Magnetic workpiece grabbing and positioning device

Abstract

The application relates to a magnetic workpiece grabbing precision positioning device, which comprises a workpiece feeding mechanism, a workpiece moving mechanism, a correcting mechanism and a precision positioning mechanism; the workpiece feeding mechanism comprises a workpiece feeding frame used for stacking workpieces; the workpiece moving mechanism comprises an electromagnetic suction assembly and a moving assembly used for driving the electromagnetic suction assembly to reciprocatingly move between the workpiece feeding frame and the correcting mechanism. The magnetic workpiece grabbing precision positioning device for automatic feeding of disc-shaped workpieces can transfer any stacked workpieces and realize precise positioning. The application has the advantages that the application comprises the workpiece feeding mechanism, the workpiece moving mechanism, the correcting mechanism and the precision positioning mechanism; the workpiece moving mechanism can suck any stacked workpieces on the workpiece feeding mechanism, correct the forward and reverse directions through the correcting mechanism, and finally realize precise positioning through the precision positioning mechanism, so as to facilitate subsequent machining operation or precise grabbing of a mechanical arm, thereby realizing automatic feeding.

Description

Technical Field

[0001] The present invention relates to the field of automation equipment, and in particular to a magnetic workpiece grasping and precise positioning device. Background Art

[0002] With the rapid development of intelligent processing equipment, workpiece processing has gradually shifted from manual to mechanical operations. Robots are widely used in intelligent processing equipment. They can not only grasp workpieces to cooperate with the processing mechanism to complete the processing operation, but also transfer the processed workpieces to the next process.

[0003] However, due to the limitation of automation level, the robot cannot grab workpieces that are randomly placed or stacked. The workpieces need to be placed in a specific area and positioned accurately by humans before they can be correctly grabbed by the robot. Summary of the Invention

[0004] The purpose of the present invention is to provide a magnetic workpiece grasping and precise positioning device for automatic loading of disc-shaped workpieces, which can transfer any stacked workpieces and achieve precise positioning.

[0005] The objectives of the present invention are achieved through the following technical solutions: a magnetic workpiece grasping and precise positioning device, which includes a feed mechanism, a moving mechanism, a correction mechanism and a precise positioning mechanism; the feed mechanism includes a feed frame for stacking workpieces; the moving mechanism includes an electromagnetic suction component and a transfer component for driving the electromagnetic suction component to move back and forth between the feed frame and the correction mechanism; the correction mechanism includes a receiving box for preliminarily correcting the workpiece, a detection group for judging the working direction in the receiving box, and a flipping component for correcting the direction of the workpiece according to the detection group signal; the precise positioning mechanism is arranged on the outlet side of the flipping component.

[0006] Compared with the prior art, the advantages of the present invention are:

[0007] 1. The present invention includes a workpiece feeding mechanism, a workpiece moving mechanism, a correction mechanism and a precision positioning mechanism. The workpiece moving mechanism can absorb any workpiece stacked on the workpiece feeding mechanism, and correct the positive and negative directions through the correction mechanism, and finally accurately position it through the precision positioning mechanism to facilitate subsequent processing operations or precise grasping by a robotic arm, thereby realizing automatic loading.

[0008] 2. The electromagnetic suction component includes a lifting slide arm, a suspension, and an electromagnet slidably connected to the suspension; the suspension is equipped with a load sensor and a height sensor. The height sensor can be used to determine whether the electromagnet contacts the workpiece and lifts it during the descent process, and the load sensor can be used to determine whether the electromagnet absorbs the workpiece, thereby realizing the automatic transfer of the workpiece.

[0009] 3. The correction mechanism includes a flip assembly, a receiving box and a pushing assembly arranged in sequence from front to back; the side wall of the receiving box is equipped with several shooting detection A to determine the positive and negative orientation of the workpiece in the receiving box. The pushing assembly pushes the workpiece in the receiving box to the flip assembly or the precise positioning mechanism according to the orientation information to realize intelligent detection and correction operations of the workpiece.

[0010] 4. The side walls of the receiving box are set obliquely, and it gradually receives the workpieces from top to bottom towards the middle. The bucket-shaped receiving box can guide the incoming workpieces so that they can be straightened during the sliding process toward the bottom of the receiving box, forming a positive and negative placement state to avoid oblique situations.

[0011] 5. The precision positioning mechanism includes a roller conveyor line, a positioning stop frame and a jacking assembly. Two positioning correction blocks are spaced apart on the left and right sides of the rear side of the positioning stop frame. The contact area between the positioning correction block and the workpiece is provided with a chamfer structure, and the center line of the two positioning correction blocks passes through the center of the workpiece. The workpiece can be continuously fine-tuned on the positioning correction block by being conveyed by the conveyor roller, and finally supported by the jacking assembly to facilitate grasping by the robotic arm.

[0012] 6. A material blocking assembly is provided in the middle section of the roller conveyor line. The material blocking assembly includes a beam detector B for detecting the passage of workpieces and a material blocking part which is located on the lower side of the roller conveyor line and driven up and down by a power part. When the beam detector B senses that a workpiece has passed, the material blocking part is controlled to rise and block subsequent workpieces to prevent them from entering the workpiece retention area of ​​the positioning frame and interfering with the precise positioning of the workpiece in front. The material blocking part can also pre-position the intercepted workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of a magnetic workpiece grasping and precise positioning device of the present invention.

[0014] Figure 2 yes Figure 1 Top view of .

[0015] Figure 3 It is a three-dimensional structural diagram of the connection relationship between the correction mechanism and the precision positioning mechanism.

[0016] Figure 4 yes Figure 3 side view.

[0017] Figure 5 yes Figure 3 Top view of .

[0018] Figure 6 This is a schematic diagram of the coordination principle between the receiving box and the pushing component.

[0019] Figure 7 This is a diagram of the working principle of the flip component.

[0020] Figure 8 It is a schematic diagram of the three-dimensional structure of the electromagnetic absorption component.

[0021] Figure 9 It is a partially enlarged schematic diagram of the electromagnetic absorption component.

[0022] Explanation of reference numbers: 1 feeding mechanism, 11 feeding frame, 2 moving mechanism, 21 electromagnetic suction assembly, 211 lifting slide arm, 212 suspension, 213 load fixing plate, 214 load sensor, 215 electromagnet, 216 sliding hanger, 217 pressing plate, 218 height sensor, 219 limiting chain, 22 transferring assembly, 3 correction mechanism, 31 receiving box, 311 placement port, 312 conveying port, 32 inspection group, 321 cross-beam inspection A, 33 flip assembly, 331 flip frame, 332 rotating cylinder, 333 flip positioning part, 34 pushing assembly, 341 pushing block, 342 servo electric cylinder, 4 precise positioning mechanism, 41 roller conveyor line, 42 positioning stop frame, 421 positioning correction block, 43 lifting assembly, 44 blocking assembly, 441 cross-beam inspection B, 442 blocking part, 5 demagnetization machine, 6 workpiece. DETAILED DESCRIPTION

[0023] The present invention is described in detail below with reference to the accompanying drawings and embodiments:

[0024] like Figures 1 to 9 Shown is a schematic diagram of an embodiment of a magnetic workpiece grasping and precise positioning device provided by the present invention.

[0025] A magnetic workpiece grasping and precise positioning device comprises a workpiece feeding mechanism 1, a workpiece moving mechanism 2, a correction mechanism 3 and a precise positioning mechanism 4.

[0026] The invention is suitable for grasping disc-shaped workpieces, such as brake discs.

[0027] The workpiece feeding mechanism 1 includes a workpiece feeding frame 11 for stacking workpieces. Two workpiece feeding frames 11 can be provided for alternately feeding workpieces to ensure continuous operation of the device.

[0028] The moving mechanism 2 includes an electromagnetic suction component 21 and a transfer component 22 for driving the electromagnetic suction component 21 to move back and forth between the feeding frame 11 and the correction mechanism 3;

[0029] The transfer assembly 22 includes an X-axis transfer that moves in the left-right direction and a Y-axis transfer that is arranged on the X-axis transfer and moves in the front-back direction; the X-axis transfer and the Y-axis transfer constitute a transfer area covering the feed frame 11 and the correction mechanism 3.

[0030] The correction mechanism 3 comprises a receiving box 31 for preliminary correction of the workpiece, a detection group 32 for judging the orientation of the workpiece in the receiving box 31, and a turnover assembly 33 for orientation correction of the workpiece according to the signal of the detection group 32; and the precision positioning mechanism 4 is arranged at the outlet side of the turnover assembly 33.

[0031] The upper side of the receiving box 31 is provided with a placing opening 311, and the front and rear side walls of the receiving box 31 are respectively provided with conveying openings 312.

[0032] The turnover assembly 33 is opposite to the front conveying opening 312 of the receiving box 31, and the rear side of the receiving box 31 is further provided with a pushing assembly 34 for pushing the workpiece in the receiving box 31 to the turnover assembly 33 or the precision positioning mechanism 4.

[0033] The detection group 32 comprises a plurality of pairs of radiation detectors A321 distributed on the left and right side walls of the receiving box 31, and the detection group 32 judges the orientation of the workpiece through the signals of the pairs of radiation detectors A321 at different positions.

[0034] In this embodiment, three groups of pairs of radiation detectors A321 are provided, and each pair of radiation detectors A321 is at the same horizontal height and is distributed at intervals front and rear.

[0035] Taking a brake disc as an example, when the brake disc is in a normal position, the three groups of pairs of radiation detectors A321 simultaneously sense the disc body at the bottom of the brake disc; when the brake disc is in an inverted position, only the middle pair of radiation detectors A321 among the three groups of pairs of radiation detectors A321 senses the downward brake mounting shaft. The signal collection end automatically judges the orientation of the brake disc according to the signals fed back by the three groups of pairs of radiation detectors A321.

[0036] The side walls of the receiving box 31 are obliquely arranged, and they are gradually accommodated to the middle part from top to bottom.

[0037] The receiving box 31 in the shape of a bucket can guide the entering brake disc to slide to the bottom surface of the receiving box 31, so that the brake disc is adjusted to form a normal or inverted position, thereby avoiding the oblique condition.

[0038] The pushing assembly 34 comprises a pushing block 341 and a servo cylinder 342 for driving the pushing block 341 to move forward and backward, and the front side surface of the pushing block 341 is provided with a "V"-shaped guide groove.

[0039] The servo cylinder 342 has three strokes: pushing the workpiece from the receiving box 31 into the turnover assembly 33, pushing the workpiece from the turnover assembly 33 into the precision positioning mechanism 4 after the turnover operation is completed, and pushing the workpiece from the receiving box 31 into the precision positioning mechanism 4.

[0040] The workpiece falling into the receiving box 31 by the electromagnetic suction assembly 21 has a deviation in position at the bottom of the receiving box 31, and the "V"-shaped guide groove can play a role in preliminary adjustment of the position of the workpiece in the pushing process.

[0041] The turnover assembly 33 comprises a turnover frame 331 penetrating front and back, the left and right sides of the turnover frame 331 are rotationally connected to the rack, and the turnover frame 331 is driven to turn through a rotary cylinder 332; the upper side of the turnover frame 331 is provided with a turnover positioning member 333 for pressing and fixing the workpiece on the bottom surface of the turnover frame 331.

[0042] The turnover positioning member 333 comprises a pressing plate and a pressing cylinder driving the pressing plate to stretch and retract up and down.

[0043] The precision positioning mechanism 4 comprises a roller conveying line 41 arranged on the front side of the turnover assembly 33, the end of the roller conveying line 41 is provided with a positioning stop frame 42, the rear side of the positioning stop frame 42 is provided with two positioning correction blocks 421 distributed at intervals left and right, the contact area of the positioning correction blocks 421 with the workpiece is provided with a chamfer structure, and the midline of the two positioning correction blocks 421 passes through the center of the workpiece.

[0044] The lower side of the roller conveying line 41 is provided with a jacking assembly 43, and the jacking assembly 43 is located below the workpiece retention area formed by the positioning correction blocks 421.

[0045] The roller conveying line 41 is also provided with a grating for monitoring the workpiece retention area, and when the grating senses the workpiece, the jacking assembly 43 is controlled to rise.

[0046] The jacking assembly 43 comprises a jacking plate and a lifting cylinder driving the jacking plate to displace up and down.

[0047] The middle section of the roller conveying line 41 is provided with a material blocking assembly 44, the material blocking assembly 44 comprises a pair of photoelectric sensors B441 for detecting the passing of the workpiece, and a blocking part 442 arranged on the lower side of the roller conveying line 41 and driven by a power member to rise and fall up and down, the blocking part 442 comprises two blocking rods distributed at intervals left and right.

[0048] When the pair of photoelectric sensors B441 senses the passing of the workpiece, the blocking part 442 is controlled to rise, block the subsequent workpiece, and the blocking part 442 can also pre-position the intercepted workpiece.

[0049] The roller conveying line 41 is also provided with a demagnetizer 5, which is used to eliminate the magnetism generated by the electromagnetic attraction on the workpiece.

[0050] The electromagnetic suction assembly 21 comprises a lifting slide arm 211, a suspension 212 fixed on the lower end of the lifting slide arm 211, and an electromagnet 215 slidingly connected to the suspension 212.

[0051] The bottom of the suspension 212 is provided with a load fixing plate 213, the upper side of the load fixing plate 213 is provided with a load sensor 214, and a pressure test interval is left between the load sensor 214 and the lower end of the lifting slide arm 211.

[0052] A sliding hanger 216 is fixed to the upper end of the electromagnet 215, and the sliding hanger 216 vertically passes through the load-fixing plate 213 and is slidably connected to the load-fixing plate 213; the upper end of the sliding hanger 216 is provided with a pressing plate 217 that is displaced in the pressure test spacing and is limited by the load sensor 214; the suspension 212 is also provided with a height sensor 218 for monitoring the position of the pressing plate 217.

[0053] The lifting slide arm 211 is arranged on the Y-axis transfer and is driven to move in the up and down directions by the Z-axis transfer.

[0054] Limiting chains 219 are respectively provided on two corresponding sides of the suspension 212 ; the upper ends of the limiting chains 219 are fixed to the suspension 212 , and the lower ends are fixed to the electromagnet 215 .

[0055] The lower end of the electromagnet 215 is provided with a stainless steel head.

[0056] The working principle of the present invention is as follows:

[0057] 1. The operator pushes the workpiece feeding frame 11 filled with workpieces to the workpiece feeding station. After sensing that the workpiece feeding frame 11 is in place, the transfer assembly 22 drives the electromagnetic suction assembly 21 to move above the workpiece feeding frame 11.

[0058] 2. The lifting slide arm drives the electromagnet 215 to descend, and stops when the electromagnet 215 contacts the workpiece in the feed frame 11; while the lifting slide arm continues to move downward, at this time the sliding boom 216 on the upper side of the electromagnet 215 is lifted upward relative to the suspension 212, and when the pressure piece 217 on the sliding boom 216 rises to the position of the height sensor 218, the lifting slide arm drives the electromagnet 215 to rise, and the pressure piece 217 on the sliding boom 216 slides downward relative to the suspension 212 and is pressed against the load sensor 214. The load sensor 214 generates a pressure value, indicating that the electromagnet 215 is adsorbed to the workpiece.

[0059] 3. The transfer assembly 22 drives the electromagnetic suction assembly 21 to move above the receiving box 31. The electromagnet 215 is powered off and the workpiece falls into the receiving box 31. The side wall of the receiving box 31 guides the workpiece that has fallen and straightens it to form a positive and negative placement state.

[0060] 4. The detection group 32 determines the forward and reverse orientation of the workpiece. When the workpiece is placed in the forward direction, the servo electric cylinder 342 directly pushes the workpiece from the receiving box 31 into the fine positioning mechanism 4; when the workpiece is placed in the reverse direction, the servo electric cylinder 342 pushes the workpiece from the receiving box 31 into the flip assembly 33, and the pressure plate on the flip assembly 33 descends to press the workpiece tightly and fix it on the flip frame 331. The rotary cylinder 332 drives the flip frame 331 to flip 180°, and then the pressure plate descends, and the workpiece completes the orientation change; finally, the servo electric cylinder 342 pushes the workpiece from the flip assembly 33 into the fine positioning mechanism 4.

[0061] 5. After the workpiece enters the precision positioning mechanism 4, it is conveyed forward by the roller conveyor line 41. The workpiece first passes through the demagnetization machine 5 for demagnetization, and then passes through the cross-beam inspection B441. When the cross-beam inspection B441 senses the workpiece, it controls the material blocking part 442 to rise and block the subsequent workpiece; the workpiece on the front side continues to move to the positioning stop frame 42, and the positioning correction block 421 on the rear side of the positioning stop frame 42 can perform the final precise positioning of the workpiece. When the grating senses the workpiece, it controls the lifting assembly 43 to rise, so that the workpiece is separated from the roller conveyor line 41, and the robot arm of the next process can directly grab the precisely placed workpiece.

Claims

1. A magnetic workpiece grasping and precise positioning device, characterized by: It comprises a workpiece feeding mechanism (1), a workpiece moving mechanism (2), a correction mechanism (3) and a precision positioning mechanism (4); the workpiece feeding mechanism (1) comprises a workpiece feeding frame (11) for stacking workpieces; The piece moving mechanism (2) comprises an electromagnetic suction component (21) and a transfer component (22) for driving the electromagnetic suction component (21) to move back and forth between the piece feeding frame (11) and the correction mechanism (3); The correction mechanism (3) includes a receiving box (31) for preliminarily correcting the workpiece, a detection group (32) for determining the working direction in the receiving box (31), and a flip assembly (33) for correcting the direction of the workpiece according to a signal from the detection group (32); the fine positioning mechanism (4) is provided at the outlet side of the flip assembly (33); The upper side of the receiving box (31) is provided with a placement opening (311), and the front and rear side walls of the receiving box (31) are respectively provided with a delivery opening (312); The flip assembly (33) is directly opposite to the front conveying port (312) of the receiving box (31), and the rear side of the receiving box (31) is further provided with a pushing assembly (34) for pushing the workpiece in the receiving box (31) to the flip assembly (33) or the fine positioning mechanism (4); The detection group (32) includes a plurality of beam detectors A (321) distributed on the left and right side walls of the receiving box (31). The detection group (32) determines the direction of the workpiece through signals of the beam detectors A (321) at different positions. The beam detectors A (321) are provided in three groups in total. Each beam detector A (321) is at the same level and is spaced apart from each other. The pushing assembly (34) includes a pushing block (341) and a servo electric cylinder (342) for driving the pushing block (341) to move forward and backward; a V-shaped guide groove is provided on the front side of the pushing block (341); The servo electric cylinder (342) is provided with three strokes, namely, pushing the workpiece from the receiving box (31) into the flip assembly (33); after the flip operation is completed, pushing the workpiece from the flip assembly (33) into the fine positioning mechanism (4); and pushing the workpiece from the receiving box (31) into the fine positioning mechanism (4); The turning assembly (33) includes a turning frame (331) that is connected front to back. The left and right sides of the turning frame (331) are rotatably connected to the frame and are turned by a rotary cylinder (332). The upper side of the turning frame (331) is provided with a turning positioning member (333) for pressing and fixing the workpiece on the bottom surface of the turning frame (331). The detection group (32) determines the forward and reverse directions of the workpiece. When the workpiece is placed in the forward direction, the servo electric cylinder (342) directly pushes the workpiece from the receiving box (31) into the fine positioning mechanism (4); when the workpiece is placed in the reverse direction, the servo electric cylinder (342) pushes the workpiece from the receiving box (31) into the flip assembly (33); The precise positioning mechanism (4) comprises a roller conveyor line (41) provided on the front side of the flip assembly (33), a positioning stop frame (42) being provided at the end of the roller conveyor line (41), two positioning correction blocks (421) spaced apart from each other being provided on the rear side of the positioning stop frame (42), a chamfering structure being provided at the contact area between the positioning correction blocks (421) and the workpiece, and a center line of the two positioning correction blocks (421) passing through the center of the workpiece; A lifting assembly (43) is provided on the lower side of the roller conveyor line (41), and the lifting assembly (43) is located on the lower side of the workpiece retention area formed by the positioning and correction block (421); The electromagnetic suction assembly (21) comprises a lifting slide arm (211), a suspension (212) fixed to the lower end of the lifting slide arm (211), and an electromagnet (215) slidably connected to the suspension (212); A load fixing plate (213) is provided at the bottom of the suspension (212), a load sensor (214) is provided on the upper side of the load fixing plate (213), and a pressure test gap is left between the load sensor (214) and the lower end of the lifting slide arm (211); A sliding suspension rod (216) is fixedly provided at the upper end of the electromagnet (215), and the sliding suspension rod (216) vertically passes through the load fixing plate (213) and is slidably connected to the load fixing plate (213); a pressing piece (217) is provided at the upper end of the sliding suspension rod (216), which is displaced at the pressure test interval and is limitedly engaged with the load sensor (214); and a height sensor (218) for monitoring the position of the pressing piece (217) is also provided on the suspension (212).

2. The magnetic workpiece grasping and precise positioning device according to claim 1, characterized in that: The side walls of the connecting box (31) are arranged obliquely, and are gradually accommodated from top to bottom toward the middle.

3. The magnetic workpiece grasping and precise positioning device according to claim 1, characterized in that: A material blocking assembly (44) is provided in the middle section of the roller conveyor line (41). The material blocking assembly (44) includes a beam detector B (441) for detecting the passage of a workpiece, and a material blocking portion (442) provided on the lower side of the roller conveyor line (41) and driven up and down by a power member. The material blocking portion (442) includes two blocking rods spaced apart from each other.

Images