Method for detecting the placement position of brake pad steel back and mechanical hand using the same

Abstract

The application discloses a method for detecting the placing position of a steel back of a disc brake pad and a mechanical arm adopting the same. The method comprises the following steps: after the mechanical arm places the steel back of the disc brake pad into a brake pad mold, detecting the weight information of the holding object of the mechanical arm; if no weight information is fed back, entering a subsequent operation; and if weight information is fed back, entering a pause state. The method can determine whether the mechanical arm correctly places the steel back of the disc brake pad into the brake pad mold, so as to avoid the fault caused by the error of the subsequent operation.

Description

Technical Field

[0001] This invention relates to a control method for a robotic arm used in brake pad production, and more particularly to a method for detecting the placement position of the steel backing of disc brake pads, and also to a robotic arm employing this method. Background Technology

[0002] Chinese Patent Publication No. 209319379U, published on August 30, 2019, discloses a "Brake Pad Steel Back Gripping Robot" which includes: a drive mechanism fixed on a support, connected to a pulley, with a synchronous belt wound around the pulley, both ends of the synchronous belt connected to a lifting mechanism, the synchronous belt driving the lifting mechanism's lifting motion, and a gripping device fixed to the bottom of the lifting mechanism. In the aforementioned patented technical solution, it is impossible to determine whether the robot has correctly placed the steel back into the brake pad mold. If the steel back is placed at an angle in the brake pad mold, and this situation is not detected and addressed in a timely manner, it will cause operational malfunctions in subsequent equipment. Summary of the Invention

[0003] The purpose of this invention is to provide a method for detecting the placement position of the brake pad steel backing, which solves the problem in the prior art that it is impossible to determine whether the steel backing is correctly placed into the brake pad mold.

[0004] To achieve the objective of this invention, the following steps are included: After the robotic arm places the steel back of the disc brake pad into the brake pad mold, the weight information of the object held by the robotic arm is detected; if no weight information is received, the subsequent operation is initiated; if weight information is received, the process is paused.

[0005] If weight information is received, an alarm will be triggered simultaneously with entering pause mode.

[0006] Another objective of this invention is to provide a robotic arm employing the above-described method for detecting the placement position of the steel backing of disc brake pads. To achieve this objective, the robotic arm comprises: a robotic arm connected to a weighing sensor, the weighing sensor connected to a hand, the hand having at least one magnetic suction head, the weighing sensor connected to a controller, and the controller operating the above-described method for detecting the placement position of the steel backing of disc brake pads.

[0007] The magnetic suction head is a permanent magnet suction head, and the hand is also equipped with a pusher device, which is a pneumatic cylinder, hydraulic cylinder or electric cylinder.

[0008] The magnetic suction head is located at one end of the fixed rod, and the other end of the fixed rod is connected to the hand.

[0009] The robotic arm is equipped with a drive device.

[0010] The driving device includes: a lifting driving device and / or a translation driving device; or the lifting driving device includes: a lifting rack, the lifting rack meshing with a lifting driving gear, the lifting driving gear being connected to a lifting driving motor; or the translation driving device includes: a translation rack, the translation rack meshing with a translation driving gear, the translation driving gear being connected to a translation driving motor.

[0011] The robotic arm is further provided with a lifting guide device and / or a translation guide device; or the lifting guide device includes: a guide sleeve, a vertical slider inside the guide sleeve, the vertical slider being movably connected to a vertical guide rail, and the vertical guide rail being connected to the robotic arm; or the translation guide device includes: a translation guide rail, on which a translation slider is provided.

[0012] The controller is connected to an operation panel and / or a speaker and / or an alarm light.

[0013] This invention uses the weight information of the object being held obtained from a weighing sensor to determine whether the robotic arm has correctly placed the brake pad steel backing into the brake pad mold, thus avoiding errors that could cause malfunctions in subsequent operations. This method and the device using it have a simple structure and do not require an expensive and complex video detection system. Compared to the method of using multiple photoelectric switches to detect position, this method cannot detect situations where the brake pad steel backing is exactly resting on the edge of the recess because the photoelectric switches cannot be positioned directly above or below the recess edge. Furthermore, the brake pad mold requires heat pressing, making it impossible to install photoelectric switches on it. Secondly, the use of a permanent magnet suction head avoids the situation where the brake pad or brake pad might fall off if an electromagnet fails, as is the case with electromagnets. Attached Figure Description

[0014] Figure 1 This is a front view of an embodiment of the present invention. Figure 2 As shown Figure 1 Left view, Figure 3 for Figure 1 3D image, Figure 4 This is a three-dimensional enlarged view of the hand in an embodiment of the present invention. Detailed Implementation

[0015] like Figure 1 , Figure 2 , Figure 3 and Figure 4 The embodiment 1 of the present invention shown includes: a robotic arm 1, which is equipped with a driving device, a lifting guide device, and a translation guide device. The robotic arm 1 is connected to a weighing sensor 2, which is connected to a hand. The hand includes: a base plate 3, which is equipped with four sets of gripping devices. Each set of gripping devices includes: five magnetic suction heads 4, which are permanent magnet suction heads. Each magnetic suction head 4 is located at one end of a fixed rod 5, and the other end of each fixed rod 5 is connected to the base plate 3. Each set of gripping devices is provided with a pusher device 6 on both sides, which is a cylinder.

[0016] The lifting guide device includes: a guide sleeve 7, with a vertical slider connected inside the guide sleeve 7. The vertical slider is movably connected to a vertical guide rail 8, which is connected to the robotic arm 1. The translation guide device includes: a translation guide rail, with a translation slider on the translation guide rail, and the translation slider is connected to the guide sleeve. The driving device includes: a lifting drive device and a translation drive device. The lifting drive device includes: a lifting rack 9, which meshes with a lifting drive gear, which is connected to a lifting drive motor 10, and the lifting rack 9 is connected to the robotic arm 1. The translation drive device includes: a translation rack, which meshes with a translation drive gear, which is connected to a translation drive motor. Both the translation drive motor and the lifting drive motor are mounted on a translation slide connected to the translation slider, and the translation slide is also connected to the guide sleeve 7. The translation rack is connected to a truss to facilitate the robotic arm sliding along the translation guide device on the truss.

[0017] The weighing sensor, the solenoid valve connected to the pusher device, the lifting drive motor, and the translation drive motor are all connected to the controller. The controller is a PLC controller, and it is connected to the operation panel and the speaker. When placing the brake pad steel back 11, the controller first controls the translation drive device and the lifting drive device to move above the brake pad mold. Then, the controller controls the pusher device 6 to push the brake pad steel back 11 down from the hand and place it into the brake pad mold. Next, the controller detects the weight information of the object held by the robot arm. If no weight information is received, the subsequent operation is initiated. If weight information is received, the system enters a pause state and issues an alarm, awaiting manual intervention. The brake pad mold includes a base plate with recesses for placing brake pad pressing powder. When the brake pad steel back is not correctly placed in the recess, it is often pressed against the edge of the recess. At this time, the magnetic suction head can contact the brake pad steel back. Since the magnetic suction head is not detached from the brake pad steel back, the weighing sensor can detect the weight information, which is then sent to the controller as a warning.

[0018] As an improvement to the present invention, the pushing device can also be replaced by a hydraulic cylinder or an electric cylinder. Alternatively, the controller can be connected to an operation panel, which has a display screen to show alarm images. Or, the controller can be connected to an alarm light, which flashes to indicate an alarm; or, a combination of two or three of the following methods can be used: a speaker, the operation panel, and the alarm light. Each gripping device can also include: three magnetic suction heads, four magnetic suction heads, or more magnetic suction heads.

[0019] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, all technical solutions that are the same as or similar to these embodiments fall within the protection scope of the present invention.

Claims

1. A robotic arm employing a method for detecting the placement position of the steel backing of disc brake pads, comprising: A robotic arm, characterized in that the robotic arm is connected to a weighing sensor, the weighing sensor is connected to a hand, the hand includes: a base plate, the base plate is provided with a gripping device; the gripping device includes: three or more magnetic suction heads, the magnetic suction heads are permanent magnet suction heads, each magnetic suction head is set at one end of a fixed rod, the other end of the fixed rod is connected to the base plate, the fixed rods are distributed on the base plate, and pusher devices are respectively provided on both sides of the gripping device, the pusher devices are pneumatic cylinders, hydraulic cylinders or electric cylinders, the weighing sensor is connected to a controller, the controller operates a method for detecting the placement position of disc brake pad steel backing including the following steps: after the robotic arm places the disc brake pad steel backing into the brake pad mold below it, the weight information of the object held by the robotic arm is detected, the brake pad mold includes: a base plate, the base plate is provided with a recess for placing brake pad pressing powder; if no weight information is received, that is, the brake pad steel backing is correctly placed in the recess, then the subsequent operation is entered; if weight information is received, that is, the brake pad steel backing is pressed at the edge of the recess, then the pause state is entered.

2. The robotic arm according to claim 1, employing a method for detecting the placement position of the steel backing of disc brake pads, is characterized in that... If the feedback indicates that the brake pad steel back is being pressed against the edge of the dent, the alarm will be triggered simultaneously with entering the pause state.

3. A robotic arm according to claim 1 or 2, employing a method for detecting the placement position of the steel backing of a disc brake pad, characterized in that, The robotic arm is equipped with a drive device, which includes: a lifting drive device and / or a translation drive device; or the lifting drive device includes: a lifting rack, the lifting rack meshing with a lifting drive gear, the lifting drive gear being connected to a lifting drive motor; or the translation drive device includes: a translation rack, the translation rack meshing with a translation drive gear, the translation drive gear being connected to a translation drive motor.

4. A robotic arm according to claim 3, employing a method for detecting the placement position of the steel backing of a disc brake pad, characterized in that, The robotic arm is further provided with a lifting guide device and / or a translation guide device; or the lifting guide device includes: a guide sleeve, a vertical slider inside the guide sleeve, the vertical slider being movably connected to a vertical guide rail, and the vertical guide rail being connected to the robotic arm; or the translation guide device includes: a translation guide rail, on which a translation slider is provided.

5. A robotic arm according to claim 4, employing a method for detecting the placement position of the steel backing of a disc brake pad, characterized in that, The controller is connected to an operation panel and / or a speaker and / or an alarm light.

6. A robotic arm according to claim 4 or 5, employing a method for detecting the placement position of the steel backing of a disc brake pad, characterized in that, There are five magnetic suction heads.

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