Automatic material grabbing manipulator for bubble press

Abstract

The utility model discloses a kind of automatic material grabbing manipulators for bubble press, belong to bubble press technical field, including mounting bracket and conveyer belt, the mounting bracket top is sequentially provided with three mounting plates along conveyer belt transmission direction, three mounting plates are respectively installed with camera, manipulator assembly and bubble press upper portion, and bubble press lower portion is correspondingly arranged immediately below bubble press upper portion;The manipulator assembly includes rotating rod rotatably connected with mounting plate, first connecting piece connected with rotating rod, mechanical arm rotatably connected with first connecting piece, second connecting piece rotatably connected with mechanical arm and operating lever rotatably connected with second connecting piece, and suction disc for adsorbing material is detachably installed at the end of operating lever by clamping assembly.The utility model can quickly, conveniently replace end effector to adapt to diversified production tasks.

Description

Technical Field

[0001] This utility model relates to the field of foam press technology, and in particular to an automatic material gripping robot for foam press. Background Technology

[0002] In modern industrial production, bubble presses are widely used in thermoforming processes for electronic products, packaging materials, and other fields. To overcome the problems caused by manual feeding, automated robotic arms have been introduced into the feeding stage of bubble presses. Existing automation solutions typically use robotic arms with preset fixed points for gripping and placing. However, these robotic arms also have inherent limitations. On the one hand, they require the raw materials transported upstream to be arranged strictly according to the predetermined position and posture. Once the incoming material position deviates, the robotic arm will fail to grip or the gripping position will be inaccurate, leading to production interruption and incomplete automation. On the other hand, when it is necessary to change to raw materials of different specifications and sizes for processing, it is often necessary to change the actuator at the end of the robotic arm to adapt to the new material, such as a suction cup or gripper. The traditional actuator replacement process usually requires the use of tools for disassembly and assembly, which is cumbersome and time-consuming. This greatly extends the downtime of production line changeover and reduces production efficiency. Utility Model Content

[0003] The purpose of this invention is to enable quick and convenient replacement of end effectors to adapt to diverse production tasks.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: an automatic material gripping robot for a foam press, comprising a mounting frame and a conveyor belt, wherein three mounting plates are sequentially arranged on the top of the mounting frame along the conveying direction of the conveyor belt, and a camera, a robot arm assembly and the upper part of the foam press are respectively mounted on the three mounting plates, and the lower part of the foam press is correspondingly arranged directly below the upper part of the foam press; The robotic arm assembly includes a rotating rod rotatably connected to a mounting plate, a first connector connected to the rotating rod, a robotic arm rotatably connected to the first connector, a second connector rotatably connected to the robotic arm, and an operating rod rotatably connected to the second connector. The end of the operating rod is detachably fitted with a suction cup for adsorbing materials via a clamping assembly.

[0005] As a further description of the above technical solution: the clamping assembly includes at least two insertion holes disposed on the outer wall of the suction cup mounting end, a slide rod slidably disposed in the cylindrical channel of the operating rod, an insertion block fixed to one end of the slide rod for inserting into the insertion hole, and a spring sleeved on the slide rod for providing a continuous locking force to the insertion block.

[0006] As a further description of the above technical solution: the mounting end of the suction cup is provided with an inclined surface, and the head of the insertion block is provided with a hemispherical surface that matches the inclined surface; When the suction cup is installed, the guide bevel contacts and presses against the hemispherical surface, which forces the insert block to compress the spring and retract into the operating lever.

[0007] As a further description of the above technical solution: the end of the slide rod away from the insertion block is rotatably connected to an operating block, and the operating block extends to the outside of the operating rod; By pulling outward and rotating the operating block, the slide bar and the insert block can be moved against the spring force, causing the insert block to exit from the socket.

[0008] As a further description of the above technical solution: the side wall of the operating block is provided with a protruding strip block; When the operating block is rotated to a specific angle, the strip block contacts the outer wall of the operating lever, thereby locking the insert block in the retracted position after it has disengaged from the socket.

[0009] As a further description of the above technical solution: the rotating rod is connected to a servo motor that drives its horizontal rotation.

[0010] As a further description of the above technical solution: the suction cup is connected to an external vacuum generating device.

[0011] In summary, due to the adoption of the above technical solution, the beneficial effects of this utility model are: 1. The clamping assembly allows for quick and easy removal and installation of suction cups without the need for tools. When installing a new suction cup, simply push it in, and the inclined surface and hemispherical head will automatically press the insert back in. Once in place, the spring will automatically push the insert into the socket to lock it in place. The entire replacement process is simple and quick, greatly reducing downtime caused by changing materials of different specifications and significantly improving the overall utilization efficiency of the equipment.

[0012] 2. The quick-change clamping assembly utilizes a spring to provide automatic locking force. The structure is simple and reliable, avoiding the loosening or loss problems caused by using screws or other fasteners. At the same time, after pulling the operating block, the strip block on it can be locked by rotation, realizing convenient temporary locking, which facilitates the picking and putting of the suction cup, reduces the skill requirements of the operator, and simplifies the maintenance process. Attached Figure Description

[0013] Figure 1 A top view of the present invention is shown; Figure 2 A perspective view of the present invention is shown; Figure 3 A cross-sectional view of the operating lever and suction cup of this utility model is shown; Figure 4 This utility model is shown Figure 2 Enlarged view of point A in the middle; Figure 5A perspective view of the operating lever and suction cup of this utility model is shown.

[0014] Legend: 10. Mounting frame; 11. Conveyor belt; 12. Mounting plate; 13. Camera; 14. Upper part of the foam press; 15. Lower part of the foam press; 16. Rotating rod; 17. First connecting piece; 18. Robotic arm; 19. Second connecting piece; 20. Operating lever; 21. Suction cup; 211. Insertion hole; 212. Inclined surface; 22. Slide rod; 23. Insertion block; 231. Hemispherical surface; 24. Operating block; 241. Strip block; 25. Spring. Detailed Implementation

[0015] 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.

[0016] Please see Figures 1-5 This utility model provides a technical solution: an automatic material handling robot for a foam press, including a basic mounting frame 10, a conveyor belt 11 fixedly installed at the bottom of the mounting frame 10, the conveyor belt 11 being used to continuously transport the raw materials to be processed, and three mounting plates 12 arranged sequentially at the top of the mounting frame 10 along the material conveying path of the conveyor belt 11, the three mounting plates 12 providing mounting bases for functional components.

[0017] Specifically, a camera 13 is installed on the first mounting plate 12. The function of the camera 13 is to capture the incoming material on the conveyor belt 11 in real time. Through image recognition technology, it accurately obtains the position, size and posture information of the raw materials and transmits this information to the main control system to provide data support for the main control system to guide the robot arm component to perform precise grasping.

[0018] The second mounting plate 12 is equipped with a robotic arm assembly, which is responsible for performing the actual grasping and handling actions.

[0019] The upper part 14 of the bubble press is mounted on the third mounting plate 12. Corresponding to the upper part 14 of the bubble press, the lower part 15 of the bubble press is set in the working area directly below it. The upper part 14 of the bubble press and the lower part 15 of the bubble press together constitute a hot pressing unit for hot pressing the raw materials placed in place by the robot arm component.

[0020] By setting up a camera 13 on the conveyor belt 11 and combining it with image recognition technology, the position, size and posture information of the raw material at any position on the conveyor belt 11 can be obtained. The main control system dynamically guides the robotic arm component to perform operations based on this visual data, effectively avoiding the problem of gripping failure caused by the deviation of the incoming material position, significantly improving the success rate of automated gripping and the alignment accuracy of subsequent foam molding, and ensuring the stability and consistency of product quality.

[0021] The robotic arm assembly includes a rotating rod 16 that is rotatably connected to the bottom of the second mounting plate 12. The rotating rod 16 is driven by a servo motor (not shown) to achieve rotational motion in the horizontal plane, thereby determining the overall working direction of the robotic arm assembly.

[0022] The bottom of the rotating rod 16 is fixedly connected to a first connector 17. A robotic arm 18 is rotatably mounted on the first connector 17. The robotic arm 18 is rotatably connected to a second connector 19 via a joint. The second connector 19 is further rotatably connected to an operating rod 20, which serves as an end effector. Through the above-mentioned multi-joint rotational connection design, the operating rod 20 can move freely in three-dimensional space to adapt to complex work trajectories and precise positioning requirements.

[0023] The end of the operating lever 20 is detachably fixed with a suction cup 21 via a clamping assembly. The suction cup 21 is a component that comes into direct contact with the material. By connecting to an external vacuum generator, negative pressure is generated to adsorb and grip the material.

[0024] The clamping assembly is designed to enable quick replacement and secure locking of the suction cup 21. The clamping assembly includes insertion holes 211. Specifically, several insertion holes 211 are radially arranged on the outer wall of the mounting end of the suction cup 21, that is, the end connected to the operating rod 20. At the same time, the end of the suction cup 21 near the operating rod 20 is designed with a bevel 212.

[0025] Correspondingly, on the outer wall of the end of the operating lever 20, there are several cylindrical channels corresponding to the position and number of the sockets 211. Each cylindrical channel is slidably connected to a slide rod 22. One end of the slide rod 22 is fixedly connected to a plug 23. The size of the plug 23 matches the socket 211 and can be smoothly inserted into the socket 211.

[0026] The head of the insert 23 is provided with a hemispherical surface 231. When the insert 23 comes into contact with the inclined surface 212, the insert 23 moves into the depth of the cylindrical channel cavity.

[0027] Each slide bar 22 is fitted with a spring 25, which is located between the inner wall of the cylindrical channel and the base of the plug 23. The spring 25 is in a pre-compressed state, and its elastic force continuously pushes the slide bar 22 and the plug 23 toward the socket 211, thus providing an automatic locking tendency.

[0028] At the other end of the slide bar 22, that is, the end away from the insert block 23, an operating block 24 is rotatably connected. Part of the structure of the operating block 24 extends through and to the outside of the cylindrical channel, facilitating manual or tool operation. A protruding strip block 241 is fixed on the side wall of the operating block 24.

[0029] Work steps: The main control system is turned on, the equipment is started, and the conveyor belt 11 starts running, continuously feeding raw materials into the working area. When the raw materials enter the area below the first mounting plate 12, the camera 13 will automatically capture images of the materials. The image recognition system analyzes the images, accurately calculates the position, size, and orientation of the raw materials, and sends the data to the main control system.

[0030] Based on the received data, the main control system instructs the robotic arm assembly to start working. The servo motor drives the rotating rod 16 to rotate, aligning the robotic arm 18 with the general direction of the target material. The multi-joint linkage of the robotic arm 18, the second connecting piece 19, and the operating rod 20 precisely moves the suction cup 21 at the end directly above the target raw material. The vacuum generator produces negative pressure, and the suction cup 21 adsorbs and firmly grasps the raw material.

[0031] The robotic arm assembly smoothly moves the grasped raw material to directly above the lower part 15 of the foam press and precisely positions it. The suction cup 21 releases negative pressure, placing the raw material in the designated position. The robotic arm assembly resets, preparing for the next grasp. The upper part 14 and the lower part 15 of the foam press close together to perform heat pressing on the raw material.

[0032] When processing materials of different specifications, it may be necessary to replace the suction cups 21 with different sizes or shapes. The device is designed with quick-change clamping components. The operation is as follows: Pull one of the operating blocks 24 outward by hand or tool. This action will overcome the elastic force of the spring 25, causing the slide bar 22 and the insert block 23 to move backward, so that the insert block 23 disengages from the insertion hole 211 of the suction cup 21. After pulling it into place, rotate the operating block 24 so that the strip block 241 on its side wall is locked on the outer wall of the operating rod 20. This can prevent the operating block 24 from automatically resetting under the action of the spring 25. Repeat the operation of other operating blocks 24 until all insert blocks 23 are disengaged from the insertion hole 211 and locked in the retracted position. After all insert blocks 23 are unlocked, the old suction cup 21 can be easily removed from the end of the operating rod 20.

[0033] Select a new suction cup 21 that matches the material to be processed. Align the mounting end of the new suction cup 21 with the end of the operating lever 20, ensuring that the insertion hole 211 on the suction cup 21 is roughly aligned with the insertion block 23 inside the operating lever 20. Push the suction cup 21 forcefully against the operating lever 20. During the pushing process, the inclined surface 212 on the suction cup 21 will first contact the hemispherical surface 231 of the head of the insertion block 23. The inclined surface 212 is designed to automatically press all the insertion blocks 23 in the extended state inward using the pushing force, overcoming the elastic force of the spring 25 and retracting them into the cylindrical channel. When the suction cup 21 is fully pushed into place, the insertion block 23 will be exactly aligned with the insertion hole 211. At this time, the elastic force of the spring 25 will automatically push all the insertion blocks 23 into the corresponding insertion hole 211, completing the locking. Gently pull the newly installed suction cup 21 to ensure that it is firmly locked and will not fall off.

[0034] 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. An automatic material handling robot for a foam press, comprising a mounting frame (10) and a conveyor belt (11), characterized in that: The mounting frame (10) has three mounting plates (12) arranged sequentially along the conveying direction of the conveyor belt (11) on its top. The three mounting plates (12) are respectively equipped with a camera (13), a robotic arm assembly and the upper part (14) of the bubble press. The lower part (15) of the bubble press is arranged directly below the upper part (14) of the bubble press. The robotic arm assembly includes a rotating rod (16) rotatably connected to the mounting plate (12), a first connector (17) connected to the rotating rod (16), a robotic arm (18) rotatably connected to the first connector (17), a second connector (19) rotatably connected to the robotic arm (18), and an operating rod (20) rotatably connected to the second connector (19). The end of the operating rod (20) is detachably fitted with a suction cup (21) for adsorbing materials via a clamping assembly.

2. The automatic material handling robot for a foam press according to claim 1, characterized in that: The clamping assembly includes at least two insertion holes (211) on the outer wall of the mounting end of the suction cup (21), a slide rod (22) slidably disposed in the cylindrical channel of the operating rod (20), an insertion block (23) fixed to one end of the slide rod (22) for inserting into the insertion hole (211), and a spring (25) sleeved on the slide rod (22) for providing a continuous locking force to the insertion block (23).

3. The automatic material gripping robot for a foam press according to claim 2, characterized in that: The suction cup (21) has a bevel (212) at the mounting end, and the head of the insert (23) has a hemispherical surface (231) that matches the bevel (212). When the suction cup (21) is installed, the guide ramp (212) contacts and presses against the hemisphere (231), which forces the insert (23) to compress the spring (25) and retract into the operating lever (20).

4. The automatic material handling robot for a foam press according to claim 3, characterized in that: The end of the slide bar (22) away from the insertion block (23) is rotatably connected to an operating block (24), and part of the operating block (24) extends to the outside of the operating bar (20); By pulling outward and rotating the operating block (24), the slide bar (22) and the insert block (23) can be moved against the elastic force of the spring (25), so that the insert block (23) can be removed from the socket (211).

5. The automatic material handling robot for a foam press according to claim 4, characterized in that: The side wall of the operating block (24) is provided with a protruding strip block (241). When the operating block (24) is rotated so that the strip block (241) contacts the outer wall of the operating rod (20), the insert block (23) is locked in the retracted position away from the socket (211).

6. The automatic material handling robot for a foam press according to claim 1, characterized in that: The rotating rod (16) is connected to a servo motor that drives it to rotate horizontally.

7. The automatic material handling robot for a foam press according to claim 1, characterized in that: The suction cup (21) is connected to an external vacuum generator.

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