A high-precision unloading automatic placing robot mechanical arm for MIM parts

Abstract

The utility model relates to technical field of mechanical arm, and disclose a kind of for MIM part high-precision unloading automatic toy robot mechanical arm, including base and mechanical arm main part, the mechanical arm main part rotation is connected in base top part.This for MIM part high-precision unloading automatic toy robot mechanical arm is provided with mounting groove, industrial camera, audible and visual alarm, positioning groove, transparent cover, locating block and fixing bolt, by setting industrial camera, can in real time acquisition part image before grabbing part, detect the impurity on part surface, when detecting there is impurity particle, system automatically triggers cleaning process, and the impurity on part is handled, if impurity cannot be removed, then through audible and visual alarm alarm informs operator intervention, by being provided with transparent cover, industrial camera can be protected, and transparent cover is installed and disassembled operation simple, and it is convenient to disassemble and clean.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a robotic arm for high-precision loading and unloading of MIM parts in an automatic placement robot. Background Technology

[0002] MIM technology is a new type of near-net-shape forming technology that combines modern plastic injection molding technology with traditional powder metallurgy processes. It is widely used in many fields such as medical, electronics, and automotive.

[0003] In the production process of MIM parts, the loading, unloading and placement of parts are crucial. Traditional manual loading, unloading and placement methods have problems such as low efficiency, difficulty in guaranteeing accuracy, and high labor intensity, which cannot meet the needs of modern large-scale and high-precision production. Therefore, robotic arms are needed.

[0004] The prior art patent document CN215318794U discloses a novel robotic arm for picking up and placing parts in robot parts processing. This robotic arm, by rotating the stud to make the fixed plate lose its fixation, pushes the vertical plate to slide inside the side groove, so that the magnetic column attracts the base to fix the vertical plate, achieving the purpose of quickly disassembling the base. This facilitates the rapid disassembly of the base, making the entire robotic arm lose its fixation, ensuring that the operator can quickly disassemble the robotic arm, improving the operator's work efficiency, and improving the mobility of the robotic arm.

[0005] Although the existing technology described above has a grasping function, it cannot perform real-time detection of the surface quality of parts and handle impurities during actual use. This can easily lead to parts with impurities or defects entering subsequent processing stages, affecting the performance of the final product. Therefore, we need a robotic arm for high-precision loading and unloading of MIM parts. Utility Model Content

[0006] The purpose of this invention is to provide a robotic arm for high-precision loading and unloading of MIM parts in an automated placement robot, in order to solve the problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, this utility model provides the following technical solution: a robotic arm for high-precision loading and unloading of MIM parts by an automatic placement robot, comprising a base and a robotic arm body, wherein the robotic arm body is rotatably connected to the top of the base, and an electric telescopic rod is fixedly installed on the outer wall of the robotic arm body, one end of the electric telescopic rod is fixedly connected to a mounting frame, and a vacuum suction cup is detachably connected to the inner wall of the mounting frame, a detection component is provided on the inner wall of the mounting frame, and an adjustment component is provided on one side of the mounting frame; The detection component includes a mounting slot, and an industrial camera is fixedly connected to the inner wall of the mounting slot by bolts. An audible and visual alarm is provided on the outer wall of the robotic arm body. A positioning slot is provided at the bottom of the mounting frame, and a transparent cover is detachably connected to the bottom of the mounting frame. A positioning block is fixedly connected to the outer wall of the transparent cover, and a fixing bolt is provided on the outer wall of the transparent cover. The adjustment assembly includes a fixed frame, and a long bolt is slidably connected to the inner wall of the fixed frame. A connecting frame is rotatably connected to the outer wall of the long bolt, and a circular groove is opened on the inner wall of the connecting frame. A nozzle is fixedly connected to one end of the connecting frame, and a nut is threadedly connected to one end of the long bolt.

[0008] Preferably, the number of vacuum suction cups is four, and two vacuum suction cups form a group, with the two groups of vacuum suction cups symmetrically arranged about the vertical axis of the mounting frame.

[0009] Preferably, one end of the positioning block extends into the positioning groove, and the outer wall of the positioning block is in contact with the inner wall of the positioning groove.

[0010] Preferably, the mounting bracket is fixed to the transparent cover by fixing bolts, and one end of the fixing bolt is threaded through the transparent cover and extends into the mounting bracket for connection.

[0011] Preferably, there are two fixing brackets, and the two fixing brackets are symmetrically arranged on the mounting bracket.

[0012] Preferably, one end of the long bolt passes through the fixing frame and the connecting frame and is connected to the nut.

[0013] Preferably, the inner wall shape and size of the circular groove match the outer wall shape and size of the long bolt, and the inner wall of the circular groove fits into the outer wall of the long bolt.

[0014] Compared with the prior art, the beneficial effects achieved by this utility model are: First, this utility model is equipped with an installation slot, an industrial camera, an audible and visual alarm, a positioning slot, a transparent cover, a positioning block, and fixing bolts. By setting up an industrial camera, it can collect images of parts in real time before gripping them and detect impurities on the surface of the parts. When impurity particles are detected, the system automatically triggers a cleaning process to process the impurities on the parts. If the impurities cannot be removed, the audible and visual alarm will alert the operator to intervene. The transparent cover can protect the industrial camera. The installation and removal of the transparent cover are simple and easy to disassemble for cleaning.

[0015] Secondly, this utility model is equipped with a fixed frame, long bolts, connecting frame, circular groove, nozzle and nut. The nut can be loosened to adjust the angle of the nozzle, and the position can be fixed by tightening the nut. When cleaning impurities on the surface of the parts, compressed air is sprayed out at high speed through the nozzle to clean the impurities on the surface of the parts. After cleaning, the industrial camera immediately performs a re-inspection and automatically determines whether it needs to be cleaned again based on the test results, ensuring that the surface quality of each part meets the requirements. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the main structure of this utility model; Figure 2 This is a schematic diagram of the mounting bracket and industrial camera structure of this utility model; Figure 3 This utility model Figure 2 Enlarged structural diagram at point A in the middle; Figure 4 This is a schematic diagram of the long bolt and connecting frame structure of this utility model.

[0017] The components include: 1. Base; 2. Robotic arm body; 3. Electric telescopic rod; 4. Mounting frame; 5. Vacuum suction cup; 6. Detection component; 601. Mounting slot; 602. Industrial camera; 603. Audible and visual alarm; 604. Positioning slot; 605. Transparent cover; 606. Positioning block; 607. Fixing bolt; 7. Adjustment component; 701. Fixing frame; 702. Long bolt; 703. Connecting frame; 704. Circular groove; 705. Nozzle; 706. Nut. Detailed Implementation

[0018] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] like Figure 1-4As shown, a robotic arm for high-precision loading and unloading of MIM parts by an automated placement robot includes a base 1 and a robotic arm body 2. The robotic arm body 2 is rotatably connected to the top of the base 1, and an electric telescopic rod 3 is fixedly mounted on the outer wall of the robotic arm body 2. One end of the electric telescopic rod 3 is fixedly connected to a mounting frame 4, and a vacuum suction cup 5 is detachably connected to the inner wall of the mounting frame 4. A detection component 6 is provided on the inner wall of the mounting frame 4, and an adjustment component 7 is provided on one side of the mounting frame 4. The detection component 6 includes a mounting groove 601, and an industrial camera 602 is fixedly connected to the inner wall of the mounting groove 601 by bolts. The outer wall of the robotic arm body 2 is provided with... The device includes an audible and visual alarm 603, a mounting bracket 4 with a positioning groove 604 at the bottom, a transparent cover 605 detachably connected to the bottom of the mounting bracket 4, a positioning block 606 fixedly connected to the outer wall of the transparent cover 605, and a fixing bolt 607 on the outer wall of the transparent cover 605; the adjustment component 7 includes a fixing bracket 701, a long bolt 702 slidably connected to the inner wall of the fixing bracket 701, a connecting bracket 703 rotatably connected to the outer wall of the long bolt 702, a circular groove 704 on the inner wall of the connecting bracket 703, a nozzle 705 fixedly connected to one end of the connecting bracket 703, and a nut 706 threadedly connected to one end of the long bolt 702.

[0020] Through the above technical solution, by setting up an industrial camera 602, images of parts can be captured in real time before the parts are picked up, and impurities on the surface of the parts can be detected. When impurity particles are detected, the system automatically triggers the cleaning process to treat the impurities on the parts. If the impurities cannot be removed, an audible and visual alarm 603 will be used to notify the operator to intervene. The industrial camera 602 can be protected by a transparent cover 605. The transparent cover 605 is easy to install and remove, and easy to disassemble for cleaning. The angle of the nozzle 705 can be adjusted by loosening the nut 706, and the position can be fixed by tightening the nut 706. When cleaning impurities on the surface of the parts, compressed air is sprayed out at high speed through the nozzle 705 to clean the impurities on the surface of the parts. After cleaning, the industrial camera 602 immediately performs a re-inspection and automatically determines whether cleaning is needed again based on the detection results, ensuring that the surface quality of each part meets the requirements.

[0021] Specifically, there are four vacuum suction cups 5, and two vacuum suction cups 5 are arranged as a group, with the two groups of vacuum suction cups 5 symmetrically arranged with the vertical line of the mounting frame 4 as the axis of symmetry.

[0022] By employing the above technical solution, and by setting up four vacuum suction cups 5, the parts are adsorbed at all four points, which enhances stability and makes the adsorbed parts less likely to fall off.

[0023] Specifically, one end of the positioning block 606 extends into the positioning groove 604, and the outer wall of the positioning block 606 fits against the inner wall of the positioning groove 604.

[0024] With the above technical solution, when installing the transparent cover 605, the transparent cover 605 can be quickly assembled onto the mounting bracket 4 through the cooperation of the positioning block 606 and the positioning groove 604, and fixed by the fixing bolt 607 to complete the installation. The operation is simple and easy to use.

[0025] Specifically, the mounting bracket 4 is fixed to the transparent cover 605 by fixing bolts 607, and one end of the fixing bolts 607 is threaded through the transparent cover 605 and extends into the mounting bracket 4 for connection.

[0026] With the above technical solution, the number of fixing bolts 607 is multiple, which can effectively fix the transparent cover 605 to the mounting bracket 4, making it easy to install and remove. By setting the transparent cover 605, the industrial camera 602 inside the mounting bracket 4 can be protected, preventing external objects from damaging the industrial camera 602, and preventing external dust from adhering to the lens of the industrial camera 602. Operators can wipe the transparent cover 605 regularly to ensure the transparency effect.

[0027] Specifically, there are two fixing brackets 701, and the two fixing brackets 701 are symmetrically arranged on the mounting bracket 4.

[0028] The above technical solution facilitates the separate installation of the two nozzles 705 by providing two fixing brackets 701.

[0029] Specifically, one end of the long bolt 702 passes through the fixing bracket 701 and the connecting bracket 703 and is connected to the nut 706.

[0030] With the above technical solution, by tightening the nut 706, the connecting frame 703 can be well fixed on the fixing frame 701. By loosening the nut 706, the operator can rotate the connecting frame 703 to adjust the angle of the nozzle 705. After the angle is adjusted, the position is fixed by tightening the nut 706.

[0031] Specifically, the inner wall shape and size of the circular groove 704 match the outer wall shape and size of the long bolt 702, and the inner wall of the circular groove 704 fits into the outer wall of the long bolt 702.

[0032] Through the above technical solution, the connecting frame 703 can rotate on the long bolt 702 through the circular groove 704, which facilitates the adjustment of the angle and position of the nozzle 705.

[0033] In use, the device first connects to an external power supply, which powers the device. It is then controlled by an external control system, which uses an industrial-grade controller based on ARM Cortex-A9 or higher. This control system integrates the following functional modules: an image detection and processing module, a motion control module, a logic decision module, and a communication interface module. The vacuum suction cup 5 is connected to a compressed air pipe via a quick-connect coupling. The compressed air pipe is controlled by a solenoid valve, which is directly driven by the control system. The two adjustable nozzles 705 are connected to the compressed air pipe via quick-connect couplings, and are also controlled by solenoid valves, which are directly driven by the control system. During operation, the robotic arm body 2 moves, driving the electric telescopic rod 3. The electric telescopic rod 3 moves the mounting frame 4 to a position 50mm above the part. The industrial camera 602 is activated, capturing an image of the part. The image detection and processing module preprocesses the image, detecting the presence of impurity particles with a diameter ≥0.2mm on the part surface. If no impurities are found, the control system sends a command to the electric telescopic rod 3, pushing the mounting frame 4 downwards. The mounting frame 4 then moves the vacuum suction cup 5... The vacuum suction cup 5 moves down to adsorb and grasp the part. If impurities are present: the control system first activates the right nozzle 705 to perform three cleaning cycles at 0.4 MPa air pressure, each lasting 0.5 seconds with a 0.3-second interval. After cleaning, the industrial camera 602 immediately performs a re-inspection. If the impurities are still not removed, the right nozzle 705 is turned off, and the left nozzle 705 performs three enhanced cleaning cycles at 0.6 MPa air pressure. The re-inspection is performed again. If it is still unqualified, the audible and visual alarm 603 is triggered to notify manual intervention to remove the impurities. At the same time, an alarm message is sent to the host computer. After manual intervention to remove the impurities, the system automatically resumes operation. After confirming that the part surface is clean, the electric telescopic rod 3 is activated. The mounting frame 4 drives the vacuum suction cup 5 to move down to adsorb and grasp the part. The electric telescopic rod 3 is activated again to raise the mounting frame 4 to a safe height. The robotic arm transports the part to the designated position according to the preset trajectory. After reaching the target position, the solenoid valve on the vacuum suction cup 5 is closed, and compressed air is backflushed to ensure reliable release of the part. This completes all the work. The contents not described in detail in this manual are existing technologies known to those skilled in the art.

[0034] 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. A robotic arm for high-precision loading and unloading of MIM parts using an automated placement robot, comprising a base (1) and a robotic arm body (2), characterized in that: The main body (2) of the robotic arm is rotatably connected to the top of the base (1), and an electric telescopic rod (3) is fixedly installed on the outer wall of the main body (2). One end of the electric telescopic rod (3) is fixedly connected to a mounting frame (4), and a vacuum suction cup (5) is detachably connected to the inner wall of the mounting frame (4). A detection component (6) is provided on the inner wall of the mounting frame (4), and an adjustment component (7) is provided on one side of the mounting frame (4). The detection component (6) includes a mounting groove (601), and an industrial camera (602) is fixedly connected to the inner wall of the mounting groove (601) by bolts. An audible and visual alarm (603) is provided on the outer wall of the robotic arm body (2). A positioning groove (604) is provided at the bottom of the mounting frame (4), and a transparent cover (605) is detachably connected to the bottom of the mounting frame (4). A positioning block (606) is fixedly connected to the outer wall of the transparent cover (605), and a fixing bolt (607) is provided on the outer wall of the transparent cover (605). The adjustment assembly (7) includes a fixed frame (701), and a long bolt (702) is slidably connected to the inner wall of the fixed frame (701). A connecting frame (703) is rotatably connected to the outer wall of the long bolt (702), and a circular groove (704) is opened on the inner wall of the connecting frame (703). A nozzle (705) is fixedly connected to one end of the connecting frame (703), and a nut (706) is threaded to one end of the long bolt (702).

2. The robotic arm for high-precision loading and unloading of MIM parts by an automated placement robot as described in claim 1, characterized in that: The number of vacuum suction cups (5) is four, and two vacuum suction cups (5) form a group. The two groups of vacuum suction cups (5) are symmetrically arranged with the vertical line of the mounting frame (4) as the axis of symmetry.

3. The robotic arm for high-precision loading and unloading of MIM parts by an automated placement robot as described in claim 1, characterized in that: One end of the positioning block (606) extends into the positioning groove (604), and the outer wall of the positioning block (606) is in contact with the inner wall of the positioning groove (604).

4. The robotic arm for high-precision loading and unloading of MIM parts by an automated placement robot as described in claim 1, characterized in that: The mounting bracket (4) is fixed to the transparent cover (605) by fixing bolts (607), and one end of the fixing bolt (607) is threaded through the transparent cover (605) and extends into the mounting bracket (4) for connection.

5. The robotic arm for high-precision loading and unloading of MIM parts by an automated placement robot as described in claim 1, characterized in that: The number of the fixing brackets (701) is two, and the two fixing brackets (701) are symmetrically arranged on the mounting bracket (4).

6. The robotic arm for high-precision loading and unloading of MIM parts by an automated placement robot as described in claim 1, characterized in that: One end of the long bolt (702) passes through the fixing frame (701) and the connecting frame (703) and is connected to the nut (706).

7. The robotic arm for high-precision loading and unloading of MIM parts by an automated placement robot as described in claim 1, characterized in that: The inner wall shape and size of the circular groove (704) match the outer wall shape and size of the long bolt (702), and the inner wall of the circular groove (704) fits into the outer wall of the long bolt (702).

Images