Automatic pick-up robot Z-axis mechanism

Abstract

An automatic material taking manipulator ZR axis mechanism, the top of ZR module base plate (12) is provided with linear guide rail (9), the top of linear guide rail (9) is provided with Z axis screw rod (7), the top of Z axis screw rod (7) is provided with sliding block coupling plate (6), the top of ZR module base plate (12) is provided with motor (10) through motor bracket, motor (10) is connected to Z axis screw rod (7) through shaft coupling (11), the top of sliding block coupling plate (6) is provided with motor (10) through motor bracket, motor (10) is connected to rotating shaft (4). The structure is strong in compatibility, vacuum control can prevent product from falling, and different products can be taken and placed by quick changing suction nozzle.

Description

Technical Field

[0001] This utility model relates to a ZR axis mechanism for an automatic material handling robot. Background Technology

[0002] This utility model relates to an automatic product loading and unloading suction mechanism. Specifically, it relates to products such as thin film materials, providing an automatic mechanism that can simultaneously pick up the product and rotate to pick up and unload it, effectively preventing product drop, detecting loading and unloading pressure, and offering strong compatibility.

[0003] While the automatic loading and unloading suction mechanisms commonly used in the market can grasp film products, they are not compatible with functions such as direct rotation angle adjustment after material handling and pressure feedback, resulting in low production efficiency and poor practicality. Utility Model Content

[0004] To address the problems existing in the prior art, this utility model provides an automatic material handling robot with a ZR axis mechanism, achieving flexible product gripping. This device was specifically developed to overcome the limitations of ordinary mechanisms that require both material handling and rotation during product loading and unloading. It solves the technical challenge of smoothly gripping products while simultaneously flattening the material, ensuring accurate pressure holding and positioning in subsequent processes. Furthermore, this suction mechanism is highly compatible, allowing for the simultaneous handling of different products with quick-change suction heads. Additionally, a pressure sensor can detect the loading and unloading pressure, making it highly practical.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] An automatic material handling robot's ZR axis mechanism includes an R-axis angular contact bearing 1, a sealing ring 2, an R-axis rotation sensor 3, a rotating shaft 4, a fixing nut 5, a slider connecting plate 6, a Z-axis lead screw 7, a Z-axis limit sensor 8, a linear guide rail 9, a motor 10, a coupling 11, and a ZR module base plate 12. The linear guide rail 9 is mounted on the top of the ZR module base plate 12, the Z-axis lead screw 7 is mounted on the top of the linear guide rail 9, and the slider connecting plate 6 is mounted on the top of the ZR module base plate 12. The motor 10 is mounted on the top of the ZR module base plate 12 via a motor frame, and the motor 10 is connected to the Z-axis lead screw 7 via the coupling 11. The motor 10 is mounted on the top of the slider connecting plate 6 via a motor frame, and the motor 10 is connected to the rotating shaft 4.

[0007] This utility model also has the following additional technical features:

[0008] As a further specific optimization of the technical solution of this utility model: R-axis angular contact bearings 1 and sealing rings 2 are installed on both sides of the rotating shaft 4.

[0009] As a further specific optimization of the technical solution of this utility model: an R-axis rotation sensor 3 is installed on the top of one side of the rotating shaft 4.

[0010] As a further specific optimization of the technical solution of this utility model: a Z-axis limit sensor 8 is installed between the linear guide rail 9 and the Z-axis lead screw 7.

[0011] As a further specific optimization of the technical solution of this utility model, it also includes a guide assembly, which includes a guide slider 21, a pressure sensor 22, a buffer spring 23, and a suction nozzle mounting plate 24. The guide slider 21 is mounted on the front of the suction nozzle mounting plate 24, the buffer spring 23 is mounted on the outside of the guide slider 21, and the pressure sensor 22 is mounted on the rear of the buffer spring 23.

[0012] As a further specific optimization of the technical solution of this utility model, it also includes an elastic mechanism assembly, which includes a Z-axis lead screw 31, an R-axis air-passing hollow tube 32, a servo motor 33, and an R-axis lead screw 34; wherein: a servo motor 33 is installed on one side of the top of the mounting plate, the output shaft of the servo motor 33 is connected to the Z-axis lead screw 31, an R-axis air-passing hollow tube 32 is installed on the top of the Z-axis lead screw 31, and an R-axis lead screw 34 is installed on one side of the R-axis air-passing hollow tube 32.

[0013] As a further specific optimization of the technical solution of this utility model, it also includes a vacuum suction mechanism assembly, which includes a rubber-coated suction nozzle 41 and a suction nozzle body 42, wherein a rubber-coated suction nozzle 41 is installed at one end of the suction nozzle body 42.

[0014] Compared with the prior art, the advantages of this utility model are:

[0015] This utility model has the function of rotating up and down along the Z-axis and along the R-axis, which can elastically pick up products and achieve flexible product picking. The mechanism has a simple structure, small size, simple operation, and strong practicality. The structure has strong compatibility, and the vacuum control can prevent products from falling. The quick-change nozzle is compatible with the picking and placing of different products. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the automatic loading and unloading suction assembly of this utility model;

[0017] Figure 2 This is a schematic diagram of the guide component structure of this utility model;

[0018] Figure 3 This is a schematic diagram of the elastic mechanism component structure of this utility model;

[0019] Figure 4 This is a schematic diagram of the vacuum suction mechanism component of this utility model.

[0020] Explanation of reference numerals in the attached diagram: 1-R-axis angular contact bearing; 2-sealing ring; 3-R-axis rotation sensor; 4-rotating shaft; 5-fixed nut; 6-slider connecting plate; 7-Z-axis lead screw; 8-Z-axis limit sensor; 9-linear guide rail; 10-motor; 11-coupling; 12-ZR module base plate. Detailed Implementation

[0021] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0022] An automatic material handling robot's ZR axis mechanism includes an R-axis angular contact bearing 1, a sealing ring 2, an R-axis rotation sensor 3, a rotating shaft 4, a fixing nut 5, a slider connecting plate 6, a Z-axis lead screw 7, a Z-axis limit sensor 8, a linear guide rail 9, a motor 10, a coupling 11, and a ZR module base plate 12; wherein: the linear guide rail 9 is mounted on the top of the ZR module base plate 12, the Z-axis lead screw 7 is mounted on the top of the linear guide rail 9, and the slider connecting plate 6 is mounted on the top of the Z-axis lead screw 7; the Z-axis limit sensor 8 is installed between the linear guide rail 9 and the Z-axis lead screw 7.

[0023] A motor 10 is mounted on the top of the ZR module base plate 12 via a motor bracket, and the motor 10 is connected to the Z-axis lead screw 7 via a coupling 11. A motor 10 is also mounted on the top of the slider connecting plate 6 via a motor bracket, and the motor 10 is connected to the rotating shaft 4. R-axis angular contact bearings 1 and sealing rings 2 are mounted on both sides of the rotating shaft 4. An R-axis rotation sensor 3 is mounted on the top of one side of the rotating shaft 4.

[0024] The ZR axis mechanism of the automatic material handling robot also includes a guide assembly, which comprises a guide slider 21, a pressure sensor 22, a buffer spring 23, and a nozzle mounting plate 24. The guide slider 21 is mounted on the front of the nozzle mounting plate 24, the buffer spring 23 is mounted on the outside of the guide slider 21, and the pressure sensor 22 is mounted on the rear of the buffer spring 23. This guide assembly ensures the nozzle remains stable during the movement of the mounting plate. Furthermore, the cooperation of the buffer spring and the pressure sensor allows for the detection of the pressure applied to the product being handled, further improving the stability and accuracy of the material handling process.

[0025] The ZR axis mechanism of the automatic material handling robot also includes a flexible mechanism assembly, which comprises a Z-axis lead screw 31, an R-axis air-passing hollow tube 32, a servo motor 33, and an R-axis lead screw 34. Specifically, the servo motor 33 is mounted on one side of the top of the mounting plate, and its output shaft is connected to the Z-axis lead screw 31. The R-axis air-passing hollow tube 32 is mounted on the top of the Z-axis lead screw 31, and the R-axis lead screw 34 is mounted on one side of the tube. This flexible mechanism assembly allows the mechanism to have a certain degree of flexibility when picking up products, thus adapting to products of different shapes and sizes and improving its compatibility and practicality. The servo motor 33 drives the Z-axis lead screw 31 and R-axis lead screw 34 to precisely control the picking up and rotation of products, further improving the accuracy and stability of the material handling.

[0026] The ZR axis mechanism of the automatic material handling robot also includes a vacuum suction mechanism assembly. This assembly comprises a rubber-coated suction nozzle 41 and a nozzle body 42, with the rubber-coated suction nozzle 41 mounted on one end of the nozzle body 42. The vacuum suction mechanism assembly enables the mechanism to firmly grasp products through vacuum suction, preventing products from falling during handling and improving the stability and safety of the material handling process. The design of the rubber-coated suction nozzle 41 increases the friction between the nozzle and the product, further enhancing the gripping strength. Simultaneously, the combination of the nozzle body 42 and the rubber-coated suction nozzle 41 allows for quick nozzle replacement to adapt to products of different shapes and sizes, improving the mechanism's compatibility and flexibility.

[0027] Operating method of ZR axis mechanism of automatic material handling robot:

[0028] In practical applications, when a product needs to be picked up, the motor 10 is first started, driving the Z-axis lead screw 7 to rotate via the coupling 11. This, in turn, causes the slider connecting plate 6 to move up and down on the linear guide rail 9, adjusting the position of the suction nozzle. Once the suction nozzle reaches the designated position, the vacuum suction mechanism is activated, and the product is firmly gripped by the rubber-coated suction nozzle 41. At this time, the R-axis rotation sensor 3 can monitor the rotation angle of the rotation axis 4 in real time, ensuring that the product can rotate at the predetermined angle. Simultaneously, the Z-axis limit sensor 8 can monitor the movement position of the Z-axis lead screw 7 in real time, preventing the suction nozzle from exceeding its working range and ensuring operational safety.

[0029] The flexible mechanism plays a crucial role in the product suction process. The servo motor 33 drives the Z-axis lead screw 31 and R-axis lead screw 34, enabling the suction nozzle to maintain a certain degree of flexibility when picking up products, thus adapting to products of different shapes and sizes. This flexible suction method not only improves the mechanism's compatibility but also reduces product damage during the suction process, increasing product integrity.

[0030] Furthermore, the guide assembly significantly improves the stability and accuracy of material handling. The guide slider 21 slides on the linear guide rail 9, ensuring the stability of the suction nozzle during the movement of the mounting plate. Simultaneously, the cooperation of the buffer spring 23 and the pressure sensor 22 allows for real-time monitoring of the pressure of the product being sucked, ensuring that the product is not damaged by excessive pressure during suction. When the pressure exceeds the preset value, the pressure sensor 22 will promptly issue an alarm, reminding the operator to make adjustments, thereby ensuring the quality and safety of material handling.

[0031] In summary, the ZR-axis mechanism of the automatic material handling robot provided by this utility model not only has the advantages of simple structure, small size, and easy operation, but also features strong compatibility and practicality. By employing elastic suction and vacuum suction methods, this mechanism can firmly grasp products of different shapes and sizes, preventing products from falling or being damaged during the handling process. Simultaneously, by monitoring parameters such as rotation angle, movement position, and pressure in real time, this mechanism can also ensure the accuracy and safety of material handling. Therefore, this mechanism has broad application prospects in automated production lines.

[0032] The above 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.

Claims

1. A ZR axis mechanism for an automatic material handling robot, characterized in that: The system includes an R-axis angular contact bearing (1), a sealing ring (2), an R-axis rotation sensor (3), a rotating shaft (4), a fixing nut (5), a slider connecting plate (6), a Z-axis lead screw (7), a Z-axis limit sensor (8), a linear guide rail (9), a motor (10), a coupling (11), and a ZR module base plate (12). The ZR module base plate (12) is equipped with a linear guide rail (9) on top, a Z-axis lead screw (7) on top, and a slider connecting plate (6) on top. The ZR module base plate (12) is equipped with a motor (10) via a motor frame, and the motor (10) is connected to the Z-axis lead screw (7) via a coupling (11). The slider connecting plate (6) is equipped with a motor (10) via a motor frame, and the motor (10) is connected to the rotating shaft (4).

2. The ZR axis mechanism of an automatic material handling robot according to claim 1, characterized in that: The rotating shaft (4) is equipped with R-axis angular contact bearings (1) and sealing rings (2) on both sides.

3. The ZR axis mechanism of an automatic material handling robot according to claim 1, characterized in that: An R-axis rotation sensor (3) is mounted on the top of one side of the rotating shaft (4).

4. The ZR axis mechanism of an automatic material handling robot according to claim 1, characterized in that: A Z-axis limit sensor (8) is installed between the linear guide (9) and the Z-axis lead screw (7).

5. The ZR axis mechanism of an automatic material handling robot according to claim 1, characterized in that: It also includes a guide assembly, which includes a guide slider (21), a pressure sensor (22), a buffer spring (23), and a nozzle mounting plate (24). The guide slider (21) is mounted on the front of the nozzle mounting plate (24), the buffer spring (23) is mounted on the outside of the guide slider (21), and the pressure sensor (22) is mounted on the rear of the buffer spring (23).

6. The ZR axis mechanism of an automatic material handling robot according to claim 1, characterized in that: It also includes an elastic mechanism assembly, which includes a Z-axis lead screw (31), an R-axis air-through hollow tube (32), a servo motor (33), and an R-axis lead screw (34); wherein: a servo motor (33) is installed on one side of the top of the mounting plate, the output shaft of the servo motor (33) is connected to the Z-axis lead screw (31), an R-axis air-through hollow tube (32) is installed on the top of the Z-axis lead screw (31), and an R-axis lead screw (34) is installed on one side of the R-axis air-through hollow tube (32).

7. The ZR axis mechanism of an automatic material handling robot according to claim 1, characterized in that: It also includes a vacuum suction mechanism assembly, which includes a rubber-coated suction nozzle (41) and a suction nozzle body (42), with the rubber-coated suction nozzle (41) installed at one end of the suction nozzle body (42).

Images