CN211254394U - Automatic mechanical arm taking and placing structure for feeding and discharging - Google Patents

Abstract

The utility model relates to an automatic structure of getting of arm for going up unloading, include: the mechanical arm body is used for longitudinally and transversely positioning the mechanical arm in space; the feeding tray monitoring device is used for monitoring whether the packaging material is completely taken or not in real time and is connected with the free end of the mechanical arm body; the pneumatic clamping fingers are used for grabbing workpieces and are provided with a plurality of clamps, the pneumatic clamping fingers are multiple in number and connected with the free end of the mechanical arm body, the pneumatic clamping fingers are arranged in an array mode, each pneumatic clamping finger comprises a pair of clamps, the clamps are correspondingly provided with a plurality of suckers made of elastic materials, and the mechanical arm automatic taking and placing structure has the advantages that lipstick can be sucked without changing the tail end of the mechanical arm and the mechanical arm carrying process is simple.

Description

Automatic mechanical arm taking and placing structure for feeding and discharging

Technical Field

The utility model belongs to the technical field of the manufacturing equipment and specifically relates to an automatic structure of getting of arm for go up unloading is put.

Background

The mechanical arm is an automatic mechanical device which is widely applied in the technical field of robots, and the figure of the mechanical arm can be seen in the fields of industrial manufacturing, medical treatment, entertainment service, military, semiconductor manufacturing, space exploration and the like. Although they have different forms, they all have a common feature of being able to receive commands to precisely locate a point in three-dimensional (or two-dimensional) space for work.

At present, mechanical arm has also been introduced in lower mould processing field on the lipstick for replace artifical realization intelligent production, but will change the arm end when the lipstick to the arm handling in present lipstick field is loaded down with trivial details, causes the fish tail to the product outer wall easily, influences the product quality.

SUMMERY OF THE UTILITY MODEL

In view of the above, it is desirable to provide an automatic pick-and-place structure of a robot arm that can pick up lipstick without changing the end of the robot arm and that can easily perform the robot arm transportation process.

In order to achieve the above object, the utility model provides an automatic structure of getting of arm for going up unloading, a serial communication port, include: the mechanical arm body is used for longitudinally and transversely positioning the mechanical arm in space; the feeding tray monitoring device is used for monitoring whether the packaging material is completely taken or not in real time and is connected with the free end of the mechanical arm body; the pneumatic clamping fingers are used for grabbing workpieces and are provided with a plurality of pneumatic clamping fingers, the pneumatic clamping fingers are connected with the free end of the mechanical arm body and are arranged in an array mode, each pneumatic clamping finger comprises a pair of clamping claws, and a plurality of suckers made of elastic materials are correspondingly arranged on the pair of clamping claws respectively.

Further, the model of the mechanical arm body comprises any one of UR3e, UR5e and UR10 e.

Further, the charging tray monitoring devices is 3D intelligence monitoring devices that takes a picture, 3D intelligence monitoring devices that takes a picture includes: one end of the connecting frame is connected with the free end of the mechanical arm body, and the free end of the mechanical arm body drives the connecting frame to rotate circumferentially; and the camera assembly is connected with the other end of the connecting frame.

Further, the vertical distance between the camera assembly and the material coming tray ranges from 340mm to 360 mm.

Further, the pneumatic clamping fingers are provided with two clamping claws, and a pair of the clamping claws are arranged in parallel.

Further, each pair of the clips is spaced apart by a distance of 50 mm.

Furthermore, two suckers made of elastic materials are correspondingly arranged on the pair of clamping claws respectively.

Further, the sucker is a rubber sucker.

The beneficial effects of the utility model reside in that:

1. the rubber sucker is arranged on the gripper of the pneumatic clamping finger, so that round or square lipstick can be sucked at the tail end of the mechanical arm without replacing the gripper, and the rubber sucker can protect lipstick packing materials from being scratched.

2. Can absorb a plurality of lipstick packing materials go up unloading in the same time, improve production efficiency above-mentioned.

3. The mechanical arm carrying steps are simple in design, later maintenance of products is facilitated, and meanwhile the situation that lipstick packing materials are scratched due to complex carrying steps is effectively avoided.

Drawings

Fig. 1 is a schematic view of an overall structure of a first viewing angle according to an embodiment of the present invention.

Fig. 2 is a schematic view of the overall structure of the second viewing angle according to the embodiment of the present invention.

In the figure, the robot arm body 100, the base 110, the shoulder 120, the elbow 130, the first wrist 140, the second wrist 150, the third wrist 160, the incoming tray monitoring apparatus 200, the connecting frame 210, the camera module 220, the pneumatic fingers 300, the gripper 310, the suction cup 400, and the incoming tray 500 are shown.

Detailed Description

In order to make the purpose, technical scheme and advantage of the utility model more clearly understand, it is right below to combine the attached drawing and embodiment, the utility model relates to an automatic structure of getting of arm for go up unloading carries out further detailed description. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

Referring to fig. 1, fig. 1 is a schematic view of an overall structure of an embodiment of the present invention.

Referring to fig. 1-2, in an embodiment of the present invention, the automatic pick-and-place mechanism of a robot arm mainly includes a robot arm body 100, a tray monitor 200, a pneumatic finger 300, and a suction cup 400.

Wherein the robot arm body 100 is used for performing longitudinal and transverse spatial positioning on the robot arm, the robot arm body 100 can move the pneumatic clamping fingers 300 and the suction cups 400 according to time-varying requirements of spatial poses (positions and postures) so as to meet the operation requirements of certain industrial production, in a preferred embodiment of the robot arm body 100, the robot arm body 100 can select one of UR3e, UR5e and UR10e in UR (cooperative robot/robot arm) e-Series as required, the Series of robots are six-axis, the robot arm body has three wrist joints, all the wrist joints can realize three hundred sixty degrees of rotation, the tail end joints can rotate infinitely, when the UR cooperative robot is used, an operator usually loads powder cakes into a material tray, then, the operator leaves a working space, the UR cooperative robot completes the work, and the UR cooperative robot passes through the UR cooperative robot, the operator can directly provide the pressed powder for the robot without leaving the working space, so that the time, the cost and the occupied area are reduced; the axis moving mechanical arm of the cooperative robot comprises a base 110, a shoulder 120, an elbow 130, a first wrist 140, a second wrist 150 and a third wrist 160, the cooperative robot can set the stop time and the stop distance of the protective stop of the mechanical arm, an operator without programming experience can quickly set and operate the visual cooperative robot, only the robot arm needs to be moved to a required position or a lower arrow key on a touch screen tablet computer which is convenient and easy to use is touched, and the UR cooperative robot belongs to the prior art, and the principle and the structure of the UR cooperative robot are not specifically described herein.

The incoming tray monitoring device 200 is used for monitoring whether the packaging material is completely taken or not in real time, the incoming tray monitoring device 200 is connected with the free end of the mechanical arm body 100, the incoming tray monitoring device 200 can be a TriSpector3D vision system, and 3D +2D detection is adopted for detecting the packaging material in the incoming tray 500 based on a laser triangulation method, a target locator and detail inspection; the incoming material tray monitoring device 200 can also be a 3D intelligent photographing monitoring device, functions of imaging, luminescence, analysis and the like of the monitoring device are integrated, and an intelligent camera capable of running independently is applied to measurement or inspection; the incoming material tray monitoring device 200 may also be an ultrasonic detection device; in a preferred embodiment of the incoming tray monitoring device 200, a 3D smart camera monitoring device is selected to monitor whether the packaging material in the incoming tray 500 is completely taken or not in real time, the 3D smart camera monitoring device includes a connecting frame 210, one end of the connecting frame 210 is connected to the free end of the robot arm body 100, and the free end of the robot arm body 100 drives the connecting frame 210 to rotate the camera assembly 220 circumferentially; the camera module 220 is connected to the other end of the connecting frame 210 and includes a camera, a lens and a light source.

Pneumatic clamp indicates 300 for snatch the work piece, and pneumatic clamp indicates 300 is equipped with a plurality ofly, and a plurality of pneumatic clamp indicates 300 and the free end of arm body 100 is connected, and a plurality of pneumatic clamp indicates 300 array sets up, and every pneumatic clamp indicates 300 includes respectively that a pair of clamp is grabbed 310, and a pair of clamp is grabbed and is gone up to correspond respectively and is equipped with a plurality of sucking discs 400 made by elastic material and through can adsorbing lipstick package material on the clamp is grabbed 300 and can adsorb many lipstick package material simultaneously and go up unloading.

In a preferred embodiment of the incoming material tray monitoring device 200, the vertical distance between the camera module 220 and the incoming material tray ranges from 340mm to 360mm, the imaging in the range is clear, the monitoring system can quickly transmit information, the working efficiency of the mechanical arm is improved, and meanwhile, the camera module is prevented from being damaged due to contact of the incoming material tray caused by misoperation.

In a preferred embodiment of the incoming material tray monitoring device 200, two pneumatic clamping fingers 300 are provided, and a pair of clamping claws 300 of each pneumatic clamping finger 300 are respectively arranged in parallel, so that the pneumatic clamping fingers 300 are provided with two parts, which helps to reduce the modification cost of the mechanical arm and also improves the efficiency.

The utility model relates to an automatic structure of getting of arm for go up unloading is put in preferred embodiment, and every interval distance of grabbing 310 to the clamp is 50mm, because the hole interval distance is also 50mm for placing for two adjacent on the mold processing on the processing equipment, if the interval distance of grabbing 310 to every clamp is 50mm, can directly put into or take out the cost of processing with grabbing 310 going up absorbent lipstick section bar with a pair of clamp without debugging.

In a preferred embodiment of the suction cup 400, two suction cups 400 made of elastic material are respectively and correspondingly arranged on the pair of grippers 310, and due to the position limitation on the grippers 310, two suction cups 400 made of elastic material are arranged on each gripper 310, which not only can improve the production efficiency, but also can save the cost by using multiple grippers 310 to perform size enlargement design.

In a preferred embodiment of the suction cup 400, the suction cup 400 is a rubber suction cup, which is easily available, inexpensive, and has excellent elasticity to protect the lipstick casing from being scratched.

The utility model discloses a theory of operation: when the equipment is started, the 3D intelligent photographing monitoring device takes a picture once to judge the placement position of the packing materials in the incoming material disc, then the information is transmitted to a control system of the equipment, the control system controls a mechanical arm to absorb four packing materials (the number of the packing materials in the incoming material disc is a multiple of four) in the incoming material disc, then the packing materials are moved to an inlet red area, the mechanical arm sequentially places the four packing materials into two dies according to the detection signals of the presence or absence of the packing materials at the inlet of the inlet red equipment, namely two packing materials are loaded on one die, then the mechanical arm gives a signal to the equipment to drive the dies to feed the equipment for multiple packing materials to load lipstick after completing the placement of the packing materials, the mechanical arm sequentially takes out 4 finished lipstick according to the signals of the presence or absence of the sensor at the outlet of the equipment after completing the placement of the packing materials, the mechanical arm moves to the position of a blanking material frame to sequentially place 4 finished lipstick, if one, and repeating the operation, if a disc of supplied materials is taken out, moving the empty disc by the mechanical arm, moving the empty disc to the position above the disc (the supplied discs are arranged in a stacked manner), and photographing once by the 3D intelligent photographing monitoring device to judge the placing position of the packing materials in the supplied disc to continue the repeated operation.

The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above description in any form, and although the present invention has been disclosed with reference to the preferred embodiment, it is not limited to the present invention, and any skilled person in the art can make modifications or changes equivalent to the equivalent embodiment of the above embodiments without departing from the scope of the present invention.

Claims (8)

1. The utility model provides an automatic structure of putting of arm for go up unloading which characterized in that includes:

the mechanical arm body (100) is used for carrying out longitudinal and transverse spatial positioning on the mechanical arm;

the feeding tray monitoring device (200) is used for monitoring whether the packaging material is completely taken or not in real time, and the feeding tray monitoring device (200) is connected with the free end of the mechanical arm body (100);

the pneumatic clamping fingers (300) are used for grabbing workpieces, the pneumatic clamping fingers (300) are provided with a plurality of pneumatic clamping fingers (300) and the free end of the mechanical arm body (100) is connected in a multiple mode, the pneumatic clamping fingers (300) are arranged in an array mode, each pneumatic clamping finger (300) comprises a pair of clamping fingers (310), and the pair of clamping fingers (310) are correspondingly provided with a plurality of sucking discs (400) made of elastic materials respectively.

2. The robot pick-and-place structure for loading and unloading as claimed in claim 1, wherein the robot body (100) is of a type including any one of UR3e, UR5e and UR10 e.

3. The mechanical arm automatic picking and placing structure for loading and unloading as claimed in claim 1, wherein the loading tray monitoring device (200) is a 3D intelligent camera monitoring device, the 3D intelligent camera monitoring device comprises:

one end of the connecting frame (210) is connected with the free end of the mechanical arm body (100), and the free end of the mechanical arm body (100) drives the connecting frame (210) to rotate circumferentially;

a camera assembly (220), the camera assembly (220) being connected to the other end of the connection frame (210).

4. The mechanical arm automatic picking and placing structure for loading and unloading as claimed in claim 3, wherein the vertical distance between the camera assembly (220) and the loading tray is 340mm-360 mm.

5. The robot arm pick-and-place structure for loading and unloading as claimed in claim 1, wherein there are two pneumatic gripper fingers (300), and a pair of gripper fingers (310) are disposed in parallel.

6. The robot arm pick-and-place structure for loading and unloading as claimed in claim 5, wherein the distance between each pair of said grippers (310) is 50 mm.

7. The robot arm pick-and-place structure for loading and unloading as claimed in claim 1, wherein two suckers (400) made of elastic material are respectively and correspondingly arranged on the pair of grippers (310).

8. The mechanical arm automatic picking and placing structure for loading and unloading as claimed in any one of claims 1 to 7, wherein the suction cup (400) is a rubber suction cup.

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