Grabbing machine head for extra-large shaft ring products

Abstract

The utility model relates to an extra-large shaft ring product grabbing machine head which comprises a machine base, the machine base is provided with a guide rail in the length direction and slidably connected with a sliding block through the guide rail, and a servo mechanism is arranged on the machine base and used for driving the sliding block to slide along the guide rail; the first end face magnetic attraction mechanism is located at one end of the base, the second end face magnetic attraction mechanism comprises two magnetic attraction units which are symmetrically arranged along the two sides of the guide rail, the machine base is provided with a connecting frame corresponding to the magnetic attraction units, and the magnetic attraction units are hinged to the connecting frame; the second end face magnetic attraction mechanism is connected with the sliding block, the sliding block is used for driving the second end face magnetic attraction mechanism to move in the length direction of the guide rail, the position of the second end face magnetic attraction mechanism is adjusted in a large range through the guide rail sliding block, and therefore the clamping requirement of an extra-large shaft ring is met; and meanwhile, the magnetic attraction units are hinged to the connecting frame, so that the magnetic attraction units correspond to the shaft rings, and the accurate grabbing position is guaranteed.

Description

Technical Field

[0001] This application relates to the field of gripper head technology, and more specifically to gripper heads for extra-large collar products. Background Technology

[0002] In the manufacturing process of extra-large shaft collars, the processed shaft collars need to be stacked. However, due to the relatively large size of extra-large shaft collars (up to 1600mm), the gripping heads on current production lines mostly use a motor-driven method to move two grippers relative to each other for clamping. This method results in a limited gripping range that can be adapted to, making it unsuitable for extra-large shaft collars. Furthermore, due to the large weight of extra-large shaft collars, this gripping method is prone to falling off during movement. Therefore, improvements are needed. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the purpose of this application is to provide an extra-large shaft collar product gripping head that can significantly improve the gripping range and gripping stability of the shaft collar.

[0004] To achieve the above objectives, this application provides the following technical solution:

[0005] Extra-large collar product gripper head, including:

[0006] A base is provided with a guide rail along its length and a slider is slidably connected to the guide rail. A servo mechanism is provided on the base, and the servo mechanism is used to drive the slider to slide along the guide rail.

[0007] The first end face magnetic attraction mechanism is located at one end of the base. The second end face magnetic attraction mechanism includes two magnetic attraction units symmetrically arranged along both sides of the guide rail. The base is provided with a connecting frame corresponding to the magnetic attraction unit. The magnetic attraction unit is hinged to the connecting frame.

[0008] The second end face magnetic attraction mechanism is connected to the slider, and the slider is used to drive the second end face magnetic attraction mechanism to move along the length of the guide rail.

[0009] By adopting the above technical solution, the magnetic attraction method can provide a strong gripping force to ensure the stability of the extra-large shaft ring during movement. At the same time, the setting of guide rails, sliders and servo mechanisms can realize a wide range of adjustments to the magnetic attraction mechanism on the second end face, thereby adapting it to the use of extra-large shaft rings.

[0010] Optionally, the second end face magnetic attraction mechanism is a single magnetic attraction unit.

[0011] By adopting the above technical solutions, the overall production cost can be reduced, and the overall structure can be made simpler and more reliable.

[0012] Optionally, the magnetic attraction unit includes a mounting base and a plurality of electromagnets, wherein a connecting hole is formed in the middle section of the mounting base, and the plurality of electromagnets are symmetrically arranged along the connecting hole.

[0013] By adopting the above technical solution, the arrangement of several electromagnets can ensure the magnetic attraction effect, while the connection holes facilitate the installation and use of the mounting base.

[0014] Optionally, the connecting frame is provided with a fixing component, which is used to connect the magnetic suction unit to restrict the magnetic suction unit from rotating relative to the connecting frame.

[0015] By adopting the above technical solution, the setting of the fixed component can avoid the magnetic unit from swaying and causing positional shift during movement, thereby ensuring the consistency of the position of the magnetic unit before and after movement.

[0016] Optionally, the fixing component includes two abutment rods, which are threadedly connected to the connecting bracket. The ends of the two abutment rods are formed into abutment ends and are used to abut against the sides of the corresponding connecting holes of the mounting base.

[0017] By adopting the above technical solution, the thread adjustment method of the contact rod makes it easier to adjust.

[0018] Optionally, the magnetic attraction unit is provided with a centering gripping mechanism on its outer side. The centering gripping mechanism includes two symmetrically arranged centering bearings, and multiple centering bearings are used to abut against the outer ring of the shaft collar so that the magnetic attraction unit corresponds to the side of the shaft collar.

[0019] By adopting the above technical solution, the centering bearing can improve the positioning effect of the magnetic suction unit, thereby making the gripping position of the shaft collar more accurate.

[0020] Optionally, the magnetic suction unit is provided with a partition gripping mechanism on one side, the partition gripping mechanism includes a suction cup, and the magnetic suction unit is provided with a mounting frame and connected to the suction cup through the mounting frame.

[0021] By adopting the above technical solution, the partition gripping mechanism can grip the partitions between multiple collars on the incoming material pallet, thereby greatly reducing manual operation and improving automation.

[0022] Optionally, the base is provided with a scanning mechanism, which includes a barcode scanner.

[0023] By adopting the above technical solution, the barcode scanner can scan the QR code on the collar to determine the collar parameter information.

[0024] Optionally, the base is provided with mounting holes, and the base is connected to the industrial robot through the mounting holes.

[0025] By adopting the above technical solution, the base can be easily moved in multiple dimensions to complete the grasping and moving action.

[0026] Optionally, a laser positioning mechanism is provided at the end of the base away from the magnetic attraction mechanism on the first end face. The laser positioning mechanism is used to emit a laser to determine the position of the collar.

[0027] By adopting the above technical solution, the collar can be initially scanned and positioned.

[0028] In summary, this application includes at least one of the following beneficial technical effects:

[0029] 1. The position of the magnetic suction mechanism on the second end face is adjusted over a wide range by using the guide rail slider to adapt to the clamping requirements of extra-large shaft collars. At the same time, the hinge between the magnetic suction unit and the connecting frame can ensure the correspondence between the magnetic suction unit and the shaft collar, so as to ensure accurate gripping position.

[0030] 2. The magnetic attraction provides greater gripping force to ensure the stability of the extra-large collar before and after movement. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the mounting holes in this application.

[0032] Figure 2 This is a schematic diagram of the installation of the first end face magnetic attraction mechanism and the second end face magnetic attraction mechanism of this application.

[0033] Figure 3 This is a schematic diagram of the overall installation of this application.

[0034] Reference numerals: 1. Base; 2. Mounting hole; 3. Guide rail; 4. Slider; 5. Servo mechanism; 6. Scanning mechanism; 7. Mounting cavity; 8. Connecting frame; 9. First end face magnetic attraction mechanism; 10. Magnetic attraction unit; 11. Hinge rod; 12. Mounting base; 13. Connecting hole; 14. Electromagnet; 15. Fixing component; 16. Abutting rod; 17. Abutting end; 18. Laser positioning mechanism; 19. Centering gripping mechanism; 20. Second end face magnetic attraction mechanism; 21. Partition gripping mechanism; 22. Mounting frame. Detailed Implementation

[0035] The following will refer to the appendices in the embodiments of the present invention. Figure 1-3 The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0036] This application discloses a gripper head for gripping extra-large collar products.

[0037] Reference Figure 1-3The extra-large shaft collar product gripper head includes a base 1. The upper side of the base 1 is provided with a mounting hole 2, which is connected to an industrial robot. The lower side of the base 1 is provided with a guide rail 3, and a slider 4 is provided on the guide rail 3. The slider 4 slides along the length of the guide rail 3. Specifically, the base 1 is provided with a servo mechanism 5, which is used to control the slider 4 to slide along the length of the guide rail 3. The servo mechanism 5 is preferably a motor. Specifically, it can be achieved by setting chains on both sides of the guide rail 3 and driving the chains to move through the motor, thereby moving the slider 4. This part is existing technology and will not be described in detail here. It is conceivable that it can also be replaced with any other existing guide rail slider driving method.

[0038] Furthermore, the frame is equipped with a scanning mechanism 6, which is a barcode scanner. This barcode scanner is used to scan the QR code on the shaft collar after it enters, in order to identify the shaft collar information.

[0039] Furthermore, the base 1 forms a mounting cavity 7 at one end corresponding to the guide rail 3. A connecting frame 8 is provided in the mounting cavity 7. The first end face magnetic attraction mechanism 9 is located in the mounting cavity 7. The first end face magnetic attraction mechanism 9 includes two magnetic attraction units 10. The connecting frame 8 is provided with hinge rods 11 on both sides of the guide rail 3. The two magnetic attraction units 10 are respectively hinged by the hinge rods 11 so that the two magnetic attraction units 10 are located on both sides of the guide rail 3. At the same time, the two magnetic attraction units 10 can rotate relative to the hinge rods 11. Therefore, when using with shaft collars of different diameters, the position of the magnetic attraction units 10 can be adjusted so that the magnetic attraction units 10 are adapted to the surface curve of the shaft collar.

[0040] Furthermore, the magnetic attraction unit 10 includes a mounting base 12, with a groove formed by an inward recess in the middle section of the mounting base 12. A connecting hole 13 is provided in the groove. The mounting base 12 is hinged to the hinge rod 11 through the connecting hole 13. The magnetic attraction unit 10 also includes four electromagnets 14, which are grouped in pairs. The two groups of electromagnets 14 are symmetrically arranged relative to the connecting hole 13. In another embodiment, the electromagnets 14 can also be set to any number of at least two, or an asymmetrical arrangement can be adopted.

[0041] Furthermore, after the position of the mounting base 12 is adjusted, in order to fix the position of the mounting base 12 and avoid unstable gripping due to the offset of the mounting base 12 during movement, the connecting frame 8 is provided with a fixing component 15 corresponding to the mounting base 12. The fixing component 15 is used to connect the magnetic suction unit 10 to restrict the magnetic suction unit 10 from rotating relative to the connecting frame 8.

[0042] Specifically, the fixing component 15 includes two abutment rods 16, which are threadedly connected to the connecting frame 8 to adjust their relative positions. Each abutment rod 16 has an abutment end 17 at its end, which abuts against the sides of the corresponding connecting hole 13 of the mounting base 12. Since the connecting hole 13 is a hinge, the left and right rotation of the mounting base 12 can be restricted by abutting against the sides of the connecting hole 13, thereby achieving the fixing effect of the mounting base 12.

[0043] Furthermore, a laser positioning mechanism 18 is provided at the end of the frame corresponding to the guide rail 3 away from the first end face magnetic attraction mechanism 9. The laser positioning mechanism 18 is used to perform preliminary positioning of the shaft collar during shaft collar transportation. Specifically, the laser positioning mechanism 18 is a distance sensor. In other ways, the laser positioning mechanism 18 can also be a color or light sensor.

[0044] Furthermore, a centering gripping mechanism 19 is provided on the outside of the magnetic attraction unit 10. Specifically, the outside of the magnetic attraction unit 10 is in the direction away from the base 1. The centering gripping mechanism 19 includes two symmetrically arranged centering bearings. The two centering bearings are symmetrically arranged opposite the connecting holes 13. Multiple centering bearings are used to abut against the outer wall of the shaft ring to adjust the relative position of the electromagnets 14, so that the electromagnets 14 can be arranged along the circumferential direction of the shaft ring, thereby ensuring the maximum contact between the electromagnets 14 and the shaft ring.

[0045] Furthermore, the second end face magnetic attraction mechanism 20 is fixedly connected to the slider 4, so that the slider 4 can drive the second end face magnetic attraction mechanism 20 to slide along the guide rail 3, thereby adjusting the relative position of the first end face magnetic attraction mechanism 9 and the second end face magnetic attraction mechanism 20 to adapt to different shaft collar usage needs. The second end face magnetic attraction mechanism 20 is a single magnetic attraction unit 10, which is also fixed to the guide rail 3 by bolts through the connecting hole 13.

[0046] Furthermore, a partition gripping mechanism 21 is provided, which is used to grip the partition between the shaft rings on the incoming material pallet to further reduce manual operation and improve the degree of automation.

[0047] Specifically, the partition gripping mechanism 21 is a suction cup, which is disposed on one side of the magnetic suction unit 10. Specifically, a mounting bracket 22 is provided on one side of the mounting base 12 to connect the suction cup. Since the size and position of the partition are different due to different production line conditions, the suction cup can be disposed on any side of the magnetic suction unit 10. In this embodiment, the partition corresponding to the first end face magnetic suction mechanism 9 is disposed on the side of the mounting base 12 away from the machine base 1, and the partition corresponding to the second end face magnetic suction mechanism 20 is disposed on the side of the mounting base 12 close to the machine base 1.

[0048] The implementation principle of a gripping head for extra-large shaft collars in this application embodiment is as follows: The base 1 is connected to an industrial robot through the mounting hole 2, so that the industrial robot can move the base 1 in three dimensions to align the base 1 with the production line. When the shaft collar on the production line is moved to a predetermined position, the barcode scanner identifies the QR code on the shaft collar to confirm the product information. The laser positioning mechanism 18 pre-positions the shaft collar. The base 1 is further moved, and multiple centering bearings abut against the outer wall of the shaft collar, so that multiple electromagnets 14 are arranged circumferentially along the shaft collar axis, thereby maximizing the contact range between the electromagnets 14 and the shaft collar, and the connection points are distributed in a circular pattern, making the gripping more stable. The electromagnets 14 are then energized to attract the shaft collar, and the industrial robot moves it.

[0049] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A gripper head for extra-large collar products, characterized in that, include: A base (1) is provided with a guide rail (3) along its length and a slider (4) is slidably connected to the guide rail (3). A servo mechanism (5) is provided on the base (1) and the servo mechanism (5) is used to drive the slider (4) to slide along the guide rail (3). The first end face magnetic attraction mechanism (9) is located at one end of the base. The second end face magnetic attraction mechanism (20) includes two magnetic attraction units (10) symmetrically arranged on both sides of the guide rail (3). The base (1) is provided with a connecting frame (8) corresponding to the magnetic attraction unit (10). The magnetic attraction unit (10) is hinged to the connecting frame (8). The second end face magnetic attraction mechanism (20) is connected to the slider (4). The slider (4) is used to drive the second end face magnetic attraction mechanism (20) to move along the length direction of the guide rail (3).

2. The extra-large collar product gripper head according to claim 1, characterized in that, The second end face magnetic attraction mechanism (20) is a single magnetic attraction unit (10).

3. The extra-large collar product gripper head according to claim 2, characterized in that, The magnetic unit (10) includes a mounting base (12) and a plurality of electromagnets (14). A connecting hole (13) is formed in the middle section of the mounting base (12), and the plurality of electromagnets (14) are symmetrically arranged along the connecting hole (13).

4. The extra-large collar product gripper head according to claim 2, characterized in that, The connecting frame (8) is provided with a fixing component (15), which is used to connect the magnetic suction unit (10) to restrict the magnetic suction unit (10) from rotating relative to the connecting frame (8).

5. The extra-large collar product gripper head according to claim 4, characterized in that, The fixing component (15) includes two abutting rods (16), which are threadedly connected to the connecting frame (8). The ends of the two abutting rods (16) form abutting ends (17) and are used to abut against the two sides of the corresponding connecting hole (13) of the mounting base (12).

6. The extra-large collar product gripper head according to claim 2, characterized in that, The magnetic suction unit (10) is provided with a centering gripping mechanism (19) on the outside. The centering gripping mechanism (19) includes two symmetrically arranged centering bearings. The multiple centering bearings are used to abut against the outer ring of the shaft collar so that the magnetic suction unit (10) corresponds to the side of the shaft collar.

7. The extra-large collar product gripper head according to claim 2, characterized in that, The magnetic suction unit (10) is provided with a partition gripping mechanism (21) on one side. The partition gripping mechanism (21) includes a suction cup. The magnetic suction unit (10) is provided with a mounting bracket (22) and is connected to the suction cup through the mounting bracket (22).

8. The extra-large collar product gripper head according to claim 1, characterized in that, The base (1) is provided with a scanning mechanism (6), which includes a barcode scanner.

9. The extra-large collar product gripper head according to claim 1, characterized in that, The base (1) is provided with mounting holes (2), and the base (1) is connected to the industrial robot through the mounting holes (2).

10. The extra-large collar product gripper head according to claim 1, characterized in that, The base (1) is provided with a laser positioning mechanism (18) at the end away from the first end face magnetic attraction mechanism (9). The laser positioning mechanism (18) is used to emit laser light to determine the position of the collar.

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