Wheel type material picking structure and material taking device

Abstract

The utility model relates to the technical field of steel cord production, in particular to a wheel type material picking structure and a material taking device, comprising a connecting flange used for connecting a mechanical arm; the sleeve rod is connected to the connecting flange; the ram is connected to the inner wall of the sleeve rod and can be in sliding connection relative to the sleeve rod; wherein an electromagnetic component is arranged at one end, far away from the connecting flange, of the ram, the electromagnetic component comprises a power-on state and a power-off state, and when the electromagnetic component is in the power-on state, the electromagnetic component is in the power-off state. The rod-shaped picking device is arranged to pick wheel-shaped materials to transfer spools, the picking device is of a loop bar structure, the electromagnetic component is arranged at the front end of the picking rod, the loop bar structure is telescopic to adapt to spools with different widths, the electromagnetic component can attract the spools in the picking process, and the spools with different widths can be picked conveniently. Therefore, the stability in the picking process is kept, and the device can be widely applied to industrial automatic production lines.

Description

Technical Field

[0001] The utility model relates to the technical field of steel cord production, in particular to a picking structure for wheel-shaped materials and a material picking device. Background Art

[0002] At present, robotic arms are widely used in industrial automation production lines, such as for picking and transporting materials. Usually, the way for a robotic arm to grab materials is mostly realized through accessories such as suction cups and grippers. In the production process of steel cords, there is a process of transferring full or empty spools. In the process of gradually automating production, it is necessary to use a robotic arm to transfer the spools.

[0003] However, there are some problems with the current accessories such as suction cups and grippers that are usually used in conjunction with robotic arms during the picking process of spools. For example, when a suction cup picks non-planar or rough-surfaced materials, the adsorption force is easily affected, resulting in picking failure; the gripper may not be able to stably grip during the picking process due to irregular material shapes or size changes. Summary of the Utility Model

[0004] In view of the technical problems existing in the spool picking device in the prior art, the first aspect of the present utility model provides a picking structure for wheel-shaped materials, including:

[0005] A connecting flange for connecting to a robotic arm;

[0006] A sleeve rod is connected to the connecting flange;

[0007] A picking rod is connected to the inner wall of the sleeve rod and can be slidably connected relative to the sleeve rod;

[0008] Wherein, an electromagnetic component is provided at one end of the picking rod away from the connecting flange. The electromagnetic component includes a powered-on state and a powered-off state. When the electromagnetic component is in the powered-on state, the electromagnetic component has magnetism. When the electromagnetic component is in the powered-off state, the electromagnetic component does not have magnetism.

[0009] Preferably, a sliding bearing is provided between the sleeve rod and the picking rod. The picking rod is restricted by the sliding bearing and moves between a first position and a second position. When the picking rod is close to the sleeve rod, it is in the first position. When the picking rod is far from the sleeve rod to the limit position, it is in the second position.

[0010] Preferably, a pressure sensor is provided at the end of the sleeve rod facing the picking rod. When the picking rod is in the first position, the electromagnetic component contacts the pressure sensor.

[0011] Preferably, a connecting plate is provided at one end of the sleeve rod away from the picking rod. A slider is provided on the connecting plate. A connecting seat is provided at one end of the connecting flange close to the sleeve rod. A guide rod is provided on the connecting seat. The slider is connected to the guide rod and can slide relative to the guide rod.

[0012] Preferably, a spring is provided between the connecting seat and the slider, and the spring has a tendency to press the slider downward.

[0013] Preferably, the connecting flange is configured in a bent pipe shape, and the bending direction of the connecting flange is towards the first direction. The electromagnetic component is located on the outer wall of the picking rod and towards the first direction.

[0014] Preferably, the cross-section of the sleeve rod is a circular rod, and the cross-section of the picking rod is a circular rod.

[0015] In a second aspect of the present invention, a technical solution is proposed. A material taking device includes:

[0016] A robotic arm;

[0017] The above-mentioned picking structure for wheel-shaped materials;

[0018] Wherein, the connecting flange is connected to the robotic arm, and the robotic arm drives the picking structure to move and keeps the electromagnetic component in a posture above the picking rod to pick wheel-shaped materials.

[0019] Compared with the prior art, the advantages of the present invention are as follows:

[0020] The present invention sets up a rod-shaped picking device to pick wheel-shaped materials to realize the transfer of spools. The picking device adopts a sleeve rod structure, and an electromagnetic component is provided at the front end of the picking rod. The sleeve rod structure can be telescopic to adapt to spools of different widths. The electromagnetic component can attract the spool during the picking process to maintain the stability during the picking process. This rod-shaped picking device can adapt to materials of different sizes and has good stability and fault tolerance, and can be widely applied to industrial automation production lines. Description of the Drawings

[0021] The drawings are not intended to be drawn to scale. In the drawings, each identical or approximately identical component shown in each figure may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present invention will be described by way of example and with reference to the drawings, wherein:

[0022] Figure 1 is a schematic structural diagram of the picking structure for wheel-shaped materials shown in the present invention;

[0023] Figure 2It is a schematic cross-sectional structure diagram of the picking structure for wheel-shaped materials shown by the present utility model;

[0024] Figure 3 It is a schematic diagram of the pick rod hitting the flanged wheel shown by the present utility model;

[0025] Figure 4 It is a schematic diagram of the pick rod extending into the inner hole of the flanged wheel shown by the present utility model;

[0026] Figure 5 It is a schematic diagram of the pick rod extending into the hole of the flanged wheel and picking up the flanged wheel outward shown by the present utility model. Specific embodiments

[0027] In order to better understand the technical content of the present utility model, specific embodiments are hereby given and described in conjunction with the accompanying drawings as follows.

[0028] Combined with Figure 1-2 As shown, a first aspect of the present utility model provides a picking structure for wheel-shaped materials, especially for flanged wheels, including full flanged wheels or perforated flanged wheels. It should be understood that flanged wheels include different specifications, such as different widths or diameters, but all have a shaft hole. Therefore, in this application, a rod-shaped structure is extended into the shaft hole to pick up the flanged wheel.

[0029] Picking structure for wheel-shaped materials,

[0030] The picking structure mainly includes a connecting flange 10, a sleeve rod 20, and a pick rod 30. The connecting flange 10 is used to connect to a robotic arm. The sleeve rod 20 is connected to the connecting flange 10. The pick rod 30 is connected to the inner wall of the sleeve rod 20 and can be slidably connected relative to the sleeve rod 20.

[0031] In this way, the robotic arm can control the states of the sleeve rod 20 and the pick rod 30. In particular, it can control the pick rod 30 to enter the inner hole of the flanged wheel until the end of the pick rod 30 reaches the other end face of the flanged wheel. The pick rod 30 and the sleeve rod 20 are completely attached to the inner hole wall of the flanged wheel. At this time, the flanged wheel can be picked up and transferred.

[0032] Among them, an electromagnetic component 31 is provided at one end of the pick rod 30 away from the connecting flange 10. The electromagnetic component 31 includes a powered-on state and a powered-off state. When the electromagnetic component 31 is in the powered-on state, the electromagnetic component 31 has magnetism. When the electromagnetic component 31 is in the powered-off state, the electromagnetic component 31 does not have magnetism.

[0033] In this way, during the picking process, the electromagnetic component 31 is powered on, and the electromagnetic attraction is used to attract and fix the flanged wheel to maintain the stability during the picking process. When releasing the flanged wheel, the electromagnetic component 31 is controlled to be powered off so that it does not have attractiveness, which is beneficial to separating the pick rod 30 from the flanged wheel.

[0034] Optionally, the cross-section of the sleeve rod 20 is a circular rod, the cross-section of the pick rod 30 is a circular rod, a bracket 32 is provided at the front end of the pick rod 30, and the electromagnetic component 31 is installed on the bracket 32 to ensure the stable position of the electromagnetic component 31.

[0035] In an alternative embodiment, a sliding bearing 33 is provided between the sleeve rod 20 and the pick rod 30. The pick rod 30 is restricted by the sliding bearing 33 to move between a first position and a second position. When the pick rod 30 is in close contact with the sleeve rod 20, it is in the first position. When the pick rod 30 is far from the sleeve rod 20 to the extreme position, it is in the second position.

[0036] In this way, the load-bearing capacity of the pick rod 30 can be increased. Since the pick rod 30 can slide to adapt to flanged wheels of different widths. When the width of the flanged wheel is relatively wide, when picking up the flanged wheel, the pick rod 30 slides to the second position. When the width of the flanged wheel is relatively small, when picking up the flanged wheel, the pick rod 30 is relatively closer to the sleeve rod 20.

[0037] Combined with Figure 2 As shown, a pressure sensor 22 is provided at the end of the sleeve rod 20 facing the pick rod 30. When the pick rod 30 is in the first position, the electromagnetic component 31 is in contact with the pressure sensor 22.

[0038] As Figure 3 shown, when the robotic arm drives the pick rod 30 to pick up the flanged wheel, if the picking position is incorrect, that is, when the pick rod 30 hits the side wall of the flanged wheel, then the pick rod 30 hits the sleeve rod 20, and the pressure sensor 22 detects the pressure, indicating that an impact has occurred. The robotic arm should move to a suitable position again to avoid damage to the picking device.

[0039] Combined with Figure 2 As shown, a connecting plate 21 is provided at the end of the sleeve rod 20 away from the pick rod 30. A slider 12 is provided on the connecting plate 21. A connecting seat 11 is provided at the end of the connecting flange 10 close to the sleeve rod 20. A guide rod 13 is provided on the connecting seat 11. The slider 12 is connected to the guide rod 13, and the slider 12 can slide relative to the guide rod 13.

[0040] In this way, a movable connection is formed between the sleeve rod 20 and the connecting flange 10, avoiding impact when the pick rod 30 moves downward from top to bottom.

[0041] Preferably, a spring 14 is provided between the connecting seat 11 and the slider 12, and the spring 14 has a tendency to press the slider 12 downward. In this way, when the pick rod 30 hits the flanged wheel from top to bottom, a buffer can be formed through the spring 14.

[0042] Furthermore, the connecting flange 10 is configured in a bent pipe shape, the bending direction of the connecting flange 10 is towards the first direction, and the electromagnetic component 31 is located on the outer wall of the pick rod 30 and towards the first direction.

[0043] Thus, when picking up materials, it is beneficial to control the direction of the electromagnetic component 31. It should be understood that when the electromagnetic component 31 is above the pick rod 30, it is beneficial for picking up materials.

[0044]

Material Picking Device

[0045] A second aspect of the present utility model proposes a technical solution, a material picking device, including:

[0046] A robotic arm;

[0047] The above-mentioned picking structure for wheel-shaped materials;

[0048] Among them, the connecting flange 10 is connected to the robotic arm, and the robotic arm drives the picking structure to move and maintains the posture of the electromagnetic component 31 above the pick rod 30 to pick up the wheel-shaped materials.

[0049] As Figure 4-5 shown, when picking up materials, the robotic arm controls the pick rod 30 to extend into the shaft hole of the spool and pass through the shaft hole. Then, the pick rod 30 is slightly lifted upward to make the pick rod 30 fit against the hole wall, and then pulled outwards to move the pick rod 30 to the second position. The electromagnetic component 31 is energized to attract the spool. At this time, the robotic arm drives the pick rod 30 to move to transfer the spool. After the transfer is completed, the electromagnetic component 31 is powered off, the pick rod 30 is slightly moved downward to lower the height of the electromagnetic component 31, and the pick rod 30 is pulled outwards to complete the picking and transfer of the spool.

[0050] Combined with the above embodiments, the present utility model sets up a rod-shaped picking device to pick up wheel-shaped materials to realize the transfer of the spool. The picking device adopts a nested rod structure, and an electromagnetic component is provided at the front end of the pick rod. The nested rod structure can be telescopic to adapt to spools of different widths. The electromagnetic component can attract the spool during the picking process to maintain the stability during the picking process. This rod-shaped picking device can adapt to materials of different sizes and has good stability and fault tolerance, and can be widely applied to industrial automation production lines.

[0051] Although the present utility model has been disclosed above with preferred embodiments, it is not intended to limit the present utility model. Those with ordinary knowledge in the technical field to which the present utility model belongs can make various changes and modifications without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to what is defined by the claims.

Claims

1. A wheel-shaped material picking structure, characterized in that: include: A connecting flange (10) for connecting the robot arm; A sleeve rod (20) is connected to the connecting flange (10); A lifting rod (30) connected to the inner wall of the sleeve rod (20) and capable of being slidably connected relative to the sleeve rod (20); Wherein, an electromagnetic component (31) is provided at one end of the lifting rod (30) away from the connecting flange (10), and the electromagnetic component (31) includes a power-on state and a power-off state. When the electromagnetic component (31) is in the power-on state, the electromagnetic component (31) is magnetic, and when the electromagnetic component (31) is in the power-off state, the electromagnetic component (31) is not magnetic.

2. The wheel-shaped material picking structure according to claim 1, characterized in that: A sliding bearing (33) is provided between the sleeve rod (20) and the lifting rod (30), and the lifting rod (30) is restricted by the sliding bearing (33) to move between a first position and a second position. When the lifting rod (30) is in close contact with the sleeve rod (20), it is in the first position; when the lifting rod (30) is away from the sleeve rod (20) to an extreme position, it is in the second position.

3. The wheel-shaped material picking structure according to claim 2, characterized in that: A pressure sensor (22) is provided at one end of the sleeve rod (20) facing the lifting rod (30); when the lifting rod (30) is in a first position, the electromagnetic component (31) contacts the pressure sensor (22).

4. The wheel-shaped material picking structure according to claim 1, characterized in that: A connecting plate (21) is provided at one end of the sleeve rod (20) away from the lifting rod (30), a sliding block (12) is provided on the connecting plate (21), a connecting seat (11) is provided at one end of the connecting flange (10) close to the sleeve rod (20), a guide rod (13) is provided on the connecting seat (11), the sliding block (12) is connected to the guide rod (13), and the sliding block (12) can slide relative to the guide rod (13).

5. The wheel-shaped material picking structure according to claim 4, characterized in that: A spring (14) is provided between the connecting seat (11) and the sliding block (12), and the spring (14) has a tendency to press the sliding block (12) downward.

6. The wheel-shaped material picking structure according to claim 4, characterized in that: The connecting flange (10) is constructed in a curved pipe shape, the bending direction of the connecting flange (10) is toward a first direction, and the electromagnetic component (31) is located on the outer wall of the lifting rod (30) and is toward the first direction.

7. The wheel-shaped material picking structure according to claim 1, characterized in that: The cross section of the sleeve rod (20) is a circular rod, and the cross section of the lifting rod (30) is a circular rod.

8. A material taking device, characterized in that: include: Robotic arm; The wheel-shaped material picking structure according to any one of claims 1 to 7; The connecting flange (10) is connected to the mechanical arm, and the mechanical arm drives the picking structure to move and keeps the electromagnetic component (31) located above the picking rod (30) to pick the wheel-shaped material.

Images