CN219636211U - Automatic picking and placing device - Google Patents
Automatic picking and placing device Download PDFInfo
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- CN219636211U CN219636211U CN202320196853.1U CN202320196853U CN219636211U CN 219636211 U CN219636211 U CN 219636211U CN 202320196853 U CN202320196853 U CN 202320196853U CN 219636211 U CN219636211 U CN 219636211U
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- positioning
- docking unit
- platform
- placing device
- position sensor
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- 238000003032 molecular docking Methods 0.000 claims abstract description 47
- 238000005192 partition Methods 0.000 claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 11
- 230000001681 protective effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 13
- 210000001503 joint Anatomy 0.000 abstract description 5
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000003405 preventing effect Effects 0.000 description 1
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Abstract
The utility model provides an automatic picking and placing device, which comprises: a manipulator having a first docking unit; the sucker support comprises a first supporting part, a sucker assembly and a second butt joint unit matched with the first butt joint unit, wherein the sucker assembly is fixed at a first end part of the first supporting part, and the second butt joint unit is arranged at a second end part of the first supporting part; and a controller configured to control the first docking unit of the robot to perform a docking operation with the second docking unit of the suction cup bracket. The automatic taking and placing device can realize automatic taking and placing of the partition board by a machine, and improves the production efficiency of a production line.
Description
Technical Field
The utility model relates to the field of automatic production lines, in particular to an automatic picking and placing device.
Background
In the existing automatic production line of the machine base, a feeding tray is provided with three layers of machine bases, a discharging tray is provided with 2-3 layers of machine bases according to conditions, each layer of machine bases is separated by a partition board, and the partition boards are required to be manually taken and placed in the production process. The mode of manually taking and placing the partition boards can suspend the production line in the process of taking and placing the partition boards due to personnel scheduling, so that the production efficiency of the production line is affected to a certain extent.
Disclosure of Invention
The utility model provides an automatic picking and placing device aiming at the problems in the prior art. This automatic get put device can realize that the machine is automatic gets and is put the baffle, compares with relying on the manual work to get and put the baffle, can improve the production efficiency of production line.
Specifically, the utility model provides a device for automatically taking and placing a partition board, which comprises:
a manipulator having a first docking unit;
the sucker support comprises a first supporting part, a sucker assembly and a second docking unit matched with the first docking unit, wherein the sucker assembly is fixed at a first end part of the first supporting part, and the second docking unit is arranged at a second end part of the first supporting part;
and a controller configured to control the first docking unit of the robot to perform a docking operation with the second docking unit of the suction cup bracket.
According to an embodiment of the present utility model, in the automatic picking and placing device, the first end portion of the first supporting portion is plate-shaped, and the plate-shaped first end portion includes a suction cup area for fixing the suction cup assembly and a positioning area, and the positioning area is provided with a first positioning structure; and, automatic get and put the device still includes the locating support, the locating support includes second supporting part and sets up first platform on the second supporting part, set up the second location structure on the first platform, wherein this second location structure with first location structure each other structural match.
According to an embodiment of the present utility model, in the automatic picking and placing device, the second positioning structure is a positioning pin with a guiding structure on a head, and the first positioning structure is a positioning hole matched with the positioning pin.
According to an embodiment of the present utility model, in the automatic picking and placing device, the positioning bracket further includes a second platform disposed on the second supporting portion, the second platform and the first platform form two steps, a height between the two steps is adapted to a thickness of the suction cup assembly, and a limit table is disposed on a periphery of a table top of the second platform.
According to an embodiment of the present utility model, in the automatic picking and placing device, the positioning bracket further includes a corner cylinder and a protection cover, the protection cover has a handle portion and a cover portion, the top surface of the cover portion is fixedly connected with the first end of the handle portion, the output shaft of the corner cylinder is fixedly connected with the second end of the handle portion so that the handle portion can rotate around the output shaft from a first angle position to a second angle in a horizontal direction, and the cover portion of the protection cover, in which the handle portion is at the second angle, just covers the second docking unit.
According to an embodiment of the present utility model, in the automatic picking and placing device, the automatic picking and placing device further includes a buffer table for storing the partition board, and a plurality of spherical floating supporting members are uniformly arranged on a table surface of the buffer table.
According to an embodiment of the present utility model, in the automatic picking and placing device, the buffer table is in an inclined plane shape, and an L-shaped limiting bracket is disposed on a table surface of the buffer table in the inclined plane shape.
According to an embodiment of the present utility model, in the automatic picking and placing device, the manipulator includes a mechanical arm, the first docking unit, and a fixing plate disposed between the first docking unit and the mechanical arm, and the manipulator further includes a clamping jaw disposed on the fixing plate and used for picking and placing the stand on the side of the first docking unit; and the controller is also configured to control the gripping jaw picking and placing machine base of the manipulator.
According to an embodiment of the present utility model, in the automatic picking and placing apparatus, the positioning bracket further includes a first position sensor for detecting the presence or absence of the suction cup bracket on the second platform, the first position sensor is disposed below the first platform and a detection end faces a predetermined area above the second platform;
the controller is electrically connected to the first position sensor, and the controller is further configured to determine whether the docking operation can be performed based on a first detection result received from the first position sensor.
According to an embodiment of the present utility model, in the automatic picking and placing device, the first docking unit side on the fixing plate is further uniformly provided with a plurality of second position sensors for detecting a distance between the suction cup and the partition to be picked; the controller is electrically connected with the second position sensor, and is further configured to control the manipulator to move above the partition board to be taken and move downwards, judge whether a second detection result detected by the second position sensor is equal to a first preset distance or not in the downwards moving process, if so, send a control signal to an automatic control unit of the sucker assembly, and after receiving the control signal, start an air source, and the partition board is adsorbed on the sucker to realize the operation of grabbing the partition board;
at least one third position sensor is arranged on the first support arm side and/or the second support arm side of the L-shaped limiting support and used for detecting whether the partition board exists or not; the controller is electrically connected with the third position sensor, and is further configured to determine a cache table where the partition board to be fetched is located according to a third detection result received from the third position sensor, and move to the position above the partition board to be fetched according to the determined position of the cache table.
It is to be understood that both the foregoing general description and the following detailed description of the present utility model are exemplary and explanatory and are intended to provide further explanation of the utility model as claimed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model. In the accompanying drawings:
FIG. 1 is a schematic view of an automatic pick-and-place device according to one embodiment of the present utility model;
FIG. 2 is a schematic structural view of a suction cup holder according to one embodiment of the present utility model;
FIG. 3 is a schematic view of the structure of a positioning bracket according to one embodiment of the utility model;
FIG. 4 is a schematic view of the use of the suction cup holder in combination with a positioning holder according to the present utility model;
FIG. 5 is a schematic diagram of a baffle cache table according to one embodiment of the present utility model.
Reference numerals illustrate:
10: mechanical arm
11: first butt joint unit
12: mechanical arm
13: fixing plate
14: clamping jaw assembly
20: sucker support
21: a first support part
211: first end portion
2111: suction cup area
2112: positioning area
212: second end portion
213: first positioning structure
22: sucker assembly
23: second butt joint unit
30: positioning support
31: a second supporting part
32: first platform
33: second positioning structure
34: first position sensor
35: second platform
36: corner cylinder
37: protective cover
371: handle portion
372: cover part
38: base seat
40: cache table
41: spherical floating support
42: l-shaped limiting support
421: first support arm
422: second support arm
43: third position sensor
Detailed Description
Embodiments of the present utility model will now be described in detail with reference to the accompanying drawings. Reference will now be made in detail to the preferred embodiments of the present utility model, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings to refer to the same or like parts. Furthermore, although terms used in the present utility model are selected from publicly known and commonly used terms, some terms mentioned in the present specification may be selected by the applicant at his or her discretion, the detailed meanings of which are described in relevant parts of the description herein. Furthermore, it is required that the present utility model is understood, not simply by the actual terms used but by the meaning of each term lying within.
The basic principle and preferred embodiments of the present utility model will be discussed in more detail with reference to the accompanying drawings. Referring first to fig. 1, the automatic picking and placing apparatus of the present utility model mainly includes a robot 10, a suction cup holder 20, and a controller of the robot 10.
Specifically, in the embodiment shown in fig. 1, the manipulator 10 has a first docking unit 11, the suction cup holder 20 includes a first support portion 21, a suction cup assembly 22, and a second docking unit 23 mated with the first docking unit 11, the suction cup assembly 22 is fixed at a first end 211 of the first support portion 21, and the second docking unit 23 is disposed at a second end 212 of the first support portion 21. The controller is configured to control the first docking unit 11 of the robot 10 and the second docking unit 23 of the suction cup holder 20 to perform a docking operation. For example, but not limited to, the first docking unit 11 and the second docking unit 23 are standard quick-change interfaces and connectors that mate with each other.
Preferably, as shown in fig. 2, the first end 211 of the first supporting portion 21 of the suction cup bracket 20 has a plate shape, and the plate-shaped first end 211 includes a suction cup region 2111 for fixing the suction cup assembly 22 and a positioning region 2112, and the positioning region 2112 is provided with at least one first positioning structure 213; in addition, the automatic picking and placing device of the present embodiment further includes a positioning bracket 30, as shown in fig. 3, the positioning bracket 30 includes a second supporting portion 31 and a first platform 32 disposed on the second supporting portion 31, and the first platform 32 is provided with second positioning structures 33 with the number, positions and structures matched with those of the first positioning structures 213, so as to ensure that the positioning positions are repeated accurately, so that the manipulator 10 can accurately grasp the suction cup bracket 20. For example, but not limited to, the second positioning structure 33 is a positioning pin with a guiding structure on the head, and the first positioning structure 213 is a positioning hole matching the positioning pin.
Optionally, the positioning bracket 30 further comprises a first position sensor 34 arranged below the first platform 32 for measuring the presence or absence of the suction cup bracket 20 in a predetermined area above the second platform 35. Further, the controller is electrically connected to the first position sensor 34, and is further configured to determine whether the docking operation can be performed according to the first detection result received from the first position sensor 34, so as to have an error preventing effect and avoid the possibility of collision caused by the blind operation. Further, the positioning bracket 30 may further include a second platform 35 disposed on the second supporting portion 31, as shown in fig. 3, the second platform 35 and the first platform 32 form two steps, and the height between the two steps is adapted to the thickness of the suction cup assembly 22. Wherein the periphery of the table top of the second platform 35 may be provided with limit tables, such as but not limited to, two sides shown in fig. 3, to further ensure that the positioning position is repeated accurately, so that the manipulator 10 can accurately grasp the suction cup support 20.
And, optionally, the positioning bracket 30 further includes a corner cylinder 36 and a protective cover 37 disposed on the top of the second supporting portion 31 for the second docking unit 23 to avoid damage to the docking port caused by abnormal falling or impact. Specifically, the protection cover 37 has a handle 371 and a cover 372, the top surface of the cover 372 is fixedly connected with the first end of the handle 371, the output shaft of the corner cylinder 36 is fixedly connected with the second end of the handle 371 so that the handle 371 can rotate around the output shaft from the first angular position to the second angular position shown in fig. 4, and the cover 372 of the protection cover 37 with the handle 371 in the second angular position of fig. 4 just covers the second docking unit 23. Wherein the first angular position is, for example and without limitation, the position shown in fig. 3. The protective cover 37 is used for protecting the standard quick change interface from being abnormally dropped or impacted to cause damage to the interface. In addition, the positioning bracket 30 may further include a base 38 disposed at the bottom of the second supporting portion 31, and the base 38 includes, for example, a bottom plate and fixed supporting portions disposed at four corners of the bottom plate.
In addition, the automatic picking and placing device of the present embodiment further optionally includes a buffer stage 40 for storing the partition boards, and a plurality of spherical floating support members 41 are uniformly arranged on the table surface of the buffer stage 40. More specifically, the table surface of the buffer table 40 may be disposed parallel to the ground, or may be inclined, which saves more space. Further, in the embodiment of the buffer table 40 with a beveled table surface, an L-shaped limiting bracket 42 is required to be disposed on the table surface, as shown in fig. 5.
As shown in fig. 1, the robot 10 may include, for example, a robot arm 12, a first docking unit 11, and a fixing plate 13 disposed between the first docking unit 11 and the robot arm 12, the robot 10 may further optionally include a jaw assembly 14 for taking and placing a stand disposed on a side of the first docking unit 11 on the fixing plate 13, and the controller may be further configured to control the jaw assembly 14 of the robot 10 to take and place the stand. Wherein jaw assembly 14 is implemented by, for example and without limitation, a clamping cylinder and clamping jaw cooperation.
Optionally, a plurality of second position sensors for detecting the distance between the suction cup and the partition to be taken are also uniformly arranged on the first docking unit 11 side on the fixed plate 13. Further, the controller is electrically connected to the second position sensor, and is further configured to control the manipulator 10 to move above the partition board to be taken and move downwards, determine whether the second detection result detected by the second position sensor is equal to the first predetermined distance in the downward movement process, if so, send a control signal to the automatic control unit of the sucker, and after receiving the control signal, the automatic control unit of the sucker starts the air source, and the partition board is adsorbed on the sucker to realize the grabbing action of the tray.
Further alternatively, the automatic picking and placing device includes a plurality of buffer stages 40, and each buffer stage 40 further includes at least one third position sensor 43 for detecting the presence or absence of a partition, where the third position sensor 43 may be mounted on the first arm 421 side and/or the second arm 422 side of the L-shaped limiting support 42, for example. Further, the controller is electrically connected to the third position sensor 43, and the controller is further configured to determine the buffer stage 40 where the partition to be fetched is located according to the third detection result received from the third position sensor 43, and further move to above the partition to be fetched according to the position of the buffer stage 40.
In summary, the utility model provides a novel automatic picking and placing device. This novel automatic get put device is through sucking disc support 20 and manipulator 10 configuration use can realize that the baffle gets the automation of putting, avoids current manual work to get the production line that causes because of personnel's dispatch and shut down when putting, can improve the production line start rate, and then improves production efficiency. Further, a positioning bracket 30 is configured for the sucker bracket 20, so that the repeated and accurate positioning position is ensured, and the manipulator 10 can accurately grasp the sucker bracket 20. In addition, the manipulator 10 for automatically taking and placing the partition boards is provided with the clamping jaw assembly 14 for the machine base, so that resources are saved and cost is reduced.
It will be apparent to those skilled in the art that various modifications and variations can be made to the above-described exemplary embodiments of the present utility model without departing from the spirit and scope of the utility model. Therefore, it is intended that the present utility model cover the modifications and variations of this utility model provided they come within the scope of the appended claims and their equivalents.
Claims (10)
1. An automatic pick-and-place device, the automatic pick-and-place device comprising:
a manipulator (10) having a first docking unit (11);
the sucker support (20) comprises a first supporting part (21), a sucker assembly (22) and a second docking unit (23) matched with the first docking unit (11), wherein the sucker assembly (22) is fixed at a first end part (211) of the first supporting part (21), and the second docking unit (23) is arranged at a second end part (212) of the first supporting part (21);
and a controller configured to control the first docking unit (11) of the robot (10) and the second docking unit (23) of the suction cup holder (20) to perform a docking operation.
2. The automatic picking and placing device according to claim 1, characterized in that the first end (211) of the first support (21) is plate-shaped, which plate-shaped first end (211) comprises a suction cup zone (2111) for fixing the suction cup assembly (22) and a positioning zone (2112), which positioning zone (2112) is provided with a first positioning structure (213); and, automatic get and put device still includes locating support (30), locating support (30) include second supporting part (31) and set up first platform (32) on second supporting part (31), set up second location structure (33) on first platform (32), wherein this second location structure (33) with first location structure (213) each other structural match.
3. The automatic picking and placing device according to claim 2, characterized in that the second positioning structure (33) is a positioning pin with a guiding structure on the head, and the first positioning structure (213) is a positioning hole matched with the positioning pin.
4. An automatic picking and placing device according to claim 3, characterized in that the positioning bracket (30) further comprises a second platform (35) arranged on the second supporting part (31), the second platform (35) and the first platform (32) form two stages, the height between the two stages is matched with the thickness of the sucker assembly (22), and the periphery of the table top of the second platform (35) is provided with a limit table.
5. The automatic picking and placing device according to claim 4, wherein the positioning bracket (30) further comprises a corner cylinder (36) and a protective cover (37), the protective cover (37) is provided with a handle portion (371) and a cover portion (372), the top surface of the cover portion (372) is fixedly connected with the first end of the handle portion (371), the output shaft of the corner cylinder (36) is fixedly connected with the second end of the handle portion (371) so that the handle portion (371) can rotate around the output shaft from a first angle position to a second angle in the horizontal direction, and the cover portion (372) of the protective cover (37) with the handle portion (371) at the second angle just covers the second docking unit (23).
6. The automatic picking and placing device according to claim 1, further comprising a buffer table (40) for storing the partition boards, wherein a plurality of spherical floating supporting members (41) are uniformly arranged on the table top of the buffer table (40).
7. The automatic picking and placing device according to claim 6, wherein the buffer table (40) is in an inclined plane shape, and an L-shaped limiting bracket (42) is arranged on the table top of the buffer table (40) in the inclined plane shape.
8. The automatic picking and placing device according to claim 7, characterized in that the manipulator (10) comprises a manipulator (12), the first docking unit (11) and a fixed plate (13) arranged between the first docking unit (11) and the manipulator (12), the manipulator (10) further comprising a jaw assembly (14) for picking and placing a stand arranged on the fixed plate (13) at the side of the first docking unit (11); and, the controller is further configured to control a jaw assembly (14) of the manipulator (10) to perform a pick-and-place stand operation.
9. The automatic picking and placing device according to claim 4, characterized in that said positioning support (30) further comprises a first position sensor (34) for detecting the presence or absence of said suction cup support (20) on said second platform (35), said first position sensor (34) being arranged below said first platform (32) with the detection end directed towards a predetermined area above said second platform (35);
the controller is electrically connected to the first position sensor (34), and the controller is further configured to determine whether the docking operation can be performed based on a first detection result received from the first position sensor (34).
10. The automatic picking and placing device according to claim 8, characterized in that the first docking unit (11) side on the fixed plate (13) is also uniformly provided with a plurality of second position sensors for detecting the distance between the suction cup and the partition to be picked; the controller is electrically connected with the second position sensor, and is further configured to control the manipulator (10) to move above the partition board to be taken and move downwards, judge whether a second detection result detected by the second position sensor is equal to a first preset distance or not in the downwards moving process, if so, send a control signal to an automatic control unit of the sucker assembly (22), and after receiving the control signal, the automatic control unit of the sucker assembly (22) starts an air source, and the partition board is adsorbed on the sucker to realize the operation of grabbing the partition board;
at least one third position sensor (43) for detecting whether the partition plate exists or not is arranged on the first support arm (421) side and/or the second support arm (422) side of the L-shaped limiting support (42); the controller is electrically connected with the third position sensor (43), and is further configured to determine a cache table (40) where the partition to be fetched is located according to a third detection result received from the third position sensor (43), and move to above the partition to be fetched according to the determined position of the cache table (40).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320196853.1U CN219636211U (en) | 2023-02-13 | 2023-02-13 | Automatic picking and placing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320196853.1U CN219636211U (en) | 2023-02-13 | 2023-02-13 | Automatic picking and placing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219636211U true CN219636211U (en) | 2023-09-05 |
Family
ID=87816542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320196853.1U Active CN219636211U (en) | 2023-02-13 | 2023-02-13 | Automatic picking and placing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219636211U (en) |
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2023
- 2023-02-13 CN CN202320196853.1U patent/CN219636211U/en active Active
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