A robot and a robot hand

Abstract

A mechanical hand and robot belong to the technical field of robot equipment, and are used for feeding and discharging an I-beam; comprising a main body connecting mechanism and a clamping jaw mechanism, the main body connecting mechanism is used for mounting the mechanical hand on a mechanical arm of the robot. The clamping jaw mechanism comprises a clamping jaw driving cylinder and a plurality of clamping jaw bodies, the clamping jaw driving cylinder is used for driving the clamping jaw bodies to clamp an edge of one end of the I-beam, so that the axis of the I-beam coincides with the axis of the clamping jaw mechanism. The length of the clamping jaw body is variable, when clamping I-beams of different specifications, the distance between the end face of the other end of the I-beam and the first connecting plate of the main body connecting mechanism is kept as a first interval. Therefore, after changing the specification of the I-beam, only the length of the clamping jaw body needs to be adjusted, so that the position of the center point of the end face of the other end of the I-beam in the coordinate system of the mechanical hand remains unchanged, and then the point position of the mechanical hand and the automatic program do not need to be repeatedly debugged.

Description

Technical Field

[0001] This invention relates to the field of robotic equipment technology, and in particular to a robotic arm and robot. Background Technology

[0002] In modern production lines, robotic arms are often used to replace manual labor, improving production efficiency and reducing the burden on manual workers. Steel cord is a wire made of multiple strands of steel wire twisted together, possessing excellent tensile strength and durability. This special wire is widely used in the manufacture of tires, power transmission cables, cable conduits, bulletproof vests, and other fields. In the industrial production process of steel cord, the I-beam reel serves as the core load-bearing and winding / transferring tool, mainly used for winding, storing, transferring, and loading / unloading steel cord, and is a key carrier connecting various production processes.

[0003] With the popularization of intelligent manufacturing technology, steel cord production lines have gradually achieved automation upgrades, and robotic arms are generally used to replace traditional manual labor to complete repetitive tasks such as loading and unloading and transferring I-beams. This effectively avoids the problems of high intensity, low efficiency and poor safety of manual operation, greatly improves the automation level and production efficiency of the production line, and reduces labor production costs.

[0004] However, in actual industrial production, to adapt to the product specifications of different customers and the processing requirements of different production processes, the same steel cord production line needs to frequently switch between different specifications of I-beams. These I-beams vary significantly in axial length, radial diameter, and wheel structure dimensions. Currently, most existing robotic arms adapted to steel cord I-beams are single-specification customized structures, capable only of clamping and transferring fixed-size I-beams, exhibiting extremely poor versatility.

[0005] In summary, current steel cord I-beam reel handling robots suffer from poor versatility, low adaptability, high cost of specification switching and debugging, and significant downtime losses, failing to meet the automated production requirements for rapid switching between multiple I-beam reels. Therefore, there is an urgent need to develop a robot with optimized structure, strong adaptability, and compatibility with multiple I-beam reels. This robot would eliminate the need for repeated debugging of robot positioning and automation programs, enabling stable clamping and automatic loading / unloading of different I-beam reels, effectively addressing the pain points and deficiencies of existing technologies, improving the flexibility of production lines, and reducing production losses. Summary of the Invention

[0006] In view of the above-mentioned problems of the prior art, this application provides a robotic arm and robot that can adapt to and be compatible with different specifications of I-beams. After the specifications of the I-beams change, there is no need to repeatedly adjust the robotic arm position and automation program, so as to realize stable clamping and automatic loading and unloading of I-beams of different specifications. This effectively solves the pain points and defects of the prior art, improves the flexibility of production line, and reduces production losses.

[0007] To achieve the above objectives, the first aspect of this application provides a robotic arm for loading and unloading I-beams; comprising:

[0008] A main connecting mechanism, wherein a first connecting end is provided on the main connecting mechanism, and a first connecting plate is provided on the side of the main connecting mechanism away from the first connecting end;

[0009] A gripper mechanism is mounted on the first connecting plate and includes a gripper drive cylinder and a gripper body. Multiple gripper bodies are provided and are arranged parallel to the axis of the gripper mechanism. The gripper drive cylinder is connected to the gripper body in a transmission manner and drives the gripper body to move closer to / away from the axis of the gripper mechanism to grip the edge of one end of the I-beam wheel, so that the axis of the I-beam wheel coincides with the axis of the gripper mechanism.

[0010] The length of the gripper body is variable, and when gripping the I-beams of different specifications, the end face of the other end of the I-beam is kept at a first distance from the first connecting plate.

[0011] As described above, the gripper mechanism uses a gripper drive cylinder to drive the gripper body closer to / away from the gripper mechanism's axis, thereby clamping and fixing one end edge of the I-beam wheel. When the specifications of the I-beam wheel change, the length of the gripper body can be adjusted to ensure that the distance between the other end face of the I-beam wheel and the first connecting plate always maintains the first spacing. This ensures that the center point of the other end face of the I-beam wheel remains constant in the robot's coordinate system, eliminating the need for adjustments to the robot's positioning and automation program. This allows for normal loading and unloading of the I-beam wheel, effectively addressing the pain points and defects of existing technologies, improving the flexibility of the production line, and reducing production losses.

[0012] As one possible implementation of the first aspect, the gripper mechanism further includes a gripper base, wherein multiple gripper bases are correspondingly provided with the gripper bodies, are mounted on the gripper drive cylinder, and are slidably connected to the gripper drive cylinder. The gripper drive cylinder drives the gripper bases to move closer to / away from the axis of the gripper mechanism. The gripper bodies are provided in multiple sets, and multiple gripper bodies in each set are detachably mounted on multiple gripper bases. Each set of gripper bodies corresponds to a type of I-beam wheel. By mounting the gripper bodies in different sets on the gripper bases, the length of the gripper bodies can be varied.

[0013] As described above, by setting multiple sets of gripper bodies, each set of gripper bodies can be adapted to different specifications of I-beam wheels. Therefore, when the specifications of the I-beam wheels change, the length of the gripper body can be changed by replacing the corresponding set of gripper bodies. This reduces the difficulty of adjusting the gripper body length, simplifies the operation steps, and reduces the cost of manual intervention.

[0014] As one possible implementation of the first aspect, the gripper mechanism further includes gripper limiting blocks, which are mounted on the gripper base. When the gripper drive cylinder drives the gripper base to slide, so that the gripper body completes the gripping of the I-beam wheel, the gripper limiting blocks on the multiple gripper bases abut against each other.

[0015] As mentioned above, when the gripper mechanism clamps the I-beam, using a long gripper body may cause excessive torque on the gripper drive cylinder, potentially damaging it. By setting gripper limiting blocks on the gripper base, multiple gripper limiting blocks on the gripper base abut against each other when the gripper body completes clamping the I-beam, thus limiting the gripper base and gripper body and preventing the gripper drive cylinder from experiencing excessive torque.

[0016] As one possible implementation of the first aspect, the robotic arm also includes a magnetic suction element mounted on the first connecting plate for adsorbing the I-beam wheel held by the gripper mechanism.

[0017] As described above, by using a magnetic suction device to hold the I-beam wheel in place, after the robotic arm loads the I-beam wheel onto the take-up spool of the wet drawing machine and the gripper mechanism releases the wheel, the magnetic suction device keeps the I-beam wheel connected to the robotic arm. Therefore, by driving the magnetic suction device to rotate, the I-beam wheel can be rotated, allowing for angle adjustment. Once the angle of the I-beam wheel is adjusted, it can be pushed to the root of the take-up spool, completing the loading process.

[0018] As one possible implementation of the first aspect, the main connecting mechanism includes: a connecting rod, one end of which is mounted on the first connecting plate; a second connecting plate, which is mounted on the other end of the connecting rod, and the magnetic suction member is mounted on the second connecting plate; wherein the length of the connecting rod is variable, and when the gripper mechanism clamps the I-beams of different specifications, the magnetic suction member is made to be in contact with one end face of the I-beam.

[0019] As described above, by making the length of the connecting rod variable, the position of the magnetic chuck can be adjusted. This allows the length of the connecting rod to be adjusted accordingly when the specifications of the I-beam wheel change, ensuring the magnetic chuck remains in contact with one end face of the I-beam wheel. Therefore, the magnetic chuck can be adapted to and compatible with I-beam wheels of different specifications. When the specifications of the I-beam wheel change, only the length of the connecting rod needs to be changed, eliminating the need for repeated adjustments to the robot arm's positioning and automation program. This effectively solves the pain points and defects of existing technologies, improves the flexibility of production lines, and reduces production losses.

[0020] As one possible implementation of the first aspect, the connecting rod is provided in multiple sets, with one end of the connecting rod in each set being detachably mounted on the first connecting plate and the other end being detachably mounted on the second connecting plate; each set of connecting rods corresponds to a type of I-beam wheel, and the length of the connecting rod is variable by mounting the connecting rods in different sets on the first connecting plate and the second connecting plate.

[0021] As described above, by setting multiple sets of connecting rods, each set of connecting rods can be adapted to I-beam wheels of different specifications. Therefore, when the specifications of the I-beam wheels change, the position of the magnetic component can be changed by replacing the corresponding set of connecting rods, allowing the magnetic component to adhere to the end face of the I-beam wheel. This reduces the difficulty of adjusting the position of the magnetic component, simplifies the operation steps, and reduces manual intervention costs.

[0022] As one possible implementation of the first aspect, the robot also includes a wire clamping rod mechanism mounted on the first connecting plate. The wire clamping rod mechanism has a wire clamping part, which clamps and fixes the wire between the wet drawing machine and the I-beam after the wire output from the wet drawing machine is wound on the I-beam.

[0023] As described above, by setting up a wire clamping rod mechanism, the wire can be clamped and fixed through the wire clamping part. This facilitates the unloading operation of the I-beam reel.

[0024] As one possible implementation of the first aspect, the distance between the clamping part and the first connecting plate is a second spacing, which is smaller than the first spacing, so that the clamping part is located at the position corresponding to the outer periphery of the I-beam wheel.

[0025] As described above, by making the second spacing smaller than the first spacing, the wire clamping part is positioned on the outer periphery of the I-beam wheel. This allows the robot arm to control the wire clamping part to align with the wire when controlling the gripper mechanism to clamp the I-beam wheel, thus enabling the wire to be clamped and fixed.

[0026] As one possible implementation of the first aspect, the difference between the first spacing and the second spacing is equal to 1 / 3 of the axial length of the I-beam with the smallest axial length among the various sizes of I-beams.

[0027] As described above, by fixing the clamping part at 1 / 3 of the axial length of the I-beam with the smallest axial length among various sizes of I-beams, it is possible to ensure that the clamping part is still located at the corresponding position on the outer periphery of the I-beam even after changing the specifications of the I-beam, which facilitates the clamping part in clamping the wire.

[0028] As one possible implementation of the first aspect, the robotic arm also includes a welding mechanism that, after the wire output from the wet drawing machine is wound on the I-beam, welds the wire between the wet drawing machine and the wire clamping part.

[0029] As described above, by setting a fusing mechanism, after the wire is wound on the I-beam reel, the wire between the wet drawing machine and the wire clamping part is fused, which makes it convenient for the wire clamping part to keep the wire end in a clamping state and to feed the I-beam reel.

[0030] A second aspect of this application provides a robot, comprising:

[0031] A robotic arm, wherein a second connecting end is provided at the end of the robotic arm;

[0032] A robotic arm, which is mounted on the second connecting end, and the robotic arm is any one of the robotic arms described in the first aspect.

[0033] These and other aspects of the invention will become more apparent from the following description of several embodiments. Attached Figure Description

[0034] The various features of the present invention and the relationships between them are further explained below with reference to the accompanying drawings. The drawings are exemplary; some features are not shown to scale, and some drawings may omit conventional features in the field of this application that are not essential to this application, or additional features that are not essential to this application may be shown. The combination of features shown in the drawings is not intended to limit the present application. Furthermore, throughout this specification, the same reference numerals refer to the same things. Specific descriptions of the drawings are as follows:

[0035] Figure 1 This is a schematic diagram of a robot loading materials onto an I-beam wheel.

[0036] Figure 2 for Figure 1 A magnified view of a portion of the image;

[0037] Figure 3 This is a schematic diagram showing the robotic arm clamping the I-beam wheel.

[0038] Figure 4 A side view diagram of the clamping mechanism when clamping I-beams of different sizes;

[0039] Figure 5 for Figure 3 A schematic diagram of the main body connection mechanism;

[0040] Figure 6 This is a schematic diagram of the wire clamping rod mechanism and the fuse mechanism.

[0041] Explanation of reference numerals in the attached figures

[0042] 10 Robot; 100 Robotic Arm; 200 Robotic Hand; 210 Main Body Connection Mechanism; 211 Connecting Flange; 212 Main Connecting Rod; 213 Pipeline Guide Plate; 214 Solenoid Valve Connecting Plate; 215 Tool Head Terminal Box; 216 First Connecting Plate; 217 Third Connecting Plate; 218 Connecting Rod; 219 Second Connecting Plate; 220 Gripper Mechanism; 221 Gripper Drive Cylinder; 222 Gripper Base; 223 Gripper Body; 224 Gripper Limiting Block; 225 Gripper Connecting Screw; 226 Gripper Connecting Pin; 230 Magnetic Attachment; 240 Fuse Mechanism; 241 Telescopic Cylinder; 242 Fuse; 250 Wire Clamping Rod Mechanism; 251 Wire Clamping Rod Cylinder; 252 Wire Clamping Rod Cylinder Base; 253 Wire Clamping Rod Bearing Connecting Plate; 254 Wire clamp bearing; 255 Wire clamp; 255a Outer rod; 255b Inner rod; 255c Chuck; 256 Clamping part; 20 Wet drawing machine; 21 Take-up spool; 30 H-beam reel. Detailed Implementation

[0043] The terms "first, second, third, etc." or similar terms such as module A, module B, module C, etc., used in the specification and claims are only used to distinguish similar objects and do not represent a specific ordering of objects. It is understood that a specific order or sequence may be interchanged where permitted so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0044] The term "comprising" as used in the specification and claims should not be construed as limiting itself to what follows; it does not exclude other elements. Therefore, it should be interpreted as specifying the presence of the mentioned feature, integral, or component, but does not exclude the presence or addition of one or more other features, integrals, or components, or groups thereof. Thus, the statement "equipment comprising means A and B" should not be limited to an equipment consisting solely of components A and B.

[0045] The term "an embodiment" or "an embodiment" as used in this specification means that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in at least one embodiment of the invention. Therefore, the terms "in one embodiment" or "in an embodiment" appearing throughout this specification do not necessarily refer to the same embodiment, but may refer to the same embodiment. Furthermore, in one or more embodiments, the particular features, structures, or characteristics can be combined in any suitable manner, as will be apparent to those skilled in the art from this disclosure.

[0046] The following description, with reference to the accompanying drawings, provides an exemplary description of possible embodiments of the robotic arm 200 in this application.

[0047] like Figures 1-4 As shown, this application provides a robotic arm 200 for loading and unloading I-beam wheels 30, including a main body connecting mechanism 210 and a gripper mechanism 220. The main body connecting mechanism 210 has a first connecting end, and a first connecting plate 216 is provided on the side of the main body connecting mechanism 210 away from the first connecting end. The gripper mechanism 220 is mounted on the first connecting plate 216 and includes a gripper drive cylinder 221 and a gripper body 223. Multiple gripper bodies 223 are provided and arranged parallel to the axis of the gripper mechanism 220. The gripper drive cylinder 221 is kinetically connected to the gripper body 223, driving the gripper body 223 to move closer to / away from the axis of the gripper mechanism 220 to grip the edge of one end of the I-beam wheel 30, so that the axis of the I-beam wheel 30 coincides with the axis of the gripper mechanism 220. The length of the gripper body 223 is variable, so that when gripping different sizes of I-beam wheels 30, the distance between the end face of the other end of the I-beam wheel 30 and the first connecting plate 216 is maintained at a first distance.

[0048] As described above, the gripper mechanism 220 drives the gripper body 223 to move closer to / away from the axis of the gripper mechanism 220 via the gripper drive cylinder 221, thereby achieving the clamping and fixing of one end edge of the I-beam wheel 30. When the specifications of the I-beam wheel 30 change, the length of the gripper body 223 can be changed to ensure that the distance between the end face of the other end of the I-beam wheel 30 and the first connecting plate 216 always maintains the first spacing. Therefore, the position of the center point of the end face of the other end of the I-beam wheel 30 in the coordinate system of the robot 200 remains unchanged. Consequently, there is no need to debug the positioning and automation program of the robot 200, and the loading and unloading operations of the I-beam wheel 30 can be normally achieved. This effectively solves the pain points and defects of the existing technology, improves the flexibility of the production line, and reduces production losses.

[0049] In some embodiments, such as Figure 4As shown, the gripper mechanism 220 also includes gripper bases 222. Multiple gripper bases 222 are correspondingly arranged with the gripper bodies 223, mounted on and slidably connected to the gripper drive cylinder 221. The gripper drive cylinder 221 drives the gripper bases 222 to move closer to / away from the axis of the gripper mechanism 220. Multiple sets of gripper bodies 223 are provided, and each set of gripper bodies 223 is detachably mounted on multiple gripper bases 222. Each set of gripper bodies 223 corresponds to a specific size of I-beam wheel 30. By mounting gripper bodies 223 from different sets on the gripper bases 222, the length of the gripper body 223 can be varied. Therefore, by providing multiple sets of gripper bodies 223, each set of gripper bodies 223 can be adapted to different sizes of I-beam wheels 30. Thus, when the size of the I-beam wheel 30 changes, the length of the gripper body 223 can be changed by replacing the corresponding set of gripper bodies 223. This reduces the difficulty of adjusting the length of the gripper body 223, simplifies the operation steps, and reduces the cost of manual intervention.

[0050] In some embodiments, such as Figure 4 As shown, the gripper mechanism 220 also includes gripper limiting blocks 224, which are mounted on the gripper base 222. When the gripper drive cylinder 221 drives the gripper base 222 to slide, causing the gripper body 223 to complete the gripping of the I-beam wheel 30, the gripper limiting blocks 224 on the multiple gripper bases 222 abut against each other. Therefore, if a longer gripper body 223 is used when the gripper mechanism 220 is gripping the I-beam wheel 30, the torque borne by the gripper drive cylinder 221 may be too large, which may damage the gripper drive cylinder 221. By setting gripper limiting blocks 224 on the gripper base 222, when the gripper body 223 completes the gripping of the I-beam wheel 30 and clamps the I-beam wheel 30, the gripper limiting blocks 224 on multiple gripper bases 222 abut against each other, thereby limiting the gripper base 222 and gripper body 223 and preventing the gripper drive cylinder 221 from bearing excessive torque.

[0051] In some other embodiments, the gripper body 223 is provided with a telescopic structure, which adjusts the length of the gripper body 223 by extending / retracting the end of the gripper body 223. Alternatively, other structures that can change the length of the gripper body 223 may be provided on the gripper body 223, which is not limited here.

[0052] In some embodiments, such as Figure 5As shown, the robotic arm 200 also includes a magnetic suction component 230, which is mounted on the first connecting plate 216 and used to attract the I-beam wheel 30 held by the gripper mechanism 220. Thus, by setting the magnetic suction component 230 to attract the I-beam wheel 30, after the robotic arm 200 loads the I-beam wheel 30 onto the take-up shaft of the wet drawing machine 20 and controls the gripper mechanism 220 to release the I-beam wheel 30, the magnetic suction component 230 can maintain the connection between the I-beam wheel 30 and the robotic arm 200. Therefore, by driving the magnetic suction component 230 to rotate, the I-beam wheel 30 can be driven to rotate, thereby adjusting the angle of the I-beam wheel 30. After the angle of the I-beam wheel 30 is adjusted, it can be pushed to the root of the take-up shaft to complete the loading of the I-beam wheel 30.

[0053] In some embodiments, such as Figure 5 As shown, the main connecting mechanism 210 includes a connecting rod 218 and a second connecting plate 219. One end of the connecting rod 218 is mounted on a first connecting plate 216, and the second connecting plate 219 is mounted on the other end of the connecting rod 218. A magnetic suction element 230 is mounted on the second connecting plate 219. The length of the connecting rod 218 is variable. When the gripper mechanism 220 clamps I-beam wheels 30 of different specifications, the magnetic suction element 230 is brought into contact with one end face of the I-beam wheel 30. Therefore, by making the length of the connecting rod 218 variable, the position of the magnetic suction element 230 can be adjusted so that when the specifications of the I-beam wheel 30 change, the length of the connecting rod 218 can be changed accordingly, ensuring that the magnetic suction element 230 remains in contact with one end face of the I-beam wheel 30. Therefore, the magnetic suction component 230 can be adapted to and compatible with I-beam wheels 30 of different specifications. When the specifications of the I-beam wheel 30 are changed, only the length of the connecting rod 218 needs to be changed. There is no need to repeatedly adjust the position of the robot arm 200 and the automation program, which effectively solves the pain points and defects of the existing technology, improves the flexibility of the production line, and reduces production losses.

[0054] In some embodiments, such as Figure 5 As shown, multiple sets of connecting rods 218 are provided. One end of each connecting rod 218 in each set is detachably mounted on the first connecting plate 216, and the other end is detachably mounted on the second connecting plate 219. Each set of connecting rods 218 corresponds to a specific size of I-beam wheel 30. By installing connecting rods 218 from different sets on the first connecting plate 216 and the second connecting plate 219, the length of the connecting rods 218 can be varied. Therefore, by providing multiple sets of connecting rods 218, each set can be adapted to different sizes of I-beam wheels 30. This allows the position of the magnetic component 230 to be changed by replacing the corresponding set of connecting rods 218 when the size of the I-beam wheel 30 changes, ensuring that the magnetic component 230 can be in contact with the end face of the I-beam wheel 30. This reduces the difficulty of adjusting the position of the magnetic component 230, simplifies the operation steps, and reduces manual intervention costs.

[0055] In some other embodiments, the connecting rod 218 is provided with a telescopic structure, which adjusts the length of the gripper body 223 by extending / retracting the end of the connecting rod 218. Alternatively, other structures that can change the length of the connecting rod 218 may be provided on the connecting rod 218, which is not limited here.

[0056] In some embodiments, such as Figure 6 As shown, the robotic arm 200 also includes a wire clamping mechanism 250, which is mounted on the first connecting plate 216. The wire clamping mechanism 250 has a wire clamping section. After the wire output from the wet drawing machine 20 is wound onto the I-beam reel 30, the wire clamping section clamps and fixes the wire between the wet drawing machine 20 and the I-beam reel 30. Therefore, by setting the wire clamping mechanism 250, the wire can be clamped and fixed through the wire clamping section. This facilitates the unloading operation of the I-beam reel 30.

[0057] In some embodiments, the distance between the clamping portion and the first connecting plate 216 is a second spacing, which is smaller than the first spacing, so that the clamping portion is positioned on the outer periphery of the I-beam wheel 30. By making the second spacing smaller than the first spacing, the clamping portion is positioned on the outer periphery of the I-beam wheel 30, thereby facilitating the alignment of the clamping portion with the wire when the robot arm 200 controls the gripper mechanism 220 to clamp the I-beam wheel 30, so as to clamp and fix the wire.

[0058] In some embodiments, the difference between the first spacing and the second spacing is equal to 1 / 3 of the axial length of the I-beam 30 with the smallest axial length among the various sizes of I-beam 30. Therefore, by fixing the clamping part 256 at the position of 1 / 3 of the axial length of the I-beam 30 with the smallest axial length among the various sizes of I-beam 30, it is possible to ensure that the clamping part 256 is still positioned on the outer periphery of the I-beam 30 even after changing its specifications, thus facilitating the clamping part 256 in clamping the wire.

[0059] In some embodiments, such as Figure 6 As shown, the robotic arm 200 also includes a fusing mechanism 240. After the wire output from the wet drawing machine 20 is wound on the I-beam reel 30, the fusing mechanism 240 fuses the wire between the wet drawing machine 20 and the wire clamping part. Thus, by setting the fusing mechanism 240, the wire between the wet drawing machine 20 and the wire clamping part is fused after the wire is wound on the I-beam reel 30, thereby facilitating the wire clamping part to keep the wire end clamped while feeding the I-beam reel 30.

[0060] The above description provides an exemplary description of possible embodiments of the robotic arm 200 in this application. Below, with reference to the accompanying drawings, a detailed description of the specific structure of the robot 10 in this application will be given in a particular embodiment.

[0061] like Figure 1 , Figure 2 As shown, the robot 10 is positioned near the wet drawing machine 20 and includes a robotic arm 100 and a robotic hand 200. The robotic arm 100 is a six-axis robotic arm, and a six-axis flange (second connection end) is provided at the end of the robotic arm 100. The robotic hand 200 is mounted on the six-axis flange and is used to clamp the steel cord I-beam 30. The robotic arm 100 can drive the robotic hand 200 to load the empty I-beam 30 onto the take-up shaft 21 of the wet drawing machine 20 to wind the steel cord. The robotic arm 100 can also drive the robotic hand 200 to unload the I-beam 30 after it has been wound with steel cord for subsequent processes.

[0062] like Figure 3 As shown, the robotic arm 200 includes a main body connection mechanism 210, a gripper mechanism 220, a magnetic suction component 230, a fusion cutting mechanism 240, and a wire clamping rod mechanism 250. The gripper mechanism 220, magnetic suction component 230, fusion cutting mechanism 240, and wire clamping rod mechanism 250 are fixed to the main body connection mechanism 210 by screws to form the robotic arm 200 of the robot 10. The gripper mechanism 220 is used to clamp and fix one end of the I-beam wheel 30, the magnetic suction component 230 is used to magnetically attract one end of the I-beam wheel 30, the wire clamping rod mechanism 250 is used to clamp and fix the steel cord, and the fusion cutting mechanism 240 is used to fuse and cut the steel cord.

[0063] like Figure 3 , Figure 5 As shown, the main connecting mechanism 210 includes a connecting flange 211 (i.e., the first connecting end), a main connecting rod 212, a pipeline guide plate 213, a solenoid valve connecting plate 214, a tool head terminal box 215, a first connecting plate 216 (i.e., the first connecting plate) and a third connecting plate 217, a connecting rod 218 and a second connecting plate 219. The connecting flange 211, main connecting rod 212, pipeline guide plate 213, solenoid valve connecting plate 214, tool head terminal box 215, first connecting plate 216, and third connecting plate 217 are connected by screws to form a square frame structure. The connecting flange 211 and the first connecting plate 216 are arranged parallel to each other. The connecting flange 211 can be fixed to the six-axis flange of the robotic arm 100 by screws, and the gripper mechanism 220 is fixed to the first connecting plate 216 by screws. The third connecting plate 217 is mounted on the first connecting plate 216 and is located on one side of the first connecting plate 216. The fuse mechanism 240 and the wire clamping rod mechanism 250 are mounted on the third connecting plate 217.

[0064] like Figure 4 As shown, the gripper mechanism 220 includes a gripper drive cylinder 221, a gripper base 222, and a gripper body 223. Figure 4The document also shows three models of gripper bodies 223: WS34, WS50, and WS18. Only one model of gripper body 223, gripper limiting block 224, gripper connecting screw 225, and gripper connecting pin 226 are installed during use. The gripper drive cylinder 221 is fixed to the first connecting plate 216 (i.e., the intermediate connecting plate of the tool head) by screws. The axis of the gripper drive cylinder 221 is perpendicular to the first connecting plate 216. The gripper base 222 is fixed to the gripper drive cylinder 221 by screws. Three gripper bases 222 are evenly arranged in a circular array on a plane parallel to the first connecting plate 216. They can slide radially along the gripper mechanism 220 under the drive of the gripper drive cylinder 221, moving closer to / away from the axis of the gripper mechanism 220. The gripper body 223 has three sets, namely WS34, WS50, and WS18 models, used to match the production of WS34, WS50, and WS18 I-beam wheels 30. Each set of gripper bodies 223 has three units, which can be connected to the gripper base 222 via gripper connecting screws 225 and gripper connecting pins 226. When the specifications of the I-beam wheel 30 change, the corresponding model of gripper body 223 can be replaced. This ensures that when the gripper drive cylinder 221 drives the gripper base 222 to slide against the gripper body 223, clamping the edge of one end of the I-beam wheel 30, the distance between the end face of the other end of the I-beam wheel 30 and the first connecting plate 216 remains at a first distance.

[0065] In addition, because the gripper body 223 of the WS18 model is too long, the gripper drive cylinder 221 bears a large torque when the gripper mechanism 220 grips the I-beam wheel 30. Therefore, gripper limit blocks 224 are installed on the gripper drive cylinder 221 by screws. Through detailed design, it is ensured that when the gripper mechanism 220 clamps the I-beam wheel 30, the gripper limit blocks 224 on the three gripper bases 222 are just in contact, preventing the cylinder from bearing too much torque.

[0066] like Figure 5 As shown, one end of the connecting rod 218 is detachably connected to the first connecting plate 216, and the second connecting plate 219 is detachably connected to the other end of the connecting rod 218. The magnetic suction component 230 is mounted on the second connecting plate 219, facing the I-beam wheel 30. Three sets of connecting rods 218 are provided, with different lengths corresponding to three models of I-beam wheels 30: WS34, WS50, and WS18. When the specifications of the I-beam wheel 30 change, by replacing the corresponding model of the gripper body 223 and the corresponding model of the connecting rod 218, the magnetic suction component 230 can remain in contact with the end face of the I-beam wheel 30 when the clamping mechanism holds one edge of the I-beam wheel 30, thus maintaining a magnetic attraction connection between the I-beam wheel 30 and the magnetic suction component 230.

[0067] like Figure 3 , Figure 6 As shown, the wire clamping rod mechanism 250 includes a wire clamping rod cylinder 251, a wire clamping rod cylinder base 252, a wire clamping rod bearing connecting plate 253, a wire clamping rod bearing 254, and a wire clamping rod 255. The wire clamping rod cylinder base 252 and the wire clamping rod bearing connecting plate 253 are connected to the third connecting plate 217 by screws. The wire clamping rod cylinder 251 is connected to the wire clamping rod cylinder base 252 by screws. The wire clamping rod bearing 254 and the wire clamping rod 255 are mounted on the wire clamping rod bearing connecting plate 253. The wire clamping rod 255 includes an outer rod 255a, an inner rod 255b, and a clamp 255c. The outer rod 255a, inner rod 255b, and clamp 255c are coaxially arranged. Specifically, the outer rod 255a is cylindrical, and the inner rod 255b is cylindrical, matching the inner diameter of the outer rod 255a. The inner rod 255b is inserted into the outer rod 255a at one end and exits from the other end. The clamp 255c is installed at the end of the outer rod 255a, forming a clamping portion 256 between itself and the end face of the other end of the outer rod 255a. The piston rod of the wire clamping rod cylinder 251 is connected to the inner rod 255b, driving the inner rod 255b to extend and retract along its axial extension direction, causing the clamp 255c to move closer to / away from the end face of the other end of the outer rod 255a, thereby clamping / releasing the wire curtain that has entered the clamping portion 256. The position of the clamping part 256 is fixed. Specifically, the distance between the clamping part 256 and the other end face of the I-beam 30 clamped on the clamping mechanism is fixed, and can be, for example, equal to 1 / 3 of the axial length of the smallest I-beam 30 (WS18). This ensures that regardless of the size of the I-beam 30 used, the clamping part 256 is always located at the corresponding position on the outer circumference of the I-beam 30, so that the wire curtain can enter the clamping part 256 and be clamped and fixed by the wire clamping rod mechanism 250.

[0068] The wire clamp bearing 254 is connected to the wire clamp bearing connecting plate 253 by screws. The outer rod 255a cooperates with the wire clamp bearing 254, so that the outer rod 255a is mounted on the wire clamp bearing connecting plate 253 and can rotate around its axis. The clamp 255c is also mounted on the inner rod 255b by bearings, so that the clamp 255c can rotate around the axis of the inner rod 255b. That is, the outer rod 255a and the clamp 255c can rotate coaxially. Thus, after the wire curtain is clamped in the clamping part 256, when the robot arm 200 moves the wire curtain, for example, around the I-beam 30, and winds the wire curtain around the I-beam 30, the outer rod 255a and the clamp 255c can rotate with the wire curtain, preventing the wire curtain from getting wrapped around the wire clamp 255.

[0069] like Figure 3 , Figure 6As shown, the fusing mechanism 240 includes a telescopic cylinder 241 and a fuse 242. The fuse 242 is mounted on the telescopic cylinder 241 by screws, and the telescopic cylinder 241 is fixed to the third connecting plate 217 by screws. The telescopic cylinder 241 can drive the fuse 242 to move along the axial extension direction of the clamping mechanism. Therefore, after the wire clamping rod mechanism 250 clamps and fixes the wire curtain, the fuse 242 can be extended by the telescopic cylinder 241, allowing the wire curtain to enter the fuse 242 and be melted by it.

[0070] In summary, the robot arm 200 is designed based on the contact surface between the take-up shaft of the wet drawing machine 20 and the I-beam 30 (the end face of the I-beam 30 away from the clamping mechanism 220). All movements are based on the contact surface between the take-up shaft and the I-beam 30. Taking this contact surface as the XOY plane and the axis of the take-up shaft as the Z-axis, a suitable wire clamping rod mechanism 250 is designed based on this design concept. Specifically, the wire clamping rod mechanism 250 can adapt to all the loading and unloading process requirements of the I-beam 30. On this basis, when the I-beam 30 is replaced, only the corresponding gripper body 223 and the magnetic suction part 230 connecting rod 218 need to be replaced to resume production.

[0071] Compared to existing technologies, the robot 10 in this application, through its modular and replaceable structural design, allows for easy adaptation to production lines by simply replacing the appropriate gripper body 223 and connecting rod 218 for I-beams 30 of different lengths and diameters. This eliminates the need for re-adjustment and modification of the robot 10's motion points, trajectory, and automated control program. This fundamentally solves the technical drawbacks of traditional robotic arms 200 and similar existing technologies, such as cumbersome changeover processes, long debugging cycles, and significant downtime losses. Therefore, the robot 10 in this application offers significant technical advantages and production application value. The beneficial effects of the robot 10 in this application are as follows:

[0072] 1. Significantly reduces production line downtime for model changeovers, minimizing capacity loss. Eliminating the complex processes of traditional model changeovers requiring complete machine debugging and program calibration, the system allows for rapid adaptation of multiple specifications of I-beam wheels simply by replacing basic tooling parts. This completely avoids the previous five-day downtime debugging cycle for a single model changeover, greatly improving production line changeover efficiency, effectively reducing downtime caused by frequent model changeovers, maximizing production time utilization, avoiding significant output losses, and significantly increasing the overall production line capacity.

[0073] 2. Reduce production and maintenance costs, and save human and material resources. This invention eliminates the need for professional technicians to repeatedly perform 10-point robot calibration, program modification, and debugging, significantly reducing manual debugging costs and equipment maintenance costs. At the same time, it simplifies the production line changeover process, lowers the changeover threshold, reduces operational errors and equipment failure risks caused by manual intervention during the changeover process, and improves the stability and reliability of the production line operation.

[0074] 3. Enhance the production line's flexibility and adapt to diverse production needs. It is compatible with various sizes and specifications of steel cord I-beam reels for loading and unloading, enabling rapid response to customers' diverse, multi-batch, and fast-iterative product production requirements. This solves the problems of poor versatility and limited compatibility of traditional robotic arms, greatly improving the flexibility and adaptability of steel cord production lines. It aligns with modern intelligent manufacturing production models and has extremely high market application and promotion value.

[0075] Note that the above are merely preferred embodiments and the technical principles employed in this application. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present application has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, all of which fall within the scope of protection of the present invention.

Claims

1. A robotic arm, characterized in that, Used for loading and unloading materials onto I-beam reels; including: A main connecting mechanism, wherein a first connecting end is provided on the main connecting mechanism, and a first connecting plate is provided on the side of the main connecting mechanism away from the first connecting end; A gripper mechanism is mounted on the first connecting plate and includes a gripper drive cylinder and a gripper body. Multiple gripper bodies are provided and are arranged parallel to the axis of the gripper mechanism. The gripper drive cylinder is connected to the gripper body in a transmission manner and drives the gripper body to move closer to / away from the axis of the gripper mechanism to grip the edge of one end of the I-beam wheel, so that the axis of the I-beam wheel coincides with the axis of the gripper mechanism. The length of the gripper body is variable, and when gripping the I-beams of different specifications, the end face of the other end of the I-beam is kept at a first distance from the first connecting plate.

2. The robotic arm according to claim 1, characterized in that, The gripper mechanism further includes gripper bases, and multiple gripper bases are correspondingly provided with the gripper bodies. They are mounted on the gripper drive cylinder and slidably connected to the gripper drive cylinder. The gripper drive cylinder drives the gripper bases to move closer to / away from the axis of the gripper mechanism. Multiple sets of gripper bodies are provided, and multiple gripper bodies in each set are detachably mounted on multiple gripper bases. Each set of gripper bodies corresponds to a type of I-beam wheel. By mounting the gripper bodies from different sets on the gripper bases, the length of the gripper body can be varied.

3. The robotic arm according to claim 2, characterized in that, The gripper mechanism further includes gripper limiting blocks, which are mounted on the gripper base. When the gripper drive cylinder drives the gripper base to slide, so that the gripper body completes the gripping of the I-beam wheel, the gripper limiting blocks on the multiple gripper bases abut against each other.

4. The robotic arm according to any one of claims 1-3, characterized in that, It also includes a magnetic suction component, which is mounted on the first connecting plate and is used to attract the I-shaped wheel held by the gripper mechanism.

5. The robotic arm according to claim 4, characterized in that, The main body connection mechanism includes: A connecting rod, one end of which is mounted on the first connecting plate; A second connecting plate is installed at the other end of the connecting rod, and the magnetic suction element is installed on the second connecting plate; The length of the connecting rod is variable, and when the gripper mechanism clamps the I-beams of different specifications, the magnetic suction element is made to be in contact with one end face of the I-beam.

6. The robotic arm according to claim 5, characterized in that, The connecting rod is provided in multiple sets. One end of the connecting rod in each set is detachably mounted on the first connecting plate, and the other end is detachably mounted on the second connecting plate. Each set of connecting rods corresponds to a type of I-beam wheel. By mounting the connecting rods in different sets on the first connecting plate and the second connecting plate, the length of the connecting rod can be made variable.

7. The robotic arm according to any one of claims 1-3, characterized in that, It also includes a wire clamping rod mechanism, which is mounted on the first connecting plate. The wire clamping rod mechanism has a wire clamping part. After the wire output from the wet drawing machine is wound on the I-beam reel, the wire clamping part clamps and fixes the wire between the wet drawing machine and the I-beam reel.

8. The robotic arm according to claim 7, characterized in that, The distance between the clamping part and the first connecting plate is the second spacing, which is smaller than the first spacing, so that the clamping part is located at the position corresponding to the outer periphery of the I-beam wheel.

9. The robotic arm according to claim 8, characterized in that, The difference between the first spacing and the second spacing is equal to 1 / 3 of the axial length of the I-beam with the smallest axial length among the various specifications of I-beams.

10. A robot, characterized in that, include: A robotic arm, wherein a second connecting end is provided at the end of the robotic arm; A robotic arm, which is mounted on the second connecting end, and the robotic arm is the robotic arm according to any one of claims 1-9.

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