Multi-axis servo manipulator for toy picking

Abstract

The utility model discloses a kind of multi-axis servo manipulator for toy material taking, including fixed frame, X-axis translation frame, mechanical telescopic arm, toy suction mechanism and fixed arm, mechanical telescopic arm includes Z-axis drag board, Z-axis drive motor, arm rod assembly seat, Y-axis drive motor, Y-axis moving arm, Y-axis guide rail and Y-axis rack;The utility model uses multi-axis servo manipulator scheme and shows outstanding in precision, stability, flexibility and automation, can efficiently, reliably complete the clamping and placement task of toy parts, while reducing the risk of part damage, improve overall production efficiency.

Description

Technical Field

[0001] This utility model specifically relates to a multi-axis servo robot for picking up materials for toys. Background Technology

[0002] During the production of toy components, an injection molding machine is used to mold them, and a robotic arm is used to remove them after molding to ensure the effective removal of the toy components.

[0003] Many traditional robotic arms may only focus on horizontal movement, while Z-axis motion may rely on the lifting and lowering of the entire gantry or be insufficiently precise, leading to inaccurate positioning in three-dimensional space, especially when retrieving materials from deep within molds. Furthermore, long-stroke telescopic arms are prone to swaying and vibration during high-speed movement or sudden stops, causing positioning errors and potentially even causing the picked-up parts to fall off. In addition, the grippers of traditional robotic arms are often at a fixed angle, allowing only simple picking and placing. For processes requiring changes in part orientation, additional complex equipment or manual intervention is needed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, the purpose of this invention is to provide a multi-axis servo robot for picking up materials for toys.

[0005] The technical solution adopted by this utility model to solve its technical problem is: A multi-axis servo robot for picking up toys includes a fixed frame, an X-axis translation frame mounted on the fixed frame, a mechanical telescopic arm mounted on the X-axis translation frame and moving along the X-axis translation frame in the Z-axis direction, a toy picking mechanism mounted at the lower end of the mechanical telescopic arm, and a fixed arm fixedly mounted on the X-axis translation frame to limit the rotation of the toy picking mechanism. The mechanical telescopic arm includes a Z-axis slide plate mounted to the X-axis translation frame via a slider, a Z-axis drive motor fixedly mounted on the Z-axis slide plate, an arm mounting base fixedly mounted to the Z-axis slide plate and having sliders mounted on both sides inside, a Y-axis drive motor fixedly mounted on the arm mounting base, a Y-axis moving arm located inside the arm mounting base, Y-axis guide rails fixedly mounted on both sides of the Y-axis moving arm by bolts and mounted to the sliders inside the arm mounting base, and a Y-axis rack fixedly mounted on the side of the Y-axis moving arm facing the Y-axis drive motor by bolts and meshing with the drive gear of the Y-axis drive motor.

[0006] Preferably, the mounting bracket includes a stand, an X-axis translation seat fixedly mounted on the stand by bolts, an upper X-axis guide rail fixedly mounted on the upper side of the X-axis translation seat by screws, an X-axis rack fixedly mounted on the upper side of the upper X-axis guide rail and above the X-axis translation seat by screws, and two parallel side X-axis guide rails fixedly mounted on the side of the X-axis translation seat by screws.

[0007] Preferably, the X-axis translation frame includes an X-axis main slide plate assembled with the X-axis translation frame via a slider, an X-axis secondary slide plate fixedly installed with the X-axis main slide plate via bolts and assembled with the X-axis translation frame via a slider, an X-axis drive motor fixedly installed on the X-axis main slide plate, a Z-axis support arm abutting against the X-axis main slide plate and the X-axis secondary slide plate and fixed with bolts, two Z-axis guide rails fixedly installed on the side of the Z-axis support arm via bolts, and a Z-axis rack fixedly installed on the side of the Z-axis support arm via bolts and located between the two Z-axis guide rails.

[0008] Preferably, the toy suction mechanism includes a connecting plate, a U-shaped plate welded below the connecting plate and having a hinge hole at its lower end, an assembly plate hinged to the lower end of the U-shaped plate, a flip-plate cylinder located inside the U-shaped plate and hinged to both the connecting plate and the assembly plate, and a picker equidistantly mounted on the flip-plate cylinder.

[0009] Furthermore, the lower end of the connecting plate is welded with a hinge lug on the flap cylinder, which facilitates the hinged installation of the flap cylinder body with the connecting plate.

[0010] Furthermore, the assembly plate has a hinge lug that mates with the U-shaped plate welded to the middle of its side, a hinge bolt with a nut installed on the hinge lug, and a lower hinge lug of the flip-up cylinder welded between the two hinge lugs.

[0011] Furthermore, the material handler includes a copper tube that passes through the assembly plate and has nuts fitted at both ends, and is connected to a solenoid valve via a flexible hose; a buffer spring fitted in the lower half of the copper tube, with one end abutting against the assembly plate and the other end abutting against the nut; and a material handling suction cup fitted in the lower half of the copper tube.

[0012] Preferably, a limit post is provided at the lower end of the fixed arm.

[0013] The beneficial effects of this utility model are as follows: 1. It integrates servo drives for the X, Z, and Y axes, achieving precise positioning in three-dimensional space. It can accurately grasp small toy parts from injection molding molds. The X-axis drive motor, Z-axis drive motor, and Y-axis drive motor work in conjunction with the X-axis rack, Z-axis rack, and Y-axis rack for driving. It has high control precision and fast response speed, and can realize repetitive motion on complex paths. In addition, the Y-axis moving arm cooperates with the slider of the arm assembly seat through the Y-axis guide rails on both sides. This symmetrical double guide rail structure greatly enhances rigidity and effectively prevents the arm from swinging or twisting during the extension and retraction process, ensuring the positional accuracy of the toy picking mechanism. 2. The fixed frame uses the upper X-axis main slide plate and the X-axis auxiliary slide plate to jointly support the X-axis translation frame, forming a stable triangular support with strong load-bearing capacity and smooth operation. The fixed arm is directly connected between the stable X-axis translation frame and the toy gripping mechanism. As a rigid support, it effectively resists and absorbs the torque and inertial force generated by the gripping mechanism when flipping and releasing materials, preventing the entire robotic arm system from vibrating or deforming. This greatly improves the system rigidity and long-term operational reliability. In addition, the X-axis translation frame uses the X-axis main slide plate and the X-axis auxiliary slide plate to distribute the load to multiple sliders and guide rails, further improving the load-bearing capacity and motion stability. 3. The toy suction mechanism integrates a flip-plate cylinder, giving it two positions: 0° and 90°. This enables an automated process of horizontal suction and vertical unloading. The buffer spring in the feeder provides a flexible contact force for the suction cup, absorbing minor positioning errors or unevenness on the surface of the parts when picking up toys. This avoids hard collisions and damage to precision toy parts or injection molds. In addition, the vacuum suction using the suction cup, compared to the gripping method of the claws, eliminates the risk of scratching the workpiece surface, making it particularly suitable for toy products with high surface quality requirements. Attached Figure Description

[0014] Figure 1 This is one of the structural diagrams of a multi-axis servo manipulator for picking up materials for toys according to this utility model; Figure 2 This is the second structural diagram of a multi-axis servo manipulator for picking up materials for toys according to this utility model; Figure 3 for Figure 1 Structural diagram of the toy suction mechanism; Figure 4 for Figure 3 Exploded view; Figure 5 for Figure 4 A magnified view of the partial image at point A in the middle; Figure 6 This is a diagram showing the assembly plate rotated to the bottom of the U-shaped plate and perpendicular to the assembly plate. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention.

[0016] Example like Figure 1-6As shown, a multi-axis servo robot for picking up toys includes a fixed frame 1, an X-axis translation frame 2 mounted on the fixed frame 1, a mechanical telescopic arm 3 mounted on the X-axis translation frame 2 and moving along the Z-axis of the X-axis translation frame 2, a toy picking mechanism 4 installed at the lower end of the mechanical telescopic arm 3, and a fixed arm 5 fixedly mounted on the X-axis translation frame 2 for limiting the rotation of the toy picking mechanism 4.

[0017] The mounting bracket 1 includes a stand 11, an X-axis translation seat 12 fixedly mounted on the stand 11 by bolts, an upper X-axis guide rail 13 fixedly mounted on the upper side of the X-axis translation seat 12 by screws, an X-axis rack 14 fixedly mounted on the X-axis translation seat 12 above and located on the side of the upper X-axis guide rail 13 by screws, and two parallel side X-axis guide rails 15 fixedly mounted on the side of the X-axis translation seat 12 by screws.

[0018] The X-axis translation frame 2 includes an X-axis main slide plate 21 assembled with the X-axis translation frame 2 via a slider, an X-axis auxiliary slide plate 22 which is fixedly installed with the X-axis main slide plate 21 via bolts and assembled with the X-axis translation frame 2 via a slider, an X-axis drive motor 23 fixedly installed on the X-axis main slide plate 21, a Z-axis support arm 24 which abuts against the X-axis main slide plate 21 and the X-axis auxiliary slide plate 22 and is fixed with bolts, two Z-axis guide rails 25 which are fixedly installed on the side of the Z-axis support arm 24 via bolts, and a Z-axis rack 26 which is fixedly installed on the side of the Z-axis support arm 24 via bolts and located between the two Z-axis guide rails 25.

[0019] Specifically, the slider on the X-axis main slide plate 21 is assembled with the upper X-axis guide rail 13, the slider on the X-axis auxiliary slide plate 22 is assembled with the two side X-axis guide rails 15, and the drive gear on the X-axis drive motor 23 meshes with the X-axis rack 14. During operation, by starting the X-axis drive motor 23, the entire X-axis translation frame 2 can reciprocate along the fixed frame 1 in the X-axis direction.

[0020] It should be further explained that the Z-axis guide rail 25 cooperates with the slider on the Z-axis slide plate 31, and the Z-axis rack 26 meshes with the drive gear on the Z-axis drive motor 32. By starting the Z-axis drive motor 32, the entire mechanical telescopic arm 3 can reciprocate along the Z-axis support arm 24.

[0021] The mechanical telescopic boom 3 includes a Z-axis slide plate 31 assembled with the X-axis translation frame 2 via a slider, a Z-axis drive motor 32 fixedly mounted on the Z-axis slide plate 31, a boom assembly seat 33 fixedly mounted with the Z-axis slide plate 31 and having sliders mounted on both sides inside, a Y-axis drive motor 34 fixedly mounted on the boom assembly seat 33, a Y-axis movable arm 35 located inside the boom assembly seat 33, Y-axis guide rails 36 fixedly mounted on both sides of the Y-axis movable arm 35 by bolts and assembled with sliders inside the boom assembly seat 33, and a Y-axis rack 37 fixedly mounted on the side of the Y-axis movable arm 35 facing the Y-axis drive motor 34 by bolts and meshing with the drive gear of the Y-axis drive motor 34.

[0022] It should be further explained that the Y-axis movable arm 35 is assembled with the slider inside the arm mounting base 33 through the Y-axis guide rails 36 on both sides. In addition to the guiding function, the Y-axis guide rails 36 can also work with the slider to prevent the Y-axis movable arm 35 from swaying during movement.

[0023] The toy suction mechanism 4 includes a connecting plate 41, a U-shaped plate 42 welded below the connecting plate 41 and having a hinge hole at the lower end, an assembly plate 43 hinged to the lower end of the U-shaped plate 42, a flip-plate cylinder 44 located inside the U-shaped plate 42 and hinged to the connecting plate 41 and the assembly plate 43 respectively, and a feeder 45 equidistantly mounted on the flip-plate cylinder 44. Specifically, the connecting plate 41 is welded and fixed to the lower end of the Y-axis moving arm 35. The cylinder body of the flip-plate cylinder 44 is hinged to the connecting plate 41, and the output end of the flip-plate cylinder 44 is hinged to the assembly plate 43. The toy gripping mechanism 4 integrates the flip-plate cylinder 44, giving it two positions: 0° and 90°, enabling an automated process of horizontal suction and vertical discharge. In actual operation, the output end of the flip-plate cylinder 44 extends first, causing the assembly plate 43 to rotate parallel to the side of the U-shaped plate 42, facilitating the pick-up device 45 to pick up the toy parts from inside the injection molding machine. After moving to the outside of the injection molding machine via the X-axis translation frame 2, the output end of the flip-plate cylinder 44 retracts, causing the assembly plate 43 to rotate 90°. The assembly plate 43 rotates to the bottom of the U-shaped plate 42 and is perpendicular to the assembly plate 43. At this time, the pick-up device 45 faces downward and the air supply is cut off, facilitating the removal of the toy parts.

[0024] The lower end of the connecting plate 41 is welded with a hinge lug 411 for the flap cylinder, which facilitates the hinged installation of the cylinder body of the flap cylinder 44 with the connecting plate 41.

[0025] The assembly plate 43 has a hinge lug 431 welded to the middle of its side, which mates with the U-shaped plate 42. A hinge bolt 432 with a nut is installed on the hinge lug 431, and a lower hinge lug 433 of the flip cylinder is welded between the two hinge lugs 431. Specifically, the hinge lug 431 contacts the lower end of the U-shaped plate 42, and the hinge bolt 432 passes through the hinge hole of the U-shaped plate 42 to complete the hinged installation of the assembly plate 43 and the U-shaped plate 42. Then, the output end of the flip cylinder 44 is hinged to the lower hinge lug 433 of the flip cylinder, which facilitates the flip cylinder 44 to drive the assembly plate 43 to rotate and adjust the material picking or unloading.

[0026] The material picker 45 includes a copper tube 451 that passes through the assembly plate 43 and is fitted with nuts at both ends, and is connected to a solenoid valve via a flexible hose; a buffer spring 452 fitted in the lower half of the copper tube 451, with one end abutting against the assembly plate 43 and the other end abutting against the nut; and a material picker suction cup 453 fitted in the lower half of the copper tube 451. Specifically, the buffer spring 452 in the material picker 45 provides a flexible contact force for the material picker suction cup 453. When picking up toys, it can absorb slight positioning errors or unevenness of the part surface, avoiding hard collisions and damage to precision toy parts or injection molds. Moreover, using the material picker suction cup 453 for vacuum pick-up eliminates the risk of scratching the workpiece surface.

[0027] The lower end of the fixed arm 5 is provided with a limit post 51. Specifically, when the output end of the flip cylinder 44 retracts to make the assembly plate 43 rotate 90°, the limit post 51 is used to hold the assembly plate 43 in place, which can quickly and smoothly assemble the assembly plate 43 and prevent the toy from falling due to vibration of the assembly plate 43.

[0028] The above embodiments of this utility model are not intended to limit the scope of protection of this utility model. The implementation of this utility model is not limited thereto. All other modifications, substitutions or alterations made to the above structure of this utility model based on the above content of this utility model and in accordance with the common technical knowledge and conventional means in the field, without departing from the basic technical idea of ​​this utility model, shall fall within the scope of protection of this utility model.

Claims

1. A multi-axis servo robot for picking up toys, comprising a fixed frame, an X-axis translation frame mounted on the fixed frame, a mechanical telescopic arm mounted on the X-axis translation frame and capable of moving along the X-axis translation frame in the Z-axis direction, a toy-grabbing mechanism mounted at the lower end of the mechanical telescopic arm, and a fixed arm fixedly mounted on the X-axis translation frame for restricting the rotation of the toy-grabbing mechanism, characterized in that, The mechanical telescopic boom includes a Z-axis slide plate assembled with an X-axis translation frame via a slider, a Z-axis drive motor fixedly mounted on the Z-axis slide plate, a boom assembly base fixedly mounted with the Z-axis slide plate and having sliders mounted on both sides inside, a Y-axis drive motor fixedly mounted on the boom assembly base, a Y-axis movable arm located inside the boom assembly base, Y-axis guide rails fixedly mounted on both sides of the Y-axis movable arm by bolts and assembled with sliders inside the boom assembly base, and a Y-axis rack fixedly mounted by bolts on the side of the Y-axis movable arm facing the Y-axis drive motor and meshing with the drive gear of the Y-axis drive motor.

2. The multi-axis servo robot for toy picking according to claim 1, characterized in that, The mounting bracket includes a stand, an X-axis translation seat fixed to the stand by bolts, an upper X-axis guide rail fixed to the upper side of the X-axis translation seat by screws, an X-axis rack fixed to the upper X-axis translation seat and located on the side of the upper X-axis guide rail by screws, and two parallel side X-axis guide rails fixed to the side of the X-axis translation seat by screws.

3. The multi-axis servo robot for toy picking according to claim 1, characterized in that, The X-axis translation frame includes an X-axis main slide plate assembled with the X-axis translation frame via a slider, an X-axis secondary slide plate fixed to the X-axis main slide plate by bolts and assembled with the X-axis translation frame via a slider, an X-axis drive motor fixedly mounted on the X-axis main slide plate, a Z-axis support arm abutting against the X-axis main slide plate and the X-axis secondary slide plate and fixed by bolts, two Z-axis guide rails fixedly mounted on the side of the Z-axis support arm by bolts, and a Z-axis rack fixedly mounted on the side of the Z-axis support arm by bolts and located between the two Z-axis guide rails.

4. The multi-axis servo robot for toy picking according to claim 1, characterized in that, The toy suction mechanism includes a connecting plate, a U-shaped plate welded below the connecting plate and having a hinge hole at the lower end, an assembly plate hinged to the lower end of the U-shaped plate, a flip-plate cylinder located inside the U-shaped plate and hinged to both the connecting plate and the assembly plate, and a picker equidistantly mounted on the flip-plate cylinder.

5. The multi-axis servo robot for toy picking according to claim 4, characterized in that, The lower end of the connecting plate is welded with a hinge lug on the flap cylinder, which facilitates the hinged installation of the flap cylinder body with the connecting plate.

6. The multi-axis servo robot for toy picking according to claim 4, characterized in that, The assembly plate has a hinge lug that mates with the U-shaped plate welded to the middle of its side, a hinge bolt with a nut installed on the hinge lug, and a lower hinge lug of the flip-up cylinder welded between the two hinge lugs.

7. The multi-axis servo robot for toy picking according to claim 4, characterized in that, The material handling device includes a copper tube that passes through the assembly plate and has nuts fitted at both ends, and is connected to a solenoid valve via a flexible hose; a buffer spring fitted in the lower half of the copper tube, with one end abutting against the assembly plate and the other end abutting against the nut; and a material handling suction cup fitted in the lower half of the copper tube.

8. The multi-axis servo robot for toy picking according to claim 1, characterized in that, A limit post is provided at the lower end of the fixed arm.

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