Magnetic material transfer equipment with automatic obstacle avoidance function

Abstract

The application relates to the technical field of material transfer, in particular to a magnetic material transfer equipment with an automatic obstacle avoidance function, which comprises stands and a cross beam. The two groups of stands are arranged in parallel on the ground. The cross beam is arranged above the two groups of stands. The cross beam and the two groups of stands are connected through first sliding seats. Compared with the current magnetic material transfer equipment, the application is provided with a detection assembly. Whether there is an obstacle on the moving path of the adsorption device can be sensed through the detection assembly. If there is an obstacle on the moving path of the adsorption device, the first sliding motor, the second sliding motor and the obstacle avoidance motor can control the material to change the position according to the range influenced by the obstacle. The application is also provided with a protection mechanism. The protection mechanism can play a role in stabilizing the material, so as to avoid that the material suddenly separates from the adsorption device and falls to the ground, and causes an unexpected safety accident.

Description

A magnetic material transfer device with automatic obstacle avoidance function Technical Field

[0001] This invention relates to the field of material handling technology, specifically to a magnetic material handling device with automatic obstacle avoidance function. Background Technology

[0002] In the machining field, the amount of material handling is usually large, and manual handling alone cannot meet production needs. Therefore, material handling equipment is an indispensable machine in the current machining workshop production process. Moreover, with the increasing requirements for work efficiency and work intensity, the performance of material handling equipment is receiving more and more attention.

[0003] Current material handling equipment is generally divided into several types, such as magnetic and hook-type. However, regardless of the type, it usually lacks the function of automatically avoiding obstacles, which often requires manual adjustment of the material's position. In addition, during the transfer process, magnetic material handling equipment often experiences inertial movement due to sudden stops or other reasons. When the inertial movement is large, it can cause the lifting rope to swing. Furthermore, if the magnetic force of the material handling equipment is not strong enough, the material may fall off, leading to a series of accidents. Finally, current material handling equipment usually lacks measures to prevent accidental falling off. When material falls off, it can only be re-grabbed and cannot be stabilized again or its falling speed slowed down to reduce damage. Summary of the Invention

[0004] The purpose of this invention is to provide a magnetic material transfer device with automatic obstacle avoidance function to solve the problems mentioned in the background art.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a magnetic material transfer device with automatic obstacle avoidance function, the magnetic material transfer device including a frame and a crossbeam, the frame being provided in two sets, the two sets of frames being arranged parallel to each other on the ground, the crossbeam being provided above the two sets of frames, the crossbeam being connected to the two sets of frames through a first sliding seat, the lower end of the crossbeam being provided with a second sliding seat, the end of the second sliding seat away from the crossbeam being provided with a lifting mechanism, the end of the lifting mechanism away from the second sliding seat being provided with an adsorption device, the adsorption device including a fixed frame, an electromagnetic chuck, a protective mechanism, a balance mechanism and a detection component, the electromagnetic chuck being a ring structure, the electromagnetic chuck being provided at the end of the fixed frame away from the lifting mechanism, the protective mechanism being provided at the center of the electromagnetic chuck, the balance mechanism being provided on the outside of the electromagnetic chuck, the detection component being provided on the outside of the fixed frame, and the detection component being connected to the first sliding seat and the second sliding seat.

[0006] The upright frame serves as the supporting foundation of this invention. The first and second sliding seats control the horizontal movement of the adsorption device, allowing it to move left and right, and forward and backward. The lifting mechanism and the second sliding seat control its vertical movement. This invention includes an electromagnetic chuck and a detection component. The electromagnetic chuck is connected to an external power source. Opening and closing the electromagnetic chuck allows the adsorption device to grasp and place materials for material transfer. The detection component consists of an infrared sensor and an ultrasonic sensor. It detects obstacles along the path of the adsorption device. When an obstacle is present, the first and second sliding seats control the movement of the adsorption device to avoid it. This invention also includes a protective mechanism and a balancing mechanism. In the event of a sudden power outage of the electromagnetic chuck, the protective mechanism stabilizes the material to prevent it from suddenly detaching from the adsorption device and falling to the ground, causing an accident. The balancing mechanism prevents the material from shifting due to inertia after the movement is complete. It also prevents the material from becoming magnetized after a power outage, thus avoiding problems with unloading and damage to the material's surface.

[0007] Furthermore, the first sliding seat is internally equipped with a first sliding motor and a first pulley, and a first guide rail is provided above the upright. The first sliding seat and the upright are connected by the first sliding motor, the first pulley, and the first guide rail. The second sliding seat is equipped with a second sliding motor and a second pulley at one end near the crossbeam, and a second guide rail is provided at one end of the crossbeam near the second sliding seat. The second sliding seat and the crossbeam are connected by the second sliding motor, the second pulley, and the second guide rail. The second sliding seat is internally equipped with a winding motor, a winch, and an obstacle avoidance motor. The drive shaft of the winding motor is connected to the winch, and a rope is wound on the winch. The rope extends into the lifting mechanism and is connected to the fixed frame. The obstacle avoidance motor is connected to the lifting mechanism through a transmission gear and is connected to the detection component.

[0008] The lifting and lowering of the adsorption device can be controlled by the winding motor and rope. When the detection component detects an obstacle in the movement path of the adsorption device, it will send a set of signals to the first sliding motor, the second sliding motor, and the obstacle avoidance motor simultaneously. If the obstacle does not affect the movement of the adsorption device but affects the movement of the material, the obstacle avoidance motor will drive the transmission gear to rotate, thereby causing the lifting mechanism and the adsorption device to rotate. At this time, the material will change its position on its own to pass through the obstacle. If the obstacle affects both the movement of the adsorption device and the movement of the material, the first sliding motor and the second sliding motor will drive the first sliding seat and the second sliding seat to move to avoid the obstacle. Controlling the material to rotate and avoid obstacles by the obstacle avoidance motor has the advantage of easy reset, avoiding the deviation of the path after obstacle avoidance from the path before obstacle avoidance, which would prevent the material from being accurately placed at the target location. Controlling the material to move left and right or forward and backward to avoid obstacles by the first sliding motor and the second sliding motor has the advantage of wide applicability, without having to consider the length, width, height, and other factors of the material.

[0009] Furthermore, the lifting mechanism includes several sets of telescopic sleeves and a turntable. The turntable is slidably installed at the lower end of the second sliding seat. A ring gear is provided on the outside of the turntable. The turntable is connected to the obstacle avoidance motor through the ring gear and the transmission gear. The several sets of telescopic sleeves are interlocked and telescopically arranged. Adjacent sets of telescopic sleeves are slidably connected through guide blocks and guide grooves.

[0010] Through the above technical solution, when the obstacle avoidance motor drives the turntable to rotate, the guide block and guide groove can ensure that several sets of telescopic sleeves rotate synchronously. When the winding motor and rope control the lifting and lowering of the adsorption device, several sets of telescopic sleeves will retract or extend in sequence. The several sets of telescopic sleeves can effectively prevent the rope from swaying due to inertia or airflow, thereby ensuring that the material can be transferred stably.

[0011] Furthermore, the weighing and breaking mechanism is provided in two sets, and the two sets of the weighing and breaking mechanism are symmetrically arranged inside the fixed frame. The weighing and breaking mechanism includes a weighing and breaking tube and a first transmission groove. The weighing and breaking tube and the first transmission groove are both arranged inside the fixed frame near one end of the detection component. One end of the weighing and breaking tube extends into the first transmission groove, and the other end of the weighing and breaking tube extends out of the fixed frame and is fixedly installed with a rubber cover.

[0012] When the adsorption device moves above the material and the electromagnetic chuck is activated to grab the material, the material will come into contact with the rubber cover at the lower end of the balance tube. The balance tube prevents the electromagnetic chuck from directly contacting the material. This prevents the heat generated by the electromagnetic chuck from being trapped and avoids collisions and friction between the material and the surface of the electromagnetic chuck, which could cause scratches on the surface of the electromagnetic chuck. Finally, the above technical solution also prevents the surface of the material from becoming magnetized, preventing the electromagnetic chuck from remaining below the adsorption device due to magnetic force after the power is turned off.

[0013] Furthermore, the balancing mechanism also includes a gas collecting chamber and a second transmission groove. The gas collecting chamber is located inside the fixed frame near one end of the lifting mechanism. The second transmission groove is located between the first transmission groove and the gas collecting chamber. A hollow tube is installed inside the first transmission groove. The balancing tube is a hollow structure. One end of the hollow tube extends into the balancing tube, and the other end of the hollow tube is connected to the gas collecting chamber through a gas guiding channel. Two sets of sealing frames are installed inside the gas collecting chamber. The two sets of sealing frames are connected by a return spring. The ends of the two sets of sealing frames that are far apart from each other are inserted into the second transmission groove. The first transmission groove is connected to the second transmission groove, and the first transmission groove is filled with transmission fluid.

[0014] During the process of the electromagnetic chuck gripping the material, the balancing tube is squeezed and moves upward. The transmission fluid in the first transmission groove enters the second transmission groove, which eventually causes the sealing frame to move away from the second transmission groove. During the movement of the sealing frame, the distance between the sealing frame and the air guide channel gradually increases. At this time, the gas in the balancing tube is sucked into the air collection chamber, and the air pressure in the balancing tube decreases. Through the above technical solution, the balancing tube can hold the material, preventing the material from moving due to inertia when it suddenly stops after rapidly moving to the destination.

[0015] Furthermore, the protective mechanism includes an identification component, a protective frame, a permanent magnet, and a shielding plate. The identification component is located inside the protective frame at one end near the lifting mechanism, and the shielding plate is located inside the protective frame at one end away from the lifting mechanism. The permanent magnet is located between the identification component and the shielding plate. The permanent magnet has a fan-shaped structure, and the shielding plate has fan-shaped holes. The identification component controls the rotation of the shielding plate.

[0016] Through the above technical solution, when the electromagnetic chuck stops working due to power failure, the identification component can determine whether the power failure was accidental or manual. If the power failure was accidental, the identification component will control the shielding plate to rotate, aligning the permanent magnet with the fan-shaped holes on the shielding plate. At this time, the permanent magnet can attract the material. When the material is light, the permanent magnet can prevent the material from detaching from the attraction device. When the material is heavy, the permanent magnet can slow down the descent of the material, reducing the degree of impact with the ground and mitigating damage. If the power failure was manual, the identification component will not control the shielding plate to rotate. In this case, the permanent magnet and the fan-shaped holes on the shielding plate will not intersect. The shielding plate can prevent the permanent magnet from affecting the descent of the material, preventing the material from failing to descend normally after the electromagnetic chuck is powered off.

[0017] Furthermore, a connecting seat is provided at one end of the permanent magnet near the shielding plate. The connecting seat has a drainage groove and a sliding groove inside. The connecting seat and the shielding plate are connected by a connecting shaft. One end of the connecting shaft is fixedly installed on the shielding plate, and the other end of the connecting shaft is provided with a slider that extends into the sliding groove. The slider and the sliding groove are connected by an arc-shaped spring rod. The drainage groove is connected to the identification component through a conduit and a drainage groove. The identification component has an infusion function.

[0018] When the identification component controls the rotation of the shielding plate, it delivers a certain amount of liquid into the drainage channel. Under the action of hydraulic pressure, the slider on the connecting shaft rotates, which drives the connecting shaft and the shielding plate to rotate. This makes the permanent magnet aligned with the fan-shaped hole on the shielding plate. Compared with driving the shielding plate to rotate through a motor or other device, the above technical solution can prevent the magnetic field from affecting the circuit and accurately control the rotation angle of the shielding plate, preventing the rotation angle from being too large and causing the area where the permanent magnet is aligned with the fan-shaped hole to be unqualified.

[0019] Furthermore, the identification component includes an induction chamber, a sliding plate, a partition, a compression plate, a accumulator chamber, and a coil. The partition separates the induction chamber and the accumulator chamber. The sliding plate and the coil are disposed inside the induction chamber, and the compression plate is disposed inside the accumulator chamber. The external power supply is connected to the coil and the electromagnetic chuck in series. The sliding plate is made of ferromagnetic metal. A sensing spring rod is disposed at the end of the partition near the coil. The sliding plate is slidably mounted on the sensing spring rod. A sensing ball is disposed at the end of the sliding plate near the partition. A sensing hole is disposed on the partition. An elastic block is disposed outside the sensing hole. The elastic block is connected to the partition through a flexible spring and a telescopic groove.

[0020] In this invention, when the electromagnetic chuck stops working due to power failure, the current is gradually reduced until the power is completely cut off. This power-off method can prevent materials from falling suddenly and causing collision damage. When the electromagnetic chuck is not powered on, the induction ball on the slide plate is close to the elastic block but not inserted into the induction hole. When the electromagnetic chuck is powered on, the coil will receive a current simultaneously. At this time, the coil will generate a magnetic field that causes the slide plate to move towards the coil, while the spring on the induction spring rod is in an extended state. When the material is transferred to the destination and the electromagnetic chuck is manually powered off, the magnetic force on the electromagnetic chuck gradually decreases, and the magnetic force on the coil will also gradually decrease. At this time, the slide plate will slowly move away from the coil under the action of the induction spring rod, so that the spring force of the induction spring rod cannot make the induction ball pass through the obstacle of the elastic block. When the material is not transferred to the destination and the electromagnetic chuck is accidentally powered off... The magnetic force on the electromagnetic chuck and coil will suddenly disappear. At this time, the slide plate will move away from the coil at a fast speed under the action of the induction spring rod, so that the induction ball can pass through the obstacle of the elastic block and apply a set of forces to the extrusion plate. At this time, the extrusion plate will move away from the partition, and the extrusion fluid in the accumulator will flow into the drainage groove, causing the shielding plate to rotate. The present invention is provided with a set of magnetic blocks on both the extrusion plate and the induction ball. The magnetic blocks can make the extrusion plate and the induction ball attract each other, so as to prevent the induction ball from rebounding back into the induction chamber after passing through the elastic block. Through the above technical solution, the identification component can determine whether the electromagnetic chuck is accidentally de-energized or manually de-energized without the cooperation of various electronic components, thereby avoiding the trouble of connecting additional circuits. At the same time, it also prevents the electronic components in the identification component from de-energizing simultaneously when there is an accidental power failure, causing the protection to fail.

[0021] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: Compared with current magnetic material transfer equipment, this invention is equipped with a detection component. This component can sense whether there are obstacles in the path of the adsorption device. If there are obstacles, the first sliding motor, the second sliding motor, and the obstacle avoidance motor will control the material to change position or the adsorption device and the material as a whole to change position according to the range of the obstacle's influence. This ensures that the path after obstacle avoidance is as consistent as possible with the path before obstacle avoidance, preventing the material from being inaccurately placed at the target location. This invention also includes a protective mechanism. When the electromagnetic chuck experiences an unexpected power outage, the protective mechanism can stabilize the material to prevent it from suddenly detaching from the adsorption device and falling to the ground, causing an accidental safety incident. Simultaneously, it prevents… The protective mechanism is equipped with an identification component. This identification component can determine whether the electromagnetic chuck is accidentally powered off or manually powered off without the need for various electronic components, thus avoiding the trouble of connecting additional circuits. It also prevents the protection from failing due to the simultaneous power failure of the electronic components in the identification component during an accidental power failure. Finally, this invention also includes a balance and cut-off mechanism. This mechanism can prevent the material from moving due to inertia when it encounters obstacles or moves to its destination. At the same time, the balance and cut-off mechanism can also prevent the electromagnetic chuck from directly contacting the material, avoiding collisions and friction between the material and the surface of the electromagnetic chuck, which could cause scratches on the surface of the electromagnetic chuck. It also prevents the material from remaining below the adsorption device due to surface magnetization after the electromagnetic chuck is powered off, which would cause problems with unloading. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0023] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 is a schematic diagram of the internal structure of the second sliding seat and the lifting mechanism of the present invention;

[0025] Figure 3 is a schematic diagram of the connection structure of several sets of telescopic sleeves of the present invention;

[0026] Figure 4 is a schematic diagram of the internal structure of the adsorption device of the present invention;

[0027] Figure 5 is a schematic diagram of the working of the balance mechanism when the adsorption device of the present invention grabs materials.

[0028] Figure 6 is a schematic diagram of the internal structure of the protective mechanism of the present invention;

[0029] Figure 7 is a schematic diagram of the shielding plate structure of the present invention;

[0030] Figure 8 is a schematic cross-sectional view of the permanent magnet of the present invention;

[0031] Figure 9 is a schematic diagram of part A in Figure 7 of the present invention;

[0032] Figure 10 is a schematic diagram of the identification component structure when the electromagnetic chuck of the present invention is not working;

[0033] Figure 11 is a schematic diagram of the identification component structure when the electromagnetic chuck of the present invention is in operation.

[0034] In the diagram: 1-Upright frame, 2-First sliding seat, 3-Second sliding seat, 31-Windlass, 311-Rope, 32-Obstacle avoidance motor, 4-Lifting mechanism, 41-Telescopic sleeve, 42-Turntable, 5-Crossbeam, 6-Adsorption device, 61-Fixed frame, 62-Electromagnetic chuck, 63-Protective mechanism, 631-Identification component, 6311-Induction chamber, 6312-Slide plate, 63121-Induction ball, 6313-Block, 63131-Induction hole, 63132-Elastic block, 631 4-Extrusion plate, 6315-Accumulation chamber, 6316-Coil, 632-Protective frame, 633-Permanent magnet, 634-Conduit, 635-Connecting seat, 6351-Drainage groove, 6352-Sliding groove, 636-Shielding plate, 6361-Connecting shaft, 63611-Slider, 64-Breaking mechanism, 641-Gas collection chamber, 6411-Sealing frame, 642-Breaking tube, 643-First transmission groove, 6431-Hollow tube, 644-Second transmission groove, 65-Detection component. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0036] As shown in Figures 1, 4, and 5, a magnetic material transfer device with automatic obstacle avoidance function is disclosed. The device includes a vertical frame 1 and a horizontal beam 5. Two sets of vertical frames 1 are arranged parallel to each other on the ground. The horizontal beam 5 is positioned above the two sets of vertical frames 1 and connected to them via a first sliding seat 2. A second sliding seat 3 is located at the lower end of the horizontal beam 5. A lifting mechanism 4 is located at the end of the second sliding seat 3 furthest from the horizontal beam 5. An adsorption device 6 is provided, which includes a fixed frame 61, an electromagnetic chuck 62, a protective mechanism 63, a balance mechanism 64, and a detection component 65. The electromagnetic chuck 62 has a ring structure and is located at the end of the fixed frame 61 away from the lifting mechanism 4. The protective mechanism 63 is located at the center of the electromagnetic chuck 62. The balance mechanism 64 is located on the outside of the electromagnetic chuck 62. The detection component 65 is located on the outside of the fixed frame 61 and is connected to the first sliding seat 2 and the second sliding seat 3.

[0037] The support frame 1 serves as the foundation for this invention. The first sliding seat 2 and the second sliding seat 3 control the horizontal movement of the adsorption device 6, both left and right and forward and backward. The lifting mechanism 4 and the second sliding seat 3 control the vertical movement of the adsorption device 6. This invention includes an electromagnetic chuck 62 and a detection component 65. The electromagnetic chuck 62 is connected to an external power source. By opening and closing the electromagnetic chuck 62, the adsorption device 6 can grasp and place materials to achieve the purpose of material transfer. The detection component 65 consists of an infrared sensor and an ultrasonic sensor. The detection component 65 can detect whether there are obstacles in the path of the adsorption device 6. When obstacles are present, the adsorption device 6 is moved by controlling the first sliding seat 2 and the second sliding seat 3 to achieve obstacle avoidance. The present invention is also provided with a protective mechanism 63 and a balance mechanism 64. When the electromagnetic chuck 62 suddenly loses power, the protective mechanism 63 can stabilize the material to prevent the material from suddenly falling off the adsorption device 6 and causing an accident. The balance mechanism 64 can prevent the material from moving due to inertia after the movement is completed. At the same time, it can prevent the material from being unable to be unloaded in time due to surface magnetization after the electromagnetic chuck 62 loses power, thus causing trouble for the unloading of the material and damaging the surface of the material.

[0038] As shown in Figures 1, 2, and 4, the first sliding seat 2 is equipped with a first sliding motor and a first pulley inside. The first guide rail is provided above the upright 1. The first sliding seat 2 and the upright 1 are connected by the first sliding motor, the first pulley, and the first guide rail. The second sliding seat 3 is equipped with a second sliding motor and a second pulley at one end near the crossbeam 5. The crossbeam 5 is equipped with a second guide rail at one end near the second sliding seat 3. The second sliding seat 3 and the crossbeam 5 are connected by the second sliding motor, the second pulley, and the second guide rail. The second sliding seat 3 is equipped with a winding motor, a winch 31, and an obstacle avoidance motor 32 inside. The drive shaft of the winding motor is connected to the winch 31. A rope 311 is wound on the winch 31. The rope 311 extends into the lifting mechanism 4 and is connected to the fixed frame 61. The obstacle avoidance motor 32 is connected to the lifting mechanism 4 through a transmission gear and is connected to the detection component 65.

[0039] The lifting and lowering of the adsorption device 6 can be controlled by the winding motor and rope 311. When the detection component 65 detects an obstacle in the movement path of the adsorption device 6, it will send a set of signals to the first sliding motor, the second sliding motor and the obstacle avoidance motor 32 at the same time. If the obstacle does not affect the movement of the adsorption device 6 but affects the movement of the material, the obstacle avoidance motor 32 will drive the transmission gear to rotate, thereby causing the lifting mechanism 4 and the adsorption device 6 to rotate. At this time, the material will change its position on its own to pass through the obstacle. If the obstacle affects both the movement of the adsorption device 6 and the movement of the material, the first sliding motor and the second sliding motor will drive the first sliding seat 2 and the second sliding seat 3 to move to avoid the obstacle. Controlling the material to rotate and avoid obstacles by the obstacle avoidance motor 32 has the advantage of easy reset, avoiding the deviation of the path after obstacle avoidance from the path before obstacle avoidance, which would cause the material to be unable to be accurately placed at the target location. Controlling the material to move left and right or forward and backward to avoid obstacles by the first sliding motor and the second sliding motor has the advantage of wide applicability, without having to consider the length, width and height of the material.

[0040] As shown in Figures 2 and 3, the lifting mechanism 4 includes several sets of telescopic sleeves 41 and a set of turntables 42. The turntables 42 are slidably installed at the lower end of the second sliding seat 3. A ring gear is provided on the outside of the turntables 42. The turntables 42 are connected to the obstacle avoidance motor 32 through the ring gear and the transmission gear. The several sets of telescopic sleeves 41 are interconnected and can be telescopically set. Adjacent sets of telescopic sleeves 41 are slidably connected through guide blocks and guide grooves.

[0041] Through the above technical solution, when the obstacle avoidance motor 32 drives the turntable 42 to rotate, the guide block and guide groove can ensure that several sets of telescopic sleeves 41 rotate synchronously. When the winding motor and rope 311 control the lifting and lowering of the adsorption device 6, several sets of telescopic sleeves 41 will retract or extend in sequence. The several sets of telescopic sleeves 41 can effectively prevent the rope 311 from shaking due to inertia or airflow, thereby ensuring that the material can be transferred stably.

[0042] As shown in Figures 4 and 5, there are two sets of balance and break mechanisms 64. The two sets of balance and break mechanisms 64 are symmetrically arranged inside the fixed frame 61. The balance and break mechanism 64 includes a balance and break tube 642 and a first transmission groove 643. Both the balance and break tube 642 and the first transmission groove 643 are located inside the fixed frame 61 near one end of the detection component 65. One end of the balance and break tube 642 extends into the first transmission groove 643, and the other end of the balance and break tube 642 extends out of the fixed frame 61 and is fixedly installed with a rubber cover.

[0043] When the adsorption device 6 moves above the material and the electromagnetic chuck 62 is activated to grab the material, the material will come into contact with the rubber cover at the lower end of the balance tube 642. The balance tube 642 prevents the electromagnetic chuck 62 from directly contacting the material. This prevents the heat generated by the electromagnetic chuck 62 from being unable to dissipate and avoids collisions and friction between the material and the surface of the electromagnetic chuck 62, which could cause scratches on the surface of the electromagnetic chuck 62. Finally, the above technical solution can also prevent the surface of the material from becoming magnetized, preventing the electromagnetic chuck 62 from remaining below the adsorption device 6 due to magnetic force after the power is turned off.

[0044] As shown in Figures 4 and 5, the balance and break mechanism 64 also includes a gas collecting chamber 641 and a second transmission groove 644. The gas collecting chamber 641 is located inside the fixed frame 61 near one end of the lifting mechanism 4. The second transmission groove 644 is located between the first transmission groove 643 and the gas collecting chamber 641. A hollow tube 6431 is provided inside the first transmission groove 643. The balance and break tube 642 is a hollow structure. One end of the hollow tube 6431 extends into the balance and break tube 642, and the other end of the hollow tube 6431 is connected to the gas collecting chamber 641 through a gas guiding channel. Two sets of sealing frames 6411 are provided inside the gas collecting chamber 641. The two sets of sealing frames 6411 are connected by a return spring. The ends of the two sets of sealing frames 6411 that are far apart from each other are inserted into the second transmission groove 644. The first transmission groove 643 is connected to the second transmission groove 644. The first transmission groove 643 is filled with transmission fluid.

[0045] During the process of the electromagnetic chuck 62 gripping the material, the balancing tube 642 is squeezed and moves upward. The transmission fluid in the first transmission groove 643 enters the second transmission groove 644, which finally causes the sealing frame 6411 to move away from the second transmission groove 644. During the movement of the sealing frame 6411, the distance between the sealing frame 6411 and the air guide channel gradually increases. At this time, the gas in the balancing tube 642 is sucked into the air collection chamber 641, and the air pressure in the balancing tube 642 decreases. Through the above technical solution, the balancing tube 642 can hold the material and prevent the material from moving due to inertia when it suddenly stops after moving rapidly to the destination.

[0046] As shown in Figures 3-6, the protective mechanism 63 includes an identification component 631, a protective frame 632, a permanent magnet 633, and a shielding plate 636. The identification component 631 is located inside the protective frame 632 at one end near the lifting mechanism 4, and the shielding plate 636 is located inside the protective frame 632 at one end away from the lifting mechanism 4. The permanent magnet 633 is located between the identification component 631 and the shielding plate 636. The permanent magnet 633 has a fan-shaped structure, and the shielding plate 636 has fan-shaped holes. The identification component 631 controls the rotation of the shielding plate 636.

[0047] Through the above technical solution, when the electromagnetic chuck 62 stops working due to power failure, the identification component 631 can determine whether the power failure was accidental or manual. If the power failure was accidental, the identification component 631 will control the shielding plate 636 to rotate, aligning the permanent magnet 633 with the fan-shaped holes on the shielding plate 636. At this time, the permanent magnet 633 can attract the material. When the material is light, the permanent magnet 633 can prevent the material from detaching from the adsorption device 6. When the material is heavy, the permanent magnet 633 can slow down the descent of the material, reduce the impact of the material on the ground, and reduce the damage to the material. If the power failure was manual, the identification component 631 will not control the shielding plate 636 to rotate. At this time, the permanent magnet 633 and the fan-shaped holes on the shielding plate 636 do not intersect. The shielding plate 636 can prevent the permanent magnet 633 from affecting the descent of the material, preventing the material from failing to descend normally after the electromagnetic chuck 62 is powered off.

[0048] As shown in Figures 6, 7, and 9, a connecting seat 635 is provided at one end of the permanent magnet 633 near the shielding plate 636. The connecting seat 635 has a drainage groove 6351 and a sliding groove 6352 inside. The connecting seat 635 and the shielding plate 636 are connected by a connecting shaft 6361. One end of the connecting shaft 6361 is fixedly installed on the shielding plate 636, and the other end of the connecting shaft 6361 is provided with a slider 63611 that extends into the sliding groove 6352. The slider 63611 and the sliding groove 6352 are connected by an arc-shaped spring rod. The drainage groove 6351 is connected to the identification component 631 through a conduit 634 and a drainage groove. The identification component 631 has an infusion function.

[0049] When the identification component 631 controls the rotation of the shielding plate 636, it delivers a certain amount of liquid into the drainage groove 6351. Under the action of hydraulic pressure, the slider 63611 on the connecting shaft 6361 will rotate. The slider 63611 can drive the connecting shaft 6361 and the shielding plate 636 to rotate, thereby aligning the permanent magnet 633 with the fan-shaped hole on the shielding plate 636. Compared with driving the shielding plate 636 to rotate through a motor or other device, the above technical solution can prevent the magnetic field from affecting the circuit and accurately control the rotation angle of the shielding plate 636, preventing the rotation angle from being too large and causing the area where the permanent magnet 633 is aligned with the fan-shaped hole to be unqualified.

[0050] As shown in Figures 10 and 11, the identification component 631 includes an induction chamber 6311, a slide plate 6312, a partition 6313, a compression plate 6314, a pressure accumulator 6315, and a coil 6316. The partition 6313 separates the induction chamber 6311 and the pressure accumulator 6315. The slide plate 6312 and the coil 6316 are disposed inside the induction chamber 6311, and the compression plate 6314 is disposed inside the pressure accumulator 6315. The pressure accumulator 6315 is filled with compression fluid. An external power supply is connected in series with the coil 6316. 316 is connected to the electromagnetic chuck 62. The slide plate 6312 is made of ferromagnetic metal. A sensing spring rod is provided at one end of the partition plate 6313 near the coil 6316. The slide plate 6312 is slidably mounted on the sensing spring rod. A sensing ball 63121 is provided at one end of the slide plate 6312 near the partition plate 6313. A sensing hole 63131 is provided on the partition plate 6313. An elastic block 63132 is provided on the outside of the sensing hole 63131. The elastic block 63132 is connected to the partition plate 6313 through a flexible spring and a telescopic groove.

[0051] In this invention, when the electromagnetic chuck 62 stops working due to power failure, the current is gradually reduced until the power is completely cut off. This power-off method can prevent materials from falling suddenly and causing collision damage. When the electromagnetic chuck 62 is not powered on, the sensing ball 63121 on the sliding plate 6312 is close to the elastic block 63132, but not inserted into the sensing hole 63131. When the electromagnetic chuck 62 is powered on, the coil 6316 will receive a set of currents simultaneously. At this time, the coil 6316 will generate a magnetic field that causes the sliding plate 6312 to move towards the coil 6316. When the spring on the induction spring rod is in an extended state, and the electromagnetic chuck 62 is manually de-energized when the material is transferred to its destination, the magnetic force on the electromagnetic chuck 62 gradually decreases, and the magnetic force on the coil 6316 also gradually decreases. At this time, the sliding plate 6312 will slowly move away from the coil 6316 under the action of the induction spring rod, causing the spring force of the induction spring rod to be unable to allow the induction ball 63121 to pass through the obstruction of the elastic block 63132. When the material is not transferred to its destination and the electromagnetic chuck 62 is accidentally de-energized, the electromagnetic chuck 62 and the coil 63132 will... The magnetic force on coil 6316 will suddenly disappear. At this time, the sliding plate 6312 will move rapidly away from coil 6316 under the action of the induction spring rod, causing the induction ball 63121 to pass through the obstruction of elastic block 63132 and apply a set of forces to the extrusion plate 6314. At this time, the extrusion plate 6314 will move away from partition 6313, and the extrusion fluid in the accumulator 6315 will flow into the drainage groove 6351, causing the shielding plate 636 to rotate. This invention relates to the extrusion plate 6314 and the induction ball 63121. Each component is equipped with a set of magnetic blocks. These magnetic blocks allow the pressing plate 6314 and the sensing ball 63121 to attract each other, preventing the sensing ball 63121 from bouncing back into the sensing chamber 6311 after passing through the elastic block 63132. Through this technical solution, the identification component 631 can determine whether the electromagnetic chuck 62 is accidentally de-energized or manually de-energized without the cooperation of various electronic components. This avoids the trouble of connecting additional circuits and also prevents the electronic components in the identification component 631 from simultaneously de-energizing and causing protection failure when there is an accidental power outage.

[0052] The working principle of this invention is as follows: When gripping materials, the first sliding seat 2 and the second sliding seat 3 control the adsorption device 6 to move above the materials. Then, the lifting mechanism 4 makes the adsorption device 6 contact the materials. Next, the electromagnetic chuck 62 is activated, and the electromagnetic chuck 62 grips the materials. During the gripping process, the balancing tube 642 is squeezed and moves upward, causing the transmission fluid in the first transmission groove 643 to enter the second transmission groove 644. The sealing frame 6411 moves away from the second transmission groove 644. At this time, the gas in the balancing tube 642 is sucked into the gas collection chamber 641. Under atmospheric pressure, the balancing tube 642 will hold the materials, preventing the adsorption device 6 from moving due to sudden stop when encountering obstacles or reaching its destination. When the detection component 65 detects an obstacle in the movement path of the adsorption device 6... When the material is in motion, the first sliding motor, the second sliding motor, and the obstacle avoidance motor 32 start working to allow the material to avoid obstacles. When the material moves to its destination, the electromagnetic chuck 62 will be de-energized and stop working. At this time, the material will automatically fall to its destination. If the material does not move to its destination and the electromagnetic chuck 62 is accidentally de-energized, the slide plate 6312 in the sensing chamber 6311 will pass through the resistance of the elastic block 63132 under the action of the sensing spring rod and apply a set of forces to the extrusion plate 6314. At this time, the extrusion liquid in the pressure accumulator 6315 will be squeezed into the diversion groove 6351 and cause the shielding plate 636 to rotate. When the permanent magnet 633 is aligned with the fan-shaped hole on the shielding plate 636, the permanent magnet 633 can adsorb the material to prevent the material from detaching from the adsorption device 6 or slow down the descent speed of the material to reduce material damage.

[0053] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0054] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A magnetic material transfer device with automatic obstacle avoidance function, characterized in that: The magnetic material transfer equipment includes a vertical frame (1) and a horizontal beam (5). There are two sets of vertical frames (1), which are arranged parallel to each other on the ground. The horizontal beam (5) is located above the two sets of vertical frames (1). The horizontal beam (5) is connected to the two sets of vertical frames (1) through a first sliding seat (2). A second sliding seat (3) is provided at the lower end of the horizontal beam (5). A lifting mechanism (4) is provided at the end of the second sliding seat (3) away from the horizontal beam (5). An adsorption device (6) is provided at the end of the lifting mechanism (4) away from the second sliding seat (3). The adsorption device (6) includes a fixed frame (61), an electromagnetic chuck (62), a protective mechanism (63), and a balance cutter. The structure (64) and the detection component (65) are as follows: the electromagnetic chuck (62) is a ring structure, the electromagnetic chuck (62) is located at the end of the fixed frame (61) away from the lifting mechanism (4), the protective mechanism (63) is located at the center of the electromagnetic chuck (62), the balance mechanism (64) is located on the outside of the electromagnetic chuck (62), and the detection component (65) is located on the outside of the fixed frame (61). The detection component (65) is connected to the first sliding seat (2) and the second sliding seat (3). There are two sets of balance mechanisms (64), and the two sets of balance mechanisms (64) are symmetrically arranged inside the fixed frame (61). The balance mechanism (64) includes a balance tube (6). 42) and the first transmission groove (643), the balance tube (642) and the first transmission groove (643) are both set inside the fixed frame (61) near one end of the detection component (65), one end of the balance tube (642) extends into the first transmission groove (643), and the other end of the balance tube (642) extends out of the fixed frame (61) and is fixedly installed with a rubber cover; the balance mechanism (64) also includes a gas collecting chamber (641) and a second transmission groove (644), the gas collecting chamber (641) is set inside the fixed frame (61) near one end of the lifting mechanism (4), and the second transmission groove (644) is set between the first transmission groove (643) and the gas collecting chamber (641), the first transmission groove (644) is set between the first transmission groove (643) and the gas collecting chamber (641), the first transmission groove (644) is set inside the fixed frame (61) near one end of the lifting mechanism (4), and the second transmission groove (644) is set between the first transmission groove (643) and the gas collecting chamber (641). The moving groove (643) is provided with a hollow tube (6431). The balance tube (642) is a hollow structure. One end of the hollow tube (6431) extends into the balance tube (642). The other end of the hollow tube (6431) is connected to the gas collecting chamber (641) through the air guide channel. The gas collecting chamber (641) is provided with two sets of sealing frames (6411). The two sets of sealing frames (6411) are connected by a return spring. The ends of the two sets of sealing frames (6411) that are far apart from each other are inserted into the second transmission groove (644). The first transmission groove (643) is connected to the second transmission groove (644). The first transmission groove (643) is filled with transmission fluid.

2. The magnetic material transfer device with automatic obstacle avoidance function according to claim 1, characterized in that: The first sliding seat (2) is internally equipped with a first sliding motor and a first pulley. A first guide rail is provided above the upright (1). The first sliding seat (2) and the upright (1) are connected by the first sliding motor, the first pulley, and the first guide rail. The second sliding seat (3) is equipped with a second sliding motor and a second pulley at one end near the crossbeam (5). The crossbeam (5) is equipped with a second guide rail at one end near the second sliding seat (3). The second sliding seat (3) and the crossbeam (5) are connected by the second sliding motor. The second pulley is connected to the second guide rail. The interior of the second sliding seat (3) is equipped with a winding motor, a winch (31) and an obstacle avoidance motor (32). The drive shaft of the winding motor is connected to the winch (31). A rope (311) is wound on the winch (31). The rope (311) extends into the lifting mechanism (4) and is connected to the fixed frame (61). The obstacle avoidance motor (32) is connected to the lifting mechanism (4) through a transmission gear. The obstacle avoidance motor (32) is connected to the detection component (65).

3. A magnetic material transfer device with automatic obstacle avoidance function according to claim 2, characterized in that: The lifting mechanism (4) includes several sets of telescopic sleeves (41) and a set of turntables (42). The turntables (42) are slidably installed at the lower end of the second sliding seat (3). The turntables (42) are provided with ring gears on the outside. The turntables (42) and the obstacle avoidance motor (32) are connected by ring gears and transmission gears. The several sets of telescopic sleeves (41) are sleeved on each other and can be telescopically installed. The two adjacent sets of telescopic sleeves (41) are slidably connected by guide blocks and guide grooves.

4. A magnetic material transfer device with automatic obstacle avoidance function according to claim 3, characterized in that: The protective mechanism (63) includes an identification component (631), a protective frame (632), a permanent magnet (633), and a shielding plate (636). The identification component (631) is located inside the protective frame (632) at one end near the lifting mechanism (4). The shielding plate (636) is located inside the protective frame (632) at one end away from the lifting mechanism (4). The permanent magnet (633) is located between the identification component (631) and the shielding plate (636). The permanent magnet (633) has a fan-shaped structure. The shielding plate (636) has a fan-shaped hole. The identification component (631) controls the shielding plate (636) to rotate.

5. A magnetic material transfer device with automatic obstacle avoidance function according to claim 4, characterized in that: The permanent magnet (633) is provided with a connecting seat (635) at one end near the shielding plate (636). The connecting seat (635) is provided with a drainage groove (6351) and a sliding groove (6352). The connecting seat (635) and the shielding plate (636) are connected by a connecting shaft (6361). One end of the connecting shaft (6361) is fixedly installed on the shielding plate (636), and the other end of the connecting shaft (6361) is provided with a slider (63611) that extends into the sliding groove (6352). The slider (63611) and the sliding groove (6352) are connected by an arc-shaped spring rod. The drainage groove (6351) is connected to the identification component (631) through a conduit (634) and a draining groove. The identification component (631) has an infusion function.

6. A magnetic material transfer device with automatic obstacle avoidance function according to claim 5, characterized in that: The identification component (631) includes an induction chamber (6311), a sliding plate (6312), a partition (6313), a pressing plate (6314), a pressure accumulator (6315), and a coil (6316). The partition (6313) separates the induction chamber (6311) and the pressure accumulator (6315). The sliding plate (6312) and the coil (6316) are located inside the induction chamber (6311), and the pressing plate (6314) is located inside the pressure accumulator (6315). An external power supply is connected in series with the coil (6316) and the electromagnetic coil. The suction cup (62) is connected, and a sensing spring rod is provided at one end of the partition (6313) near the coil (6316). The sliding plate (6312) is slidably mounted on the sensing spring rod. A sensing ball (63121) is provided at one end of the sliding plate (6312) near the partition (6313). A sensing hole (63131) is provided on the partition (6313). An elastic block (63132) is provided on the outside of the sensing hole (63131). The elastic block (63132) and the partition (6313) are connected by a flexible spring and a telescopic groove.

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