A robotic arm-based handling and stacking device

Abstract

This utility model discloses a robotic arm-based handling and stacking device, relating to the field of robotics technology. It includes an inclined vertical board handling machine, with a worktable on one side and multiple robotic arms positioned at the top center of the worktable. A fixture is installed at the connection between the worktable and the inclined vertical board handling machine, and a depth camera is mounted on the top of the worktable. A counter is installed on the top edge of the worktable, and multiple sets of partitions are stacked on top of the worktable. A photoelectric switch and an electric push rod are also installed on the top of the worktable. In this utility model, the tooling is manually moved to the stacking position and fixed. The partitions are placed and fixed as required. After the machine is started, when the photoelectric switch senses the circuit board, the robotic arm grabs the product, calibrates its coordinates above the depth camera, and places it on the stacking tooling. One partition is placed for every two hundred pieces. The robotic arm, controlled by the photoelectric switch and the depth camera, replaces manual stacking of the products.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a handling and stacking device based on a robotic arm. Background Technology

[0002] Robots are a common term for automated machines. Automated machines include all machines that simulate human behavior or thought and simulate other living beings. In a narrower sense, there are many classifications and controversies regarding the definition of robots. Some computer programs are even called robots. In modern industry, robots refer to man-made machine devices that can automatically perform tasks to replace or assist human work. The ideal highly realistic robot is a product of advanced integration of cybernetics, mechatronics, computer science and artificial intelligence, materials science, and bionics. Currently, the scientific community is researching and developing in this direction.

[0003] In existing production processes, materials need to be repeatedly moved and stacked manually, such as in circuit board production. This mechanical work mode not only wastes a lot of time, but also results in the materials not achieving the expected neatness due to long-term manual stacking. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing production processes, such as circuit board production, where manual handling and stacking of materials is required repeatedly. This mechanical approach not only wastes a lot of time, but also results in materials not achieving the desired neatness due to prolonged manual stacking. Therefore, this invention proposes a handling and stacking device based on a robotic arm.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: A robotic arm-based handling and stacking device includes an inclined vertical plate take-up and drop machine. A worktable is provided on one side of the inclined vertical plate take-up and drop machine, and multiple sets of robotic arms are provided at the top center of the worktable. A fixture is installed at the connection between the worktable and the inclined vertical plate take-up and drop machine, and a depth camera is installed on the top of the worktable. Multiple sets of partitions are stacked on the top of the worktable. A photoelectric switch is installed on the top of the worktable, and an electric push rod is installed on the top of the worktable. A slide rail is provided on the top of the worktable, and a stacking fixture is connected to the inner side of the slide rail. One end of the photoelectric switch is connected to a counter.

[0006] Preferably, a signal receiver is installed on the top of the electric push rod, and a connecting plate is fixedly installed on one end of the electric push rod. One side of the connecting plate abuts against the left side of the stacking fixture. The connecting plate is detached from the stacking fixture by bolts. A slider is fixedly installed on the bottom of the connecting plate, and a groove is provided on the top of the worktable.

[0007] Preferably, the top of the stacking fixture is provided with a top groove, and multiple sets of damping shock absorbers are provided on the bottom inner side of the top groove. A sensor is installed on the top inner side of the top groove, and a controller is connected to the top of the sensor. A top plate is installed on the top of the damping shock absorber.

[0008] Preferably, the slider and the groove are slidably connected.

[0009] Preferably, the stacking fixture is slidably connected to the slide rail.

[0010] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: 1. In this utility model, when the number of circuit boards stacked on the top of the stacking fixture reaches a certain amount, the top plate will move downward slightly through the damping shock absorber, so that the top plate touches the controller. The controller controls the sensor to send a signal, and the signal receiver will receive the signal, thereby activating the electric push rod. The electric push rod pushes the connecting plate and the stacking fixture to move. Through the controller, sensor and signal receiver, the stacking fixture can automatically move to the rightmost side of the personnel slide rail after the stacking is completed, which is convenient for subsequent personnel to handle. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 for Figure 1 Enlarged structural diagram at point A in the middle; Figure 3 This is a front sectional view of the stacked tooling structure in this utility model; Figure 4 for Figure 3 Enlarged structural diagram at point B.

[0012] Legend: 1. Inclined vertical plate take-up and unload machine; 2. Fixture; 3. Photoelectric switch; 4. Partition; 5. Depth camera; 6. Stacking fixture; 7. Counter; 8. Slide rail; 9. Worktable; 10. Robotic arm; 11. Electric push rod; 12. Connecting plate; 13. Slide groove; 14. Signal receiver; 15. Top plate; 16. Damping shock absorber; 17. Controller; 18. Sensor; 19. Slider; 20. Top groove. Detailed Implementation

[0013] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0014] Reference Figure 1-4 A robotic arm-based material handling and stacking device includes an inclined vertical plate handling machine 1, a fixture 2, a photoelectric switch 3, a partition 4, a depth camera 5, a stacking tooling 6, a counter 7, a slide rail 8, a worktable 9, a robotic arm 10, an electric push rod 11, a connecting plate 12, a chute 13, a signal receiver 14, a top plate 15, a damping shock absorber 16, a controller 17, a sensor 18, a slider 19, and a top chute 20. The inclined vertical plate handling machine 1 has a worktable 9 on one side, and its operation... Multiple sets of robotic arms 10 are set at the top center of the worktable 9. A fixture 2 is installed at the connection between the worktable 9 and the inclined vertical plate take-up and take-down machine 1. A depth camera 5 is installed on the top of the worktable 9. A counter 7 is set on the top edge of the worktable 9. Multiple sets of partitions 4 are stacked on the top of the worktable 9. A photoelectric switch 3 is installed on the top of the worktable 9. An electric push rod 11 is installed on the top of the worktable 9. A slide rail 8 is opened on the top of the worktable 9. A stacking fixture 6 is connected to the inner side of the slide rail 8.

[0015] like Figure 1 and Figure 2 As shown, a signal receiver 14 is installed on the top of the electric push rod 11, and a connecting plate 12 is fixedly installed on one end of the electric push rod 11. One side of the connecting plate 12 abuts against the left side of the stacking fixture 6. The connecting plate 12 is detached from the stacking fixture 6 by bolts. A slider 19 is fixedly installed on the bottom of the connecting plate 12. A slide groove 13 is opened on the top of the worktable 9. After receiving the signal from the sensor 18, the signal receiver 14 on the top of the electric push rod 11 will start the electric push rod 11, which will push the stacking fixture 6 to move. At the same time, the connecting plate 12 will move in the slide groove 13 through the slider 19 at the bottom.

[0016] like Figure 3 and Figure 4 As shown, the top of the stacking fixture 6 is provided with a top groove 20, and multiple sets of damping shock absorbers 16 are provided on the bottom inner side of the top groove 20. A sensor 18 is installed on the top inner side of the top groove 20, and a controller 17 is connected to the top of the sensor 18. A top plate 15 is installed on the top of the damping shock absorber 16. When the circuit boards on the stacking fixture 6 are placed to a certain quantity, the top plate 15 will trigger the controller 17, so that the controller 17 controls the sensor 18 to send a signal to the signal receiver 14.

[0017] like Figure 1 and Figure 2 As shown, slider 19 is slidably connected to groove 13.

[0018] like Figure 1 As shown, the stacking fixture 6 is slidably connected to the slide rail 8.

[0019] Working Principle: In operation, the stacking fixture 6 is first moved manually to the leftmost side of the slide rail 8 and fixed to one side of the connecting plate 12 with bolts. After securing the stacking fixture 6, the partition plate 4 is manually stacked on the left side of the stacking fixture 6 for later use. Simultaneously, the inclined vertical board take-up and take-down machine 1 (model: JXK.AU / AL601) and the robotic arm 10 are started. The inclined vertical board take-up and take-down machine 1 places the circuit board on top of the fixture 2. When the photoelectric switch 3 senses the circuit board, it transmits a signal to the counter 7. The photoelectric switch 3 and the counter 7 work together to count the circuit boards. Then, the depth camera 5 detects the position of the circuit board and sends a signal to the robotic arm 10, which picks it up and places it into the stacking fixture 6. At the top, for every 200 circuit boards, a partition 4 is placed on top of the circuit boards. When the number of circuit boards stacked on top of the stacking fixture 6 reaches a certain amount, the top plate 15 will move downward slightly through the damping shock absorber 16, so that the top plate 15 touches the controller 17. The controller 17 controls the sensor 18 (resistance change type sensor, model: R60) to send a signal, and the signal receiver 14 will receive the signal, thereby activating the electric push rod 11. The electric push rod 11 pushes the connecting plate 12 to move together. The stacking fixture 6 on one side of the connecting plate 12 moves to the right through the bottom slide rail 8. After moving to the rightmost side of the slide rail 8, the stacking fixture 6 is manually processed.

[0020] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A robotic arm-based handling and stacking device, comprising an inclined vertical plate take-up and take-down machine (1), characterized in that: The inclined vertical plate take-up and take-down machine (1) has a workbench (9) on one side, and multiple sets of robotic arms (10) are set at the top center of the workbench (9). A fixture (2) is installed at the connection between the workbench (9) and the inclined vertical plate take-up and take-down machine (1). A depth camera (5) is installed on the top of the workbench (9). Multiple sets of partitions (4) are stacked on the top of the workbench (9). A photoelectric switch (3) is installed on the top of the workbench (9). An electric push rod (11) is installed on the top of the workbench (9). A slide rail (8) is opened on the top of the workbench (9). A stacking fixture (6) is connected to the inner side of the slide rail (8). One end of the photoelectric switch (3) is connected to a counter (7).

2. A mechanical arm based handling stacking device according to claim 1, characterized in that, A signal receiver (14) is installed on the top of the electric push rod (11), and a connecting plate (12) is fixedly installed on one end of the electric push rod (11). The connecting plate (12) is detached from the stacking fixture (6) by bolts. A slider (19) is fixedly installed on the bottom of the connecting plate (12), and a groove (13) is provided on the top of the worktable (9).

3. The mechanical arm based handling and stacking device of claim 1, wherein, The stacking fixture (6) has a top groove (20) on its top, and multiple damping shock absorbers (16) are provided on the bottom inner side of the top groove (20). A sensor (18) is installed on the top inner side of the top groove (20), and a controller (17) is connected to the top of the sensor (18). A top plate (15) is installed on the top of the damping shock absorber (16).

4. The mechanical arm based handling and stacking apparatus as claimed in claim 2, wherein, The slider (19) is slidably connected to the groove (13).

5. The mechanical arm based handling and stacking apparatus as claimed in claim 1, wherein, The stacking fixture (6) is slidably connected to the slide rail (8).

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