A pallet removal end picker

Abstract

The present invention discloses a depalletizing end picker, comprising a bracket, a mechanical arm, a vacuum mechanism and a magnetic suction mechanism; the mechanical arm is connected to the bracket and is used to drive the bracket to move; the vacuum mechanism comprises a suction cup and a vacuum pump, the suction cup is installed on the bracket, and the inlet of the vacuum pump is connected to the suction cup; the magnetic suction mechanism comprises a magnet and a telescopic member, one end of the telescopic member is connected to the magnet, and the other end of the telescopic member is connected to the bracket. The beneficial effect of the present invention is that when the suction cup is lowered to a position in contact with a sheet, the vacuum degree in the suction cup rises, and at the same time, the magnet provides a magnetic suction force to the sheet, and then the bracket is moved up to a designated station by the mechanical arm. When it arrives, the magnet is driven away from the sheet by the telescopic member, and the vacuum pump is turned off at the same time, so that the sheet can fall to the designated station. The present invention provides an adsorption force for adsorbing the sheet through the magnet and the suction cup. For sheets with a smaller width or more openings, the sheet can be prevented from detaching from the suction cup, thereby improving the stability of the depalletizing process.

Description

Technical Field

[0001] The invention relates to the technical field of material depalletizing, in particular to a depalletizing end picker. Background Art

[0002] The depalletizing end picker is a device that grabs raw materials from neatly stacked piles of materials and sends them to downstream processing equipment. At present, most depalletizing end pickers of hot pressing lines use vacuum suction cups to suck materials (such as the Chinese invention patent with application number CN202011616952.8).

[0003] The diameter of the suction cup is fixed. When a small width sheet needs to be sucked, if the diameter of the suction cup is larger than the width of the sheet, part of the suction cup is located outside the sheet and connected to the air. The vacuum degree inside the suction cup is difficult to ensure, resulting in poor suction effect and the sheet is easy to fall off the suction cup. In addition, the above-mentioned technical problems will also exist for sheets with sufficient width but many grooves (openings) on the surface. Summary of the invention

[0004] In view of this, it is necessary to provide a destacking end picker to solve the technical problem that the sheets with smaller width or more openings are easy to fall off the suction cup.

[0005] In order to achieve the above-mentioned object, the present invention provides a depalletizing end picker, comprising a bracket, a mechanical arm, a vacuum mechanism and a magnetic suction mechanism;

[0006] The mechanical arm is connected to the bracket and is used to drive the bracket to move;

[0007] The vacuum mechanism comprises a suction cup and a vacuum pump, the suction cup is mounted on the bracket, and the inlet of the vacuum pump is connected to the suction cup;

[0008] The magnetic attraction mechanism comprises a magnet and a telescopic member, one end of the telescopic member is connected to the magnet, and the other end of the telescopic member is connected to the bracket.

[0009] In some embodiments, the vacuum mechanism further includes a vacuum degree detection component, and the vacuum degree detection component is used to detect the vacuum degree in the suction cup.

[0010] In some embodiments, the vacuum mechanism further includes a pressure sensor, a fixed end of the pressure sensor is mounted on the bracket, and a detection end of the pressure sensor is fixedly connected to the suction cup.

[0011] In some embodiments, the vacuum mechanism further includes an adjustment rail and an adjustment block, the adjustment rail is fixed on the bracket, the adjustment block is detachably connected to the adjustment rail, and the position of the adjustment block on the adjustment rail is adjustable.

[0012] In some embodiments, the bracket includes a main rod and a plurality of support rods, each of the support rods is fixed on the main rod, the support rods are perpendicular to the adjustment rails, the adjustment rails are fixed on the corresponding support rods, and the position of the adjustment rails on the corresponding support rods is adjustable.

[0013] In some embodiments, the telescopic member is a telescopic cylinder, a cylinder body of the telescopic cylinder is fixed on the support rod, and an output shaft of the telescopic cylinder is fixedly connected to the magnet.

[0014] In some embodiments, the magnetic attraction mechanism further includes a first hoop, the first hoop is fixedly mounted on the support rod, and the cylinder body of the telescopic cylinder is fixed on the first hoop.

[0015] In some embodiments, the depalletizing end picker also includes an in-place detection mechanism, which includes a micro switch and a detection rod. The shell of the micro switch is fixed to the support rod via a second clamp, and the detection end of the micro switch is fixedly connected to the detection rod. The detection rod is vertically arranged below the support rod.

[0016] In some embodiments, the micro switch includes a switch box, a first contact and a second contact, the switch box is fixed on the support rod, the first contact is fixed in the switch box, the second contact is elastically connected in the switch box, and the second contact is fixedly connected to the detection rod.

[0017] In some embodiments, the depalletizing end tool further includes a double material detection probe, and the double material detection probe is installed on the support rod.

[0018] Compared with the prior art, the technical solution proposed by the present invention has the following beneficial effects: when in use, the support is driven down by the mechanical arm, and the vacuum pump is turned on. When the suction cup is lowered to the position in contact with the sheet, the vacuum degree in the suction cup increases, and at the same time, the magnet provides a magnetic attraction force to the sheet. Then, the support is moved up to the designated station by the mechanical arm. When it arrives, the magnet is driven away from the sheet by the telescopic member, and the vacuum pump is turned off at the same time, so that the sheet can fall to the designated station. The present invention provides an adsorption force for adsorbing the sheet through the magnet and the suction cup. For sheets with a smaller width or more openings, the sheet can be prevented from detaching from the suction cup, thereby improving the stability of the destacking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the depalletizing end picker provided by the present invention;

[0020] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure after omitting the sheet;

[0021] Figure 3 yes Figure 1 A schematic diagram of a three-dimensional structure of a set of vacuum mechanisms and magnetic suction mechanisms;

[0022] Figure 4 yes Figure 3 Schematic diagram of the three-dimensional structure from another perspective;

[0023] Figure 5 yes Figure 3 A schematic diagram of the three-dimensional structure of the in-place detection mechanism;

[0024] In the figure: 1- bracket, 11- main rod, 12- support rod, 2- vacuum mechanism, 21- suction cup, 22- pressure sensor, 23- adjusting guide rail, 24- adjusting block, 3- magnetic suction mechanism, 31- magnet, 32- telescopic member, 33- first clamp, 4- sheet, 5- in-place detection mechanism, 51- micro switch, 511- switch box, 512- first contact, 513- second contact, 52- detection rod, 53- second clamp, 6- double material detection probe. DETAILED DESCRIPTION

[0025] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0026] Please refer to Figure 1-Figure 4 The present invention provides a depalletizing end picker, including a bracket 1, a mechanical arm (not shown), a vacuum mechanism 2 and a magnetic suction mechanism 3.

[0027] The robotic arm is connected to the bracket 1 and is used to drive the bracket 1 to move. In this embodiment, the robotic arm can be a common robotic arm on the market. The function of the robotic arm is to move the bracket 1 from the material taking end to the material discharging end.

[0028] The vacuum mechanism 2 includes a suction cup 21 and a vacuum pump. The suction cup 21 is installed on the bracket 1 , and an inlet of the vacuum pump is connected to the suction cup 21 .

[0029] The magnetic attraction mechanism 3 includes a magnet 31 and a telescopic member 32 , one end of the telescopic member 32 is connected to the magnet 31 , and the other end of the telescopic member 32 is connected to the bracket 1 .

[0030] When in use, the support 1 is driven down by the mechanical arm, and the vacuum pump is turned on. When the suction cup 21 is lowered to the position in contact with the sheet 4, the vacuum degree in the suction cup 21 increases, and at the same time, the magnet 31 provides a magnetic attraction to the sheet 4. Then, the support 1 is moved up to the designated station by the mechanical arm. When it arrives, the magnet 31 is driven away from the sheet 4 by the telescopic member 32, and the vacuum pump is turned off at the same time, so that the sheet 4 can fall to the designated station. The present invention provides an adsorption force for adsorbing the sheet 4 through the magnet 31 and the suction cup 21. For the sheet 4 with a smaller width or more openings, the sheet 4 can be prevented from detaching from the suction cup 21, thereby improving the stability of the destacking process.

[0031] In order to detect whether the suction cup 21 is in contact with the sheet 4, please refer to Figure 1-Figure 4 In a preferred embodiment, the vacuum mechanism 2 also includes a vacuum detection component, which is used to detect the vacuum degree in the suction cup 21. When the suction cup 21 is in contact with the sheet 4, the opening of the suction cup 21 is (partially or completely) blocked, so that under the action of the vacuum pump, the vacuum degree in the suction cup 21 will decrease, thereby detecting whether the suction cup 21 is in contact with the sheet 4.

[0032] In order to prevent the magnetic force provided by the magnet 31 from being too strong and causing multiple pieces 4 to be sucked up at the same time, please refer to Figure 1 In a preferred embodiment, the vacuum mechanism 2 further comprises a pressure sensor 22, the fixed end of the pressure sensor 22 is mounted on the bracket 1, and the detection end of the pressure sensor 22 is fixedly connected to the suction cup 21. In this embodiment, when the suction cup 21 drops to a position in contact with the sheet 4, the mechanical arm drives the bracket 1 to rise. During the rising process of the sheet 4, the gravity of the sheet 4 is equal to the sum of the magnetic attraction force on the sheet 4 and the adsorption force of the suction cup 21. Therefore, if the magnetic attraction force of the magnet 31 on the sheet 4 is greater than the gravity of the sheet 4, the suction cup 21 actually provides a downward thrust to the sheet 4. The pressure sensor 22 detects the pressure. At this time, in order to prevent multiple sheets 4 from being sucked up simultaneously due to excessive magnetic attraction, The controller controls the telescopic part 32 to shorten, thereby increasing the distance between the magnet 31 and the sheet 4 to reduce the magnetic attraction. When the pressure sensor 22 detects the tension, it indicates that the magnetic attraction of the magnet 31 on the sheet 4 is less than the gravity of the sheet 4. After that, the distance between the magnet 31 and the sheet 4 continues to increase until the pressure sensor 22 detects that the tension is greater than the preset value (which can be determined based on experiments). At this time, the sheet 4 can only be sucked up under the joint action of the magnet 31 and the suction cup 21. The sheet below the sheet 4 is not affected by the adsorption force of the suction cup 21, and the gravity of the sheet below (the gravity of each sheet is roughly equal) is greater than the magnetic attraction it receives, so it will not be sucked up, thereby reducing the probability of multiple sheets 4 being sucked up at the same time.

[0033] To facilitate adjusting the installation position of the suction cup 21 on the bracket 1, please refer to Figure 1 and Figure 4 In a preferred embodiment, the vacuum mechanism 2 also includes an adjusting rail 23 and an adjusting block 24. The adjusting rail 23 is fixed on the bracket 1. The adjusting block 24 is detachably connected to the adjusting rail 23. The position of the adjusting block 24 on the adjusting rail 23 is adjustable. When in use, the installation position of the suction cup 21 on the bracket 1 can be adjusted by changing the position of the adjusting block 24 on the adjusting rail 23, so that the suction area of ​​the suction cup 21 can be increased according to the shape of the sheet 4 and the position of the opening to improve the suction effect.

[0034] To further adjust the installation position of the suction cup 21 on the bracket 1, please refer to Figure 1 and Figure 4 In a preferred embodiment, the bracket 1 includes a main rod 11 and a plurality of support rods 12, each of the support rods 12 is fixed on the main rod 11, the support rod 12 is perpendicular to the adjustment guide rail 23, the adjustment guide rail 23 is fixed on the corresponding support rod 12, and the position of the adjustment guide rail 23 on the corresponding support rod 12 is adjustable. When in use, the installation position of the suction cup 21 on the bracket 1 can be adjusted by changing the position of the adjustment guide rail 23 on the corresponding support rod 12, so that the suction area of ​​the suction cup 21 can be increased according to the shape of the material sheet 4 and the position of the opening to improve the suction effect.

[0035] In order to realize the function of the telescopic member 32, please refer to Figure 1-Figure 3 In a preferred embodiment, the telescopic member 32 is a telescopic cylinder, the cylinder body of the telescopic cylinder is fixed on the support rod 12, and the output shaft of the telescopic cylinder is fixedly connected to the magnet 31.

[0036] In order to realize the fixed connection between the cylinder body of the telescopic cylinder and the support rod 12, please refer to Figure 1-Figure 3 In a preferred embodiment, the magnetic attraction mechanism 3 further includes a first hoop 33 , the first hoop 33 is fixedly sleeved on the support rod 12 , and the cylinder body of the telescopic cylinder is fixed on the first hoop 33 .

[0037] To prevent the robot from continuing to move downward and crushing the end picker when the vacuum signal fails, please refer to Figure 1 , Figure 3 and Figure 5In a preferred embodiment, the depalletizing end picker further includes an in-place detection mechanism 5, which includes a micro switch 51 and a detection rod 52. The housing of the micro switch 51 is fixed to the support rod 12 via a second clamp 53. The detection end of the micro switch 51 is fixedly connected to the detection rod 52. The detection rod 52 is vertically arranged below the support rod 12. When in use, when there is a problem with the vacuum signal, the device cannot detect the existence of the sheet 4 and continues to descend. The height of the lowest end of the detection rod 52 is lower than the height of other components, so that the lowest end of the detection rod 52 first contacts the sheet 4 (or the storage table), and then continues to descend. The detection rod 52 touches the detection end of the micro switch 51, so that the micro switch 51 is closed, and the system detects the corresponding signal, thereby sounding an alarm and stopping the manipulator from continuing to descend, thereby protecting the end picker.

[0038] In order to realize the function of the micro switch 51, please refer to Figure 3 and Figure 5 In a preferred embodiment, the micro switch 51 includes a switch box 511, a first contact 512 and a second contact 513. The switch box 511 is fixed on the support rod 12, the first contact 512 is fixed in the switch box 511, the second contact 513 is elastically connected in the switch box 511, and the second contact 513 is fixedly connected to the detection rod 52. Therefore, the micro switch 51 can be closed and send a corresponding signal through the second contact 513 of the first contact 512.

[0039] In order to prevent the occurrence of multiple sheets 4 being taken to the preset station at the same time, please refer to Figure 1 In a preferred embodiment, the destacking end picker further includes a double material detection probe 6, which is mounted on the support rod 12. In this embodiment, the double material detection probe 6 is a ROLAND double material detection probe, which can detect the thickness of the conductor, thereby determining whether the picked-up sheet 4 is single.

[0040] In order to better understand the present invention, the following Figure 1-Figure 5 The working process of the destacking end picker provided by the present invention is described in detail: when in use, the support 1 is driven down by the mechanical arm, and the vacuum pump is turned on. When the suction cup 21 descends to the position in contact with the sheet 4, the vacuum degree in the suction cup 21 rises, and at the same time, the magnet 31 provides a magnetic attraction to the sheet 4. Then, the support 1 is moved up to the designated station by the mechanical arm. When it arrives, the magnet 31 is driven away from the sheet 4 by the telescopic member 32, and the vacuum pump is turned off at the same time, so that the sheet 4 can fall to the designated station. The present invention provides an adsorption force for the sheet 4 by the magnet 31 and the suction cup 21. For the sheet 4 with a smaller width or more openings, it can prevent the sheet 4 from detaching from the suction cup 21, thereby improving the stability of the destacking process.

[0041] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A pallet removal tool, characterized in that: It includes a bracket, a mechanical arm, a vacuum mechanism and a magnetic suction mechanism; The mechanical arm is connected to the bracket and is used to drive the bracket to move; The vacuum mechanism comprises a suction cup and a vacuum pump, the suction cup is mounted on the bracket, and the inlet of the vacuum pump is connected to the suction cup; The magnetic attraction mechanism includes a magnet and a telescopic member, one end of the telescopic member is connected to the magnet, and the other end of the telescopic member is connected to the bracket; The depalletizing end picker further comprises an in-place detection mechanism, which comprises a micro switch and a detection rod, the housing of the micro switch is fixed to the bracket via a second clamp, the detection end of the micro switch is fixedly connected to the detection rod, and the detection rod is vertically arranged below the bracket; The micro switch comprises a switch box, a first contact and a second contact, wherein the switch box is fixed on the bracket, the first contact is fixed in the switch box, the second contact is elastically connected in the switch box, and the second contact is fixedly connected to the detection rod; The height of the lowermost end of the detection rod is lower than the height of the suction cup and the magnet, and the detection end is triggered when the suction cup and the magnet are pressed to the limit position by the material sheet.

2. The depalletizing end tool according to claim 1, characterized in that: The vacuum mechanism further comprises a vacuum degree detection component, and the vacuum degree detection component is used to detect the vacuum degree in the suction cup.

3. The depalletizing end picker according to claim 2, characterized in that: The vacuum mechanism further comprises a pressure sensor, a fixed end of the pressure sensor is mounted on the bracket, and a detection end of the pressure sensor is fixedly connected to the suction cup.

4. The depalletizing end picker according to claim 3, characterized in that: The vacuum mechanism further comprises an adjusting rail and an adjusting block, wherein the adjusting rail is fixed on the bracket, the adjusting block is detachably connected to the adjusting rail, and the position of the adjusting block on the adjusting rail is adjustable.

5. The depalletizing end picker according to claim 4, characterized in that: The bracket includes a main rod and a plurality of support rods, each of which is fixed on the main rod. The support rod is perpendicular to the adjustment rail, and the adjustment rail is fixed on the corresponding support rod. The position of the adjustment rail on the corresponding support rod is adjustable.

6. The depalletizing end picker according to claim 5, characterized in that: The telescopic member is a telescopic cylinder, a cylinder body of the telescopic cylinder is fixed on the support rod, and an output shaft of the telescopic cylinder is fixedly connected to the magnet.

7. The depalletizing end picker according to claim 6, characterized in that: The magnetic attraction mechanism further comprises a first hoop, which is fixedly sleeved on the support rod, and the cylinder body of the telescopic cylinder is fixed on the first hoop.

8. The depalletizing end tool according to claim 5, characterized in that: It also includes a double material detection probe, which is installed on the support rod.

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