CN212475207U - Transport frock and robot handling system - Google Patents
Transport frock and robot handling system Download PDFInfo
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- CN212475207U CN212475207U CN202020495292.1U CN202020495292U CN212475207U CN 212475207 U CN212475207 U CN 212475207U CN 202020495292 U CN202020495292 U CN 202020495292U CN 212475207 U CN212475207 U CN 212475207U
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Abstract
The utility model discloses a handling tool and a robot handling system, the handling tool comprises a supporting shell, a connecting seat, a first grabbing component, a visual detection component and a distance detection component, the supporting shell is provided with an installation space, and the bottom of the supporting shell is provided with a first detection via hole communicated with the installation space; the connecting seat is arranged at the top of the supporting shell and is used for being connected to the robot; the first grabbing component is arranged on the supporting shell and used for grabbing materials; the visual detection assembly is arranged in the installation space and used for detecting the placement position of the material through the first detection through hole; the distance detection assembly is installed on the supporting shell and used for detecting the distance between the grabbing assembly and the material. Visual and mechanized feeding and discharging can be achieved, and therefore manual operation can be reduced.
Description
Technical Field
The utility model relates to a material handling technical field, in particular to transport frock and robot handling system.
Background
In industrial production, such as electronic injection molding industry, loading and unloading are usually manually realized. However, the manual operation cost is high, the efficiency is low, the labor intensity is high, and the problems of secondary pollution, collision, scratch and the like of products are easily caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a transport frock and robot handling system, aim at reducing manual work.
In order to achieve the above object, the utility model provides a carrying tool for the robot to be used for carrying the material, carrying tool includes:
the supporting shell is provided with an installation space, and the bottom of the supporting shell is provided with a first detection through hole communicated with the installation space;
the connecting seat is arranged at the top of the supporting shell and is used for being connected to a robot;
the first grabbing assembly is arranged on the supporting shell and used for grabbing materials;
the visual detection assembly is mounted in the mounting space and used for detecting the placement position of the material through the first detection through hole; and
the distance detection assembly is installed on the supporting shell and used for detecting the distance between the grabbing assembly and the materials.
Optionally, the supporting shell includes a bottom plate, a top plate disposed opposite to the bottom plate, and a first side plate and a second side plate disposed opposite to each other, the first side plate and the second side plate are respectively disposed at two sides of the bottom plate to connect the bottom plate and the top plate, and the installation space is formed between the bottom plate, the top plate, the first side plate, and the second side plate;
the first detection through hole is formed in the bottom plate, the first grabbing assembly is installed on the bottom plate, and the connecting seat is installed on the upper surface of the top plate.
Optionally, the supporting shell further includes a back plate, the back plate is disposed on the other side of the bottom plate, and the back plate is connected to the bottom plate and the top plate; the support shell has a mounting opening opposite the base plate.
Optionally, the visual inspection assembly includes a visual camera and a visual lens used in cooperation with the visual camera, the visual lens corresponds to the first inspection via hole, and the visual camera is installed in the installation space in an up-down direction with an adjustable position.
Optionally, the visual detection assembly further comprises a visual support, the visual support comprises a fixed frame and a lifting plate, the fixed frame is fixedly mounted on the support shell, the fixed frame is provided with a first connecting hole, the lifting plate is provided with a second connecting hole in fit connection with the first connecting hole, at least one of the first connecting hole and the second connecting hole is a long hole extending in the up-down direction, so that the position of the lifting plate in the up-down direction is adjustable; the vision camera is fixedly arranged on the lifting plate; and/or the presence of a gas in the gas,
the carrying tool further comprises an annular light source, the annular light source is installed at the bottom of the supporting shell, and the annular light source is annularly arranged outside the first detection through hole.
Optionally, the distance detection assembly includes a laser sensor disposed in the mounting space, the laser sensor is mounted on the back plate, and a second detection via hole through which detection light of the laser sensor passes is formed in the bottom plate;
the back plate is provided with a plurality of mounting positions which are distributed annularly, and the laser sensor is selectively mounted at one of the mounting positions.
Optionally, the carrying tool further comprises a driving assembly, the driving assembly is mounted on the supporting shell, the first grabbing assembly is mounted at the output end of the driving assembly, and the driving assembly is used for driving the first grabbing assembly to move in the up-down direction.
Optionally, the bottom plate of the supporting shell comprises an upward extending vertical mounting plate, the driving assembly comprises an air cylinder mounted on the vertical mounting plate, and the first grabbing assembly is mounted at the output end of the air cylinder; and/or the presence of a gas in the gas,
the first grabbing component comprises a first mounting plate arranged at the output end of the driving component, a first hardware fitting arranged on the first mounting plate, and a first sucking disc connected with the first hardware fitting, and the first sucking disc is an organ type sucking disc.
Optionally, the carrying tool further comprises a second grabbing component arranged on the back plate, and the second grabbing component is used for grabbing the material tray.
Optionally, the second grabbing assembly comprises a plurality of grabbing groups, each grabbing group comprises a second mounting plate and a second sucker mounted on the second mounting plate, a third connecting hole is formed in the back plate, a fourth connecting hole in matched connection with the third connecting hole is formed in the second mounting plate, and at least one of the third connecting hole and the fourth connecting hole is a long hole, so that the position of the second mounting plate on the back plate can be adjusted; and/or the presence of a gas in the gas,
the first grabbing assembly and the second grabbing assembly share the same vacuum generator.
Optionally, the connecting seat includes a connecting base plate and two connecting support plates arranged oppositely, and two ends of the connecting support plates are respectively connected with the connecting base plate and the top plate; and/or
The width of the first side plate is smaller than that of the bottom plate; and/or the presence of a gas in the gas,
the visual detection assembly is also used for shooting information of the materials.
The utility model discloses still provide a handling system of robot, include:
a robot; and
according to the carrying tool, the connecting seat of the carrying tool is connected to the robot.
Optionally, the robot is a six-axis robot.
The utility model discloses the transport frock through setting up visual detection subassembly and distance detection subassembly, can realize the vision guide to make the first subassembly that snatchs of transport frock can snatch the material more accurately, thereby can realize visual and mechanized unloading, thereby can reduce manual work, thereby can reduce artificial intensity of labour, can effectively avoid product secondary pollution, or collide with the fish tail scheduling problem, still can improve work efficiency. Moreover, through setting up the installation shell in order to form installation space to install the visual detection subassembly in this installation space, can protect the visual detection subassembly, in order to prevent that the visual detection subassembly is impaired, in order to improve the life of transport frock.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is a schematic structural view of a viewing angle of an embodiment of the handling tool of the present invention;
fig. 2 is a schematic structural view of the carrying tool in fig. 1 from another view angle.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 100 | |
40 | |
| 10 | |
41 | Visual camera |
| 11 | |
42 | Visual lens |
| 111 | |
43 | |
| 112 | First detection via |
431 | |
| 12 | |
432 | |
| 13 | |
4321 | Second connecting |
| 131 | |
44 | |
| 132 | |
50 | |
| 14 | |
51 | |
| 15 | |
52 | |
| 16 | |
60 | |
| 20 | |
61 | |
| 21 | |
62 | |
| 22 | |
70 | |
| 221 | Routing via |
71 | |
| 30 | |
72 | |
| 31 | |
721 | Fourth connecting |
| 32 | |
73 | |
| 33 | |
80 | |
| 34 | Vacuum generator |
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that if the embodiments of the present invention are described with reference to "first", "second", etc., the description of "first", "second", etc. is only for descriptive purposes and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B" including either scheme A, or scheme B, or a scheme in which both A and B are satisfied.
The utility model provides a transport frock and robot handling system. The carrying tool is used for a robot and is matched with the robot to carry materials; the carrying tool and the robot carrying system can be widely applied to industrial production, such as product/material loading and unloading. The utility model discloses use it to be used for the electron trade of moulding plastics to a get of realizing conventional injection molding and put and transport explain as the example, wherein the robot can select for six robots.
In an embodiment of the present invention, as shown in fig. 1, the carrying tool 100 includes a supporting shell 10, a connecting seat 20, a first grabbing assembly 30, a visual inspection assembly 40, and a distance detection assembly 50.
Wherein the support case 10 is used to support and mount other components. As shown in fig. 1, the support case 10 has an installation space, and a first detection via 112 communicating with the installation space is provided at the bottom of the support case 10.
It should be noted that, if directional indications (such as upper, lower, left, right, front, back, top and bottom … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in fig. 1), and if the specific posture is changed, the directional indications are changed accordingly.
Wherein, as shown in fig. 1, the connection socket 20 is installed at the top of the support case 10, and the connection socket 20 is used for connecting to a robot. In this manner, the transfer tool 100 can be mounted on the robot.
As shown in fig. 1, the first grabbing assembly 30 is mounted on the supporting shell 10, and the first grabbing assembly 30 is used for grabbing materials. Thus, the handling tool 100 can grab the material, so that the handling tool 100 can handle the material. Optionally, the material is an injection molded part.
As shown in fig. 1, the visual inspection assembly 40 is installed in the installation space, and is used for detecting the placement position of the material through the first inspection through hole 112. Thus, the spatial position and the placing angle of the material can be determined by arranging the visual detection assembly 40, so that the self-adaption of the grabbing posture of the carrying tool 100 is realized. Also, by installing the visual inspection assembly 40 in the installation space, the visual inspection assembly 40 may be protected to prevent the visual inspection assembly 40 from being damaged.
As shown in fig. 1, the distance detecting assembly 50 is mounted on the supporting shell 10, and the distance detecting assembly 50 is used for detecting the distance between the grabbing assembly and the material. So, through the distance between the portion of snatching and the material that snatchs the subassembly, can be convenient for first snatch subassembly 30 and snatch the material more accurately.
Specifically, the work process of the transfer tool 100 after being mounted on the robot is roughly as follows: after the handling tool 100 is mounted on a (six-axis) robot, debugging is required to be performed on the handling tool, and corresponding circuits and gas circuits are connected; and the vision detection assembly 40 and the ranging detection assembly of the handling tool 100 are made to interact with the robot signal. Then, the robot drives the handling tool 100 to move above the material tray containing the material.
Then, the visual inspection assembly 40 installed in the installation space detects the placement positions of the materials and the material trays through the first inspection via hole 112, and at the same time, the distance detection assembly 50 detects the distance between (the grabbing part of) the grabbing assembly and the materials; and the detection information is interacted to the main program of the robot.
The robot drives the proper position (such as a certain distance above the material tray) of the adjustment of the carrying tool 100 according to the above detection information, so that the first grabbing component 30 grabs the material on the material tray to carry the material to the preset position (and place the material to the preset position), thereby realizing mechanized loading and unloading.
It should be noted that the visual inspection assembly 40 may also be used to capture information about the item. Specifically, after the detection information is interacted with the main program and before the first grabbing component 30 grabs the material, the robot may drive the carrying tool 100 to adjust to a proper position and within a proper visual field according to the detection information, and the visual detection component 40 shoots and records information of the material, where the information includes, but is not limited to, size of the material, or appearance information, or material barcode information, or material two-dimensional code information, and the like. Thus, the carrying tool 100 can also be used for bag inspection.
It should be noted that the above working process is only an optional working mode of the carrying tool 100 of the present invention, and it is not used to limit the shrinkage of the present invention; that is, the present invention carrying tool 100 also has other working modes.
The utility model discloses transport frock 100 through setting up visual detection subassembly 40 and apart from determine module 50, can realize the vision guide to make transport frock 100 first snatch subassembly 30 can snatch the material more accurately, thereby can realize visual and mechanized unloading, thereby can reduce manual work, thereby can reduce artificial intensity of labour, can effectively avoid product secondary pollution, or collide with fish tail scheduling problem, still can improve work efficiency.
Moreover, by providing the mounting case to form a mounting space and mounting the visual inspection assembly 40 in the mounting space, the visual inspection assembly 40 can be protected to prevent the visual inspection assembly 40 from being damaged, thereby prolonging the service life of the carrying tool 100.
Further, as shown in fig. 1, the supporting shell 10 includes a bottom plate 11, a top plate 12 disposed opposite to the bottom plate 11, and a first side plate 14 and a second side plate 15 disposed opposite to each other, where the first side plate 14 and the second side plate 15 are respectively disposed at two sides of the bottom plate 11 to connect the bottom plate 11 and the top plate 12. In the state shown in fig. 1, the first side plate 14 is disposed on the left side of the bottom plate 11, and the first side plate 14 connects the left end of the bottom plate 11 with the left end of the top plate 12; the second side plate 15 is arranged at the right side of the bottom plate 11, and the second side plate 15 is connected with the right end of the bottom plate 11 and the right end of the top plate 12.
As shown in fig. 1, the installation space is formed among the bottom plate 11, the top plate 12, the first side plate 14 and the second side plate 15, the first detection through hole 112 is formed on the bottom plate 11, the connection seat 20 is installed on the upper surface of the top plate 12, and the first grasping assembly 30 is installed on the bottom plate 11.
Thus, it is possible to secure a sufficient space for the installation space and to simplify the structure of the support case to facilitate the assembly.
Of course, the support case 10 may be formed in other shapes, such as by directly connecting the upper end of the first side plate and the upper end of the second side plate to form an installation space with the bottom plate; and so on.
Further, as shown in fig. 1 and 2, the supporting shell 10 further includes a back plate 13, the back plate 13 is disposed on the other side of the bottom plate 11, and the back plate 13 connects the bottom plate 11 and the top plate 12; the support housing 10 has a mounting opening 16 opposite the base plate 11. In the state shown in fig. 1, the back plate 13 is provided on the rear side of the base plate 11, and the mounting opening 16 is provided on the front side of the base plate 11.
As described above, by providing the back plate 13 to connect the bottom plate 11 and the top plate 12, the structural strength of the support case 10 can be improved, and the reliability of the handling tool 100 can be improved; on the other hand, the protection effect on the visual detection assembly 40 can be improved. Further, by forming the mounting opening 16, the visual inspection unit 40 can be mounted in the mounting space from the inside of the mounting opening 16, and the difficulty of mounting the visual inspection unit 40 can be reduced.
Further, as shown in fig. 1, the visual inspection assembly 40 includes a visual camera 41 and a visual lens 42 used in cooperation with the visual camera 41, and the visual lens 42 is disposed corresponding to the first inspection via 112. Specifically, the shooting direction of the vision camera 41 should be consistent with the material taking and placing direction of the first grabbing assembly 30.
In the state shown in fig. 1, the shooting direction of the vision camera 41 is the up-down direction.
Optionally, the vision camera 41 is a CCD camera.
Further, as shown in fig. 1, the vision camera 41 is installed in the installation space so as to be position-adjustable in the up-down direction. Therefore, the position of the vision camera 41 in the up-down direction can be adjusted according to factors such as materials with different specifications, and the applicability of the tool assembly can be improved.
Further, as shown in fig. 1, the visual inspection assembly 40 further includes a visual bracket 43, the visual bracket 43 is mounted on the support housing 10, and the visual camera 41 is mounted on the visual bracket 43. Optionally, the vision bracket 43 is mounted on the back plate 13.
The vision bracket 43 includes a fixing frame 431 and a lifting plate 432, the fixing frame 431 is fixedly mounted on the back plate 13, the vision camera 41 is fixedly mounted on the lifting plate 432, a first connection hole (not shown) is provided on the fixing frame 431, a second connection hole 4321 connected with the first connection hole in a matching manner is provided on the lifting plate 432, at least one of the first connection hole and the second connection hole 4321 is a long hole extending in an up-and-down direction, so that the position of the lifting plate 432 in the up-and-down direction is adjustable, and the position of the vision camera 41 in the up-and-down direction is adjustable.
In this embodiment, the second connection hole 4321 is a long hole, and the first fastening member 44 (e.g., a screw or a bolt) sequentially passes through the second connection hole 4321 and the first connection hole, so as to fix the lifting plate 432 in a proper position.
It is understood that there is a gap between the first fastening member 44 and the inner wall surface of the second connection hole 4321, so that the levelness of the lifting plate 432 and the vision camera 41 on the lifting plate 432 can be adjusted (i.e., fine-tuned).
Optionally, two second connection holes 4321 are provided and are respectively provided at two sides of the lifting plate 432.
Optionally, each of the second connection holes 4321 is correspondingly provided with a plurality of first connection holes, the plurality of first connection holes are distributed at intervals in the up-down direction, and each of the first connection holes is correspondingly provided with a first fastening member 44. In this way, the mounting stability of the lifting plate 432 and the vision camera 41 can be further improved.
Optionally, the vision bracket 43 is substantially U-shaped, which facilitates weight reduction.
Further, as shown in fig. 1, the handling tool 100 further includes an annular light source 80, the annular light source 80 is installed at the bottom of the support shell 10, and the annular light source 80 is annularly disposed outside the first detection through hole 112; specifically, the ring light source 80 is mounted on the lower surface of the base plate 11. The ring light source 80 is used for compensating light.
Optionally, the ring light source 80 is a collimated light source.
Optionally, the first detection via hole 112 is a circular hole, and the diameter of the first detection via hole 112 is larger than the diameter of the vision lens 42 so as to avoid affecting the operation of the vision detection assembly 40.
Further, as shown in fig. 1 and 2, the distance detection assembly 50 includes a laser sensor 51 disposed in the installation space, and a second detection via hole (not shown) is formed on the bottom plate 11 for passing through a detection light of the laser sensor 51. In this way, by installing the laser sensor 51 in the installation space, the laser sensor 51 can be protected, and the laser sensor 51 and the vision camera 41 can be made compact.
Optionally, the first detecting via 112 and the second detecting via are disposed at an interval, and the laser sensor 51 and the vision lens 42 are disposed at an interval.
Further, as shown in fig. 1 and 2, the laser sensor 51 is mounted on the back plate 13. In this manner, the laser sensor 51 can be easily mounted.
Further, as shown in fig. 1 and 2, the back plate 13 has a plurality of mounting positions distributed in a ring shape, and the laser sensor 51 is alternatively mounted at one of the mounting positions. In this way, the attachment angle of the laser sensor 51 can be adjusted as necessary, and the applicability of the conveyance tool 100 can be improved.
Specifically, be equipped with a plurality of mounting holes 131 that are cyclic annular distribution on backplate 13, mounting hole 131 is the waist shape hole that is the arc setting, and a plurality of mounting holes 131 inject a plurality of installation positions. Specifically, the limit fastener 52 is connected to the laser sensor 51 through the mounting hole 131 to mount the laser sensor 51 on the back plate 13.
Further, as shown in fig. 1, the handling tool 100 further includes a driving assembly 60, the driving assembly 60 is mounted on the supporting shell 10, the first grabbing assembly 30 is mounted at an output end of the driving assembly 60, and the driving assembly 60 is configured to drive the first grabbing assembly 30 to move in an up-and-down direction; wherein the driving assembly 60 is mounted on the base plate 11. Thus, the effective pick-and-place range of the first grabbing assembly 30 can be increased.
Specifically, as shown in fig. 1, the bottom plate 11 includes a vertical mounting plate 111 extending upward, the driving assembly 60 includes a cylinder 61 mounted on the vertical mounting plate 111, and the first grabbing assembly 30 is mounted at an output end of the cylinder 61.
In the present embodiment, the cylinder 61 may be selected as the slide table cylinder 61.
Specifically, the driving assembly 60 further includes a solenoid valve 62, the solenoid valve 62 is installed on the outer side surface of the first side plate 14, and the solenoid valve 62 is used for controlling the cylinder 61.
Specifically, as shown in fig. 1, the first grabbing assembly 30 includes a first mounting plate 32 mounted at the output end of the driving assembly 60, a first fitting 33 mounted on the first mounting plate 32, and a first suction pad 31 connected to the first fitting 33.
Wherein the first mounting plate 32 is mounted at the output end of the cylinder 61.
The first hardware fitting 33 is an anti-rotation hardware fitting.
Alternatively, as shown in fig. 1, the first suction cup 31 is a concertina type suction cup. Therefore, flexible carrying can be realized, the damage to the material in the process of taking and placing the material by the first grabbing component 30 can be avoided, and particularly, the product yield of the injection molding part can be better ensured.
Specifically, the first grabbing assembly 30 further comprises a vacuum generator 34, the vacuum generator 34 is installed on the outer side surface of the second side plate 15, and the vacuum generator 34 is connected with the first hardware fitting 33.
Optionally, the first grasping assembly 30 is provided in plurality. In this embodiment, two first gripper assemblies 30 are provided.
Further, as shown in fig. 1 and 2, the handling tool 100 further includes a second grabbing component 70 disposed on the back plate 13, and the second grabbing component 70 is configured to grab the tray. Wherein, the second grabbing component 70 is arranged on the outer side surface of the back plate 13. It can be understood that when the material on the material tray is completely transported, the robot can drive the transport tool 100 to rotate to transport the material tray by using the second grabbing component 70 on the back plate 13, so that the mechanical and visual transport of the material tray can be realized, and the manual work can be further reduced.
Further, as shown in fig. 2, the second grabbing assembly 70 comprises a plurality of grabbing groups, and the grabbing groups comprise a second mounting plate 72 and a second suction cup 71 mounted on the second mounting plate 72. Thus, the second suckers 71 of a plurality of grabbing groups can grab the tray together, so that the reliability is improved.
Optionally, the second suction cup 71 is a concertina type suction cup.
Specifically, the grabbing group further comprises a second fitting 73, the second fitting 73 is mounted on the second mounting plate 72, and the second suction cup 71 is connected to the second fitting 73.
Further, as shown in fig. 2, a third connection hole (not shown) is formed in the back plate 13, a fourth connection hole 721 cooperatively connected with the third connection hole is formed in the second mounting plate 72, and at least one of the third connection hole and the fourth connection hole 721 is a long hole, so that the position of the second mounting plate 72 on the back plate 13 can be adjusted, and the position of the second suction cup 71 can be adjusted. Therefore, the position of the second suction cup 71 can be adjusted according to the trays of different specifications, so that the second grabbing component 70 can pick and place the trays of different specifications, and the applicability of the carrying tool 100 is improved.
Specifically, a second fastening member (e.g., a screw or a bolt) connects the third connecting hole and the fourth connecting hole 721.
It will be appreciated that the second mounting plate 72 may alternatively be movable not only in the direction in which the elongate holes extend, but also rotatable.
Alternatively, as shown in fig. 2, the fourth connecting hole 721 is a long hole (e.g., a waist-shaped hole), the outer side of the back plate 13 is provided with a mounting pillar 132, and the third connecting hole is provided in the mounting pillar 132. The second fastening member passes through the fourth connecting hole 721 to be connected with the third connecting hole to fixedly mount the second mounting plate 72 on the mounting post 132.
Alternatively, the fourth connection hole 721 is a long hole extending in the length direction of the second mounting plate 72.
Further, as shown in fig. 1 and 2, the first suction cups 31 of the first gripper assembly 30 share the same vacuum generator 34 as the second suction cups 71 of the second gripper assembly 70. Specifically, the vacuum generator 34 is also connected to the second hardware fitting 73.
Thus, the structure of the carrying assembly can be simplified.
Optionally, the periphery of the first side plate 14 is provided with a connecting flange, so as to not only reduce the difficulty of connecting with other components, but also improve the structural strength.
Optionally, the second side plate 15 is provided with a connecting flange at its periphery, so as to not only reduce the difficulty of connecting with other components, but also improve the structural strength.
Optionally, a through hole (not shown) is further formed in the middle of the second side plate 15 to at least reduce the weight of the handling tool 100.
Further, as shown in fig. 1, the width of the first side plate 14 is smaller than the width of the bottom plate 11. Therefore, on one hand, the weight of the first side plate 14 can be reduced, and on the other hand, a larger operation space can be formed, so as to reduce the assembly difficulty (such as convenience in routing or piping) of the handling tool 100.
Optionally. The first side plate 14 is spaced apart from the back plate 13. In this manner, the laser sensor 51 can be easily mounted.
Further, as shown in fig. 1, the connection seat 20 includes a connection base plate 21 and two connection support plates 22 disposed opposite to each other, and two ends of the connection support plates 22 are respectively connected to the connection base plate 21 and the top plate 12. In this way, a certain distance is provided between the end of the robot and the supporting shell 10, so that the robot can drive the handling tool 100 to move more flexibly.
Specifically, a first turnover plate is arranged at the lower end of the supporting plate 22, and the first turnover plate is connected with the top plate 12 to ensure/improve the connection stability between the supporting plate 22 and the top plate 12.
The upper end of the supporting plate 22 is provided with a second turnover plate, and the second turnover plate is connected with the connecting base plate 21 so as to ensure/improve the connection stability between the supporting plate 22 and the connecting base plate 21.
Alternatively, as shown in fig. 1, the connection substrate 21 is a connection flange for flange connection with an end of the robot. When the robot is a six-axis robot, the connection substrate 21 is connected to a sixth-axis flange of the robot.
Optionally, the supporting plate 22 is provided with a routing via 221, so that on one hand, the supporting plate can be used for routing, and on the other hand, the weight of the supporting plate 22 can be reduced.
Here, it should be noted that:
1. the utility model discloses transport frock 100 a general frock, it can extensively be used for various robots (can select to be six robots), like six robots FANUC of common use, ABB, KUKA, ann chuan, all can cooperate the use such as the loving stone.
2. Through setting up first sucking disc 31 as the organ formula sucking disc, can realize that elastic buffer adsorbs when absorbing the material to can realize getting the flexible of material (especially to the injection molding) and put and carry.
3. The utility model discloses transport frock 100, cooperation (six commonly used) robot can realize the comprehensive application of vision guide, outward appearance detection, dimensional measurement, visual unloading and flexible transport etc.. That is to say, the utility model discloses transport frock 100 can give the robot "bright eyes" and "nimble trick", can alleviate the electron industry of moulding plastics manpower demand greatly, the equipment development cost is high but the current situation of low-usage.
The utility model discloses still provide a handling system of robot, this handling system of robot includes:
a robot; and
the carrying tool is connected to the robot through the connecting seat.
The concrete structure of transport frock refers to above-mentioned embodiment, because the utility model discloses robot handling system has adopted the whole technical scheme of above-mentioned all embodiments, consequently has all beneficial effects that the technical scheme of above-mentioned embodiment brought at least, no longer gives unnecessary details here.
Specifically, the connecting seat is connected to the tail end of the robot.
Optionally, the robot is a six-axis robot.
The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.
Claims (12)
1. A handling tool for a robot for handling materials, the handling tool comprising:
the supporting shell is provided with an installation space, and the bottom of the supporting shell is provided with a first detection through hole communicated with the installation space;
the connecting seat is arranged at the top of the supporting shell and is used for being connected to a robot;
the first grabbing assembly is arranged on the supporting shell and used for grabbing materials;
the visual detection assembly is mounted in the mounting space and used for detecting the placement position of the material through the first detection through hole; and
the distance detection assembly is installed on the supporting shell and used for detecting the distance between the grabbing assembly and the materials.
2. The handling tool of claim 1, wherein the support shell comprises a bottom plate, a top plate arranged opposite to the bottom plate, and a first side plate and a second side plate arranged opposite to each other, the first side plate and the second side plate are respectively arranged on two sides of the bottom plate to connect the bottom plate and the top plate, and the installation space is formed among the bottom plate, the top plate, the first side plate and the second side plate;
the first detection through hole is formed in the bottom plate, the first grabbing assembly is installed on the bottom plate, and the connecting seat is installed on the upper surface of the top plate.
3. The handling tool of claim 2, wherein the support housing further comprises a back plate, the back plate is arranged on the other side of the bottom plate, and the back plate is connected with the bottom plate and the top plate; the support shell has a mounting opening opposite the base plate.
4. The carrying tool according to claim 1, wherein the visual inspection assembly comprises a visual camera and a visual lens matched with the visual camera, the visual lens is arranged corresponding to the first inspection through hole, and the visual camera is installed in the installation space in a vertically adjustable mode.
5. The carrying tool according to claim 4, wherein the vision inspection assembly further comprises a vision bracket, the vision bracket comprises a fixing frame and a lifting plate, the fixing frame is fixedly mounted on the supporting shell, the fixing frame is provided with a first connecting hole, the lifting plate is provided with a second connecting hole matched and connected with the first connecting hole, and at least one of the first connecting hole and the second connecting hole is a long hole extending in the vertical direction, so that the position of the lifting plate in the vertical direction is adjustable; the vision camera is fixedly arranged on the lifting plate; and/or the presence of a gas in the gas,
the carrying tool further comprises an annular light source, the annular light source is installed at the bottom of the supporting shell, and the annular light source is annularly arranged outside the first detection through hole.
6. The carrying tool according to claim 3, wherein the distance detection assembly comprises a laser sensor arranged in the mounting space, the laser sensor is mounted on the back plate, and a second detection through hole for allowing detection light of the laser sensor to pass through is formed in the bottom plate;
the back plate is provided with a plurality of mounting positions which are distributed annularly, and the laser sensor is selectively mounted at one of the mounting positions.
7. The transfer tool of any one of claims 1 to 5, further comprising a drive assembly mounted on the support housing, wherein the first gripper assembly is mounted at an output end of the drive assembly, and wherein the drive assembly is configured to drive the first gripper assembly to move in an up-down direction.
8. The handling tool of claim 7, wherein the bottom plate of the support housing comprises an upwardly extending vertical mounting plate, the drive assembly comprises a cylinder mounted to the vertical mounting plate, and the first gripper assembly is mounted at an output end of the cylinder; and/or the presence of a gas in the gas,
the first grabbing component comprises a first mounting plate arranged at the output end of the driving component, a first hardware fitting arranged on the first mounting plate, and a first sucking disc connected with the first hardware fitting, and the first sucking disc is an organ type sucking disc.
9. The handling tool of claim 3, further comprising a second gripper assembly disposed on the back plate, the second gripper assembly being configured to grip a tray.
10. The handling tool of claim 9, wherein the second grabbing component comprises a plurality of grabbing groups, each grabbing group comprises a second mounting plate and a second suction cup mounted on the second mounting plate, a third connecting hole is formed in the back plate, a fourth connecting hole in fit connection with the third connecting hole is formed in the second mounting plate, and at least one of the third connecting hole and the fourth connecting hole is a long hole, so that the position of the second mounting plate on the back plate can be adjusted; and/or the presence of a gas in the gas,
the first grabbing assembly and the second grabbing assembly share the same vacuum generator.
11. The carrying tool according to claim 2 or 3, wherein the connecting seat comprises a connecting base plate and two oppositely arranged connecting support plates, and two ends of each connecting support plate are respectively connected with the connecting base plate and the top plate; and/or
The width of the first side plate is smaller than that of the bottom plate; and/or the presence of a gas in the gas,
the visual detection assembly is also used for shooting information of the materials.
12. A robotic handling system, comprising:
a robot; and
the transfer tool of any one of claims 1 to 11, wherein the connecting base of the transfer tool is connected to the robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020495292.1U CN212475207U (en) | 2020-04-07 | 2020-04-07 | Transport frock and robot handling system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020495292.1U CN212475207U (en) | 2020-04-07 | 2020-04-07 | Transport frock and robot handling system |
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| CN212475207U true CN212475207U (en) | 2021-02-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113441998A (en) * | 2021-05-21 | 2021-09-28 | 广东埃华路机器人工程有限公司 | Intelligent workstation with blunt edge for oil tank clamping piece |
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2020
- 2020-04-07 CN CN202020495292.1U patent/CN212475207U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113441998A (en) * | 2021-05-21 | 2021-09-28 | 广东埃华路机器人工程有限公司 | Intelligent workstation with blunt edge for oil tank clamping piece |
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Effective date of registration: 20221202 Address after: 266104 No. 500, Songling Road, Laoshan District, Qingdao, Shandong Patentee after: GOERTEK TECHNOLOGY Co.,Ltd. Address before: 261031 east of Dongming Road, north of Yuqing East Street, high tech Zone, Weifang City, Shandong Province (Room 502, Geer electronics office building) Patentee before: GoerTek Optical Technology Co.,Ltd. |
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