A tube pick-and-place robot for printing on a circular tube

Abstract

The utility model relates to mechanical hand technical field especially is a kind of pick-and-place pipe manipulator for round pipe printing, including mechanical arm, the mounting seat of execution end being installed in mechanical arm, the rotating drive mechanism being installed in mounting seat, the rotating seat of rotating end being installed in rotating drive mechanism, two groups of magnetic suction components are installed in rotating seat, and the suction plate corresponding with magnetic suction component is installed in one end of rotating seat and the suction disc of another end side of rotating seat, and the suction plate encapsulates magnetic suction component in rotating seat, two groups of magnetic suction components can be attracted on suction plate in round pipe, rotating drive mechanism is used to drive rotating seat rotation.The structure of the present application is simple and compact, low in cost, can realize the overturning and pick-and-place of the round pipe to be printed and the round pipe after printing, improve the efficiency of pick-and-place round pipe, the end face of round pipe is sucked tightly by the mode of magnetic suction, will not cause the deformation or damage of round pipe, and still can identify the state of material disc by the suction disc pick-and-place identification block.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm for picking up and placing tubes for round tube printing. Background Technology

[0002] Among existing patents, the applicant filed a Chinese patent application on November 8, 2024, with application number 202422730964.3, disclosing an automatic cylindrical tube printing machine. This machine includes a frame, a first X-axis drive mechanism mounted on the frame, a Z-axis drive mechanism mounted on the drive end of the first X-axis drive mechanism, a lifting seat mounted on the drive end of the Z-axis drive mechanism, a fixed rotating chuck module mounted on one end of the lifting seat, a lifting driver mounted in the middle of the lifting seat, a support seat mounted on the lifting end of the lifting driver, a sliding plate slidably connected to the other end of the lifting seat, a second X-axis drive mechanism mounted on the lifting seat and used to drive the sliding plate to slide, and a movable... The patent document discloses a rotating chuck module, a Y-axis drive mechanism mounted on a sliding plate and driven by the rotating chuck module, a screen printing device mounted on a frame and mounted above the fixed and rotating chuck modules, a machine base located on the side of the frame near the rotating chuck module, an X-axis conveyor mechanism mounted on the machine base, a loading / unloading robotic arm located between the rotating chuck module and the X-axis conveyor mechanism, a feeding tray device located at the feeding end of the X-axis conveyor mechanism, a receiving tray device located at the discharging end of the X-axis conveyor mechanism, and a vision inspection mechanism located above the middle of the X-axis conveyor mechanism. There is a loading / unloading space between the vision inspection mechanism and the X-axis conveyor mechanism for the loading / unloading robotic arm to extend into. This patent document discloses a loading / unloading robotic arm for loading or unloading round tubes; however, this robotic arm picks up the round tubes by clamping, which easily causes deformation or surface damage to the round tubes (e.g., clamping marks). Therefore, the defects are obvious, and a solution is urgently needed. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a tube picking and placing robot for round tube printing.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A tube picking and placing robot for cylindrical tube printing includes a robotic arm, a mounting base mounted on the execution end of the robotic arm, a rotation drive mechanism mounted on the mounting base, a rotating seat mounted on the rotation end of the rotation drive mechanism, two sets of magnetic suction components mounted side by side in the rotating seat, a picking and placing plate mounted on one end of the rotating seat and corresponding to the magnetic suction components, and a suction cup mounted on one side of the other end of the rotating seat. The picking and placing plate encapsulates the magnetic suction components in the rotating seat. Both sets of magnetic suction components can magnetically attract cylindrical tubes to the picking and placing plate. The rotation drive mechanism is used to drive the rotating seat to rotate.

[0005] Furthermore, the magnetic attraction assembly includes a telescopic driver mounted on the rotating base, a mounting plate mounted on the telescopic end of the telescopic driver, and a magnet mounted on the mounting plate. The telescopic driver is used to drive the mounting plate to move closer to or away from the pick-up and put-away plate. When the mounting plate of one magnetic attraction assembly moves closer to the pick-up and put-away plate, the mounting plate of the other magnetic attraction assembly moves away from the pick-up and put-away plate.

[0006] Furthermore, the magnetic attraction assembly also includes a sensing plate mounted on the mounting plate and a sensor mounted on the rotating base. The sensing plate is used to trigger the sensor, and the sensor is electrically connected to the telescopic actuator. When the sensing plate triggers the sensor, the telescopic end of the telescopic actuator is in the retracted state.

[0007] Furthermore, the robotic arm is a four-axis robotic arm.

[0008] Furthermore, the telescopic actuator is a cylinder.

[0009] Furthermore, the mounting plate has recessed mounting holes, into which magnets are mounted.

[0010] The beneficial effects of this utility model are as follows: In practical applications, a vertical cylindrical tube to be printed is loaded on a material tray. The robotic arm drives the mounting base, along with the rotation drive mechanism, rotating base, two sets of magnetic suction components, and the pick-and-place plate, to move to the top of the cylindrical tube. The top surface of the cylindrical tube to be printed corresponds to one set of magnetic suction components, which magnetically attracts the cylindrical tube to be printed onto the pick-and-place plate. Then, the robotic arm moves the cylindrical tube to be printed away from the material tray and transfers it to an external cylindrical tube clamping fixture. Simultaneously, the rotary drive mechanism drives the rotating seat, along with two sets of magnetic suction components, a pick-and-place plate, and the magnetically attached cylindrical tube to be printed, to rotate from a vertical to a horizontal position. Driven by the robotic arm, another set of magnetic suction components magnetically attaches the printed cylindrical tube, held by the cylindrical tube clamping fixture, to the pick-and-place plate. Then, the cylindrical tube to be printed is placed horizontally on the cylindrical tube clamping fixture, thus achieving the picking up of the printed cylindrical tube and the placement of the cylindrical tube to be printed. Next, the robotic arm drives the mounting seat, along with the rotary drive mechanism, the rotating seat, and the two magnetic suction components... The magnetic suction assembly, pick-and-place plate, and printed tube moving tray are positioned to their empty positions. Simultaneously, the rotary drive mechanism rotates the rotating base from a horizontal to a vertical position, causing the printed tubes on the pick-and-place plate to face vertically downwards and directly towards the empty position on the tray. Driven by the robotic arm, the printed tubes are placed vertically on the tray. Then, another tube to be printed is magnetically attracted, and the above steps are repeated until all tubes on the tray have been printed. After this, the rotary drive mechanism rotates the rotating base until the suction cups on the rotating base are vertically downwards. The suction cups move the marker block on the tray from position one to position two to indicate the status of the tray. For example, when the marker block is in position one, it means that the tube on the tray is ready for printing; when the marker block is in position two, it means that the tube on the tray has been printed. Alternatively, when the marker block is in position one, it means that the tube on the tray has completed the first printing; when the marker block is in position two, it means that the tube on the tray has completed the second printing. This utility model has a simple and compact structure, low cost, and can realize the flipping and picking up of the round tube to be printed and the round tube after printing, which improves the efficiency of picking up and placing round tubes. The end face of the round tube is held tightly by magnetic attraction, which will not cause deformation or damage to the surface of the round tube. In addition, the status of the material tray can be marked by picking up and placing the marker block by suction cup. Attached Figure Description

[0011] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0012] Figure 2 This is a three-dimensional structural diagram of the concealed robotic arm of this utility model.

[0013] Figure 3 This is a cross-sectional view of the concealed robotic arm of this utility model.

[0014] Explanation of reference numerals in the attached figures: 1. Robotic arm; 2. Mounting base; 3. Rotation drive mechanism; 4. Rotating base; 5. Magnetic suction assembly; 6. Pick-up and drop plate; 7. Suction cup; 8. Telescopic actuator; 9. Mounting plate; 10. Magnet; 11. Induction plate; 12. Sensor. Detailed Implementation To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0015] like Figures 1 to 3 As shown, the present invention provides a tube picking and placing robot for cylindrical tube printing, which includes a robotic arm 1, a mounting base 2 installed on the execution end of the robotic arm 1, a rotation drive mechanism 3 installed on the mounting base 2, a rotating seat 4 installed on the rotation end of the rotation drive mechanism 3, two sets of magnetic suction components 5 installed side by side in the rotating seat 4, a picking and placing plate 6 installed on one end of the rotating seat 4 and corresponding to the magnetic suction components 5, and a suction cup 7 installed on one side of the other end of the rotating seat 4. The picking and placing plate 6 encapsulates the magnetic suction components 5 in the rotating seat 4. Both sets of magnetic suction components 5 can magnetically attract the cylindrical tube to the picking and placing plate 6. The rotation drive mechanism 3 is used to drive the rotating seat 4 to rotate.

[0016] In practical applications, a tray holds upright cylindrical tubes to be printed. The robotic arm 1 drives the mounting base 2, along with the rotation drive mechanism 3, rotating base 4, two sets of magnetic suction components 5, and a pick-and-place plate 6, to move to the top of the cylindrical tube. The top surface of the cylindrical tube to be printed corresponds to one set of magnetic suction components 5, which magnetically attracts the cylindrical tube to be printed onto the pick-and-place plate 6. Then, the robotic arm 1 removes the cylindrical tube from the tray and transfers it to an external cylindrical tube clamping fixture. Simultaneously, the rotation drive... The driving mechanism 3 drives the rotating seat 4, along with two sets of magnetic suction components 5, a pick-and-place plate 6, and the magnetically attached round tube to be printed, to rotate from a vertical state to a horizontal state. Under the drive of the robotic arm 1, the other set of magnetic suction components 5 magnetically attaches the printed round tube, which is carried by the round tube clamping fixture, to the pick-and-place plate 6. Then, the round tube to be printed is placed horizontally on the round tube clamping fixture to realize the picking up of the printed round tube and the placement of the round tube to be printed. Then, the robotic arm 1 drives the mounting seat 2, along with the rotating drive mechanism 3, the rotating seat 4, and the two magnetic suction components 5, to rotate from a vertical state to a horizontal state. The magnetic suction assembly 5, the pick-and-place plate 6, and the printed round tubes move to the empty position of the tray. At the same time, the rotation drive mechanism 3 drives the rotating seat 4 to rotate from a horizontal state to a vertical state, so that the printed round tubes on the pick-and-place plate 6 are vertically downward and facing the empty position of the tray. Driven by the robotic arm 1, the printed round tubes are placed vertically on the tray. Then, another round tube to be printed is magnetically attracted. The above operation steps are repeated until all the round tubes on the tray have been printed. Then, the rotation drive mechanism 3 drives the rotating seat 4 to rotate until the suction cup 7 on the rotating seat 4 is vertically downward. The suction cup 7 moves the marker block on the tray from position one to position two to mark the status of the tray. For example, when the marker block is in position one, it means that the round tube on the tray is waiting to be printed. When the marker block is in position two, it means that the round tube on the tray has been printed. Or, when the marker block is in position one, it means that the round tube on the tray has completed the first printing. When the marker block is in position two, it means that the round tube on the tray has completed the second printing. This utility model has a simple and compact structure, low cost, and can flip and pick up the round tubes to be printed and the round tubes after printing, which improves the efficiency of picking up and putting up round tubes. It can also use magnetic attraction to hold the end face of the round tube tightly without causing deformation or damage to the surface of the round tube. In addition, the status of the material tray can be marked by picking up and putting up the marker block through the suction cup 7.

[0017] In this embodiment, the magnetic attraction component 5 includes a telescopic driver 8 mounted on the rotating base 4, a mounting plate 9 mounted on the telescopic end of the telescopic driver 8, and a magnet 10 mounted on the mounting plate 9. The telescopic driver 8 is used to drive the mounting plate 9 to move closer to or away from the pick-up and put-away plate 6. When the mounting plate 9 of one magnetic attraction component 5 moves closer to the pick-up and put-away plate 6, the mounting plate 9 of the other magnetic attraction component 5 moves away from the pick-up and put-away plate 6, so that when one magnetic attraction component 5 is in a magnetic attraction state, the other magnetic attraction component 5 is in a waiting state. Specifically, the telescopic driver 8 is a cylinder.

[0018] In practical applications, the telescopic actuator 8 drives the mounting plate 9, along with the magnet 10, to approach or move away from the pick-and-place plate 6 to achieve magnetic attraction and release of the round tube; when the magnet 10 is close to the pick-and-place plate 6, the magnet 10 magnetically attracts the round tube onto the pick-and-place plate 6; when the magnet 10 leaves the pick-and-place plate 6, the round tube can be separated from the pick-and-place plate 6.

[0019] In this embodiment, the magnetic suction assembly 5 further includes a sensing plate 11 mounted on the mounting plate 9 and a sensor 12 mounted on the rotating base 4. The sensing plate 11 is used to trigger the sensor 12, and the sensor 12 is electrically connected to the telescopic actuator 8. When the sensing plate 11 triggers the sensor 12, the telescopic end of the telescopic actuator 8 is in a retracted state. In practical applications, the telescopic end of the telescopic actuator 8 retracts and drives the mounting plate 9 and the sensing plate 11 to move away from the pick-up and put-down plate 6. When the sensing plate 11 triggers the sensor 12, it indicates that the telescopic end of the telescopic actuator 8 has retracted to its limit position. At this time, the sensor 12 sends a feedback signal to the telescopic actuator 8, causing the telescopic actuator 8 to stop retracting and preventing the mounting plate 9 and the sensing plate 11 from moving excessively.

[0020] In this embodiment, robotic arm 1 is a four-axis robotic arm.

[0021] In this embodiment, the mounting plate 9 is recessed with an insertion hole, and the magnet 10 is inserted into the insertion hole. This structural design enables the magnet 10 to be stably mounted on the mounting plate 9, and the magnet 10 and the mounting plate 9 are structurally compact.

[0022] All technical features in this embodiment can be freely combined according to actual needs.

[0023] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A robotic arm for picking up and placing tubes for round tube printing, characterized in that: The device includes a robotic arm (1), a mounting base (2) installed on the execution end of the robotic arm (1), a rotation drive mechanism (3) installed on the mounting base (2), a rotating seat (4) installed on the rotation end of the rotation drive mechanism (3), two sets of magnetic suction components (5) installed side by side in the rotating seat (4), a pick-and-place plate (6) installed on one end of the rotating seat (4) and corresponding to the magnetic suction components (5), and a suction cup (7) installed on the other side of the rotating seat (4). The pick-and-place plate (6) encapsulates the magnetic suction components (5) in the rotating seat (4). Both sets of magnetic suction components (5) can magnetically attract the round tube to the pick-and-place plate (6). The rotation drive mechanism (3) is used to drive the rotating seat (4) to rotate.

2. The tube handling robot for round tube printing according to claim 1, characterized in that: The magnetic attraction assembly (5) includes a telescopic driver (8) mounted on the rotating base (4), a mounting plate (9) mounted on the telescopic end of the telescopic driver (8), and a magnet (10) mounted on the mounting plate (9). The telescopic driver (8) is used to drive the mounting plate (9) to move closer to or away from the pick-up and drop-off plate (6). When the mounting plate (9) of one magnetic attraction assembly (5) moves closer to the pick-up and drop-off plate (6), the mounting plate (9) of the other magnetic attraction assembly (5) moves away from the pick-up and drop-off plate (6).

3. The tube handling robot for round tube printing according to claim 2, characterized in that: The magnetic suction assembly (5) also includes a sensing plate (11) mounted on the mounting plate (9) and a sensor (12) mounted on the rotating base (4). The sensing plate (11) is used to trigger the sensor (12), and the sensor (12) is electrically connected to the telescopic driver (8). When the sensing plate (11) triggers the sensor (12), the telescopic end of the telescopic driver (8) is in a retracted state.

4. The tube handling robot for round tube printing according to claim 1, characterized in that: The robotic arm (1) is a four-axis robotic arm.

5. A tube-loading robot for round tube printing according to claim 2, characterized in that: The telescopic actuator (8) is a cylinder.

6. A tube-loading robot for round tube printing according to claim 2, characterized in that: The mounting plate (9) has recessed mounting holes, and the magnet (10) is mounted in the mounting holes.

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