CN210763039U - Bottom cover feeding device of floor sweeping robot - Google Patents
Bottom cover feeding device of floor sweeping robot Download PDFInfo
- Publication number
- CN210763039U CN210763039U CN201921130821.1U CN201921130821U CN210763039U CN 210763039 U CN210763039 U CN 210763039U CN 201921130821 U CN201921130821 U CN 201921130821U CN 210763039 U CN210763039 U CN 210763039U
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- bottom cover
- clamp
- sweeping robot
- feeding device
- material taking
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Abstract
The utility model provides a robot bottom loading attachment sweeps floor, including the workstation and be in the conveyer belt of workstation one side, lay the charging tray that is used for splendid attire at least one bottom on the workstation, the charging tray top is equipped with and is used for discerning bottom position in the charging tray and presss from both sides and gets the material arm of getting that the bottom removed to on the conveyer belt in the charging tray, the discharge end of conveyer belt is equipped with and is used for pressing from both sides the material clamp of getting the upper end of conveyer belt and upset 180 degrees, one side of conveyer belt still is equipped with and is used for pressing from both sides the material clamp of getting the bottom of upset 180 degrees on the material clamp. Compared with the prior art, the device gets the arm of material and utilizes CCD camera automatic identification charging tray bottom angle and the adjustment to get the clamp of material clamp and get the angle in order to press from both sides the bottom on the charging tray, and the automatic angle of adjustment makes the bottom installation predetermine the angle and lay and convey to the conveyer belt after getting the bottom to utilize the ejection of compact to press from both sides the upset 180 degrees back in the data send process and carry out the material loading by the material loading clamp again, carry out the material loading with the bottom like this automatically, the follow-up equipment of being convenient for.
Description
Technical Field
The utility model relates to a robot manufacturing field of sweeping the floor, especially a robot bottom loading attachment sweeps the floor.
Background
When the floor sweeping robot is assembled, due to the irregular shape of the bottom cover, manual conveying is mostly adopted, the conveying efficiency is low, conveying angles are not consistent easily, errors occur in the assembling process, and waste products are formed.
SUMMERY OF THE UTILITY MODEL
To the problem, the utility model provides a robot bottom loading attachment sweeps floor carries out the material loading with the bottom automatically to guarantee that the conveying angle is unanimous, the follow-up equipment of being convenient for.
The utility model adopts the technical proposal that:
a bottom cover feeding device of a sweeping robot is characterized by comprising a workbench and a conveying belt positioned on one side of the workbench, wherein a material tray for containing at least one bottom cover is placed on the workbench, a material taking mechanical arm for identifying the position of the bottom cover in the material tray and clamping the bottom cover in the material tray to move onto the conveying belt is arranged above the material tray, a material discharging end of the conveying belt is provided with a material discharging clamp for clamping the upper bottom cover of the conveying belt and turning 180 degrees, one side of the conveying belt is also provided with a material feeding clamp for clamping the lower cover turning 180 degrees on the material discharging clamp and transferring the material, the material taking mechanical arm comprises an arm body, an arm body driver for driving the arm body to rotate and a mechanical arm controller connected with the arm body driver, the top end part of the arm body is provided with a CCD camera for photographing the position of the bottom cover in the material tray and sending an image to the mechanical arm controller, and a material taking clamp for, a material taking clamp driver which is connected with the material taking clamp and used for receiving signals of a mechanical arm controller to drive the material taking clamp to lift and clamp is arranged above the arm body.
Preferably, the CCD camera passes through the support mounting at the top portion of the arm body, still is equipped with the mounting panel on the support, is equipped with on the mounting panel and shines the looks hole, and the bottom of mounting panel still is equipped with the light filling lamp that is used for the light filling.
Preferably, the workbench is divided into a feeding area and a material taking area, and a movable supporting plate for bearing a material plate and a supporting plate driving assembly for driving the movable supporting plate to do linear motion are arranged in the material taking area.
Preferably, the bottom cover feeding device of the floor sweeping robot further comprises a rotary table located on one side of the feeding clamp, and a plurality of placing stations used for receiving the bottom cover clamped by the feeding clamp are arranged on the rotary table.
Preferably, the conveyor belt is provided with a pressing edge for pressing on the side edge of the bottom cover.
Compared with the prior art, the beneficial effects of the utility model reside in that: the utility model provides a robot bottom loading attachment of sweeping floor gets material arm utilizes CCD camera automatic identification charging tray to go up the angle of bottom and adjustment to get the clamp of material clamp and gets the bottom on the angle in order to press from both sides the clamp, the automatic angle of adjustment makes the bottom installation predetermine the angle and lays and convey on the conveyer belt after pressing from both sides the bottom, and utilize the ejection of compact to press from both sides the upset 180 degrees back in the data send process and carry out the material loading by the material loading clamp again, carry out the material loading with the bottom automatically like this, and guarantee that conveying angle is unanimous, the follow-up equipment of being convenient for.
Drawings
Fig. 1 is a first schematic view of a bottom cover feeding device of a floor sweeping robot provided by the present invention;
fig. 2 is a second schematic view of a bottom cover feeding device of the floor sweeping robot provided by the present invention;
fig. 3 is an exploded view of a bottom cover feeding device of the floor sweeping robot provided by the present invention;
fig. 4 is a schematic view of a mechanical arm in a bottom cover feeding device of a floor sweeping robot provided by the present invention;
fig. 5 is a schematic view of a worktable in a bottom cover feeding device of a floor sweeping robot provided by the present invention;
fig. 6 is an exploded view of a worktable in a bottom cover feeding device of the floor sweeping robot provided by the present invention;
fig. 7 is a schematic view of a conveyor belt in a bottom cover feeding device of the floor sweeping robot provided by the present invention;
fig. 8 is a schematic view of a discharging clip in a bottom cover feeding device of the floor sweeping robot provided by the present invention;
fig. 9 is a schematic view of a feeding clamp in a bottom cover feeding device of a floor sweeping robot provided by the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
Fig. 1 to 9 illustrate a preferred embodiment of a bottom cover feeding device of a floor sweeping robot according to the present invention. As shown in fig. 1 to 9, the bottom cover feeding device of the sweeping robot comprises a workbench 10 and a conveyor belt 20 on one side of the workbench, wherein a tray 11 for containing at least one bottom cover 100 is placed on the workbench 10, a material taking mechanical arm 30 for identifying the position of the bottom cover in the tray and clamping the bottom cover in the tray to move to the conveyor belt is arranged above the tray, a discharging clamp 40 for clamping the bottom cover on the conveyor belt and turning 180 degrees is arranged at the discharging end of the conveyor belt 20, a feeding clamp 50 for clamping the bottom cover turned 180 degrees on the discharging clamp to move and feed is also arranged on one side of the conveyor belt 20, the angle of the bottom cover 100 on the tray 11 is automatically identified by the material taking mechanical arm and the bottom cover 100 is clamped and moved to the conveyor belt 20, when the conveyor belt 20 conveys the bottom cover 100 to the discharging end of the conveyor belt, the discharging clamp 40 turns 180 degrees, and the feeding clamp 50 clamps the turned bottom cover 100 to move and feed, the bottom cover is automatically fed, the conveying angle is consistent, and subsequent assembly is facilitated. The conveyor belt 20 is provided with a pressing edge 21 for pressing on the side edge of the bottom cover, so that the bottom cover 100 is prevented from jumping during conveying, and the bottom cover 100 is ensured to keep the same angle during conveying.
As shown in fig. 4, the material taking mechanical arm 30 includes an arm 31, an arm driver 32 for driving the arm to rotate, and a mechanical arm controller connected to the arm driver, the top of the arm is provided with a CCD camera 33 for photographing and identifying the position of the bottom cover in the tray 11 and sending the image to the mechanical arm controller, a material taking clamp 34 for clamping the bottom cover is arranged below the arm, a material taking clamp driver 35 connected to the material taking clamp and used for receiving the signal of the mechanical arm controller to drive the material taking clamp to move up and down and clamp is arranged above the arm, the arm driver 32 drives the arm 31 to rotate, the CCD camera 33 on the arm 31 photographs and identifies the position of the bottom cover in the tray 11 and sends the signal to the mechanical arm controller, the mechanical arm controller controls the rotation of the arm 31 through the arm driver 32 and sends the signal to the material taking clamp driver 35, the material taking clamp driver 35 drives the material taking clamp 34 to move up and down and clamp the bottom cover in the tray 11, onto a conveyor 20. The CCD camera 33 is installed at the top end portion of the arm body 31 through the support 311, the support 311 is further provided with the mounting plate 312, the mounting plate 312 is provided with the photographing hole 3121, the bottom of the mounting plate 312 is further provided with the light supplement lamp 36 for supplementing light, and when the CCD camera 33 photographs, the light supplement lamp 36 supplements light for photographing.
As shown in fig. 5 and 6, the workbench 10 is divided into a feeding area 101 and a material taking area 102, a movable supporting plate 12 for supporting the material tray and a supporting plate driving assembly 13 for driving the movable supporting plate 12 to move linearly are arranged in the material taking area 102, and in the material taking process, the supporting plate driving assembly 13 can drive the supporting plate 12 to move, so that the bottom covers 100 in the material tray 11 are all located at the positions convenient to clamp by the material taking clamp 34, the rotation angle of the arm body 31 is reduced, continuous feeding is ensured, and the working efficiency is improved. The feeding area 101 is also provided with fixed support plates, and each fixed support plate is also provided with a material tray, so that the material tray in the subsequent material taking area 102 can be replaced conveniently. The supporting plate driving component comprises a bracket arranged on the bottom surface of the supporting plate 12 and a bracket driver used for driving the bracket to move, and the bracket driver drives the bracket to slide so as to drive the movable supporting plate 12 to slide.
The bottom cover feeding device of the floor sweeping robot further comprises a rotary table 60 located on one side of the feeding clamp, a plurality of placing stations 61 used for receiving the bottom cover clamped by the feeding clamp are arranged on the rotary table 60, and the bottom cover 100 clamped by the feeding clamp 50 and turned over is transferred to one placing station 61 on the rotary table 60 for subsequent assembly.
It should be noted that the discharging clamp 40 is controlled by a discharging clamp driving assembly to perform the clamping and turning actions of the discharging clamp, and the feeding clamp 50 is controlled by a feeding clamp driving assembly to perform the translation and clamping actions of the feeding clamp.
The process of feeding the bottom cover of the sweeping robot comprises the following steps: the charging tray 11 is used for containing a plurality of bottom covers, the charging tray 11 is placed in the material taking area 102 of the workbench 10, the arm driver 32 drives the arm body 31 to move, after the CCD camera 33 on the arm body 31 photographs and identifies the position of the bottom cover in the charging tray 11, a signal is sent to the mechanical arm controller, the mechanical arm controller controls the rotation of the arm body 31 through the arm driver 32 and sends the signal to the material taking clamp driver 35, and the material taking clamp driver 35 drives the material taking clamp 34 to lift and the charging tray clamp to take the bottom covers in the charging tray 11 and transfer the bottom covers to the conveyor belt 20; during the conveying process of the conveyor belt 20, the edge pressing 21 on the conveyor belt 20 presses the side edge of the bottom cover 100, so that the bottom cover 100 is prevented from jumping during the conveying process; when the conveyor belt 20 conveys the bottom cover 100 to the discharge end of the conveyor belt, the discharge clamp 40 clamps the bottom cover 100 and turns over for 180 degrees, and the feeding clamp 50 clamps the turned bottom cover 100 and then transfers and feeds the bottom cover, so that the bottom cover is automatically fed, the conveying angle is consistent, and the subsequent assembly is facilitated.
To sum up, the technical scheme of the utility model can be fully effectual the above-mentioned utility model purpose of realization, just the utility model discloses a structure and functional principle all obtain abundant verification in the embodiment, can reach anticipated efficiency and purpose, do not deviating from the utility model discloses a under the prerequisite of principle and essence, can make multiple change or modification to the embodiment of utility model. Therefore, the present invention includes all the alternative contents within the scope mentioned in the claims, and all the equivalent changes made within the claims of the present invention are included in the claims of the present application.
Claims (5)
1. A bottom cover feeding device of a sweeping robot is characterized by comprising a workbench and a conveying belt positioned on one side of the workbench, wherein a material tray for containing at least one bottom cover is placed on the workbench, a material taking mechanical arm for identifying the position of the bottom cover in the material tray and clamping the bottom cover in the material tray to move onto the conveying belt is arranged above the material tray, a material discharging end of the conveying belt is provided with a material discharging clamp for clamping the upper bottom cover of the conveying belt and turning 180 degrees, one side of the conveying belt is also provided with a material feeding clamp for clamping the lower cover turning 180 degrees on the material discharging clamp and transferring the material, the material taking mechanical arm comprises an arm body, an arm body driver for driving the arm body to rotate and a mechanical arm controller connected with the arm body driver, the top end part of the arm body is provided with a CCD camera for photographing the position of the bottom cover in the material tray and sending an image to the mechanical arm controller, and a material taking clamp for, a material taking clamp driver which is connected with the material taking clamp and used for receiving signals of a mechanical arm controller to drive the material taking clamp to lift and clamp is arranged above the arm body.
2. The bottom cover feeding device of the floor sweeping robot of claim 1, wherein: the CCD camera passes through the support mounting in the top portion of the arm body, still is equipped with the mounting panel on the support, is equipped with the photographic hole on the mounting panel, and the bottom of mounting panel still is equipped with the light filling lamp that is used for the light filling.
3. The bottom cover feeding device of the floor sweeping robot of claim 1, wherein: the material taking area is internally provided with a movable supporting plate for bearing a material plate and a supporting plate driving assembly for driving the movable supporting plate to do linear motion.
4. The bottom cover feeding device of the floor sweeping robot of claim 1, wherein: the bottom cover feeding device of the floor sweeping robot further comprises a rotary table located on one side of the feeding clamp, and a plurality of placing stations used for receiving the bottom cover clamped by the feeding clamp are arranged on the rotary table.
5. The bottom cover feeding device of the floor sweeping robot of claim 1, wherein: and the conveying belt is provided with a blank holder for pressing the side edge of the bottom cover.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921130821.1U CN210763039U (en) | 2019-07-18 | 2019-07-18 | Bottom cover feeding device of floor sweeping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921130821.1U CN210763039U (en) | 2019-07-18 | 2019-07-18 | Bottom cover feeding device of floor sweeping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210763039U true CN210763039U (en) | 2020-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921130821.1U Active CN210763039U (en) | 2019-07-18 | 2019-07-18 | Bottom cover feeding device of floor sweeping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210763039U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395574A (en) * | 2019-07-18 | 2019-11-01 | 深圳市泽宇智能工业科技有限公司 | A kind of sweeping robot bottom cover feeding device |
-
2019
- 2019-07-18 CN CN201921130821.1U patent/CN210763039U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110395574A (en) * | 2019-07-18 | 2019-11-01 | 深圳市泽宇智能工业科技有限公司 | A kind of sweeping robot bottom cover feeding device |
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