Tooling

Abstract

The utility model discloses an end picking-up device which comprises a support, a controller arranged on the support and a plurality of vacuum suction mechanisms detachably connected to the support, electrically connected with the controller and arranged at intervals. The controller is used for controlling the multiple vacuum suction mechanisms matched with product characteristics to be opened so as to pick up the products, the matched vacuum valves are controlled to be opened according to different products so as to automatically pick up the products for machining, the universality of the tooling is improved, the manufacturing cost of the tooling is saved, and when different products are produced, the production efficiency is improved. And the tooling does not need to be manually replaced and debugged, so that the product processing is smoother, more efficient and more convenient.

Description

Technical Field

[0001] The utility model belongs to the technical field of production and processing, and specifically relates to an end picker. Background Art

[0002] When processing notebook products, the end picker is one of the commonly used devices for picking up products. During the production process, the end picker is usually connected to a robot or other equipment for use. Since notebook parts have different sizes and shapes, the end picker will be manufactured according to different products during processing, and then the staff will manually replace the end picker to facilitate the processing of the corresponding workpiece. Different end pickers are not universal. To pick up different products, the end picker needs to be replaced with the appropriate one, and each time the end picker is replaced, it needs to be debugged repeatedly, which affects the processing efficiency. Utility Model Content

[0003] Aiming at the technical problems in the prior art that, when processing different products, end pickers have poor versatility and different end pickers need to be manually replaced to pick up different products, the utility model provides an end picker.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An end picker includes a bracket, a controller arranged on the bracket, and a plurality of vacuum suction mechanisms detachably connected to the bracket, electrically connected to the controller and arranged at intervals. The controller is used to control the opening of a plurality of vacuum suction mechanisms adapted to product features to complete picking up the product.

[0006] Furthermore, each of the vacuum suction mechanisms comprises a vacuum valve and a suction cup disposed at the lower end of the vacuum valve; the vacuum valve comprises a valve body having a valve cavity penetrating along the axial direction, an electromagnetic head disposed above the valve body, and a self-locking valve core disposed in the valve body;

[0007] The self-locking valve core comprises a valve stem movably arranged in the valve cavity and a self-locking mechanism cooperating with the valve stem, wherein the valve stem has a sliding cavity distributed along the axial direction, and a plurality of movable holes are distributed on the cavity wall of the sliding cavity along its circumference, and each of the movable holes penetrates the cavity wall of the sliding cavity in the radial direction; the valve stem also has a vacuum cavity distributed along the axial direction, one end of the vacuum cavity is connected to an external air source through an air guide, and the other end is connected to the suction cup;

[0008] The self-locking mechanism comprises a limit ball movably arranged in each of the movable holes, a movable pin slidably matched with the sliding cavity, and a locking portion arranged on the inner wall of the valve body; the movable pin is provided with a magnetic member magnetically matched with the electromagnetic head, and the movable pin is also provided with a limit ball pushing portion, and the limit ball pushing portion is used to push the limit ball to move outward when the movable pin moves toward the direction of the suction cup;

[0009] When the electromagnetic head is energized in the forward direction, it generates the electromagnetic force identical to the magnetic pole of the magnetic part, so as to drive the movable pin connected to the sliding cavity to move downward. The movable pin moves downward to drive the limit ball to move radially outward along the valve stem. The limit ball is locked by the locking part at the corresponding position, so that the vacuum chamber in the valve stem is connected to the air guide part to complete the opening of the vacuum valve to pick up the product, and control the electromagnetic head to cut off the power; when the electromagnetic head is energized in the reverse direction, it generates the electromagnetic force opposite to the magnetic pole of the magnetic part, so as to move the movable pin upward. The valve stem moves upward and resets under the action of a first elastic part.

[0010] Furthermore, the movable pin includes a pin head, a first pin portion, an inclined portion and a second pin portion which are arranged in sequence from top to bottom and have gradually decreasing outer diameters. The pin head is exposed outside the sliding cavity, the magnetic part is a permanent magnet and is embedded in the upper end of the pin head, and the outer periphery of the inclined portion is defined as the limiting ball pushing portion.

[0011] Furthermore, the locking portion includes a locking groove provided on the inner wall of the valve body and recessed toward the outside, the locking groove is open and has two inclined locking surfaces and a vertical surface, and the vertical surface is connected between the two inclined locking surfaces; when the limiting ball is limited in the locking groove, the limiting ball is supported by the inclined locking surface and the vertical surface.

[0012] Furthermore, a limiting step is provided at a position between the air guide portion and the suction cup in the valve cavity, a limiting flange is convexly provided on the outer periphery of the valve stem, and the first elastic member is a spring sleeved on the outer periphery of the valve stem and located below the limiting flange;

[0013] When the movable pin drives the valve stem to move downward, the limiting flange moves downward and compresses the spring; when the movable pin drives the valve stem to move upward, the limiting ball moves toward the moving hole, so that the extended first elastic member pushes the valve stem to move upward until the limiting flange abuts against the top surface of the limiting step to limit the position of the valve stem.

[0014] Further, the air guide portion includes an air guide groove arranged on the outer wall of the valve stem, a plurality of first air guide holes arranged at intervals in the air guide groove and communicating with the vacuum chamber, a second air guide hole arranged on the valve body, and a vacuum joint communicating with the outer end of the second air guide hole; the outer wall of the valve stem is also embedded with a first sealing ring, a second sealing ring and a third sealing ring arranged at intervals along the height direction of the valve stem, and the air guide groove is distributed between the first sealing ring and the second sealing ring; when the second air guide hole is communicated with the first air guide hole to communicate with the vacuum circuit, the first sealing ring and the second sealing ring are respectively located at the upper and lower sides of the second air guide hole, completing the opening of the vacuum valve;

[0015] When the first air guide hole and the second air guide hole are misaligned to disconnect the vacuum circuit, the second sealing ring and the third sealing ring are respectively located at the upper and lower sides of the second air guide hole to complete the closing of the vacuum valve.

[0016] Furthermore, the vacuum suction mechanism also includes a buffer component which is movably connected to the valve stem at one end and connected to the suction cup at the other end for buffering the impact force of the product, and an anti-detachment mechanism for preventing the buffer component from detaching from the valve stem. The buffer component has a sliding cavity distributed along the axial direction, and the lower end of the valve stem is slidably connected to the sliding cavity so that the buffer component can move back and forth up and down along the valve stem. A second elastic component is provided above the buffer component for pushing the buffer component to return to its original position.

[0017] Furthermore, the anti-slip mechanism includes an elastic stop ring arranged below the valve body and connected to the outer wall of the valve stem, a gasket arranged at the lower end of the elastic stop ring, an anti-slip groove opened on the outer wall of the valve stem, and an anti-slip bolt connected to the buffer and with one end extending into the anti-slip groove. The second elastic member is a spring that sleeves the valve stem inside and has two ends respectively abutting against the gasket and the buffer. The anti-slip groove is arranged along the height direction of the valve stem, and the anti-slip bolt is arranged adjacent to the upper surface of the buffer and can move back and forth along the arrangement direction of the anti-slip groove.

[0018] Furthermore, the electromagnetic head includes a fixed iron core located above the valve body, an electromagnetic coil arranged between the fixed iron core and the valve body and capable of surrounding the upper part of the movable pin, and a third elastic member arranged in the electromagnetic coil and located between the fixed iron core and the magnetic member, and the electromagnetic coil respectively has a first connecting wire and a second connecting wire.

[0019] Further, the bracket includes a first frame, a second frame arranged transversely at the lower end of the first frame, and a plurality of third frames arranged longitudinally at the upper end of the second frame and parallel to the first frame, and the controller is installed on the first frame;

[0020] The second frame is provided with at least two first long through holes respectively located on both sides of the second frame, the first long through holes are arranged along the length direction of the second frame, and a plurality of the third frames are mounted on the second frame one by one by a plurality of first mounting bolts, and the mounting position of the third frames can be adjusted along the arrangement direction of the first long through holes;

[0021] Each of the third frames is provided with at least two installation hole groups arranged at intervals, and each of the installation hole groups includes three second long through holes spaced apart along the width direction of the third frame. One end of the self-locking valve cores of multiple vacuum valves pass through the second long through hole in the middle and are connected to the suction cup one by one. The second long through holes on both sides are fixed to the vacuum valve and the third frame by second installation bolts. The second long through holes are arranged along the length direction of the third frame, and the vacuum valve can adjust the installation position along the arrangement direction of the second long through holes.

[0022] In summary, the beneficial effects of the utility model are as follows: 1. When picking up a product, the current product can be picked up by controlling the corresponding vacuum valve to open. Before changing to pick up products of different shapes, the opened vacuum valve is controlled to close, and then the main control system controls multiple vacuum valves that are adapted to the characteristics of the next product to open to complete the adaptation of the next product. No more repeated development of end pickers, the end pickers can be used to adsorb more different products, avoid frequent replacement and debugging of end pickers, and save processing costs and time. The picking method is automated, and switching different vacuum suction mechanisms to open makes it easier to operate to process the corresponding products. 2. The vacuum valve installed on the bracket can adjust the installation position horizontally or vertically, and can flexibly cooperate to pick up more different products, further enhancing the versatility. 3. The vacuum valve in the vacuum suction mechanism has a self-locking mechanism, and the limit ball and the locking part can stably lock the valve stem position, which improves the safety of the system and prevents vacuum failure or equipment failure caused by accidental unlocking. The tight locking can also increase the structural strength of the self-locking mechanism. 4. After the vacuum valve is opened, the electromagnetic coil is powered off. While keeping the valve stem extended, the power consumption can be significantly reduced, saving energy and improving energy efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 The utility model is a structural schematic diagram of an end picker provided by the utility model.

[0024] Figure 2 It is a three-dimensional structural schematic diagram of the vacuum suction mechanism in the utility model.

[0025] Figure 3 It is an orthographic projection view of the vacuum suction mechanism in the utility model.

[0026] Figure 4 yes Figure 3 Top view of the .

[0027] Figure 5 yes Figure 4 AA section view.

[0028] Figure 6 yes Figure 5 A partial enlarged view of part A in the middle.

[0029] Figure 7 yes Figure 5 Schematic diagram of the structure with the vacuum valve in the open state.

[0030] Figure 8 yes Figure 7 A partial enlarged view of part B in the middle.

[0031] Fig. 9 yes Figure 7 Schematic diagram of the structure of the valve body.

[0032] Fig.10 yes Fig. 9 Schematic diagram of the three-dimensional structure of the middle and outer shells.

[0033] Fig.11 yes Fig. 9 Schematic diagram of the three-dimensional structure of the middle valve cover plate.

[0034] Fig.12 It is a three-dimensional structural schematic diagram of the self-locking valve core in the utility model.

[0035] Fig.13 yes Fig.12 Schematic diagram of the three-dimensional structure of the middle moving pin.

[0036] In the figure, 100-bracket, 110-first frame, 120-second frame, 121-first long through hole, 122-first mounting bolt, 130-third frame, 131-second long through hole;

[0037] 200-controller;

[0038] 300-vacuum valve, 310-valve body, 311-outer shell, 3110-limiting step, 3111-exhaust groove, 312-valve cover plate, 320-electromagnetic head, 321-fixed iron core, 322-electromagnetic coil, 322A-first lead wire, 322B-second lead wire, 323-third elastic member, 330-valve stem, 300A-sliding cavity, 331-moving hole, 332-vacuum cavity, 333-limiting flange, 334-first elastic member, 335-first sealing ring, 336-first Second sealing ring, 337-third sealing ring, 338-second elastic member, 339-fourth sealing ring, 340-limiting ball, 350-movable pin, 351-pin head, 3510-magnetic member, 3511-exhaust hole, 352-first pin portion, 353-inclined portion, 354-second pin portion, 360-locking groove, 361-inclined locking surface, 362-vertical surface, 370-air guide portion, 371-air guide groove, 372-first air guide hole, 373-second air guide hole, 374-vacuum joint;

[0039] 400-suction cup;

[0040] 500-buffer, 510-sliding cavity;

[0041] 600-anti-slip mechanism, 610-elastic stop ring, 620-washer, 630-anti-slip slide groove, 640-anti-slip bolt. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with specific drawings.

[0043] See also Figure 1 The utility model provides an end picker, comprising a bracket 100, a controller 200 arranged on the bracket 100, and a plurality of vacuum suction mechanisms detachably connected to the bracket 100 and electrically connected to the controller 200 and arranged at intervals, each of the vacuum suction mechanisms comprising a vacuum valve 300 and a suction cup 400 arranged at the lower end of the vacuum valve 300. The controller 200 is used to control the opening of a plurality of vacuum suction mechanisms adapted to the characteristics of the product to complete the picking up of the product.

[0044] The bracket 100 includes a first frame 110, a second frame 120 arranged transversely at the lower end of the first frame 110, and a plurality of third frames 130 arranged longitudinally at the upper end of the second frame 120 and parallel to the first frame 110, and the controller 200 is installed on the first frame 100. The second frame 120 is provided with at least two first long through holes 121 respectively located on both sides of the second frame 120, the first long through holes 121 are arranged along the length direction of the second frame 120, and the plurality of third frames 130 are installed on the second frame 120 one by one by a plurality of first mounting bolts 122, and the third frames 130 can adjust the installation position along the arrangement direction of the first long through holes 121;

[0045] Each of the third frames 130 is provided with at least two installation hole groups arranged at intervals, and each of the installation hole groups includes three second long through holes 131 spaced apart along the width direction of the third frame. One end of the self-locking valve core of the plurality of vacuum valves 300 passes through the second long through hole 131 in the middle and is connected to the suction cup 400 one by one. The second long through holes 131 on both sides are fixed to the third frame 130 by second installation bolts. The second long through holes 131 are arranged along the length direction of the third frame 130, and the installation position of the vacuum valve 300 can be adjusted along the arrangement direction of the second long through holes 131. On the basis of being able to control different vacuum valves 300 on the bracket 100 to open to pick up different products through the controller 200, the installation position of the third frame 130 can be adjusted manually by adjusting the installation position of the vacuum valve 300 horizontally; and the vacuum valve can be manually adjusted along the second long through hole 131 by removing the second installation bolt to achieve longitudinal adjustment of the position of the vacuum valve 300. The vacuum valve 300 can also be manually adjusted horizontally or vertically according to actual conditions, making it easier to adapt to picking up different products.

[0046] See also Figure 2 , Figure 3 and Figure 4 The vacuum valve 300 includes a valve body 310 having a valve cavity extending axially therethrough, an electromagnetic head 320 disposed above the valve body 310, and a self-locking valve core disposed in the valve body 310. The self-locking valve core includes a valve stem 330 movably disposed in the valve cavity and a self-locking mechanism cooperating with the valve stem 330.

[0047] See also Figure 5 The valve stem 330 has a sliding cavity 300A distributed along the axial direction, see Figure 6The wall of the sliding cavity 300A is provided with a plurality of movable holes 331 distributed along its circumference, and each movable hole 331 penetrates the wall of the sliding cavity 300A in the radial direction. The valve stem 330 also has a vacuum cavity 332 distributed along the axial direction, one end of the vacuum cavity 332 is connected to an external air source through an air guide 370, and the other end is connected to the suction cup 400.

[0048] The self-locking mechanism includes a steel limiting ball 340 movably disposed in each of the moving holes 331, a movable pin 350 slidably matched with the sliding cavity 300A, and a locking portion disposed on the inner wall of the valve body 310. The movable pin 350 is provided with a magnetic member 3510 magnetically matched with the electromagnetic head 320, and the movable pin 350 is also provided with a limiting ball pushing portion, which is used to push the limiting ball 340 to move outward when the movable pin 350 moves toward the suction cup 400.

[0049] The end picker is installed on a robot or other equipment, and the corresponding vacuum valve 300 is controlled to open according to different products, so as to automatically pick up the product for processing, thereby improving the versatility of the end picker and saving the manufacturing cost of the end picker. In addition, when producing different products, it is no longer necessary to manually replace and debug the end picker, making the processing of products smoother, more efficient and convenient.

[0050] See also Fig. 9 The valve body 310 includes an outer shell 311 and a valve cover plate 312 installed at the lower end of the outer shell 311. The inner cavity of the outer shell 311 is connected to the inner cavity of the valve cover plate 312 to form the valve cavity. Fig.10 and Fig.11 The top surface of the outer shell 311 is provided with an exhaust groove 3111 which is communicated with the valve cavity. The inner cavity of the valve cover plate 312 is provided with at least two exhaust grooves 3111 arranged along the height direction. The function of the exhaust groove 3111 is to prevent the valve cavity from being blocked when the movable pin 350 moves, so as to avoid affecting the action of the self-locking valve core.

[0051] Please continue reading Figure 2The electromagnetic head 320 includes a fixed iron core 321 located above the valve body 310, an electromagnetic coil 322 disposed between the fixed iron core 321 and the valve body 310 and capable of surrounding the upper part of the movable pin 350, and a third elastic member 323 disposed in the electromagnetic coil 322 and located between the fixed iron core 321 and the magnetic member 3510. The third elastic member 323 is preferably a spring. The electromagnetic coil 322 has a first lead wire 322A and a second lead wire 322B. When the first lead wire 322A is connected to the positive pole and the second lead wire 322B is connected to the negative pole for positive power supply, the electromagnetic coil 322 generates an electromagnetic force with the same magnetic pole as the magnetic member 3510. When the first lead wire 322A is connected to the negative pole and the second lead wire 322B is connected to the positive pole for reverse power supply, the electromagnetic coil 322 generates an electromagnetic force with the opposite magnetic pole as the magnetic member 3510. By energizing the electromagnetic coil 322 in the forward direction or the reverse direction, the movable pin 350 can be driven to move, and the response speed is very fast, and the switching is faster.

[0052] See also Fig.12 and Fig.13 The movable pin 350 includes a pin head 351, a first pin portion 352, an inclined portion 353 and a second pin portion 354 which are arranged in sequence from top to bottom and whose outer diameters gradually decrease. The pin head 351 is exposed outside the sliding cavity 300A, and the outer diameter of the pin head 351 is larger than the inner diameter of the sliding cavity 300A. During the downward movement of the movable pin 350, the pin head 351 will play a limiting role. The side wall of the pin head 351 is provided with an exhaust hole 3511 which is horizontally connected to the inner cavity of the pin head 351 to exhaust the inside of the movable pin 350. The magnetic member 3510 is a permanent magnet and is embedded in the upper end of the pin head 351. The outer periphery of the inclined portion 353 is defined as the limiting ball pusher. When the battery head is powered in the forward direction, the movable pin 350 is driven downward, and as the inclined limit ball pusher continues to contact the limit ball 340, the limit ball 340 is pushed out of the moving hole 331 until it cooperates with the locking part set on the valve body 310 to lock the position of the valve stem 330. In this state, please refer to Figure 7 and Figure 8 The first pin portion 352 is located inside the moving hole 331 to prevent the limiting ball 340 from moving into the moving hole 331 , so that the limiting ball 340 can be stably and firmly locked in the locking portion.

[0053] See also Fig. 9 The locking portion includes a locking groove 360 ​​disposed on the inner wall of the valve body 310 and recessed toward the outside. The locking groove 360 ​​is open and has two inclined locking surfaces 361 and a vertical surface 362. The vertical surface 362 is connected between the two inclined locking surfaces 361. Figure 6When the limiting ball 340 is limited in the locking groove 360, the limiting ball 340 is resisted by the inclined locking surface 361 and the vertical surface 362. When the limiting ball 340 is pushed into the locking groove 360, the inclined locking surface 361 plays a guiding role, so that the limiting ball 340 can slide smoothly into the locking groove 360 ​​and be gradually locked, reducing the resistance of the limiting ball 340 in the locking process and improving the reliability and stability of the locking. Once the limiting ball 340 enters the locking groove 360 ​​and is guided by the inclined locking surface 361 to the vicinity of the vertical surface 362, the vertical surface 362 will provide a strong resisting force to firmly fix the limiting ball 340 in the locking groove 360, ensuring that the self-locking valve core will not move easily when subjected to axial force, thereby maintaining the stability and reliability of the vacuum circuit. The design of the locking groove 360 ​​prevents the limiting ball 340 from easily falling out of the locking groove 360 ​​when it is not properly released, thereby improving the safety of the system and preventing vacuum failure or equipment failure caused by accidental unlocking. In addition, the close fit between the locking groove 360 ​​and the limiting ball 340 can enhance the structural strength of the entire self-locking mechanism, thereby reducing the shaking and displacement of the self-locking valve core.

[0054] When the vacuum valve 300 is required to be in a closed state, the electromagnetic head 320 is energized in the reverse direction to drive the movable pin 350 to move upward, and the valve stem 330 moves upward and resets under the action of a first elastic member 334. A limiting step 3110 is provided at a position between the air guide portion 370 and the suction cup 400 in the valve cavity, and a limiting flange 333 is convexly provided on the outer periphery of the valve stem 330. The first elastic member 334 is a spring sleeved on the outer periphery of the valve stem 330 and located below the limiting flange 333. The spring and the movable pin 350 cooperate to make the valve stem 330 return to its original position, and when the valve stem 330 returns to its original position, please refer to Figure 5 The top surface of the limiting flange 333 abuts against the limiting step 3110 to limit the valve stem 330 from moving further upward.

[0055] The air guide portion 370 includes an air guide groove 371 disposed in an annular manner on the outer wall of the valve stem 330, a plurality of first air guide holes 372 disposed at intervals in the air guide groove 371 and communicating with the vacuum chamber 332, a second air guide hole 373 disposed on the valve body 310, and a vacuum joint 374 communicating with the outer end of the second air guide hole 373. The outer wall of the valve stem 330 is also embedded with a first sealing ring 335, a second sealing ring 336, and a third sealing ring 337 spaced apart along the height direction of the valve stem 330, and the air guide groove 371 is distributed between the first sealing ring 335 and the second sealing ring 336 to improve the air tightness of the air guide groove 371. The inner cavity of the suction cup 400, the vacuum cavity 332 and the air guide part 370 are connected to form a vacuum circuit. The design of several first air guide holes 372 serves to increase the cross-sectional area of ​​the vacuum circuit to avoid the vacuum flow rate from decreasing or being cut off when picking up the product. Even if the valve stem 330 rotates, the design of several first air guide holes 372 means that at least one first air guide hole 372 is connected to the vacuum connector 374 to ensure the smooth flow of the vacuum circuit.

[0056] See also Figure 7 The vacuum suction mechanism also includes a buffer 500, one end of which is movably connected to the valve stem 330 and the other end of which is connected to the suction cup 400, for buffering the impact force of the product, and an anti-detachment mechanism 600 for preventing the buffer 500 from being separated from the valve stem 330. The buffer 500 has a sliding cavity 510 distributed along the axial direction, and a fourth sealing ring 339 is provided on the outer wall of the valve stem 330, and the fourth sealing ring 339 is located in the sliding cavity 510 to maintain the air tightness of the sliding cavity 510. The lower end of the valve stem 330 is slidably connected to the sliding cavity 510 so that the buffer 500 can reciprocate up and down along the valve stem 330. A second elastic member 338 is provided above the buffer 500 for pushing the buffer 500 to reset. When the vacuum valve 300 is started and the suction cup 400 absorbs the product, the buffer 500 can absorb and disperse the impact force generated by the vacuum suction force, reduce the direct impact on the product itself, and thus protect the product from damage or scratches.

[0057] The anti-slip mechanism 600 includes an elastic stop ring 610 disposed below the valve body 310 and connected to the outer wall of the valve stem 330, a washer 620 disposed at the lower end of the elastic stop ring 610, an anti-slip groove 630 provided on the outer wall of the valve stem 330, and an anti-slip bolt 640 connected to the buffer 500 and having one end extending into the anti-slip groove 630. The second elastic member 338 is a spring that sleeves the valve stem 330 and has two ends that respectively abut against the washer 620 and the buffer 500. The anti-slip groove 630 is arranged along the height direction of the valve stem 330, and the anti-slip bolt 640 is arranged adjacent to the upper surface of the buffer 500 and can reciprocate along the arrangement direction of the anti-slip groove 630. The anti-slip bolt 640 extending into the anti-slip groove 630 is used to radially limit the position of the buffer 500, and the lower end of the spring abuts against the buffer 500 to limit the position of the buffer 500 in the axial direction, and cooperates together to prevent the buffer 500 from falling off.

[0058] An end picker, the product to be picked up has multiple picking areas, including the following detailed working process:

[0059] The controller obtains an orthographic projection image of the to-be-picked surface of the product to be picked up, matches the position data of the vacuum suction mechanism with the orthographic projection image based on the obtained orthographic projection image of the product, and selects multiple vacuum suction mechanisms that fall within the orthographic projection image of the current product. Specifically, the point data of the vacuum suction mechanism is matched with multiple picking areas in the orthographic projection image, and multiple vacuum suction mechanisms that fall within the multiple picking areas are selected, and the selected multiple vacuum suction mechanisms are controlled to open to pick up the product.

[0060] In this embodiment, taking the above-mentioned end picker as an example, the detailed process of opening the vacuum valve 300 in the vacuum suction mechanism is as follows:

[0061] Specifically, the electromagnetic head 320 is energized in the positive direction to generate a magnetic force identical to the magnetic pole of the magnetic part 3510, so as to drive the movable pin 350 connected to the sliding cavity 300A to move downward, and the movable pin 350 moves downward to drive the limit ball 340 to move radially outward along the valve stem 330 until the limit ball 340 is locked by the locking part at the corresponding position. The locking part is used to prevent the limit ball 340 from moving toward the electromagnetic head 320, so as to limit the valve stem 330 from moving toward the electromagnetic head 320. In this state, the vacuum chamber 332 in the valve stem 330 is connected to the air guide part 370, and the gas in the inner cavity of the suction cup 400 is transported to the outside of the air guide part 370 via the vacuum chamber 332.

[0062] Specifically, in the above process, the movable pin 350 drives the valve stem 330 to move downward, so that the limiting flange 333 moves downward and compresses the first elastic member 334. After the limiting ball 340 is locked by the locking portion, the second air guide hole 373 is connected to the first air guide hole 372 to communicate with the vacuum circuit. Figure 7 and Figure 8 The first sealing ring 335 and the second sealing ring 336 are respectively located at the upper and lower sides of the second air guide hole 373, completing the opening of the vacuum valve 300 to absorb the product.

[0063] According to the characteristics of the product, the required vacuum suction mechanism is controlled to open. Several vacuum valves 300 can be numbered from 0 to 12. For example, when producing product A, the picking method is to control vacuum valves 300 No. 1, 4, 9, and 12 to open, and control the suction cups 400 corresponding to the multiple vacuum valves 300 to contact with product A to absorb A. After the processing of part A is completed, for example, when it is necessary to produce product B with a shape different from that of part A, the picking method is to control vacuum valves 300 No. 1, 4, 5, 6, 7, 8, 9, and 12 to open, and the remaining vacuum valves 300 are in a closed state, and control the suction cups 400 corresponding to the multiple vacuum valves 300 to contact with product B to complete the absorption of B. This end picker picking method does not require the replacement of the corresponding end picker and repeated debugging when processing products of different shapes, which saves processing time and simplifies the processing process, and helps to improve processing efficiency. Moreover, the replacement of different vacuum valves 300 is realized through automatic control, automatic and intelligent production, and simple and easy operation.

[0064] The vacuum valve 300 is opened to pick up the product, and the electromagnetic head 320 is controlled to be powered off.

[0065] Specifically, in the above process, the valve stem 330 moves downward to make the suction cup 400 contact with the surface of the product. The product generates an axial force to push the buffer 500 upward, so that the buffer 500 drives the suction cup 400 to move upward. The second elastic member 338 located above the buffer 500 is in a compressed state under the action of the anti-detachment mechanism 600. After the suction cup 400 is separated from the product, the second elastic member 338 stretches to push the buffer 500 to move downward and reset, so that the suction cup 400 adsorbs the product. After the product lifts the suction cup 400 and the buffer 500 upward, the second elastic member 338 located between the gasket 620 and the buffer 500 is compressed, and the anti-detachment bolt 640 slides upward along the anti-detachment groove 630. After the suction cup 400 is separated from the product, the second elastic member 338 extends to push the buffer 500 to move downward, thereby driving the anti-detachment bolt 640 to slide downward along the anti-detachment groove 630, so that the suction cup 400 returns to its original position and adsorbs the product.

[0066] Taking the above-mentioned end picker as an example, the buffer 500 can absorb and disperse the impact force generated by vacuum suction to reduce damage or scratches to the product. When the product is adsorbed, the product will generate an upward axial force on the suction cup 400. The existence of the self-locking mechanism can withstand a large axial force to prevent the self-locking valve core from rebounding or moving, ensuring the continuous conduction of the vacuum circuit and ensuring the continuity and stability of the vacuum degree.

[0067] After the vacuum valve 300 is opened, the electromagnetic head 320 is powered off, which can significantly reduce power consumption and improve the energy efficiency of the system. By cutting off the power to keep the vacuum valve 300 in the open state, it is no longer necessary to continuously supply power to maintain the magnetic force, thereby directly reducing the use of electricity. In industrial production, this energy-saving and emission-reduction effect can significantly reduce operating costs. The electromagnetic coil 322 that is continuously running will generate heat. Long-term high-temperature operation will not only increase energy consumption, but may also accelerate the aging of the electromagnetic coil 322 and shorten the service life of the equipment. After the power is cut off, the electromagnetic coil 322 will no longer generate heat, which helps to extend the service life of the equipment. After the power is cut off, the control system is no longer affected by electromagnetic interference, which helps to improve the stability and reliability of the control system. In situations where the adsorption state needs to be maintained for a long time, stability is particularly important to ensure the safety and quality of the product.

[0068] After the processing of part A is completed, if a part B having a different shape is to be processed, the opened vacuum valve 300 needs to be closed.

[0069] Taking the above-mentioned end picker as an example, closing the vacuum valve 300 is described in detail:

[0070] When the vacuum valve 300 is closed, the electromagnetic head 320 is reversely energized to generate a magnetic force opposite to the magnetic pole of the magnetic member 3510, so that the movable pin 350 moves upward, and the valve stem 330 moves upward and resets under the action of a first elastic member 334. When the valve stem 330 moves upward, it drives the limiting ball 340 to disengage from the locking portion. The limiting ball 340 moves into the movable hole 331, so that the valve stem 330 returns to its original position. In this state, the vacuum chamber 332 is disconnected from the air guide portion 370, and the vacuum valve 300 is closed.

[0071] Specifically, in the above-mentioned operation of closing the vacuum valve 300, the movable pin 350 drives the valve stem 330 to move upward, and the limiting ball 340 moves toward the moving hole 331, so that the stretched first elastic member 334 pushes the valve stem 330 to move upward until the limiting flange 333 abuts against the top surface of the limiting step 3110 to limit the position of the valve stem 330. After the valve stem 330 moves upward and returns to its original position, refer to Figure 4 The first air guide hole 372 and the second air guide hole 373 are offset to disconnect the vacuum circuit. The second sealing ring 336 and the third sealing ring 337 are respectively located on the upper and lower sides of the second air guide hole 373 to improve the air tightness of the second air guide hole 373 and complete the closing of the vacuum valve 300.

[0072] This end picker: 1. When picking up a product, the current product can be picked up by controlling the corresponding vacuum valve 300 to open. Before changing to pick up products of different shapes, the opened vacuum valve 300 is controlled to close, and then the main control system controls multiple vacuum valves 300 that are adapted to the characteristics of the next product to open to complete the adaptation of the next product. No more repeated development of end pickers, the end pickers can be used to adsorb more different products, avoid frequent replacement and debugging of end pickers, and save processing costs and time. The picking method is automated, and different vacuum suction mechanisms are switched to open to process the corresponding products, which is simpler and easier to operate. 2. The vacuum valve 300 installed on the bracket 100 can adjust the installation position horizontally or vertically, and can flexibly cooperate to pick up more different products, further enhancing the versatility. 3. The vacuum valve 300 in the vacuum suction mechanism has a self-locking mechanism, and the limit ball 340 and the locking part can stably lock the position of the valve stem 330, which improves the safety of the system, prevents vacuum failure or equipment failure caused by accidental unlocking, and the tight locking can also increase the structural strength of the self-locking mechanism. Fourth, after the vacuum valve 300 is opened, the electromagnetic coil 322 is powered off, while the valve stem 330 is kept extended and working, which can significantly reduce power consumption, save energy and improve energy efficiency.

[0073] The above are only implementation methods of the present utility model, and are not intended to limit the patent scope of the present utility model. Any equivalent structure made using the contents of the specification and drawings of the present utility model, directly or indirectly used in other related technical fields, are also within the patent protection scope of the present utility model.

Claims

1. An end picker, characterized in that: It includes a bracket, a controller arranged on the bracket, and a plurality of vacuum suction mechanisms detachably connected to the bracket, electrically connected to the controller and arranged at intervals. The controller is used to control the opening of a plurality of vacuum suction mechanisms adapted to product features to complete picking up the product.

2. The end tool as claimed in claim 1, characterized in that: Each of the vacuum suction mechanisms comprises a vacuum valve and a suction cup disposed at the lower end of the vacuum valve; the vacuum valve comprises a valve body having a valve cavity penetrating along the axial direction, an electromagnetic head disposed above the valve body, and a self-locking valve core disposed in the valve body; The self-locking valve core comprises a valve stem movably arranged in the valve cavity and a self-locking mechanism cooperating with the valve stem, wherein the valve stem has a sliding cavity distributed along the axial direction, and a plurality of movable holes are distributed on the cavity wall of the sliding cavity along its circumference, and each of the movable holes penetrates the cavity wall of the sliding cavity in the radial direction; the valve stem also has a vacuum cavity distributed along the axial direction, one end of the vacuum cavity is connected to an external air source through an air guide, and the other end is connected to the suction cup; The self-locking mechanism comprises a limit ball movably arranged in each of the movable holes, a movable pin slidably matched with the sliding cavity, and a locking portion arranged on the inner wall of the valve body; the movable pin is provided with a magnetic member magnetically matched with the electromagnetic head, and the movable pin is also provided with a limit ball pushing portion, and the limit ball pushing portion is used to push the limit ball to move outward when the movable pin moves toward the direction of the suction cup; When the electromagnetic head is energized in the forward direction, it generates the electromagnetic force identical to the magnetic pole of the magnetic part, so as to drive the movable pin connected to the sliding cavity to move downward. The movable pin moves downward to drive the limit ball to move radially outward along the valve stem. The limit ball is locked by the locking part at the corresponding position, so that the vacuum chamber in the valve stem is connected to the air guide part to complete the opening of the vacuum valve to pick up the product, and control the electromagnetic head to cut off the power; when the electromagnetic head is energized in the reverse direction, it generates the electromagnetic force opposite to the magnetic pole of the magnetic part, so as to move the movable pin upward. The valve stem moves upward and resets under the action of a first elastic part.

3. The end picker according to claim 2, characterized in that: The movable pin includes a pin head, a first pin portion, an inclined portion and a second pin portion which are arranged in sequence from top to bottom and have gradually decreasing outer diameters. The pin head is exposed outside the sliding cavity. The magnetic part is a permanent magnet and is embedded in the upper end of the pin head. The outer periphery of the inclined portion is defined as the limiting ball pushing portion.

4. The end picker according to claim 3, characterized in that: The locking portion includes a locking groove provided on the inner wall of the valve body and recessed toward the outside, the locking groove is open and has two inclined locking surfaces and a vertical surface, and the vertical surface is connected between the two inclined locking surfaces; when the limiting ball is limited in the locking groove, the limiting ball is supported by the inclined locking surface and the vertical surface.

5. The end picker according to claim 2, characterized in that: A limiting step is provided at a position between the air guide portion and the suction cup in the valve cavity, a limiting flange is convexly provided on the outer periphery of the valve stem, and the first elastic member is a spring sleeved on the outer periphery of the valve stem and located below the limiting flange; When the movable pin drives the valve stem to move downward, the limiting flange moves downward and compresses the spring; when the movable pin drives the valve stem to move upward, the limiting ball moves toward the moving hole, so that the extended first elastic member pushes the valve stem to move upward until the limiting flange abuts against the top surface of the limiting step to limit the position of the valve stem.

6. The end picker according to claim 5, characterized in that: The air guide portion comprises an air guide groove annularly arranged on the outer wall of the valve stem, a plurality of first air guide holes spaced apart in the air guide groove and communicating with the vacuum chamber, a second air guide hole arranged on the valve body, and a vacuum joint communicating with the outer end of the second air guide hole; the outer wall of the valve stem is also embedded with a first sealing ring, a second sealing ring and a third sealing ring spaced apart along the height direction of the valve stem, and the air guide groove is distributed between the first sealing ring and the second sealing ring; when the second air guide hole is communicated with the first air guide hole to communicate with the vacuum circuit, the first sealing ring and the second sealing ring are respectively located at the upper and lower sides of the second air guide hole, completing the opening of the vacuum valve; When the first air guide hole and the second air guide hole are misaligned to disconnect the vacuum circuit, the second sealing ring and the third sealing ring are respectively located at the upper and lower sides of the second air guide hole to complete the closing of the vacuum valve.

7. The end picker according to claim 2, characterized in that: The vacuum suction mechanism also includes a buffer component which is movably connected to the valve stem at one end and connected to the suction cup at the other end for buffering the impact force of the product, and an anti-detachment mechanism for preventing the buffer component from detaching from the valve stem. The buffer component has a sliding cavity distributed along the axial direction. The lower end of the valve stem is slidably connected to the sliding cavity so that the buffer component can reciprocate up and down along the valve stem. A second elastic component is provided above the buffer component for pushing the buffer component to return to its original position.

8. The end picker according to claim 7, characterized in that: The anti-slip mechanism includes an elastic stop ring arranged below the valve body and connected to the outer wall of the valve stem, a washer arranged at the lower end of the elastic stop ring, an anti-slip groove opened on the outer wall of the valve stem, and an anti-slip bolt connected to the buffer and with one end extending into the anti-slip groove. The second elastic member is a spring that sleeves the valve stem inside and has two ends respectively abutting against the washer and the buffer. The anti-slip groove is arranged along the height direction of the valve stem. The anti-slip bolt is arranged adjacent to the upper surface of the buffer and can move back and forth along the arrangement direction of the anti-slip groove.

9. The end tool according to any one of claims 2 to 8, characterized in that: The electromagnetic head includes a fixed iron core located above the valve body, an electromagnetic coil arranged between the fixed iron core and the valve body and capable of surrounding the upper part of the movable pin, and a third elastic member arranged in the electromagnetic coil and located between the fixed iron core and the magnetic member, and the electromagnetic coil has a first lead wire and a second lead wire respectively.

10. The end tool as claimed in claim 9, characterized in that: The bracket includes a first frame, a second frame arranged transversely at the lower end of the first frame, and a plurality of third frames arranged longitudinally at the upper end of the second frame and parallel to the first frame, and the controller is installed on the first frame; The second frame is provided with at least two first long through holes respectively located on both sides of the second frame, the first long through holes are arranged along the length direction of the second frame, and a plurality of the third frames are mounted on the second frame one by one by a plurality of first mounting bolts, and the mounting position of the third frames can be adjusted along the arrangement direction of the first long through holes; Each of the third frames is provided with at least two installation hole groups arranged at intervals, and each of the installation hole groups includes three second long through holes spaced apart along the width direction of the third frame. One end of the self-locking valve cores of multiple vacuum valves pass through the second long through hole in the middle and are connected to the suction cup one by one. The second long through holes on both sides are fixed to the vacuum valve and the third frame by second installation bolts. The second long through holes are arranged along the length direction of the third frame, and the vacuum valve can adjust the installation position along the arrangement direction of the second long through holes.

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