Magnetic clamp device for pin shaft type flexible automatic production line robot

Abstract

The invention discloses a magnetic clamp device for a pin shaft type flexible automatic production line robot. The magnetic clamp device comprises a linear driving piece (1), a rack (2), a bevel gear assembly (3), a bevel gear eccentric wheel assembly (4), a planar four-bar mechanism (5) and a permanent magnet mechanism (6). An output shaft of the linear driving piece (1) is coaxially connected with the rack (2), and the rack (2) is meshed with a gear (302) of the bevel gear assembly (3); a bevel gear I (301) of the bevel gear assembly (3) is meshed with a bevel gear II (401) of the bevel gear eccentric wheel assembly (4). According to the designed magnetic clamp for the pin shaft flexible automatic production line robot, the problems are well solved, the grabbing range of a mechanical arm clamping jaw is greatly increased, the production takt time and efficiency of the pin shaft flexible automatic production line are remarkably improved, meanwhile, the labor intensity is reduced, and the intrinsic safety degree of the mechanical arm clamping jaw is improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated processing equipment, and in particular to a magnetic clamp device for a pin-type flexible automated production line robot. Background Art

[0002] With the continuous advancement of science and technology and the rapid development of industrialization, production methods have gradually become intelligent and digital. Robots have been widely used in the field of production and manufacturing, and automated production lines have also emerged. This has not only improved production efficiency and quality, but also reduced labor costs and labor intensity.

[0003] As an important part of the robot, the robot arm claw plays an important role in the interaction between the robot and the workpiece. The structural design of the robot arm claw plays a vital role in the overall performance and efficiency of the robot. At present, the structural design of the robot arm claw of the pin shaft flexible automation production line on the market usually adopts the clamping method of the claws at both ends to grab the pin shaft products. In actual applications, due to the limitation of the sensor sensing stroke, the robot arm claw needs to be continuously replaced according to the different pin shaft diameters, which greatly affects the production efficiency in the production of small batches of pin shafts with multiple varieties.

[0004] As an important part of the robot, the gripping range of the robot arm claw directly affects the rhythm and efficiency of the pin shaft automatic production line. Figure 1 , Figure 2 As shown in the figure, the clamping device is generally clamped at both ends in the horizontal direction. The clamping device is a rigid device. The cylinder device 8 acts on the induction block 10. The induction block 10 is connected to the connecting block 11 through a T-slot. The connecting block 11 is connected to the claw mechanism (including the claw auxiliary block 12 and the claw 13) through a T-slot, so as to achieve the purpose of the air pump controlling the clamping and loosening of the claw. Therefore, the grasping range of the robot arm claw is mainly controlled by the double effects of the air pump tightness range and the claw clamping range. The air pump acts on the induction block 10, and the original sensor 9 pulse signal is blocked by the induction block 10 to perform automatic clamping control of the claw. The distance of the sensor pulse signal blocked by the induction block is 5mm on one side, so the range of the pneumatic control of the clamping tightness of the claw is 10mm. The claw adopts the shape of "< >" to grasp the pin shaft workpiece, and the four tangent surfaces must fit firmly to grasp the workpiece. Since the tightness range of the induction block is 10mm, the diameter variation range of the pin shaft workpiece clamping is within 10mm. Once the workpiece diameter changes beyond the range of 10mm, in order to hold the workpiece firmly, the claws need to be moved on the connecting block and adjusted to change the clamping range.

[0005] In the production of multi-variety and small-batch pin products, due to the large difference in diameter, in the automated production system, every time a pin with a diameter exceeding 10mm is changed, the position of the claw needs to be manually adjusted to expand the gripping range of the robot arm claw, which is not conducive to the production of multi-variety and small-batch pin workpieces, and seriously affects the beat and production efficiency of the entire automated production line. Summary of the invention

[0006] The purpose of the present invention is to provide a magnetic clamp device for a robot in a flexible automated production line of pins, so as to design a device that does not require manual adjustment of the claw distance but meets the pin grasping range, thereby meeting the needs of a multi-variety and small-batch pin automated production line and adapting to the flexible automated production rhythm.

[0007] The present invention is achieved by adopting the following technical solutions: A magnetic fixture device for a pin-type flexible automated production line robot comprises a linear drive, a rack, a bevel gear assembly, a bevel gear eccentric assembly, a planar four-bar linkage, and a permanent magnetic magnet mechanism; the output shaft of the linear drive is coaxially connected to the rack, the rack is meshed with the gear of the bevel gear assembly; the bevel gear I of the bevel gear assembly is meshed with the bevel gear II of the bevel gear eccentric assembly; the planar four-bar linkage consists of a driving connecting rod pair and a rotating connecting rod pair; the end of a connecting rod in the driving connecting rod pair is connected to a fixed connecting rod pair. The seat is hinged, and the end of the other connecting rod is hinged to the eccentric point of eccentric wheel II of the bevel gear eccentric wheel assembly; the two connecting rod ends of the rotating connecting rod pair are hinged to the middle parts of the two connecting rods of the driving connecting rod pair; the two connecting rod hinge points of the rotating connecting rod pair are hinged to the eccentric point of eccentric wheel I; the permanent magnetic iron absorption mechanism includes a permanent magnetic iron absorption cavity, in which a fixed permanent magnet and a movable permanent magnet are relatively assembled, and the end of the movable permanent magnet is coaxially connected to the eccentric wheel I through a connecting shaft, and the eccentric wheel I drives the movable permanent magnet to perform 180-degree reciprocating rotation. In the unloading state, the magnetic poles of the fixed permanent magnet and the movable permanent magnet are in opposite directions (for example, the left end of the fixed permanent magnet is the S pole and the right end is the N pole, then the left end of the movable permanent magnet is the N pole and the right end is the S pole), forming a closed loop of the magnetic circuit; in the working state, the magnetic poles of the fixed permanent magnet and the movable permanent magnet are in the same direction (for example, the left end of the fixed permanent magnet is the S pole and the right end is the N pole, then the left end of the movable permanent magnet is the S pole and the right end is the N pole).

[0008] The present invention designs a permanent magnet lifter that can realize automatic clamping and loosening, which is not affected by the stroke range of the air pump. The function of the air pump is to realize the flipping of the permanent magnet to achieve the purpose of clamping and loosening. The working principle of the permanent magnet lifter is to change the direction of the magnetic pole by flipping the internal permanent magnet to achieve adsorption and demagnetization. The ordinary permanent magnet lifter is to realize the flipping of the permanent magnet by turning the handle by a person, and then the handle is clamped by a safety bolt to prevent rebound. The structure designed by the present invention realizes the transmission and self-locking of power through a gear rack, a bevel gear, an eccentric wheel and a four-bar linkage. The air pump is connected to the gear through a rack to convert the linear motion into a circular motion, and then the direction adjustment transmission is carried out through two bevel gears. The bevel gear drives the eccentric wheel to rotate, and drives the four-bar linkage to transmit force. In addition to the force transmission function, the four-bar linkage uses the lever principle to achieve a labor-saving effect. The expansion and contraction of the cylinder is the power, and the eccentric wheel is rotated half a circle through multi-layer transmission, and the permanent magnet is rotated 180 degrees through the four-bar linkage to change the direction of the magnetic pole. The four-bar linkage plays a self-locking role to prevent rebound. When the cylinder is extended, the magnetic pole is in an adsorption state; when the cylinder is retracted, the magnetic pole is in a demagnetization state (i.e. unloading).

[0009] Further preferably, a sensor sensing sheet is arranged on the rack, and the sensor sensing sheet contacts or deviates from the sensor when the rack moves.

[0010] Further preferably, an adsorption working pole surface is formed outside the permanent magnetic absorption cavity. The adsorption working pole surface is in an inverted V shape.

[0011] Further preferably, the rotating connecting rod pair in the planar four-bar linkage adopts a 1:2 position setting, so that the force consumed by the rotation of the movable permanent magnet is reduced by 1 / 2.

[0012] Further preferably, the bevel gear assembly is composed of a bevel gear I and a gear coaxially connected. The bevel gear eccentric wheel assembly is composed of a bevel gear II and an eccentric wheel II coaxially connected.

[0013] Further preferably, a limit block is provided at the end of the rack. The linear drive member is a cylinder.

[0014] The device of the present invention is installed on the existing robot arm, and the cylinder can use the original cylinder. When working, first turn on the manual mode of the robot teach pendant, press TOOL1 in the teach pendant, loosen the cylinder mechanism, the cylinder device drives the rack to move up, and the gear in the bevel gear assembly meshing with the rack is transmitted, and drives the bevel gear I of the bevel gear assembly to rotate, further drives the bevel gear eccentric wheel assembly to transmit, and then the eccentric wheel II drives the planar four-bar linkage to transmit, the rotating connecting rod pair of the four-bar linkage adopts a 1:2 position setting, so that the force consumed by the rotation of the active permanent magnet is reduced by 1 / 2, and the driving connecting rod pair drives the rotating connecting rod pair to move, then the two connecting rod hinge points of the rotating connecting rod pair drive the eccentric wheel I to rotate, and the active permanent magnet is turned over by the eccentric wheel I, and the magnetic lines of force do not reach the adsorption working pole surface of the permanent magnetic suction cup, and a closed loop of the magnetic circuit is formed inside the permanent magnetic suction cup (such as Figure 7 As shown), almost no magnetic lines of force come out from the working pole surface of the permanent magnetic chuck, and unloading is achieved. At this time, the sensor deviates from the sensor induction sheet, and the teach pendant is memorized. Move the robot arm to the workpiece, memorize the relevant actions according to the teach pendant, and then press the teach pendant TOOL2 to shrink the cylinder mechanism. The cylinder device drives the rack to move down, and the gear in the bevel gear assembly meshing with the rack is transmitted, and the bevel gear eccentric wheel assembly is driven to rotate, and then the plane four-bar linkage is driven to transmit. The plane four-bar linkage drives the active permanent magnet to flip through the eccentric wheel I, and the magnetic lines of force come out from the N pole of the magnet, pass through the yoke, pass through the ferromagnetic workpiece, and then return to the yoke to enter the S pole of the magnet. In this way, the workpiece can be firmly sucked on the adsorption working pole surface of the permanent magnetic chuck. The sensor contacts the sensor induction sheet, blocks the light source, and memorizes according to the teach pendant.

[0015] The technical solution provided by the present invention has the following advantages compared with the prior art: (1) The grasping range is no longer affected by the sensor stroke, which greatly expands the grasping range of the robot arm claw. When the diameter of the pins differs by more than 10 mm, the grasping range no longer requires manual intervention, which greatly improves the production rhythm and efficiency of the pin flexible automation production line and reduces labor intensity.

[0016] (2) The planar four-bar linkage is used to effectively convert the force transmission direction. At the same time, the rotating pair of the four-bar linkage adopts a 1:2 position setting. By using the lever principle, the force consumed by the rotation of the permanent magnet is reduced by 1 / 2, which is more labor-saving and reduces the loss of related parts. At the same time, when the four-bar linkage is fixed, the eccentric wheel will also be fixed, and the permanent magnet fixedly connected to the eccentric wheel will not rebound, realizing the self-locking function.

[0017] (3) The present invention adopts a pneumatic device to realize automatic clamping and loosening, does not require power, does not generate heat, has strong lifting and hoisting force, has a simple and stable structure, saves labor and time, and has good reliability and safety.

[0018] The present invention is reasonably designed. The magnetic clamp for the robot of the pin shaft flexible automated production line properly solves the above problems, greatly increases the grasping range of the robot arm claw, and significantly improves the production rhythm and efficiency of the pin shaft flexible automated production line. At the same time, it reduces labor intensity, improves the inherent safety of the robot arm claw, and has good practical application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It shows the front view of the existing robot arm claw grasping mechanism.

[0022] Figure 2 A side view of a conventional robotic arm claw grasping mechanism is shown.

[0023] Figure 3 A schematic diagram showing the structure of the device of the present invention.

[0024] Figure 4 A schematic diagram of the cylinder connection mechanism of the present invention is shown.

[0025] Figure 5 A schematic diagram of the planar four-bar linkage of the present invention is shown.

[0026] Figure 6 Schematic diagram of permanent magnet attraction mechanism.

[0027] Figure 7 Schematic diagram showing the permanent magnetic attraction mechanism in the unloading state.

[0028] In the figure: 1-linear drive member; 2-rack, 201-sensor sensing sheet, 202-sensor; 3-bevel gear gear assembly, 301-bevel gear I, 302-gear; 4-bevel gear eccentric wheel assembly, 401-bevel gear II, 402-eccentric wheel II; 5-planar four-bar linkage, 501-driving connecting rod pair, 502-rotating connecting rod pair, 503-fixed seat; 6-permanent magnetic absorption mechanism, 601-permanent magnetic absorption cavity, 602-fixed permanent magnet, 603-movable permanent magnet, 604-coupling shaft, 605-eccentric wheel I, 606-adsorption working pole surface; 7-workpiece (pin shaft); 8-cylinder device, 9-original sensor, 10-sensing block, 11-connecting block, 12-claw auxiliary block, 13-claw. DETAILED DESCRIPTION

[0029] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0030] In the description, it should be noted that the terms "first" and "second" are only used for descriptive purposes and should not be understood as indicating or implying relative importance. It should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0032] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] A magnetic fixture device for a pin-type flexible automated production line robot comprises a linear drive component 1, a rack 2, a bevel gear assembly 3, a bevel gear eccentric assembly 4, a planar four-bar linkage 5, and a permanent magnetic magnet mechanism 6; The linear drive member 1 is preferably a cylinder. The output shaft of the linear drive member 1 is coaxially connected to the rack 2, and a limit block is provided at the end of the rack 2 to prevent the rack 2 from detaching under abnormal conditions. A sensor sensing sheet 201 is provided on the rack 2, and the sensor sensing sheet 201 contacts or deviates from the sensor 202 when the rack 2 moves.

[0034] The bevel gear assembly 3 is composed of a bevel gear I 301 and a gear 302 connected coaxially. The bevel gear eccentric wheel assembly 4 is composed of a bevel gear II 401 and an eccentric wheel II 402 connected coaxially.

[0035] The rack 2 meshes with the gear 302 of the bevel gear assembly 3; the bevel gear I301 of the bevel gear assembly 3 meshes with the bevel gear II401 of the bevel gear eccentric assembly 4.

[0036] The planar four-bar linkage 5 is composed of a driving connecting rod pair 501 and a rotating connecting rod pair 502; one connecting rod end of the driving connecting rod pair 501 is hinged to the fixed seat 503, and the other connecting rod end is hinged to the eccentric point on the eccentric wheel II 402 of the bevel gear eccentric wheel assembly 4; the two connecting rod ends of the rotating connecting rod pair 502 are hinged to the middle parts of the two connecting rods of the driving connecting rod pair 501 (preferably, the rotating connecting rod pair 502 adopts a 1:2 position setting, which effectively reduces the force consumed by the rotation of the NdFeB slider by 1 / 2, thereby solving the problem that the permanent magnetic suction cup has a large suction force and causes the active magnetic suction cup to be difficult to flip, and realizes easier flipping of the permanent magnetic suction cup, which can achieve self-locking and better hold and unload the workpiece); the two connecting rod hinge points of the rotating connecting rod pair 502 are hinged to the eccentric point of the eccentric wheel I 605.

[0037] The permanent magnet magnet mechanism 6 comprises a permanent magnet magnet cavity 601, in which a fixed permanent magnet 602 and a movable permanent magnet 603 are relatively mounted, and the end of the movable permanent magnet 603 is coaxially connected to an eccentric wheel I 605 through a connecting shaft 604, and the eccentric wheel I 605 drives the movable permanent magnet 603 to rotate 180 degrees; in the unloading state, the magnetic poles of the fixed permanent magnet 602 and the movable permanent magnet 603 are in opposite directions to form a closed loop of the magnetic circuit; in the working state, the magnetic poles of the fixed permanent magnet 602 and the movable permanent magnet 603 are in the same direction. An adsorption working pole surface 606 is formed outside the permanent magnet magnet cavity 601, and the adsorption working pole surface 606 is in an inverted V shape, which is convenient for adsorbing the pin shaft workpiece 7.

[0038] In specific application, the device of the present invention is installed on the mechanical arm of an existing robot, and the cylinder can be the original cylinder.

[0039] During specific operation, first turn on the manual mode of the robot teaching pendant, press TOOL1 in the teaching pendant, loosen the cylinder mechanism, and the cylinder device drives the rack 2 to move up, and the gear 302 in the bevel gear assembly 3 meshing with the rack 2 is transmitted, and drives the bevel gear I301 of the bevel gear assembly 3 to rotate, and further drives the bevel gear eccentric wheel assembly 4 to transmit, and then the eccentric wheel II402 drives the planar four-bar linkage 4 to transmit, and the rotating connecting rod pair 502 of the four-bar linkage adopts a 1:2 position setting, so that the force consumed by the rotation of the active permanent magnet is reduced by 1 / 2, and the driving connecting rod pair 501 drives the rotating connecting rod pair 502 to move, and the two connecting rod hinge points of the rotating connecting rod pair 502 drive the eccentric wheel I605 to rotate, and the active permanent magnet 603 is driven to flip through the eccentric wheel I605. The magnetic lines of force do not reach the adsorption working pole surface 606 of the permanent magnetic chuck, and a closed loop of the magnetic circuit is formed inside the permanent magnetic chuck (such as Figure 7 As shown, the left end of the fixed permanent magnet is the S pole and the right end is the N pole, and the left end of the movable permanent magnet is the N pole and the right end is the S pole). Almost no magnetic lines of force come out from the working pole surface of the permanent magnetic chuck, and unloading is achieved. At this time, the sensor 202 deviates from the sensor sensing sheet 201, and the teaching device is memorized.

[0040] Move the robot arm to the workpiece, memorize the relevant actions according to the teach pendant, and then press the teach pendant TOOL2 to shrink the cylinder mechanism. The cylinder device drives the rack 2 to move down, and the gear 302 in the bevel gear assembly 3 that meshes with the rack 2 is transmitted, and the bevel gear eccentric wheel assembly 4 is driven to rotate, and then the plane four-bar linkage 5 is driven to transmit. The plane four-bar linkage drives the movable permanent magnet 603 to flip through the eccentric wheel I 605, then the left end of the fixed permanent magnet is the S pole and the right end is the N pole, then the left end of the movable permanent magnet is the S pole and the right end is the N pole, and the magnetic line of force comes out from the N pole of the magnet, passes through the yoke, passes through the ferromagnetic workpiece, and then returns to the yoke to enter the S pole of the magnet. In this way, the workpiece 7 can be firmly sucked on the adsorption working pole surface 606 of the permanent magnetic chuck. The sensor 202 contacts the sensor sensing sheet 201, blocks the light source, and memorizes according to the teach pendant.

[0041] The present invention adopts a pneumatic permanent magnetic chuck rigid connection mode to achieve the purpose of clamping and unloading the workpiece, and can be well applied to the point memory control mode of the robot of the automated production line.

[0042] The grasping range of the present invention is no longer affected by the sensor stroke, which greatly expands the grasping range of the mechanical arm claw at one time. When the diameter of the pin shafts differs by more than 10mm, the grasping range no longer requires manual intervention, which greatly improves the production rhythm and efficiency of the pin shaft flexible automatic production line and reduces labor intensity.

[0043] The present invention is particularly suitable for the production of small batches of pin shaft products of various varieties, and at the same time, can reduce manual intervention, lower labor intensity, and improve the intrinsic safety of the mechanical arm claws.

[0044] The above is only a specific implementation of the present invention, which enables those skilled in the art to understand or implement the present invention. Although detailed descriptions are given with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments, and they should all be covered by the protection scope of the claims.

Claims

1. A magnetic fixture device for a pin-type flexible automated production line robot, comprising a linear drive member (1), a rack (2), a bevel gear assembly (3), a bevel gear eccentric assembly (4), a planar four-bar linkage (5), and a permanent magnetic magnet mechanism (6); Features: The output shaft of the linear drive member (1) is coaxially connected to a rack (2), and the rack (2) is meshed with a gear (302) of a bevel gear assembly (3); the bevel gear I (301) of the bevel gear assembly (3) is meshed with a bevel gear II (401) of a bevel gear eccentric assembly (4); The planar four-bar linkage (5) is composed of a driving connecting rod pair (501) and a rotating connecting rod pair (502); the end of one connecting rod in the driving connecting rod pair (501) is hinged to a fixed seat (503), and the end of the other connecting rod is hinged to an eccentric point on an eccentric wheel II (402) of a bevel gear eccentric wheel assembly (4); the ends of the two connecting rods of the rotating connecting rod pair (502) are hinged to the middle parts of the two connecting rods of the driving connecting rod pair (501); the hinge points of the two connecting rods of the rotating connecting rod pair (502) are hinged to the eccentric point of the eccentric wheel I (605); The permanent magnet magnet mechanism (6) comprises a permanent magnet magnet cavity (601), wherein a fixed permanent magnet (602) and a movable permanent magnet (603) are relatively mounted in the permanent magnet magnet cavity (601), and the end of the movable permanent magnet (603) is coaxially connected to an eccentric wheel I (605) via a connecting shaft (604), and the eccentric wheel I (605) drives the movable permanent magnet (603) to perform 180-degree reciprocating rotation.

2. According to claim 1, a magnetic clamp device for a pin-type flexible automated production line robot is characterized in that: An adsorption working pole surface (606) is formed outside the permanent magnetic absorption cavity (601).

3. A magnetic clamp device for a pin-type flexible automated production line robot according to claim 1 or 2, characterized in that: The rotating connecting rod pair (502) in the planar four-bar linkage (5) adopts a 1:2 position setting.

4. A magnetic clamp device for a pin-type flexible automated production line robot according to claim 1 or 2, characterized in that: A sensor sensing sheet (201) is arranged on the rack (2), and the sensor sensing sheet (201) contacts or deviates from the sensor (202) when the rack (2) moves.

5. The magnetic clamp device for a pin-type flexible automated production line robot according to claim 1, characterized in that: In the unloading state, the magnetic poles of the fixed permanent magnet (602) and the movable permanent magnet (603) are in opposite directions to form a closed loop of the magnetic circuit; In the working state, the magnetic poles of the fixed permanent magnet (602) and the movable permanent magnet (603) have the same direction.

6. The magnetic clamp device for a pin-type flexible automated production line robot according to claim 1, characterized in that: The bevel gear assembly (3) is composed of a bevel gear I (301) and a gear (302) which are coaxially connected.

7. The magnetic clamp device for a pin-type flexible automated production line robot according to claim 1, characterized in that: The bevel gear eccentric wheel assembly (4) is composed of a bevel gear II (401) and an eccentric wheel II (402) which are coaxially connected.

8. The magnetic clamp device for a pin-type flexible automated production line robot according to claim 1, characterized in that: A limit block is provided at the end of the rack (2).

9. The magnetic clamp device for a pin-type flexible automated production line robot according to claim 1, characterized in that: The linear drive component (1) is a cylinder.

10. The magnetic clamp device for a pin-type flexible automated production line robot according to claim 2, characterized in that: The adsorption working pole surface (606) is in an inverted V shape.

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