to a pitch control mechanism, which includes a pitch control cylinder mounted on the base. The piston rod of the pitch control cylinder is arranged along the extension direction of the guide rail and is connected to any of the clamping components.

3. The multi-functional robotic picking mechanism of claim 1, wherein, Each clamping member includes a positioning strip and two positioning blocks. Multiple positioning strips are arranged side by side on the guide rail and can slide freely along the extension direction of the guide rail. The extension direction of the multiple positioning strips is perpendicular to the extension direction of the guide rail. The hinge points of the multiple scissor arms are connected to the multiple positioning strips one by one. The two positioning blocks are symmetrically arranged at both ends of the corresponding positioning strips. Any positioning block is hinged to its corresponding positioning strip, so that the positioning block can rotate around the axis of the extension direction of the guide rail.

4. The multi-functional robotic picking mechanism of claim 3, wherein, A clamping space for holding products is formed between two positioning clamping blocks located on the same positioning strip, and a positioning groove is provided on the side wall of the positioning clamping block located on the clamping space side.

5. The multi-functional robotic picking mechanism of claim 4, wherein, A product detection sensor is provided on the base. The product detection sensor includes a signal transmitter and a signal receiver. The signal transmitter and the signal receiver are respectively located on both sides of the base. The signal transmission direction of the signal transmitter is the same as the extension direction of the guide rail. A detection area is formed between the signal transmitter and the signal receiver. The clamping spaces are all located within the detection area. The signal emitted by the signal transmitter can pass through the clamping space in sequence and be received by the signal receiver.

6. The multi-functional robotic picking mechanism of claim 5, wherein, A lifting mechanism is provided between the base and the signal transmitter and the signal receiver. The lifting mechanism can drive the signal receiver and the signal transmitter to move up and down synchronously in a direction perpendicular to the base.

7. The multi-functional robotic picking mechanism of claim 3, wherein, The positioning plate is evenly spaced with at least one first vacuum suction cup capable of picking up the product.

8. The multifunctional robot picking mechanism according to any one of claims 1-7, characterized in that, It also includes an extension pickup assembly, which includes two linear motion modules symmetrically arranged on the base. The two linear motion modules are located in the same straight line direction, and the straight line direction is perpendicular to the extension direction of the guide rail. The moving end of any linear motion module is connected to a lifting mechanism, and the lifting end of any lifting mechanism is connected to a fixed rod. A plurality of second vacuum suction cups are evenly spaced on any fixed rod.

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