A magnetic adsorption type gripper end effector applied to a truss robot

Abstract

The present invention provides a magnetic adsorption type gripper end effector applied to a truss robot, which includes a frame, a power device, the Z-axis end of the truss robot, a lifting table, a rotating mechanism, a translation box, two groups of adjusting mechanisms, four groups of lifting gripper rods and an actuator corresponding to the lifting gripper rods. The power device is arranged on the frame beam, and the Z-axis end of the truss robot is arranged between the frames. The power mechanism is used to drive the Z-axis end of the truss robot to perform planar movement positioning along the X-axis or Y-axis and perform loading and unloading operations. In this solution, the electromagnet is used to perform the grasping operation and a magnetic gripper is equipped for the transportation and loading operation. During the handling and loading process of the truss robot, the electromagnet can be in a power-off state, saving electricity, and there is no need to consider the risk of the workpiece falling due to sudden power-off of the electromagnet during transportation. At the same time, compared with the grasping method relying on a single jaw or electromagnet, the versatility and flexibility of the end effector are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot grasping, and particularly to a magnetic adsorption type end effector for a gantry robot. Background Art

[0002] The end effectors of the vast majority of gantry robots are specifically designed for a certain specific place and lack versatility. The existing end execution components of gantry robots for loading and unloading generally adopt the form of single or double grippers, which are not suitable for grasping workpieces with unstable center of gravity.

[0003] The existing robot grippers generally adopt grippers or electromagnetic suction cups. Considering that the vertical gap between stacked workpieces is small, it is impossible to insert the gripper into the gap to successfully grasp. And for a single heavy workpiece with a large weight, if only an electromagnetic suction cup is used as the end effector, a high-power electromagnetic type needs to be selected, which consumes a large amount of electricity, and there is also a risk of the workpiece falling due to sudden power failure during transportation. Therefore, a magnetic adsorption type end effector for a gantry robot is designed. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a magnetic adsorption type end effector for a gantry robot, which solves the problems raised in the above background art.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A magnetic adsorption type end effector for a gantry robot, comprising a frame, a power device, the Z-axis end of the gantry robot, a lifting table, a rotating mechanism, a translation box, two groups of adjusting mechanisms, four groups of lifting gripper rods and an execution mechanism corresponding to the lifting gripper rods. The power device is arranged on the frame beam, and the Z-axis end of the gantry robot is arranged between the frames. The power device is used to drive the Z-axis end of the gantry robot to perform planar movement positioning along the X-axis or Y-axis and perform loading and unloading;

[0006] A slewing support platform is fixedly installed at the lower end of the Z-axis end of the gantry robot. The lifting table is arranged below the slewing support platform, and the rotating mechanism is arranged on the slewing support platform. The rotating mechanism is used to drive the lifting table to rotate relative to the slewing support platform;

[0007] There are two sets of the translation boxes, which are respectively arranged on both sides of the rotary support platform. Both sides of the lifting platform extend into the two translation boxes respectively. A fixed connection is provided between the translation box and the lifting platform located inside the translation box. Two sets of the adjusting mechanisms are respectively arranged in the two translation boxes. Four sets of the lifting gripper rods are installed in pairs in the two translation boxes. The adjusting mechanism is used to adjust the distance between the lifting gripper rods located in the same translation box. The actuating mechanisms are respectively arranged below the lifting gripper rods. The actuating mechanism is used to clamp an object. The actuating mechanism controls its own working state through the optical signal in the translation box.

[0008] Preferably, the rotating mechanism includes a rotary gear disk and a rotary gear. The rotary gear disk is rotatably connected to the rotary support platform. The rotary gear is meshed and arranged on one side of the rotary gear disk. A rotating motor is power-connected to the upper side of the rotary gear. The rotating motor is fixedly installed in the rotary support platform. The lower end of the rotary gear disk is power-connected to the upper end surface of the lifting platform.

[0009] Preferably, the adjusting mechanism includes an adjusting guide rail, an adjusting slide table, an adjusting slider, a photosensitive component and a slide table connecting block. A plurality of reinforcing ribs are fixedly installed in the translation box at its long side. The number of the reinforcing ribs on each side is at least two sets. The adjusting guide rail is fixedly installed between the reinforcing ribs on the same side. There are four sets of the adjusting slide tables, and two of them are arranged in each of the two translation boxes. The adjusting slide tables are symmetrically arranged between the two adjusting guide rails on both sides. The adjusting slider is arranged between the adjusting slide table and the outer surface of the adjusting guide rail. The adjusting slide table slides relatively with the adjusting guide rail through the adjusting slider. A slide table connecting block is fixedly installed on the upper surface of the adjusting slide table. An adjusting cylinder corresponding to the slide table connecting block is fixedly installed in the translation box. On the upper end surfaces of the two adjusting slide tables located in the same translation box, a lifting platform side plate is installed on the side away from each other. The photosensitive component is installed on the lifting platform side plate.

[0010] Preferably, the photosensitive component includes a photoelectric switch and a reflector. The photoelectric switch and the reflector are symmetrically arranged on the lifting platform side plate respectively. One lifting platform side plate corresponds to one photoelectric switch and one reflector. The lifting gripper rod corresponds to the photosensitive component. The lifting gripper rod is arranged between the photoelectric switch and the reflector. The lifting gripper rod and the adjusting slide table are assembled through the linear bearing. The lower end of the lifting gripper rod extends below the adjusting slide table. An optical axis sleeve is sleeved on the upper part of the outer cylindrical surface of the lifting gripper rod.

[0011] Preferably, a nylon limit washer is fixedly sleeved on the outer surface of the lifting gripper rod. The nylon limit washer is located above the linear bearing and below the optical axis sleeve.

[0012] Preferably, the actuator includes an electromagnet mounting plate, an electromagnet, a gripper mounting bracket, and a grasping assembly. The electromagnet mounting plate is disposed on the lower side of the lifting gripper rod. An articulated member is fixedly mounted on the upper end surface of the electromagnet mounting plate. The center of the articulated member is hinged to the lower end of the lifting gripper rod. The electromagnet is fixedly mounted on the lower side of the electromagnet mounting plate. The gripper mounting bracket is fixedly disposed on the lower side of the outer surface of the lifting gripper rod. The grasping assembly is assembled between the gripper mounting bracket and the lifting gripper rod.

[0013] Preferably, the grasping assembly includes a magnetic blade rotary cylinder fixedly mounted on one side of the gripper mounting bracket. A magnetic gripper is power-connected inside the magnetic blade rotary cylinder.

[0014] Preferably, the number of the magnetic grippers corresponds to the lifting gripper rod. The rotation directions between the two magnetic grippers below each translation box are opposite.

[0015] Preferably, the electromagnet is electrically connected to a power supply device. An industrial camera shooting system is provided at the end of the Z-axis of the gantry robot. The industrial camera shooting system is electrically connected to the power supply device.

[0016] The present invention provides a magnetic adsorption type end effector for a gantry robot. It has the following beneficial effects:

[0017] 1. In this solution, the electromagnet is used to perform the grasping operation and the magnetic grippers are used for transportation and loading operations. During the handling and loading process of the gantry robot, the electromagnet can be in a power-off state, saving electricity, and there is no need to consider the risk of the workpiece falling due to sudden power-off of the electromagnet during transportation. At the same time, compared with the grasping methods that rely on a single jaw or electromagnet, the versatility and flexibility of the end effector are improved.

[0018] 2. In this solution, the magnetic grippers are assembled with the adjustment slide table through linear bearings. After the electromagnet contacts the surface of the workpiece, the lifting gripper rod makes a flexible feedback to the photoelectric switch, improving the sensitivity of the magnetic grippers during the operation, and at the same time avoiding the damage caused by the impact of the lifting gripper rod on the adjustment slide table, improving the system stability and the efficiency of the loading action.

[0019] 3. In this solution, the distance between the two magnetic grippers on the same side is changed through the set adjustment mechanism, so as to meet the compatibility of the gantry robot for different workpieces and grasping sizes of different models, and improve the versatility of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the front view structural schematic diagram of the present invention;

[0021] Figure 2 It is the schematic diagram of the end of the Z-axis of the gantry robot and partial structures in the present invention;

[0022] Figure 3 It is a rear view structural schematic diagram of the rotating mechanism in the present invention;

[0023] Figure 4 It is a structural schematic diagram of the adjusting mechanism and the actuating mechanism in the present invention;

[0024] Figure 5 It is an exploded schematic diagram of the adjusting mechanism and the actuating mechanism in the present invention;

[0025] Figure 6 It is a structural schematic diagram of the actuating mechanism in the present invention;

[0026] Figure 7 It is a position schematic diagram of the magnetic gripper in the working state in the present invention.

[0027] In the figure: 11, frame; 12, end of the Z-axis of the truss robot; 13, translation box; 14, industrial camera shooting system; 15, slewing support table; 16, slewing gear disk; 17, slewing gear; 20, lifting table; 21, side plate of the lifting table; 22, adjusting slide; 23, adjusting guide rail; 24, adjusting cylinder; 25, reinforcing rib; 26, adjusting slider; 27, slide connection block; 28, photoelectric switch; 29, reflector; 30, lifting gripper rod; 31, linear bearing; 32, hinge; 33, electromagnet mounting plate; 34, electromagnet; 35, gripper mounting bracket; 36, magnetic vane rotary cylinder; 37, magnetic gripper; 41, nylon limit washer. Detailed implementation manners

[0028] An embodiment of the present invention provides a magnetic adsorption type end effector for a truss robot, as Figures 1-7 shown, which includes a frame 11, a power device, an end 12 of the Z-axis of the truss robot, a lifting table 20, a rotating mechanism, a translation box 13, two groups of adjusting mechanisms, four groups of lifting gripper rods 30 and an actuating mechanism corresponding to the lifting gripper rods 30. The power device is arranged on the beam of the frame 11, and the end 12 of the Z-axis of the truss robot is arranged between the frames 11. The power device is used to drive the end 12 of the Z-axis of the truss robot to perform planar movement positioning along the X-axis or Y-axis and perform loading and unloading.

[0029] A slewing support table 15 is fixedly installed at the lower end of the end 12 of the Z-axis of the truss robot. The lifting table 20 is arranged on the lower side of the slewing support table 15, and the rotating mechanism is arranged on the slewing support table 15. The rotating mechanism is used to drive the lifting table 20 to rotate relative to the slewing support table 15.

[0030] The translation boxes 13 are internally hollow and there are two sets. The two translation boxes 13 are respectively arranged on both sides of the rotary support table 15. Both sides of the lifting table 20 extend into the two translation boxes 13 respectively. A fixed connection is provided between the translation boxes 13 and the lifting table 20 located inside the translation boxes 13. Two sets of adjusting mechanisms are respectively arranged in the two translation boxes 13. As Figure 4 shown, four sets of lifting gripper rods 30 are installed in pairs in the two translation boxes 13. The adjusting mechanism is used to adjust the distance between the lifting gripper rods 30 located in the same translation box 13. The actuating mechanisms are respectively arranged below the lifting gripper rods 30. The actuating mechanisms are used to clamp the objects. The actuating mechanisms control their own working states through optical signals inside the translation boxes 13.

[0031] The material is specifically a forklift workpiece.

[0032] As Figure 3 shown, the rotating mechanism includes a rotating gear disk 16 and a rotating gear 17. The rotating gear disk 16 is rotatably connected to the rotary support table 15. The rotating gear 17 is meshed and arranged on one side of the rotating gear disk 16. A rotating motor is power-connected to the upper side of the rotating gear 17. The rotating motor is fixedly installed inside the rotary support table 15. The lower end of the rotating gear disk 16 is power-connected to the upper end face of the lifting table 20.

[0033] The rotating motor drives the rotating gear 17 to rotate. The rotating gear 17 drives the rotating gear disk 16 to rotate through gear meshing, and then drives the lifting table 20 to rotate relative to the rotary support table 15.

[0034] As Figure 5 shown, the adjusting mechanism includes an adjusting guide rail 23, an adjusting slide table 22, an adjusting slider 26, a photosensitive component and a slide table connecting block 27. A number of reinforcing ribs 25 are fixedly installed inside the translation box 13 at its long side. The number of reinforcing ribs 25 on each side is at least two sets. The adjusting guide rail 23 is fixedly installed between the reinforcing ribs 25 on the same side. Four sets of adjusting slide tables 22 are provided and are arranged in pairs in the two translation boxes 13. The adjusting slide tables 22 are symmetrically arranged between the two adjusting guide rails 23 on both sides. The adjusting slider 26 is arranged between the outer surfaces of the adjusting slide table 22 and the adjusting guide rail 23. The adjusting slide table 22 slides relative to the adjusting guide rail 23 through the adjusting slider 26. A slide table connecting block 27 is fixedly installed on the upper surface of the adjusting slide table 22. An adjusting cylinder 24 corresponding to the slide table connecting block 27 is fixedly installed inside the translation box 13. The adjusting cylinder 24 drives the slide table connecting block 27 to drive the adjusting slide table 22 to move by controlling the extension and retraction of its power end. On the mutually remote sides of the upper end faces of the two adjusting slide tables 22 located in the same translation box 13, lifting table side plates 21 are installed. The photosensitive component is installed on the lifting table side plate 21.

[0035] The photosensitive component includes a photoelectric switch 28 and a reflector 29. The photoelectric switch 28 and the reflector 29 are symmetrically arranged on the side plate 21 of the lifting table on the same side. A support is provided on the upper end surface of the adjustment slide 22. The lifting table 20 is fixedly installed on the side plate 21 of the lifting table and is supported by the support on the upper end surface of the adjustment slide 22. One side plate 21 of the lifting table corresponds to one photoelectric switch 28 and one reflector 29. The lifting gripper 30 corresponds to the photosensitive component. The lifting gripper 30 is arranged between the photoelectric switch 28 and the reflector 29. The lifting gripper 30 and the adjustment slide 22 are assembled through a linear bearing 31. The lower end of the lifting gripper 30 extends below the adjustment slide 22. An optical axis sleeve is sleeved on the upper part of the outer cylindrical surface of the lifting gripper 30.

[0036] The outer side of the linear bearing 31 is assembled with the adjustment slide 22, and the inner side of the linear bearing 31 is assembled with the outer cylindrical surface of the lifting gripper 30. The linear bearing 31 buffers the lifting gripper 30 during the process of rising relative to the adjustment slide 22 through its own physical characteristics.

[0037] A light source is provided inside the photoelectric switch 28. The reflector 29 reflects the optical signal emitted by the photoelectric switch 28 and makes it reflect back into the photoelectric switch 28. The photoelectric switch 28 changes the working state of the electromagnet 34 by identifying the state of the reflected optical signal.

[0038] As Figure 6 shown, a nylon limit washer 41 is fixedly sleeved on the outer surface of the lifting gripper 30. The nylon limit washer 41 is located above the linear bearing 31 and below the optical axis sleeve. The nylon limit washer 41 restricts the sliding range of the lifting gripper 30.

[0039] The actuating mechanism includes an electromagnet mounting plate 33, an electromagnet 34, a jaw mounting bracket 35, and a grasping component. The electromagnet mounting plate 33 is arranged below the lifting gripper 30. A hinge 32 is fixedly installed on the upper end surface of the electromagnet mounting plate 33. The center of the hinge 32 is hinged to the lower end of the lifting gripper 30. It should be noted that since the forklift workpiece electromagnet 34 is fixedly installed on the lower side of the electromagnet mounting plate 33, the jaw mounting bracket 35 is fixedly arranged on the lower side of the outer surface of the lifting gripper 30. The grasping component is assembled between the jaw mounting bracket 35 and the lifting gripper 30, and the grasping component is used for secondary fixation of the workpiece.

[0040] The grasping component includes a magnetic blade rotary cylinder 36 fixedly installed on one side of the jaw mounting bracket 35. A magnetic jaw 37 is power-connected inside the magnetic blade rotary cylinder 36.

[0041] The number of magnetic jaws 37 corresponds to that of the lifting gripper 30. The rotation directions between the two magnetic jaws 37 below each translation box 13 are opposite.

[0042] The electromagnet 34 is electrically connected to the power supply device. The Z-axis end 12 of the truss robot is provided with an industrial camera shooting system 14. The industrial camera shooting system 14 is electrically connected to the power supply device. The industrial camera shooting system 14 acquires an image and finds the center of gravity of the workpiece through image recognition. Figure 7 As shown, when point L (point L is the center of gravity of the rectangular figure formed by the four magnetic clamps 37) coincides with the mass point in the plane formed by the projection of the center of gravity of the forklift on the upper surface of the forklift, it can be determined that the position of the magnetic clamps 37 at this time is the optimal gripping position.

[0043] When the Z-axis end 12 of the truss robot drives the rotary support platform 15 and the lifting platform 20 to descend, the lifting platform 20 drives the four lifting grab bars 30 to descend through the adjusting cylinder 24 in the translation box 13, and the lifting grab bars 30 make the lower end surface of the electromagnet 34 abut against the uppermost forklift surface through the electromagnet mounting plate 33. Since the forklift located on the uppermost side is in a stacked state, its upper surface is in an inclined state. At this time, the forklift surface abuts against the electromagnet 34, thereby twisting the hinge 32. At this time, the Z-axis end 12 of the truss robot continues to drive the rotary support platform 15 and the lifting platform 20 to descend, and the forklift surface uses the reaction force to make the lifting grab bar 30 move upward relative to the adjusting slide 22. The lifting grab bar 30 drives the optical shaft sleeve on its upper side to rise between the photoelectric switch 28 and the reflector 29. At this time, the photoelectric switch 28 cannot receive the light signal reflected back by the reflector 29, thereby controlling the electromagnet 34 to be energized.

[0044] The electromagnet 34 converts electrical energy into magnetic force, thereby adsorbing the forklift workpiece. At this time, the Z-axis end 12 of the truss robot is controlled to rise, thereby driving the forklift away from the forklift stack below it. When the forklift workpiece is away from the forklift stack to a preset height, the forklift workpiece uses gravity to swing the hinge 32 back to a horizontal state. At this time, the magnetic blade rotating cylinder 36 is started, and the magnetic blade rotating cylinder 36 drives the magnetic clamp 37 to rotate, thereby grabbing the bottom of the forklift workpiece.

[0045] When the grabbing is completed, the electromagnet 34 is powered off and the workpiece is transported by the magnetic clamp 37. When the magnetic clamp 37 transports the forklift workpiece to the material conveying location, the rotating motor is started, and the rotating motor drives the lifting platform 20 to rotate 180° through the rotating gear plate 16, thereby adjusting the lowering direction of the workpiece.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A magnetic adsorption type gripper end effector applied to a truss robot, characterized in that: It includes a frame (11), a power device, the end of the Z-axis of a truss robot (12), a lifting platform (20), a rotating mechanism, a translation box (13), two sets of adjusting mechanisms, four sets of lifting gripper rods (30), and an actuator corresponding to the lifting gripper rod (30). The power device is arranged on the beam of the frame (11), and the end of the Z-axis of the truss robot (12) is arranged between the frames (11). The power device is used to drive the end of the Z-axis of the truss robot (12) to perform planar movement positioning along the X-axis or Y-axis and carry out loading and unloading. A slewing support platform (15) is fixedly installed at the lower end of the end of the Z-axis of the truss robot (12). The lifting platform (20) is arranged on the lower side of the slewing support platform (15). The rotating mechanism is arranged on the slewing support platform (15), and the rotating mechanism is used to drive the lifting platform (20) to rotate relative to the slewing support platform (15). Two sets of the translation boxes (13) are provided and are respectively arranged on both sides of the slewing support platform (15). Both sides of the lifting platform (20) respectively extend into the two translation boxes (13). A fixed connection is provided between the translation box (13) and the lifting platform (20) located inside the translation box (13). The two sets of adjusting mechanisms are respectively arranged in the two translation boxes (13). Four sets of the lifting gripper rods (30) are installed in pairs in the two translation boxes (13). The adjusting mechanism is used to adjust the distance between the lifting gripper rods (30) located in the same translation box (13). The actuators are respectively arranged below the lifting gripper rods (30), and the actuators are used to clamp objects. The actuators control their own working states through optical signals in the translation box (13). The adjusting mechanism includes an adjusting guide rail (23), an adjusting slide table (22), an adjusting slider (26), a photosensitive component, and a slide table connecting block (27). A number of reinforcing ribs (25) are fixedly installed at the long side inside the translation box (13). The number of the reinforcing ribs (25) on each side is at least two sets. The adjusting guide rail (23) is fixedly installed between the reinforcing ribs (25) on the same side. Four sets of the adjusting slide tables (22) are provided and are arranged in pairs in the two translation boxes (13). The adjusting slide tables (22) are symmetrically arranged between the two adjusting guide rails (23). The adjusting slider (26) is arranged between the adjusting slide table (22) and the outer surface of the adjusting guide rail (23). The adjusting slide table (22) slides relative to the adjusting guide rail (23) through the adjusting slider (26). A slide table connecting block (27) is fixedly installed on the upper surface of the adjusting slide table (22). An adjusting cylinder (24) corresponding to the slide table connecting block (27) is fixedly installed inside the translation box (13). On the side where the upper end faces of the two adjusting slide tables (22) located in the same translation box (13) are away from each other, a lifting platform side plate (21) is installed. The photosensitive component is installed on the lifting platform side plate (21). The actuator includes an electromagnet mounting plate (33), an electromagnet (34), a jaw mounting bracket (35), and a grasping assembly. The electromagnet mounting plate (33) is provided on the lower side of the lifting gripper rod (30). An articulated member (32) is fixedly installed on the upper end surface of the electromagnet mounting plate (33). The center of the articulated member (32) is hinged to the lower end of the lifting gripper rod (30). The electromagnet (34) is fixedly installed on the lower side of the electromagnet mounting plate (33). The jaw mounting bracket (35) is fixedly provided on the lower side of the outer surface of the lifting gripper rod (30). The grasping assembly is assembled between the jaw mounting bracket (35) and the lifting gripper rod (30). The grasping assembly includes a magnetic blade rotary cylinder (36) fixedly installed on one side of the jaw mounting bracket (35). A magnetic jaw (37) is power-connected inside the magnetic blade rotary cylinder (36).

2. The magnetic gripper end effector applied to a truss robot according to claim 1, wherein: The rotating mechanism includes a slewing gear disk (16) and a slewing gear (17). The slewing gear disk (16) is rotatably connected to the slewing support table (15). The slewing gear (17) is meshed and provided on one side of the slewing gear disk (16). A rotating motor is power-connected to the upper side of the slewing gear (17). The rotating motor is fixedly installed inside the slewing support table (15). The lower end of the slewing gear disk (16) is power-connected to the upper end surface of the lifting table (20).

3. The magnetic gripper end effector applied to a truss robot according to claim 2, wherein: The photosensitive assembly includes a photoelectric switch (28) and a reflector (29). The photoelectric switch (28) and the reflector (29) are symmetrically provided on the side plate (21) of the lifting table respectively. One side plate (21) of the lifting table corresponds to one photoelectric switch (28) and one reflector (29). The lifting gripper rod (30) corresponds to the photosensitive assembly. The lifting gripper rod (30) is provided between the photoelectric switch (28) and the reflector (29). The lifting gripper rod (30) and the adjusting slide (22) are assembled through a linear bearing (31). The lower end of the lifting gripper rod (30) extends below the adjusting slide (22). An optical axis sleeve is sleeved on the upper part of the outer cylindrical surface of the lifting gripper rod (30).

4. The magnetic gripper end effector applied to a truss robot according to claim 3, characterized in that: A nylon limit washer (41) is fixedly sleeved on the outer surface of the lifting gripper rod (30). The nylon limit washer (41) is located above the linear bearing (31) and below the optical axis sleeve.

5. The magnetic gripper end effector applied to a truss robot according to claim 4, characterized in that: The number of the magnetic jaws (37) corresponds to the lifting gripper rod (30). The rotation directions between the two magnetic jaws (37) below each translation box (13) are opposite.

6. The magnetic gripper end effector applied to a truss robot according to claim 5, characterized in that: The electromagnet (34) is electrically connected to the power supply device. An industrial camera shooting system (14) is provided on the end of the Z-axis of the gantry robot (12). The industrial camera shooting system (14) is electrically connected to the power supply device.

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