TWM592813U - Robotic picking device - Google Patents

Abstract

This invention provides a robotic picking device comprising a body, a gripping assembly disposed on the body, and an driving assembly disposed on the body and driving the gripping assembly for the robotic picking device to be applied to a robot for molding operation, such that by disposing the driving assembly on the body, a space occupied by the robot is reduced so as to effectively reduce the difficulty of distribution within factory area.

Description

Robot pick and place device

This creation is about a pick and place device, especially a robot pick and place device for robots.

At present, robots are extremely important equipment in industrial production, and more and more industries use robots to assist operations in factories or production lines, and even carry out dangerous work, such as welding, trimming, ion cutting, mold casting and other related high-temperature operations The factory area, and because of the advantages of high efficiency, low cost, and stable quality of objects, robot operations are widely used in casting operations.

Generally in the casting operation, the polymer (plastic) particles are heated and plasticized in the barrel to reach the flow state, filled with the mold under the push of the screw, when the plastic melt is cooled in the mold, the mold is opened and taken out An object, that is, an injection molding cycle is completed, in which the process of taking parts can be performed by a robot.

At present, most of the casting machines in the factory are configured with a casting equipment and a robot, and the work schedule of the casting operation shows that the operation of the robot is after the cooling of the casting equipment is completed and the mold is opened.

However, because the environment of conventional casting operations will cause great damage to the robot wires, the power unit is placed away from the robot, which occupies space in the factory area, which increases the difficulty of plant layout.

Therefore, how to overcome the problems of the above-mentioned conventional technologies has become a problem that the industry urgently needs to overcome.

In view of the lack of the above-mentioned conventional technology, the present invention provides a robot pick-and-place device, which includes: a body formed with at least one hollow part for laying a pipeline; a jaw component provided on the body; and an actuating component provided It is set on the body and electrically connected to the pipeline to drive the jaw assembly to pick up the target.

In the aforementioned robot pick-and-place device, the system includes a frame structure with a rectangular outline and a mounting member connected to the frame structure, so that the mounting member is connected to the jaw assembly.

In the aforementioned robot pick-and-place device, the body is provided with a connecting member for pivotally connecting a robot.

In the aforementioned robotic pick-and-place device, the jaw assembly includes a plurality of clamps, and any two of the plurality of clamps are disposed on the body in a manner that can move away from each other and approach each other.

In the aforementioned robot pick-and-place device, the actuating component includes a rail structure and a power unit, the jaw component is disposed on the rail structure in a displaceable manner, and the power unit actuates the jaw component to make the The jaw assembly is displaced on the track structure. For example, the jaw assembly further includes a slider, and the slider engages the rail structure in a movable manner. Alternatively, the rail structure has a guide rail that movably engages the jaw assembly, a groove formed on the body, and a sliding member that movably passes through the groove to connect the sliding member The jaw assembly, and the power unit drives the slider to move between the grooves to drive the jaw assembly to move along the guide rail. Moreover, the actuating component also includes a stop structure for restricting the movement of the jaw component, which is provided on the body. In addition, the power unit is in the form of pneumatic cylinder or hydraulic cylinder.

In the aforementioned robot pick-and-place device, a positioning component provided on the body is included to cooperate with the movement of the jaw component.

It can be seen from the above that the robot pick-and-place device of this creation is mainly provided on the body by the actuating component to reduce the occupied space of the robot pick-and-place device, so compared with the conventional technology, the robot pick-and-place device of this creation Robots used in casting operations can effectively reduce the difficulty of plant layout.

The following describes the implementation of this creation by specific specific embodiments. Those familiar with this skill can easily understand other advantages and effects of this creation by the contents disclosed in this specification.

It should be noted that the structure, ratio, size, etc. shown in the drawings of this specification are only used to match the contents disclosed in the specification, for those who are familiar with this skill to understand and read, not to limit the creation of this creation. The limited conditions, so it does not have the technical significance, any modification of structure, change of proportional relationship or adjustment of size, should not fall within the original without affecting the effect and the purpose of this creation. The technical content revealed by the creation must be within the scope. At the same time, terms such as "upper", "lower", "front", "rear", "left", "right", "four" and "one" quoted in this manual are only for ease of description. It is clear that it is not used to limit the scope of this creation. The change or adjustment of the relative relationship, without substantial changes in the technical content, should also be regarded as the scope of this creation.

Figures 1 to 3B are related schematic diagrams of the robot pick-and-place device 1 of this creation. As shown in FIG. 1, the robot pick-and-place device 1 is configured on the arm of a robot 9 as a hand mechanism of the robot 9, wherein, based on the configuration of the robot 9, the robot pick-and-place device 1 is based on its The rear end is set on the arm of the robot 9.

As shown in FIGS. 1A and 1B, the robot pick-and-place device 1 includes: a body 10, a gripper assembly 11 and an actuating assembly 12, wherein, based on the configuration of the robot pick-and-place device 1, the arrow direction X indicates In the left and right directions, the arrow direction Y indicates the front and rear directions, and the arrow direction Z indicates the up and down directions.

The body 10 has a first side 10a (below side) and a second side 10b (such as the upper side) opposite to each other, and the body 10 includes a frame structure 100 having a rectangular outline and a mounting member 101 connecting the frame structure 100 , So that the mounting member 101 is connected to the jaw assembly 11.

In this embodiment, the frame structure 100 is generally composed of a plurality of plates 100a. As shown in FIG. 2A, a plurality of accommodating spaces S are enclosed, and each of the plates 100a can be formed with a plurality of openings 102a as required. Let the accommodating space S and the openings 102a be used as the hollow portion 102, so as to arrange a plurality of pipelines (figure omitted).

Furthermore, the mounting member 101 is arranged horizontally under the frame structure 100 as a bottom plate of the frame structure 100, and six supporting members 104 are used to fixedly connect the frame structure 100 and the mounting member 101, and the supporting member 104 forms an approximately right-angled triangular sheet body, the support member 104 is formed with an opening 105 as a hollowed-out portion 102, so that the mounting member 101 protrudes from the left and right sides of the frame structure 100 to serve as an installation area A, such as section 2B The picture shows.

In addition, the mounting member 101 can also form the opening 102a corresponding to the accommodating space S (and/or not the mounting area A) as a part of the hollow portion 102, as shown in FIG. 2B .

In addition, a connecting member 103 for pivotally connecting the robot 9 is arranged on the rear side of the frame structure 100 of the body 10. For example, the connecting member 103 is a turntable or other suitable component that can pivotally connect the robot 9. It should be understood that there are many types of the connecting member 103, and there is no particular limitation.

The clamping jaw assembly 11 is a clamping mechanism, which is disposed on the first side 10a of the body 10.

As shown in FIG. 1B, in this embodiment, the clamping jaw assembly 11 includes a plurality of clamping members 11a, 11b, and any two of the clamping members 11a, 11b are in a manner that can be away from each other and can approach each other The mounting member 101 is disposed on the first side 10a of the body 10. For example, the clips 11a and 11b are disposed on the installation areas A, so that two clips 11a are arranged on the front edges of the installation areas A, and corresponding front edges are arranged on the rear edges of the installation areas A Two clamping members 11b of the clamping member 11a. Specifically, in the initial state, the two clamping members 11a, 11b corresponding to the front and the rear are away from each other (as shown in FIG. 3A), and the clamping members 11a, 11b protrude before and after the mounting member 101. side.

Furthermore, the clips 11a, 11b have an L-shaped profile, which has a support 110 of a rectangular piece, and is bent downward at one end of the support 110 to serve as a claw 111, and is supported by the support A slider 112 is fixed on the upper side of the portion 110 so that the slider 112 can movably engage the actuating component 12.

The actuating assembly 12 drives the jaw assembly 11 and is electrically connected to the pipeline surrounding the hollow portion 102. As shown in FIG. 2B, the actuating assembly 12 includes a track structure 12a and a power unit 12b, so that the jaw assembly 11 is disposed on the rail structure 12a in a displaceable manner, so that the power unit 12b actuates the jaw assembly 11 to displace on the rail structure 12a.

In this embodiment, referring also to FIG. 2C, the rail structure 12a has a plurality (eg, two) of guide rails 120 that movably engage the jaw assembly 11, and a plurality (eg, eight) is formed on the installation The groove 121 on the piece 101 and a plurality (such as four) of sliding pieces 122 passing through the groove 121 in a movable manner, the sliding pieces 122 are respectively connected to the clamping pieces 11a by a fixing plate 122a The support portion 110 of 11b enables the power unit 12b to drive the sliding members 122 to move between the grooves 121 to drive the clamping members 11a and 11b to move along the guide rails 120 simultaneously.

Furthermore, the guide rail 120 is a linear long rail, which is arranged along the front and rear edges of the mounting area A of the mounting member 101 to engage the sliders 112 of the clamping members 11a, 11b, so that the clamping members 11a, 11b can move linearly along the guide rail 120 in the front and rear directions. For example, the left and right sides of the single guide rail 120 are provided with the grooves 121, so that the sliding member 122 has a zigzag, U-shaped, horseshoe, fork, or other plug-in structure of a cross-over structure, so that the single sliding member 122 corresponds to bridge across the two grooves 121, and the single sliding member 122 correspondingly drives the single clamping members 11a, 11b to move synchronously and linearly.

In addition, the actuating component 12 has a stop structure 12c for restricting the movement of the clips 11a, 11b, which is disposed on the first side 10a of the body 10 (such as the mounting member 101) and located in the groove One side of 121 (such as the inner side of the groove 121 opposite to the mounting area A). For example, the stop structure 12c has a rectangular fixed block 123, and a stop rod 123a is protruded on the front and rear surfaces, so that in the active state, the two front and rear clips 11a, 11b are close to each other. And the end point of the blocking rod 123a abuts the clamping members 11a, 11b. At this time, the sliding member 122 is located at the clamping end of the groove 121 (as shown in FIG. 3B).

In addition, the power unit 12b is in the form of a pneumatic cylinder or a hydraulic cylinder, and the piston rod 124 is fixed to the sliding member 122 to transmit an electric power (not shown) to the power unit 12b through the pipeline, and then the oil The power of the pressing cylinder or pneumatic cylinder drives the sliding member 122 to move through the piston rod 124. For example, a single power unit 12b is configured to correspond to a single clip 11a or 11b. Understandably, there are many types of the power unit 12b, and it is not limited to the above.

When using the robot pick-and-place device 1, the robot pick-and-place device 1 is installed on a robot 9 and the robot 9 is located near a casting equipment machine (not shown), so when the casting equipment machine is completed Just like the target 8 of the rectangular floor, the clips 11a, 11b are located at initial positions far away from each other (as shown in FIG. 3A), and then the telescopic movement of the piston rod 124 of the power unit 12b is used to drive The sliding member 122 moves (as shown in FIG. 3B) to displace the clamping members 11a, 11b, so that the claws of the clamping members 11a, 11b are close to each other (as shown by the arrow direction C in FIG. 3A) to A certain distance t, so that the distance t conforms to be sufficient to clamp the target 8, that is, the distance t is substantially equal to the width d of the target 8. After the clamps 11a, 11b clamp the target 8, the robot 9 can move the target 8 to a predetermined area (the finishing machine of the next process), and then move the clamps 11a, 11b away from each other (As shown in Figure 3A) To loosen the target 8.

On the other hand, the robot pick-and-place device 1 can be provided with a positioning component 14 like a rod structure diagonally under the mounting member 101, as shown in FIG. 2C, to cooperate with the movement of the jaw component 11. For example, before actuating the clips 11a, 11b, the positioning component 14 can be used to align the corners of the target 8 before clamping, so the positioning component 14 can facilitate the clips 11a 11b clamps the target 8 accurately and firmly.

In summary, the robot pick-and-place device 1 of the present invention is mainly provided on the body 10 by the actuating component 12 to reduce the occupied space of the robot pick-and-place device 1, so compared to the conventional technology, the robot of the present invention The pick-and-place device 1 is applied to the robot 9 for casting operations, which can effectively reduce the difficulty of plant layout.

Furthermore, through the design of the hollow portion 102, the pipeline can be wound around the body 10 to avoid damage to the pipeline caused by the environment of the casting operation.

The above embodiments are used to exemplify the principles and effects of this creation, not to limit this creation. Anyone who is familiar with this skill can modify the above embodiments without violating the spirit and scope of this creation. Therefore, the scope of protection of the rights of this creation should be the scope of patent application as described later.

1: Robot pick and place device 10: Ontology 10a: first side 10b: Second side 100: frame structure 100a: plate 101: Mounting parts 102: Cutout 102a: opening 103: connector 104: support 105: opening 11: Jaw assembly 11a, 11b: clamp 110: Support 111: claw 112: slider 12: Actuating components 12a: track structure 12b: Power unit 12c: Stop structure 120: rail 121: Groove 122: Slider 122a: fixed plate 123: fixed block 123a: lever 124: Piston rod 14: Positioning components 8: target 9: Robot d: width A: Installation area S: accommodating space t: spacing X, Y, Z, C: arrow direction

Figure 1 is a three-dimensional schematic diagram of the robot pick-and-place device created in this application applied to a robot.

Figure 1A is a schematic view of the rear view of the created robot pick-and-place device.

Figure 1B is a three-dimensional exploded schematic view of the robotic pick-and-place device created for this.

Figure 2A is a schematic perspective view of the rear view of the body of the robot pick-and-place device.

Fig. 2B is a schematic plan view of the top view of Fig. 2A.

Figure 2C is a partial schematic perspective view of the robot pick-and-place device created in this view.

Figures 3A to 3B are partial side plan schematic views of the robot pick-and-place device in operation.

1: Robot pick and place device

10: Ontology

102: Cutout

11: Jaw assembly

12: Actuating components

12a: track structure

12b: Power unit

X, Y, Z: arrow direction

Claims (10)

A robot pick and place device, including: The body is formed with at least one hollow part for laying the pipeline; The jaw assembly is provided on the body; and The actuating component is arranged on the body and electrically connected to the pipeline to drive the jaw component to pick up the target. The robot pick-and-place device described in item 1 of the patent application scope, wherein the system includes a frame structure with a rectangular outline and a mounting member connecting the frame structure, so that the mounting member is connected to the jaw assembly. The robot pick-and-place device as described in item 1 of the patent application scope, wherein the body is provided with a connecting piece for pivotally connecting a robot. The robot pick-and-place device as described in item 1 of the scope of the patent application, wherein the gripper assembly includes a plurality of clamps, and any two of the plurality of clamps are disposed on the Ontology. The robot pick-and-place device as described in item 1 of the patent application scope, wherein the actuating component includes a rail structure and a power unit, the jaw component is provided on the rail structure in a displaceable manner, and the power unit is The jaw assembly is actuated to displace the jaw assembly on the track structure. The robot pick and place device as described in item 5 of the patent application scope, wherein the jaw assembly further includes a slider, and the slider is movably engaged with the rail structure. The robot pick-and-place device as described in item 5 of the patent application range, wherein the track structure has a guide rail that movably engages the jaw assembly, a groove formed on the body, and a movable way The sliding member passing through the groove is used to connect the sliding member to the jaw assembly, and the power unit drives the sliding member to move between the grooves to drive the jaw assembly to move along the guide rail. The robot pick-and-place device as described in item 5 of the patent application range, wherein the actuating component further includes a stop structure provided on the body and used to restrict the movement of the jaw component. The robot pick-and-place device as described in item 5 of the patent application scope, wherein the power unit is in the form of a pneumatic cylinder or a hydraulic cylinder. The robot pick-and-place device described in item 1 of the scope of the patent application includes a positioning component provided on the body to cooperate with the movement of the jaw component.

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