Grabbing device for part machining tailings and design method
Through the Y-Z dual-axis telescopic structure and multi-axis coordinated control of electromagnetic grippers, the problem of waste of residual materials in automotive parts processing is solved, efficient and accurate recycling is achieved, production costs and safety hazards are reduced, and resource utilization is improved.
Patent Information
- Application Number
- CN202510692208.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-27
- Publication Date
- 2025-08-19
AI Technical Summary
In the prior art, too much residual material is left during the processing of automobile parts, resulting in waste of materials and increased production costs. The existing clamping robot arm is difficult to match with the press, which poses safety hazards.
Using Y-Z biaxial telescopic structure and electromagnetic gripper, combined with multi-axis collaborative control, a device for finishing material processing is designed to achieve efficient and accurate recycling of residual materials through path planning and anti-shake design.
It realizes efficient and accurate recycling of stamping tail materials, reduces waste of residual materials, reduces production costs, reduces safety hazards, and improves resource utilization.
Smart Images
Figure CN120502634A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of automation equipment, and in particular to a device for grabbing tailings used in parts processing and a design method thereof. Background Art
[0002] During the stamping production of automotive parts, a press typically feeds blanks into a die for continuous stamping according to set processing parameters and stamping frequency. However, due to the mechanical limitations of the press, there is a certain distance between the feed mechanism and the die. As a result, when the remaining blank length is insufficient to meet the press's minimum feed requirements, the press automatically determines that the remaining blank cannot be processed further and stops feeding, ultimately disposing of the remaining blank as waste.
[0003] In practice, this excess material can often still meet the needs of stamping one or more workpieces. However, because the press cannot automatically adjust the feed length or accommodate short blanks, operators must intervene. If the operator were to feed the material, this presents a significant safety hazard, easily leading to mechanical injuries and difficulty achieving accurate feeding. Therefore, in actual production, operators often choose to discard the remaining blanks, resulting in material waste and increased production costs.
[0004] In existing technologies, the commonly used gripping robot arm is bulky, making it difficult to precisely grip and feed the material with the press. Furthermore, the robot arm operates independently of the press, making it difficult to match the press's processing frequency. During high-speed stamping, the feeding mechanism must strictly match the press's beat to ensure stable and accurate sheet feeding. This results in excessive excess material during component processing, preventing it from being fully utilized. This leads to significant material waste and increased production costs. Summary of the Invention
[0005] The present invention aims to provide a device and a design method for grabbing tail material for parts processing, so as to solve the problem in the prior art of excessive residual material, resulting in material waste and increased production costs.
[0006] In order to achieve the above object, the present invention adopts the following technical solutions: Option 1: A device for grabbing tail materials for parts processing, wherein the grabbing device is arranged between the press and the belt conveyor through a crossbeam, and the grabbing device includes a Y-axis telescopic structure and a Z-axis telescopic structure arranged on the Y-axis telescopic structure; the Y-axis telescopic structure includes a Y-axis profile rod, a first sliding assembly is provided on both sides of the Y-axis profile rod, and a first gear bar and a drag chain are provided on the upper surface of the Y-axis profile rod; an end gripper is provided at the front end of the Y-axis profile rod, and the end gripper includes a mounting frame provided on the Y-axis profile rod, and an electromagnet is provided on the mounting frame; the Z-axis telescopic structure includes a Z-axis mounting plate provided on the Y-axis profile rod, a Z-axis profile rod and a first reducer are provided on the Z-axis mounting plate; the first reducer cooperates with the first gear bar; a second sliding assembly is provided on both sides of the Z-axis profile rod, a second gear bar is provided at the front end of the Z-axis profile rod, the second sliding assembly is provided on the crossbeam, a second reducer is provided on the crossbeam, and the second gear bar cooperates with the second reducer.
[0007] Solution 2 provides a design method for a device for grabbing tailings for parts processing, which is applied to the above-mentioned device for grabbing tailings for parts processing, and includes the following process: Gripper selection: Set the gripping method and select the corresponding gripper structure based on the quality, size and processing requirements of the remaining parts; Path planning: Calculate the path length based on the workpiece coordinate matrix, boundary conditions, and effective gripping force to obtain the process path diagram; Anti-vibration design: Calculate vibration suppression parameters, anti-backlash gear set parameters, sensor position, and guide rail stiffness based on path speed and distance, gripper allowable amplitude, and equipment operating vibration coefficient; Gear ratio calculation: Calculate the electronic gear ratio based on the servo motor encoder resolution, gear circumference, and reducer reduction ratio.
[0008] The principles and advantages of this solution are: This solution achieves efficient and accurate recycling of stamping waste through a multi-axis collaborative structure and intelligent control. A YZ dual-axis telescopic structure is used in conjunction with an electromagnetic gripper to build a gripping system that can flexibly move between the press and the conveyor belt. The Y-axis profile rod is horizontally telescopic through a rack and pinion drive, and cooperates with sliding components on both sides to ensure movement stability; the Z-axis profile rod completes vertical movement through another set of gear transmissions, allowing the end gripper to accurately locate waste materials at different heights. This solution combines a rigid structure with flexible control. The dual-reducer drive gear bar structure not only ensures transmission accuracy (repeat positioning accuracy ±0.02mm), but also realizes follow-up protection of electrical circuits through drag chain integration.
[0009] Existing robotic arm structures generally use fixed-stroke cylinders or simple connecting rod mechanisms, which are unable to adapt to the layout differences between different presses and lack error correction capabilities. Furthermore, conventional electromagnetic chucks are prone to material dropout during high-speed movement. This solution, through vibration suppression and stiffness optimization, controls the amplitude of the suction state to within 0.01mm. This overcomes press vibration, robotic arm vibration, and positioning deviations caused by inertial impact during high-speed movement, thereby improving grasping accuracy.
[0010] This solution solves the industry problem of the non-fixed spacing between the press and the conveyor belt through multi-degree-of-freedom adjustment, and can adapt to the layout of more than 80% of stamping production lines. Secondly, the collaborative design of the electromagnetic gripper and the mechanical structure breaks through the limitations of a single adsorption method. It can not only quickly grasp thin sheet materials of 0.5-4mm (adsorption force adjustable from 50-400N), but also expand the mechanical gripper through the mounting bracket to handle special-shaped parts. Most importantly, the entire system can maintain a grasping accuracy of ±0.05mm at a high-speed beat of 30 times / minute through the deep integration of path planning and anti-shake design, thereby meeting the grasping needs of different residual material production, reducing residual material waste, and reducing production costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0011] Figure 1 The present invention is a schematic diagram of the installation structure of a tailing grabbing device for parts processing.
[0012] Figure 2 The present invention is a structural schematic diagram of a device for grabbing tailings used in parts processing.
[0013] Figure 3 This is another structural schematic diagram of a device for grabbing tailings used in parts processing according to the present invention.
[0014] Figure 4 The present invention is a schematic structural diagram of a Y-axis telescopic structure of a tail material grabbing device for parts processing.
[0015] Figure 5 This is a schematic structural diagram of the sliding block perspective of a device for grabbing tailings for parts processing according to the present invention.
[0016] Figure 6 The present invention is a schematic diagram of the end gripper structure of a device for grabbing tailings in parts processing.
[0017] Figure 7 This is a schematic diagram of the partial structure of the Y-axis telescopic structure of a tail material grabbing device for parts processing according to the present invention.
[0018] Figure 8 The present invention is a schematic structural diagram of a Z-axis telescopic structure of a tail material grabbing device for parts processing.
[0019] Figure 9 The present invention is a schematic structural diagram of a Z-axis mounting plate for a tail material grabbing device for parts processing.
[0020] Figure 10 for Figure 8 Schematic diagram of the local structure of part A in the middle.
[0021] Figure 11 The present invention is a schematic structural diagram of a crossbeam used in a device for grabbing tailings in parts processing.
[0022] Figure 12 The figure is a flow chart of the method for designing a tailing grabbing device for parts processing according to the present invention.
[0023] Figure 13 This is a path diagram of the method for designing a tail material grabbing device for parts processing according to the present invention.
[0024] The symbols in the drawings of the specification include: press 1, belt conveyor 2; crossbeam 3, main beam 31, support base 32; grabbing device 15; Y-axis telescopic structure 4, Y-axis profile rod 41, first sliding assembly 42, first gear bar 43, drag chain 44, slide rail 45, sliding block 46, toothed block 47, T-block 48; Z-axis telescopic structure 5, Z-axis mounting plate 51, Z-axis profile rod 52, second sliding assembly 53, second gear bar 54; End gripper 6, mounting frame 61, electromagnet 62, Z-shaped connector 63, magnet positioning plate 64, connecting plate 65; The first sensor group 7, the first limiting column 8, the front limiting column 81, the rear limiting column 82; the sensor sensing plate 9, the baffle 10, the first reducer 11, the second reducer 12, the second limiting column 13, the upper group of limiting columns 131, the lower group of limiting columns 132; the second sensor group 14. DETAILED DESCRIPTION
[0025] The following is further described in detail through specific implementation methods: Example 1 In this embodiment, a device and design method for grabbing tail materials for parts processing are used. By analyzing the processing requirements of the residual materials, the stamping frequency of the press, and the impact of the operation vibration, multi-axis linkage control is adopted to design a device with simple operation and precise trajectory to realize intelligent tail material grabbing, thereby reducing human intervention, reducing safety hazards, improving resource utilization, and reducing material waste.
[0026] Solution 1: A device for grabbing tailings used in parts processing, as shown in the attached Figure 1As shown, the gripping device 15 is installed between the press 1 and the conveyor belt 2 via a crossbeam 3. A control terminal is also installed on one side of the press 1 and is electrically connected to the gripping device. In this embodiment, the control terminal uses PLC motion control to achieve precise trajectory operation of the gripping device. During operation, the operation can be started by entering the corresponding parameters on the control terminal panel, achieving visual management and status feedback.
[0027] In this embodiment, as shown in the attached Figure 2 and attached Figure 3 As shown, the grasping device 15 includes a Y-axis telescopic structure 4 which is arranged at the lower end of the press 1 and can move along the Y-axis direction at the lower end of the press 1, and a Z-axis telescopic structure 5 installed on the Y-axis telescopic structure 4. The Z-axis telescopic structure 5 can move up and down along the Z-axis direction on the beam 3, and at the same time drive the Y-axis telescopic structure 4 to move up and down together.
[0028] Combined with attachment Figure 4 As shown, the Y-axis telescopic structure 4 includes a Y-axis profile rod 41, which is an overall rectangular parallelepiped structure. In this embodiment, the Y-axis profile rod 41 is an aluminum profile with a length of 1500-2000 mm, a height of 40-60 mm, and a width of 160-200 mm. First sliding assemblies 42 are mounted on both sides of the Y-axis profile rod 41, and a first gear bar 43 and a drag chain 44 are mounted on the upper surface of the Y-axis profile rod 41.
[0029] In this embodiment, the first sliding assembly 42 includes a slide rail 45 mounted on both sides of the Y-axis profile rod 41 by bolts, and a plurality of sliding blocks 46 are installed on the slide rail 45 at intervals. Figure 5 As shown, the sliding block 46 includes a toothed block 47, which is clamped on the slide rail 45 so that the slide rail 45 can slide in the toothed block 47, thereby driving the Y-axis profile rod 41 to move along the Y axis in the toothed block 47. A T-shaped block 48 is installed on the outside of the toothed block 47 by bolts. Figure 3 As shown, a Z-axis mounting plate 51 is mounted on the T-block 48. The other end of the drag chain 44 passes under the Z-axis mounting plate 51 and is mounted on the Z-axis mounting plate 51, and the Y-axis profile rod 41 is driven to move by the drag chain 44.
[0030] As attached Figure 5 As shown, an end gripper 6 is installed at the front end of the Y-axis profile rod 41. The end gripper 6 is arranged at the upper end of the Y-axis profile rod 41, so that there is a certain height difference between the end gripper 6 and the Y-axis profile rod 41. It is convenient to flexibly adjust the height to suit different types of molds. Figure 6As shown, the end gripper 6 includes a mounting frame 61 provided on the Y-axis profile rod 41, and an electromagnet 62 is provided on the mounting frame 61. In this embodiment, the mounting frame 61 is installed at the end of the Y-axis profile rod 41 via a Z-shaped connector 63. A magnet positioning plate 64 is installed at the front end of the mounting frame 61 via a nut. In this embodiment, the magnet positioning plate 64 is a T-shaped structure, and the electromagnet 62 is installed at the lower end of the magnet positioning plate 64. Connecting plates 65 are also installed on both sides of the mounting frame 61 to ensure the stability of the end gripper 6 and reduce the impact of shaking caused by its own movement. At the same time, the end gripper 6 can be quickly replaced according to the size of the residual material to improve the versatility of the device, so that it can be applied to a variety of residual material grasping and ensure the stability and accuracy of the grasping.
[0031] Combined with attachment Figure 7 As shown, a first sensor group 7 and a first limit post 8 are also installed on the Y-axis profile rod 41. The first sensor group 7 includes two sensors, each mounted on the Z-axis mounting plate 51 via a T-shaped mounting bracket. Correspondingly, a sensor plate 9 is also mounted on the Y-axis profile rod 41 to match the first sensor group 7. This ensures the accuracy of the travel path and the precision of the step distance, improving grasping efficiency.
[0032] The first limiting column 8 is installed at the rear end of the end gripper. In this embodiment, a baffle 10 with a convex upper end is installed at the rear end of the Y-axis profile rod 41. The first limiting column 8 includes a front-end limiting column 81 and a rear-end limiting column 82 that are relatively arranged, wherein the front-end limiting column 81 is installed at the rear end of the end gripper 6, which is installed at the rear end of the Z-shaped connector 63, and the rear-end limiting column 82 is installed at the front end of the baffle 10. When the Y-axis profile rod 41 moves along the Y-axis, the maximum moving distance can be limited by the first limiting column 8 to avoid exceeding the moving range and affecting the grasping operation, thereby ensuring the safety and stability of the operation.
[0033] As attached Figure 8 As shown, the Z-axis telescopic structure 5 includes a Z-axis mounting plate 51 provided at one end of the Y-axis profile rod 41. Figure 9 As shown, the Z-axis mounting plate 51 is provided with a plurality of mounting holes and visual holes, which facilitate the installation of the Z-axis telescopic structure 5 on the Y-axis profile rod 41. At the same time, other structures such as sensors and reducers are integrated to reduce the overall structure of the device, making it easier for the grasping device to be installed between the press 1 and the belt conveyor 2. At the same time, the Z-axis mounting plate 51 is used to improve stability and reduce the vibration caused by the device.
[0034] A Z-axis profile rod 52 and a first reducer 11 are vertically mounted on the Z-axis mounting plate 51. The lower end of the first reducer 11 is a transmission gear, which cooperates with the first gear bar 43 to realize the movement control of the Y-axis profile rod 41. At the same time, by designing the gear ratio, precise path control and step movement adjustment are realized to ensure the accuracy and stability of the residual material grabbing. A second sliding assembly 53 is installed on both sides of the Z-axis profile rod 52. In this embodiment, the second sliding assembly 53 is similar in structure to the first sliding assembly 42, and both include two slide bars installed on each side, and sliding blocks are installed on the slide bars. The up and down movement of the Z-axis profile rod 52 is realized by the cooperation between the slide bars and the sliding blocks. It will not be repeated here, so as to simplify the processing process, improve manufacturing efficiency, and improve material utilization.
[0035] As attached Figure 10 As shown, a second gear bar 54 is provided at the front end of the Z-axis profile rod 52, and a second sliding assembly 53 is mounted on the crossbeam 3. Specifically, the sliding block in the second sliding assembly 53 is mounted on the crossbeam 3, so that the Z-axis profile rod 52 can move up and down on the crossbeam 3.
[0036] In this embodiment, as shown in the attached Figure 11 As shown, the crossbeam 3 includes a main beam 31 with an overall U-shaped structure. Figure 1 As shown, both ends of the main beam 31 are bolted to the front end of the press 1, creating a gap between the crossbeam 3 and the press 1. This allows for the Z-axis telescopic structure 5 to move along the Z axis while also minimizing the impact of equipment vibration on the gripping device, ensuring that the press and gripping devices are synchronized. A support base 32 is secured to the middle of the main beam 31. A sliding block is mounted on one side of the support base 32, allowing the second sliding assembly 53 to be mounted on the support base 32. A second reducer 12 is mounted on the other side of the support base 32. The second reducer 12 is mounted on the crossbeam 3.
[0037] Combined with attachment Figure 10 and attached Figure 11 As shown, a driving gear is provided at the end of the second reducer 12, and the second gear bar 54 cooperates with the driving gear of the second reducer 12, so that the Z-axis profile rod 52 can achieve precise Z-axis movement.
[0038] A second limiting post 13 is provided on the Z-axis profile rod 52, and a second sensor group 14 is mounted on the crossbeam 3. In this embodiment, the second limiting post 13 comprises an upper set of limiting posts 131 and a lower set of limiting posts 132, which are arranged opposite each other. The upper set of limiting posts 131 comprises two, arranged in parallel at the upper end of the second gear bar 54, while the lower set of limiting posts 132 comprises two, arranged in parallel at the lower end of the second gear bar 54. This limits the maximum range of motion of the Z-axis profile rod 52, ensuring the effectiveness and safety of motion control.
[0039] The second sensor group 14 includes two sensors, which are respectively installed at both ends of the support base 32. At the same time, a sensor sensing piece is also installed on the Z-axis profile rod 52 to ensure accurate acquisition and determination of movement data in all directions.
[0040] A plurality of reinforcing ribs are also installed on the Z-axis mounting plate 51 to ensure the stability of the device, reduce the impact of vibration, and improve accuracy.
[0041] Option 2 A design method for a device for grabbing tailings in component processing is provided, which is applied to the above-mentioned device for grabbing tailings in component processing. In this embodiment, in order to achieve accurate and stable grabbing and transportation of automobile stamping waste, technical refinement is carried out from four key links: gripper selection, path planning, anti-shake design and transmission system optimization, to ensure that the system can still maintain high precision and anti-interference capabilities under high-speed operation.
[0042] In this embodiment, in the early stages of design, to address the serious waste of on-site scrap, this solution proposed an innovative method of having a robotic arm reach into the mold cavity and perform parallel grasping. However, this design encountered technical challenges far beyond expectations during implementation, and each step forward was accompanied by difficult research and repeated verification: 1. Z-axis dilemma caused by mold height difference.
[0043] During the initial design phase of the initial design, the inconsistency of mold heights between each product was not fully considered. As a result, most molds were affected by the Z-axis's range of motion during gripping, making gripping impossible under most conditions. This issue directly undermined the fundamental logic of the initial design and forced a re-examination of the structural adaptability.
[0044] 2. Risk of lateral force loss of control and sheet falling off.
[0045] During early planning, we focused solely on the quality of the blanks and ignored the lateral force generated by the robot after they were absorbed. This resulted in the blanks falling off during actual operation, exposing a critical oversight in the dynamic analysis. Consequently, we had to pause our work and conduct a secondary modeling and simulation of the suction force and motion trajectory.
[0046] 3. Rigidity problems caused by gear ratio blind spots.
[0047] During the initial selection process, the impact of the motor gear ratio on rigidity was not considered. This resulted in the robot arm falling due to insufficient drive force after installation and the brake failing to hold the robot. This led to another R&D dilemma, necessitating a complete redesign of the drive design and a recalculation of the relationship between load and gear ratio.
[0048] 4. Breakthrough of electronic gear ratio limit.
[0049] After calculating the electronic gear ratio, when entering the configured drive parameters (for example, the conventional electronic gear ratio of the Yaskawa drive is 4000:1), it was prompted that the ratio range of 4000:1 was exceeded, resulting in the inability to meet the positioning accuracy requirements. After research, the ratio was converted again through the program-level algorithm, and the ratio reconstruction was creatively achieved, thereby achieving precise positioning and overcoming the adaptation barriers of the servo system. Based on this, after 4 iterations of the solution and dozens of failure tests, the traditional idea was finally abandoned and the clever design of raising the gripping end was adopted. The seemingly simple structural adjustment unexpectedly solved the complex problems of mold height compatibility, lateral force compensation and rigidity optimization, and finally formed this solution, as shown in the attached figure. Figure 12 As shown, it includes the following processes: Gripper selection: Set the gripping method and select the corresponding gripper structure based on the quality, size and processing requirements of the component residue.
[0050] In this embodiment, an electromagnet is used to grasp the scrap material, tailored to its quality, size, and stamping process requirements. By analyzing the thickness of the scrap material, electromagnet adsorption can be used for rapid grasping. Proportional-controlled electromagnets are also used to precisely control the adsorption force by adjusting the current to prevent sheet deformation. This solves problems such as a loose grip or excessive force leading to sheet deformation during grasping, improving both the success rate and stability of the grasping process.
[0051] Path planning: Calculate the length of the path section and obtain the process path diagram based on the workpiece coordinate matrix, boundary conditions, and effective gripping force.
[0052] In this embodiment, a dynamic segmented path design is adopted based on the workpiece coordinate lattice and the mold safety boundary. The path adopts a three-stage path of rapid movement, buffer deceleration and precise adsorption, and the corresponding speed and acceleration are set. For the front feed section, a fast straight line approach can be made, and an S-shaped acceleration and deceleration curve is used for smooth transition to reduce the start-stop impact. The speed is reduced to 0.1m / s at a distance of 10mm from the grasping point, and the buffer deceleration section is switched to. The position deviation is corrected in real time through sensor ranging. After reaching the adsorption point, it descends vertically and starts contact positioning to avoid collision.
[0053] In this embodiment, after the path design, the grabbing path diagram is as shown in the attached Figure 13As shown in the figure, according to the requirements of the residual material processing, when the residual material is insufficient to enable pressure transmission, the gripping device is activated and quickly moves from the starting point along the Y material picking position to position 1. It then starts to decelerate and adjust the position deviation 10mm away from position 1. Grab the material along the Z position and set a delay to prevent vibration. According to the mold processing step, the residual material is transferred to position 3, and after dropping the residual material, it returns to position 4, and then returns to position 5 and then returns to the starting point. A signal is sent to start the press for pressing. After the pressing is completed, the robot is sent a signal to start the grabbing area again. This is repeated to achieve fast and stable grasping of the residual material in the shortest path and reduce the impact of vibration.
[0054] Anti-vibration design: Calculate vibration suppression parameters, anti-backlash gear set parameters, sensor position, and guide rail stiffness based on path speed and distance, gripper allowable amplitude, and equipment operating vibration coefficient; In this embodiment, to suppress positioning deviations caused by press vibration, robotic arm vibration, and inertial impact during high-speed movement, a cross-roller guide was used and a preloaded anti-backlash gear set was used, achieving backlash of less than 0.005mm, thus reducing mechanical looseness at the source. Furthermore, a damping dwell time of 50ms was added at turning points to allow vibration to decay before continuing movement.
[0055] Gear ratio calculation: Calculate the electronic gear ratio based on parameters such as the servo motor encoder resolution, gear circumference, and reducer reduction ratio.
[0056] In this embodiment, the transmission ratio and power distribution are optimized based on the required path length and stamping cycle. With load inertia matching as the core, the gear ratio is calculated using a formula. In this embodiment, the Y-axis electronic gear ratio is 2097257:1000, and the Z-axis electronic gear ratio is 1398148:1000, ensuring that the motor operates in the high-efficiency torque range.
[0057] It also includes error correction, adjusting the travel path and gear ratio parameters according to the actual grasping step distance.
[0058] In this embodiment, a sensor is used to monitor the actual grasping position and compare it with the theoretical path coordinates in real time to generate a three-dimensional error vector map. The step error is calculated, and when the error value exceeds a set threshold, a correction process is triggered.
[0059] In this embodiment, by optimizing the Z-axis running trajectory, the problem of inconsistent heights of different molds is solved, so that the manipulator can adapt to all types of molds on site, and the grasping success rate is increased to more than 98%, which completely solves the intervention risk caused by insufficient stroke. Secondly, dynamic monitoring and compensation of lateral force are introduced to ensure that the sheet is stably fitted during high-speed movement, overcome the problem of shedding caused by inertia force in traditional methods, and reduce the amount of waste. More importantly, this solution significantly enhances the rigidity of the manipulator by recalculating and matching the motor gear ratio and optimizing the servo drive parameters, eliminating hidden dangers such as jitter and slipping, and improving the stability and reliability of equipment operation. In addition, the dynamic conversion of the electronic gear ratio is used to break through the default ratio limit of the driver, improve positioning accuracy, and lay a high-precision foundation for subsequent process automation.
[0060] This solution not only solves the problem of waste of tailings, but also reduces manual intervention in the recycling process to zero through the combination of structural innovation and intelligent control, greatly saving production costs and improving production efficiency.
[0061] Example 2 In this embodiment, a sliding assembly is also provided in the X-axis direction, that is, a sliding assembly is provided between the support seat 32 and the main beam 31, so that the support seat 32 and the main beam 31 can move left and right in the X-axis direction, thereby realizing multi-degree-of-freedom adjustment to meet the residual material grabbing requirements of different presses and improve the versatility and applicability of the grabbing device.
[0062] Example 3 In this embodiment, an adjustment handle is installed on the magnet positioning plate 64 of the end gripper 6. This handle adjusts the spacing between the two electromagnets to accommodate different scrap material handling requirements, enhancing the flexibility of the gripping device. In this embodiment, the optimal electromagnet spacing is automatically calculated based on the width of the scrap material. A bidirectional screw adjustment mechanism is used, with each rotation corresponding to a 2mm change in the electromagnet spacing. The recommended number of handle rotations is displayed on the HMI interface. This improves the device's compatibility, allowing it to accommodate scrap material widths ranging from 50-250mm, reducing changeover time, minimizing magnetic leakage and instability, and effectively reducing energy consumption for adsorption.
[0063] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the technical solution of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the description can be used to interpret the content of the claims.
Claims
1. A device for grabbing tailings used in parts processing, characterized by: The grabbing device is arranged between the press and the belt conveyor through a crossbeam, and the grabbing device includes a Y-axis telescopic structure and a Z-axis telescopic structure arranged on the Y-axis telescopic structure; the Y-axis telescopic structure includes a Y-axis profile rod, a first sliding component is provided on both sides of the Y-axis profile rod, and a first gear bar and a drag chain are provided on the upper surface of the Y-axis profile rod; an end gripper is provided at the front end of the Y-axis profile rod, and the end gripper includes a mounting bracket provided on the Y-axis profile rod, and an electromagnet is provided on the mounting bracket; the Z-axis telescopic structure includes a Z-axis mounting plate provided on the Y-axis profile rod, a Z-axis profile rod and a first reducer are provided on the Z-axis mounting plate; the first reducer cooperates with the first gear bar; a second sliding component is provided on both sides of the Z-axis profile rod, and a second gear bar is provided at the front end of the Z-axis profile rod, the second sliding component is provided on the crossbeam, a second reducer is provided on the crossbeam, and the second gear bar cooperates with the second reducer.
2. The device for grabbing tailings for parts processing according to claim 1, characterized in that: A first sensor group and a first limiting column are provided on the Y-axis profile rod, and the first limiting column is provided at the rear end of the end gripper; a second limiting column is provided on the Z-axis profile rod, and a second sensor group is provided on the crossbeam.
3. The device for grabbing tailings for parts processing according to claim 1, characterized in that: The mounting frame is arranged on the end of the Y-axis profile rod through a Z-shaped connecting piece. A magnet positioning plate is provided at the front end of the mounting frame, and the electromagnet is arranged at the lower end of the magnet positioning plate.
4. The device for grabbing tailings for parts processing according to claim 2, characterized in that: A baffle is provided at the rear end of the Y-axis profile rod; the first limiting column includes a front limiting column and a rear limiting column arranged relatively to each other, the front limiting column is provided at the rear end of the end gripper, and the rear limiting column is provided at the front end of the baffle.
5. The device for grabbing tailings for parts processing according to claim 2, characterized in that: The second limiting posts include an upper group of limiting posts and a lower group of limiting posts that are relatively arranged. The upper group of limiting posts is arranged at the upper end of the second gear bar, and the lower group of limiting posts is arranged at the lower end of the second gear bar.
6. The device for grabbing tailings for parts processing according to claim 1, characterized in that: It also includes a control end, which is arranged on one side of the press and is electrically connected to the gripping device.
7. A design method for a tailings grabbing device for parts processing, characterized in that: A device for grabbing tailings for parts processing as described in any one of claims 1 to 6 includes the following process: Gripper selection: Set the gripping method and select the corresponding gripper structure based on the quality, size and processing requirements of the remaining parts; Path planning; According to the workpiece coordinate matrix, boundary conditions and effective gripping force, the path length is calculated to obtain the process path diagram; Anti-vibration design: Calculate vibration suppression parameters, anti-backlash gear set parameters, sensor position, and guide rail stiffness based on path speed and distance, gripper allowable amplitude, and equipment operating vibration coefficient; Gear ratio calculation: Calculate the electronic gear ratio based on the servo motor encoder resolution, gear circumference, and reducer reduction ratio.
8. The method for designing a device for catching tailings in parts processing according to claim 7, characterized in that: The path adopts a three-stage path of rapid movement, buffer deceleration and precise adsorption, and sets corresponding speed and acceleration.
9. The method for designing a device for grabbing tailings in parts processing according to claim 7, characterized in that: It also includes adding damping dwell time at path turning points.
10. The method for designing a device for catching tailings in parts processing according to claim 7, characterized in that: It also includes error correction, adjusting the travel path and gear ratio parameters according to the actual grasping step distance.