An automated robot six-axis robotic arm typesetting and positioning device

Abstract

This utility model discloses an automatic six-axis robotic arm layout and positioning device, relating to the field of automated processing equipment technology. The automatic six-axis robotic arm layout and positioning device includes a conveyor table. The device uses a cylinder to move one of the positioning sleeves. During the movement of this positioning sleeve, a connecting rod drives a rotating rod to rotate, causing the other positioning sleeve to move along with it. During the movement of the positioning sleeve, one end of a V-shaped correction plate first contacts the side of the component. In subsequent movement, the V-shaped correction plate rotates due to the obstruction of the component. When the other end of the V-shaped correction plate contacts the side of the component, it wraps around the four corners of the component, achieving a centered positioning effect. This makes layout easier when the six-axis robotic arm grasps the component, reducing the likelihood of misalignment and improving layout efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automated processing equipment technology, specifically to an automatic robot six-axis robotic arm layout and positioning device. Background Technology

[0002] In automated production lines, component layout and positioning is a key pre-processing step for subsequent processing, assembly, and testing, directly affecting product quality and production efficiency. Currently, six-axis robotic arms are used in automated production lines for material handling and layout.

[0003] Currently, most components are transported to the six-axis robotic arm via a conveyor. However, due to the relatively simple structure of the conveyor, components are prone to slight displacement or rotation during transport. When a component rotates slightly, the six-axis robotic arm has difficulty recognizing it, which makes it difficult for the component to enter the layout slot during layout. To ensure the subsequent process, staff need to make adjustments, which increases the time required for layout and reduces layout efficiency. Utility Model Content

[0004] The purpose of this invention is to provide an automatic robot six-axis robotic arm layout and positioning device to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: an automatic robot six-axis robotic arm layout and positioning device, comprising: a conveyor table, and further comprising: a mounting frame fixedly mounted on the conveyor table; a positioning sleeve slidably mounted on the mounting frame, the positioning sleeve being movable along the length direction of the mounting frame; a movable block disposed at the bottom end of the positioning sleeve, the movable block being movable along the length direction of the positioning sleeve; a V-shaped correction plate rotatably disposed at the bottom end of the movable block; and an adjustment mechanism disposed on the mounting frame, wherein the adjustment mechanism is configured to change the distance between the positioning sleeves during operation, so that the components are centered and positioned.

[0006] Preferably, it further includes: an adjusting gear, rotatably disposed at the bottom end of the positioning sleeve; and a driven rack, slidably disposed at the bottom end of the positioning sleeve, one end of the driven rack being fixedly disposed with the side of the movable block, the surface of the driven rack meshing with the surface of the adjusting gear, and the adjusting gear being configured to move the driven rack on the positioning sleeve when the adjusting gear is rotated, so as to change the position of the movable block.

[0007] Preferably, it further includes: a fixed base, fixedly disposed on the top of the positioning sleeve, the adjusting gear shaft end being located inside the fixed base, the fixed base having an internal polygonal shape; a connecting column, fixedly disposed on the adjusting gear shaft end, the connecting column having the same shape as the internal shape of the fixed base; and a fixed sleeve, slidably disposed on the connecting column, the adjusting gear being limited when the bottom end of the fixed sleeve is inserted into the fixed base.

[0008] Preferably, it further includes: a positioning cover, fixedly disposed at the bottom end of the positioning sleeve, wherein the outer surface of the driven gear is slidably disposed with respect to the inside of the positioning cover; and rollers, rotatably disposed at both ends of the V-shaped correction plate, wherein the surface of the rollers is in contact with the side of the original part.

[0009] Preferably, the adjustment mechanism includes: an electric cylinder, fixedly mounted on one side of the mounting frame, with the telescopic end of the electric cylinder fixedly mounted to the surface of one of the positioning sleeves; a rotating rod, rotatably mounted on the top of the mounting frame and located at the center position; and a connecting rod, rotatably mounted at both ends of the rotating rod, with the other end of the connecting rod rotatably mounted to the surface of the positioning sleeve.

[0010] Preferably, it further includes: a positioning strip, fixedly disposed at the bottom end of the positioning sleeve; a positioning groove, formed on the movable block, wherein the outer surface of the positioning strip and the inner surface of the positioning groove are slidably disposed; a guide sleeve, fixedly disposed on the inner surface of the positioning sleeve; and a guide strip, fixedly disposed on the mounting bracket, wherein the inner surface of the guide sleeve and the outer surface of the guide strip are slidably disposed.

[0011] Preferably, it further includes: a reset spring, fixedly disposed at the bottom end of the movable block, the other end of the reset spring being fixedly disposed on the surface of the V-shaped correction plate; and a limiting post, fixedly disposed at the bottom end of the movable block, so as to limit the rotation range of the V-shaped correction plate.

[0012] This utility model provides an automatic robot six-axis robotic arm layout and positioning device, which has the following beneficial effects: (1) In this utility model, one of the positioning sleeves is moved by a cylinder. During the movement of the positioning sleeve, the connecting rod pushes the rotating rod to rotate, so that the other positioning sleeve moves together. During the movement of the positioning sleeve, one end of the V-shaped correction plate contacts the side of the original part first. During the subsequent movement, the V-shaped correction plate is blocked by the component and rotates. When the other end of the V-shaped correction plate contacts the side of the component, the V-shaped correction plate wraps around the four corners of the component, achieving the centering positioning effect of the component. This makes it more convenient for the six-axis robotic arm to grasp the component and makes it less likely to misalign the layout, thus improving the layout efficiency.

[0013] (2) This utility model drives the driven rack to move by rotating the adjusting gear, and drives the movable block to move during the movement of the driven rack, so that the distance between the two movable blocks changes, thereby achieving the centering positioning effect of components of different sizes and improving the overall practicality. Furthermore, by setting a fixed sleeve, connecting column and fixed seat, the adjusting gear can be fixed, thereby improving the stability of the movable block position. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2This is a schematic diagram of the mounting bracket structure of this utility model; Figure 3 This is a partially exploded view of the positioning sleeve structure of this utility model; Figure 4 This is an exploded view of the positioning sleeve structure of this utility model.

[0015] In the diagram: 1. Conveyor table; 2. Mounting frame; 3. Positioning sleeve; 4. Adjustment mechanism; 41. Electric cylinder; 42. Connecting rod; 43. Rotating rod; 5. Movable block; 6. V-shaped correction plate; 7. Roller; 8. Adjusting gear; 9. Driven rack; 10. Positioning cover; 11. Fixed seat; 12. Connecting column; 13. Fixed sleeve; 14. Limiting column; 15. Guide sleeve; 16. Guide bar; 17. Positioning bar; 18. Positioning groove; 19. Return spring. Detailed Implementation

[0016] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0017] This utility model provides a technical solution: Referring to 1-4, in this embodiment, an automatic robot six-axis robotic arm layout and positioning device includes: a conveyor table 1, which adopts a stainless steel frame and a PVC conveyor belt with anti-slip texture on the surface of the conveyor belt; and a mounting frame 2, which is fixedly mounted on the conveyor table 1. The mounting frame 2 is welded from aluminum alloy profiles and has a gantry structure, spanning above the conveyor table 1. Its bottom is fixed to the conveyor table 1 by expansion bolts to ensure no shaking during the positioning process; and a positioning sleeve 3, which is slidably mounted on the mounting frame 2. The positioning sleeve 3 can move along the length direction of the mounting frame 2. Made of high-strength engineering plastic injection molding, with internal pre-reserved guide structure, lightweight and wear-resistant; movable block 5, set at the bottom of positioning sleeve 3, can move along the length of positioning sleeve 3, movable block 5 is an aluminum alloy die casting, surface anodized; V-shaped correction plate 6, rotatably set at the bottom of movable block 5, V-shaped correction plate 6 is made of steel plate bending, V-shaped included angle is set to 90°, polyurethane buffer pad is pasted on the inside to avoid scratching the component surface; adjustment mechanism 4 is set on mounting bracket 2, the adjustment mechanism 4 is set to change the distance between positioning sleeves 3 when running, so that the component is centered and positioned.

[0018] It also includes: an adjusting gear 8, which is rotatably mounted on the bottom end of the positioning sleeve 3. The adjusting gear 8 is made of alloy structural steel, and the tooth surface is carburized and quenched to ensure accurate meshing and wear resistance; and a driven rack 9, which is slidably mounted on the bottom end of the positioning sleeve 3. One end of the driven rack 9 is fixedly mounted to the side of the movable block 5. The surface of the driven rack 9 meshes with the surface of the adjusting gear 8. The driven rack 9 is made of stainless steel with a tempering treatment. The tooth part is matched with the module of the adjusting gear 8. The surface is chrome-plated to improve corrosion resistance. The adjusting gear 8 is set to move the driven rack 9 on the positioning sleeve 3 when it rotates, so that the position of the movable block 5 changes.

[0019] It also includes: a fixed base 11, which is fixedly installed on the top of the positioning sleeve 3, with the shaft end of the adjusting gear 8 located inside the fixed base 11. The fixed base 11 has a polygonal internal shape and is made of die-cast aluminum alloy with a regular hexagonal internal structure; a connecting post 12, which is fixedly installed on the shaft end of the adjusting gear 8. The shape of the connecting post 12 is the same as the internal shape of the fixed base 11. The connecting post 12 has a regular hexagonal structure and is adapted to the internal shape of the fixed base 11. It is fixed to the shaft end of the adjusting gear 8 by a flat key, ensuring stable torque transmission; and a fixed sleeve 13, which is slidably installed on the connecting post 12. When the bottom end of the fixed sleeve 13 is inserted into the fixed base 11, the adjusting gear 8 is limited. When the fixed sleeve 13 slides down to the bottom end and is inserted into the fixed base 11, the polygonal structure restricts the rotation of the adjusting gear 8, achieving precise locking.

[0020] It also includes: a positioning cover 10, which is fixedly installed at the bottom of the positioning sleeve 3. The outer surface of the driven gear 9 is slidably installed inside the positioning cover 10. The positioning cover 10 is made of stainless steel sheet and is U-shaped. Its length is adapted to the driven gear 9. It plays a protective and guiding role to prevent dust or debris from entering the gear and affecting the transmission. Rollers 7 are rotatably installed at both ends of the V-shaped correction plate 6. The surface of the rollers 7 is in contact with the side of the component. The rollers 7 are made of polyurethane material, which has both elasticity and wear resistance.

[0021] The adjustment mechanism 4 includes: an electric cylinder 41, which is fixedly installed on one side of the mounting frame 2. The telescopic end of the electric cylinder 41 is fixedly installed on the surface of one of the positioning sleeves 3. The electric cylinder 41 is a small electric push rod; a rotating rod 43, which is rotatably installed at the top of the mounting frame 2 and at the center position; and a connecting rod 42, which is rotatably installed at both ends of the rotating rod 43. The other end of the connecting rod 42 is rotatably installed on the surface of the positioning sleeve 3. The connecting rod 42 is made of stainless steel. Both ends are hinged to the rotating rod 43 and the positioning sleeve 3 respectively through fisheye bearings. The fisheye bearings can achieve multi-angle rotation to ensure that the transmission is smooth when the positioning sleeve 3 moves.

[0022] It also includes: a positioning strip 17, fixedly installed at the bottom end of the positioning sleeve 3. The positioning strip 17 is made of aluminum alloy profile with a T-shaped cross section and a length consistent with the bottom end of the positioning sleeve 3. It is fixed by bolts. A positioning groove 18 is opened on the movable block 5. The outer surface of the positioning strip 17 and the inner surface of the positioning groove 18 are slidably set. The positioning groove 18 is opened on the top surface of the movable block 5 and is structurally adapted to the positioning strip 17. It restricts the rotation of the movable block 5 and ensures that it slides smoothly along the length direction of the positioning sleeve 3. A guide sleeve 15 is fixedly installed on the inner surface of the positioning sleeve 3. The guide sleeve 15 is made of brass and has a linear bearing inside. It is fixed to the inner surface of the positioning sleeve 3 by interference fit. A guide strip 16 is fixedly installed on the mounting bracket 2. The inner surface of the guide sleeve 15 and the outer surface of the guide strip 16 are slidably set. The guide strip 16 is made of stainless steel and precision ground with a chrome-plated surface.

[0023] It also includes: a return spring 19, fixedly installed at the bottom of the movable block 5, with the other end of the return spring 19 fixedly installed on the surface of the V-shaped correction plate 6. The return spring 19 is made of spring steel and has a galvanized anti-rust treatment. Both ends of the spring are connected to the bottom of the movable block 5 and the surface of the V-shaped correction plate 6 respectively through hooks, providing a return force so that the V-shaped correction plate 6 maintains its initial angle when it is not in contact with the component; and a limiting post 14, fixedly installed at the bottom of the movable block 5 to limit the rotation range of the V-shaped correction plate 6. The limiting post 14 is made of stainless steel and is fixed to the bottom of the movable block 5 by threads, and is symmetrically arranged on both sides of the V-shaped correction plate 6. The limiting post 14 limits the rotation angle range of the V-shaped correction plate 6 to 0°-45° to avoid excessive rotation from affecting the correction effect, while also protecting the return spring 19 from excessive stretching.

[0024] This utility model provides an automatic robot six-axis robotic arm layout and positioning device, the specific working principle of which is as follows: Before use, according to the size of the component to be positioned, rotate the adjusting gear 8. Through the meshing transmission between the gear and the driven rack 9, the movable block 5 moves along the positioning sleeve 3, adjusting the initial distance between the two V-shaped correction plates 6 to match the width of the component. After adjustment, slide the fixed sleeve 13 downward so that its bottom end is inserted into the fixed seat 11, locking the adjusting gear 8 to prevent the movable block 5 from shifting position during positioning. When the component is transported to the positioning area by the conveyor table 1, the conveyor table 1 stops running, and the adjusting mechanism 4 is activated: the telescopic end of the electric cylinder 41 extends, pushing one side of the positioning sleeve 3 to move towards the center along the guide bar 16. This positioning sleeve 3 drives the rotating rod 43 to rotate around the central support through the connecting rod 42, and then pulls the other side of the positioning sleeve 3 to move towards the center synchronously through the connecting rod 42, realizing the symmetrical translation of the two positioning sleeves 3.

[0025] During the movement of the positioning sleeve 3, the rollers 7 at both ends of the V-shaped correction plate 6 first contact the side of the component. As the positioning sleeve 3 continues to move, the V-shaped correction plate 6 is blocked by the component and rotates around the hinge point. The return spring 19 is stretched to generate elastic force. When the inner walls on both sides of the V-shaped correction plate 6 are completely in contact with the side of the component, the rollers 7 roll to reduce friction. The V-shaped structure automatically centers and corrects the component. At the same time, the limiting post 14 restricts the V-shaped correction plate 6 from excessive rotation, ensuring that the component is accurately positioned in the center of the conveyor table 1.

[0026] After positioning is completed, the six-axis robotic arm can accurately grasp the components for layout. After layout is completed, the telescopic end of the electric cylinder 41 retracts, driving the positioning sleeves 3 on both sides to move in the opposite direction to reset. The V-shaped correction plate 6 returns to its initial angle under the action of the reset spring 19, and the conveyor table 1 continues to run to convey the next component, and the positioning operation is completed in a cycle.

[0027] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automated robot six-axis robotic arm typesetting and positioning device, comprising: The conveyor table (1) is characterized in that it further includes: Mounting bracket (2) is fixedly installed on conveyor table (1); The positioning sleeve (3) is slidably disposed on the mounting bracket (2), and the positioning sleeve (3) can move along the length direction of the mounting bracket (2); The movable block (5) is located at the bottom of the positioning sleeve (3) and can move along the length of the positioning sleeve (3). V-shaped correction plate (6) is rotatably mounted at the bottom of movable block (5); An adjustment mechanism (4) is provided on the mounting bracket (2). When the adjustment mechanism (4) is running, the distance between the positioning sleeves (3) changes so that the element is positioned in the center.

2. The automatic robot six-axis robotic arm layout and positioning device according to claim 1, characterized in that: Also includes: Adjust the gear (8) and rotate it to the bottom of the positioning sleeve (3); The driven rack (9) is slidably disposed at the bottom end of the positioning sleeve (3). One end of the driven rack (9) is fixedly disposed on the side of the movable block (5). The surface of the driven rack (9) meshes with the surface of the adjusting gear (8). When the adjusting gear (8) is set to rotate, the driven rack (9) moves on the positioning sleeve (3) to change the position of the movable block (5).

3. The automatic robot six-axis robotic arm layout and positioning device according to claim 2, characterized in that: Also includes: The fixed seat (11) is fixedly set on the top of the positioning sleeve (3), and the shaft end of the adjusting gear (8) is located inside the fixed seat (11). The internal shape of the fixed seat (11) is polygonal. A connecting column (12) is fixedly installed at the shaft end of the adjusting gear (8), and the shape of the connecting column (12) is the same as the internal shape of the fixed seat (11); The fixing sleeve (13) is slidably set on the connecting column (12). When the bottom end of the fixing sleeve (13) is inserted into the fixing seat (11), the adjusting gear (8) is limited.

4. The automatic robot six-axis robotic arm layout and positioning device according to claim 2, characterized in that: Also includes: The positioning cover (10) is fixedly installed at the bottom end of the positioning sleeve (3), and the outer surface of the driven toothed rod (9) is slidably installed inside the positioning cover (10); Rollers (7) are rotatably mounted at both ends of the V-shaped correction plate (6), and the surface of the rollers (7) is in contact with the side of the original part.

5. The automatic robot six-axis robotic arm layout and positioning device according to claim 1, characterized in that: The adjustment mechanism (4) includes: An electric cylinder (41) is fixedly installed on one side of the mounting bracket (2), and the telescopic end of the electric cylinder (41) is fixedly installed on the surface of one of the positioning sleeves (3); Rotating rod (43) is rotatably mounted on the top of the mounting bracket (2) and located at the center position; The connecting rod (42) is rotatably mounted at both ends of the rotating rod (43), and the other end of the connecting rod (42) is rotatably mounted on the surface of the positioning sleeve (3).

6. The automatic robot six-axis robotic arm layout and positioning device according to claim 1, characterized in that: Also includes: The positioning strip (17) is fixedly installed at the bottom of the positioning sleeve (3); The positioning groove (18) is opened on the movable block (5), and the outer surface of the positioning strip (17) is slidably disposed with the inner surface of the positioning groove (18); Guide sleeve (15) is fixedly installed on the inner surface of positioning sleeve (3); The guide strip (16) is fixedly mounted on the mounting bracket (2), and the inner surface of the guide sleeve (15) is slidably mounted on the outer surface of the guide strip (16).

7. The automatic robot six-axis robotic arm layout and positioning device according to claim 1, characterized in that: Also includes: A reset spring (19) is fixedly installed at the bottom of the movable block (5), and the other end of the reset spring (19) is fixedly installed on the surface of the V-shaped correction plate (6); The limiting post (14) is fixedly set at the bottom of the movable block (5) so that the rotation range of the V-shaped correction plate (6) is limited.

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