Electromagnetic tooling and automatic metal plate sorting device

Abstract

The utility model discloses an electromagnetic tooling and metal sheet automatic sorting device, electromagnetic tooling includes drive part, adjusting part and a plurality of magnetic attraction part that connect in proper order, the plurality of magnetic attraction part with adjusting part bottom sliding connection, drive part can drive adjusting part and the plurality of magnetic attraction part to rotate, and the magnetic attraction part can drive the magnetic attraction part to rotate. And the position of the magnetic attraction part on the horizontal plane is adjusted. According to the electromagnetic tooling, through the arrangement mode, when metal plates of different shapes or sizes need to be attracted, the magnetic attraction parts can slide at the bottom of the displacement part to form a structure matched with the metal plates, for example, when the metal plates are of a long-strip structure, all the magnetic attraction parts are distributed at the bottom of the displacement part in a long-strip shape, and the magnetic attraction parts are arranged on the bottom of the displacement part; when the metal plate is of a square or circular structure, all the magnetic attraction parts are symmetrically distributed at the bottom of the displacement part, then through adjustment of the rotating part, the projections of the magnetic attraction parts and the metal plate in the vertical direction completely coincide, the electromagnetic tooling is pressed downwards, and the magnetic attraction parts make contact with the metal plate, so that attraction work is completed.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the end pick-up field especially relates to a kind of electromagnetic end pick-up and metal plate automatic sorting device. BACKGROUND

[0002] In the industrial production field, end pick-up is widely used in plate moving work, and for heavy metal plate, electromagnetic end pick-up is often used.

[0003] The existing electromagnet type end pick-up generally includes supporting frame, stopper connected with supporting frame, and connecting output block and adsorption device fixedly installed on supporting frame, the stopper and the connecting output block are fixedly connected on the side of the supporting frame in sequence, the adsorption device includes electromagnetic suction block and sensor, the electromagnetic suction block and sensor are installed on the other side of the supporting frame. The electromagnetic suction block of the utility model generates electromagnetic force to attract workpiece, and the sensor touches the surface of workpiece to determine whether it is successfully attracted. The electromagnet type end pick-up has simple overall structure, low manufacturing cost, high reliability, long service life, can realize hub attraction and buffering function at the same time, and can greatly reduce the impact on mechanism. But according to the production of different, metal plate will also have different structure or size, the existing end pick-up cannot meet the needs of different plate fitting, such as when adsorbing long strip-shaped plate, some end pick-ups may not fit on the plate, resulting in unstable adsorption; when adsorbing larger plate, the end pick-up adsorption position is too concentrated, stress concentration occurs, leading to plate deformation.

[0004] Therefore, it is urgent to design an electromagnetic end pick-up, which can adjust its structure to cooperate with the object to be transported. INVENTION CONTENTS

[0005] To solve the technical problems that the existing end pick-up cannot meet the needs of different plate fitting in the background art, and when adsorbing larger plate, the end pick-up adsorption position is too concentrated, stress concentration occurs, leading to plate deformation, an electromagnetic end pick-up and metal plate automatic sorting device are provided.

[0006] To achieve the above-mentioned purpose, the specific technical scheme of the electromagnetic end pick-up and metal plate automatic sorting device of the utility model is as follows:

[0007] An electromagnetic end pick-up includes driving part, adjusting part and a plurality of magnetic suction parts connected in sequence, the plurality of magnetic suction parts are slidingly connected with the bottom of the adjusting part, the driving part can drive the adjusting part and the plurality of magnetic suction parts to rotate, to adjust the position of the magnetic suction part on the horizontal plane.

[0008] Further, the adjusting part comprises a connecting shaft, a guide rail, a first driving mechanism and a plurality of movable plates, the guide rail is connected with the driving part through the connecting shaft, the plurality of movable plates are respectively slidably connected with the guide rail, the first driving mechanism is used for driving the movable plates to slide on the guide rail, and the magnetic attraction part is arranged on the movable plate.

[0009] Further, the guide rail is in a cross structure, four magnetic attraction parts are respectively arranged at the four end portions of the cross structure guide rail, and the magnetic attraction part can be close to or away from the cross center under the action of the first driving mechanism.

[0010] Further, the driving part comprises a second driving mechanism and a first gear, the output shaft of the second driving mechanism is engaged with the first gear, the adjusting part is connected with the first gear, and the first gear is connected with the connecting shaft.

[0011] Further, the magnetic attraction part comprises a buffer assembly and a plurality of magnetic attraction blocks, the magnetic attraction blocks are movably connected with the adjusting part through the buffer assembly.

[0012] Further, the buffer assembly comprises an adjusting plate, an adjusting rod, a first elastic member and a second elastic member, the adjusting plate is fixedly connected with the adjusting part, an adjusting space accommodating the adjusting rod is formed between the adjusting plate and the adjusting part, the adjusting rod is movably arranged in the adjusting part, the first elastic member is sleeved on the adjusting rod in the adjusting space, the second elastic member is sleeved on the adjusting rod on the other side of the adjusting plate, and the end portion of the adjusting rod away from the adjusting part is fixedly connected with the magnetic attraction block.

[0013] A metal plate automatic sorting device comprising the electromagnetic end picker, the metal plate automatic sorting device further comprises a rack, two moving assemblies, two vision assemblies and a control assembly; the two moving assemblies are movably connected with the rack, the two vision assemblies are respectively fixedly arranged on the two moving assemblies, the two electromagnetic end pickers are respectively arranged at the bottom of the two moving assemblies, and the control assembly is electrically connected with the moving assemblies, the electromagnetic end pickers and the vision assemblies.

[0014] Further, the rack comprises a first fixed beam and a second fixed beam, the first fixed beam and the second fixed beam are arranged in parallel, and the two moving assemblies are respectively slidably arranged between the first fixed beam and the second fixed beam.

[0015] Further, the moving assembly comprises a first moving mechanism, a second moving mechanism and a third moving mechanism, the first moving mechanism is slidably arranged between the first fixed beam and the second fixed beam, the second moving mechanism is slidably arranged on the first moving mechanism, the third moving mechanism is slidably arranged on the second moving mechanism, and the electromagnetic end picker is arranged at the bottom of the third moving mechanism; the sliding directions of the first moving mechanism, the second moving mechanism and the third moving mechanism are all perpendicular to each other.

[0016] Further, the control assembly comprises a control panel, a general control cabinet and two sub-control cabinets, the control panel is electrically connected with the general control cabinet, the general control cabinet is electrically connected with the two sub-control cabinets respectively, the two sub-control cabinets are fixedly arranged on the two first moving mechanisms respectively, and are electrically connected with the moving assembly and the electromagnetic end picker.

[0017] The electromagnetic end picker has the following advantages: when different metal plates need to be sucked, the magnetic attraction parts can slide at the bottom of the displacement part to form a structure suitable for the metal plates, for example, when the metal plates are in a strip structure, the magnetic attraction parts are distributed along the strip structure at the bottom of the displacement part, when the metal plates are in a square or circular structure, the magnetic attraction parts are symmetrically distributed at the bottom of the displacement part, the magnetic attraction parts are adjusted by the rotating part to completely coincide with the projection of the metal plates in the vertical direction, the electromagnetic end picker is pressed down, and the magnetic attraction parts contact the metal plates to complete the sucking work.

[0018] The metal plate automatic sorting device has the following advantages: when the metal plates need to be sorted, the visual assembly first performs visual identification on the metal plates in the sorting area and feeds the picture information to the control assembly, and the control assembly analyzes the size and shape of the metal plates; when the metal plates are small, the control assembly controls the two moving assemblies to work independently, the two moving assemblies move without interference, and the electromagnetic end picker at the bottom sorts the metal plates, greatly improving the work efficiency; when the metal plates are large, the control assembly controls the two moving assemblies to work cooperatively, the electromagnetic end pickers at the bottom of the two moving assemblies respectively adsorb the metal plates at two places, transport the metal plates while keeping relatively still, can effectively avoid the vibration or shaking of the metal plates in the transportation process due to a single stress point, and can also avoid the deformation or even bending of the metal plates due to self-weight, greatly improving the transportation quality in the sorting process. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 The utility model provides a kind of overall structure schematic diagram of electromagnetic end picker for the utility model;

[0020] Figure 2 The utility model provides a kind of rotating part, magnetic attraction part structure schematic diagram of electromagnetic end picker for the utility model;

[0021] Figure 3 The utility model provides a kind of moving part structure schematic diagram of electromagnetic end picker for the utility model;

[0022] Figure 4 The utility model provides a kind of magnetic attraction part structure schematic diagram of electromagnetic end picker for the utility model;

[0023] Figure 5 A magnetic attraction part expansion distribution schematic view of the electromagnetic end pickup is provided in the utility model;

[0024] Figure 6 A magnetic attraction part contraction structure schematic view of the electromagnetic end pickup is provided in the utility model;

[0025] Figure 7 A first visual angle schematic view of the automatic metal plate sorting device is provided in the utility model;

[0026] Figure 8 A second visual angle schematic view of the automatic metal plate sorting device is provided in the utility model;

[0027] Figure 9 A moving assembly and electromagnetic end pickup structure schematic view of the automatic metal plate sorting device is provided in the utility model;

[0028] Figure 10 A Figure 8 The local enlarged schematic view of A in the utility model.

[0029] Marking explanation in the figure:

[0030] 1, electromagnetic end pickup; 11, mounting shell; 12, driving part; 121, second driving mechanism; 122, first gear; 123, second gear; 13, adjusting part; 131, connecting shaft; 132, guide rail; 133, first driving mechanism; 134, movable plate; 14, magnetic attraction part; 141, buffer assembly; 1411, adjusting plate; 1412, adjusting rod; 1413, first elastic piece; 1414, second elastic piece; 142, magnetic attraction block; 15, protection frame;

[0031] 2, rack; 21, first fixed beam; 22, second fixed beam; 23, maintenance ladder; 24, maintenance passage; 25, tank chain;

[0032] 3, moving assembly; 31, first moving mechanism; 311, first moving rod; 312, first driving member; 313, stroke limit switch; 32, second moving mechanism; 321, moving plate; 322, second driving member; 33, third moving mechanism; 331, second moving rod; 332, third driving member;

[0033] 4, visual assembly;

[0034] 5, control assembly; 51, control board; 52, general control cabinet; 53, sub-control cabinet. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme of the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model below, obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the utility model.

[0036] The person skilled in the art can understand that, although some embodiments herein include certain features included in other embodiments instead of other features, the combination of the features of different embodiments means to be within the scope of the utility model and form different embodiments. For example, in the claims, any one of the claimed embodiments can be used in any combination.

[0037] The following will refer to the drawings Figure 1 to the drawings Figure 10 The utility model discloses an electromagnetic end pickup 1 and metal plate automatic sorting device.

[0038] Embodiment 1:

[0039] Figure 1 The overall structure schematic diagram of the electromagnetic end pickup provided for the embodiment is provided; Figure 2 The rotating part, magnetic attraction part structure schematic diagram of the electromagnetic end pickup provided for the embodiment is provided; Figure 3 The moving part structure schematic diagram of the electromagnetic end pickup provided for the embodiment is provided; Figure 4 The magnetic attraction part structure schematic diagram of the electromagnetic end pickup provided for the embodiment is provided; Figure 5 The magnetic attraction part expansion distribution schematic diagram of the electromagnetic end pickup provided for the embodiment is provided; Figure 6 The magnetic attraction part contraction structure schematic diagram of the electromagnetic end pickup provided for the embodiment is provided.

[0040] The embodiment provides an electromagnetic end pickup 1, such as Figures 1-6As shown, the electromagnetic end picker 1 comprises a driving part 12, an adjusting part 13 and a plurality of magnetic suction parts 14 connected in sequence, the plurality of magnetic suction parts 14 are slidingly connected with the bottom of the adjusting part 13, the driving part 12 can drive the adjusting part 13 and the plurality of magnetic suction parts 14 to rotate, so as to adjust the position of the magnetic suction parts 14 on the horizontal plane. Through the above arrangement, when it is needed to pick up metal plates with different shapes or sizes, the magnetic suction parts 14 can slide on the bottom of the displacement part to form a structure suitable for the metal plate, for example, when the metal plate is in a long strip structure, each magnetic suction part 14 is distributed along the long strip structure on the bottom of the displacement part, when the metal plate is in a square or circular structure, each magnetic suction part 14 is symmetrically distributed on the bottom of the displacement part, and then the rotating part is adjusted to make the magnetic suction parts 14 completely coincide with the projection of the metal plate in the vertical direction, the electromagnetic end picker 1 is pressed down, the magnetic suction parts 14 are in contact with the metal plate to complete the picking work.

[0041] Further, as shown in Figure 2 and Figure 3 , the adjusting part 13 comprises a connecting shaft 131, a guide rail 132, a first driving mechanism 133 and a plurality of movable plates 134, the guide rail 132 is connected with the driving part 12 through the connecting shaft 131, the plurality of movable plates 134 are slidingly connected with the guide rail 132 respectively, the first driving mechanism 133 is used to drive the movable plates 134 to slide on the guide rail 132, and the magnetic suction parts 14 are arranged on the movable plates 134.

[0042] Through the above arrangement, under the action of the first driving mechanism 133, the movable plates 134 can slide along the guide rail 132, so that the magnetic suction parts 14 at the bottom of each movable plate 134 can be combined into different shapes according to different structures of the metal plate.

[0043] Specifically, in the embodiment, the above guide rail 132 is in a cross structure, four magnetic suction parts 14 are arranged at each end of the cross structure guide rail 132 respectively, and the magnetic suction parts 14 can move close to or away from the center of the cross under the action of the first driving mechanism 133.

[0044] Through the above arrangement, the four magnetic suction parts 14 can move along the guide rail 132 of the cross structure, so as to combine different structures, and ensure that each magnetic suction part 14 can completely adhere to the metal plate.

[0045] In other embodiments, the guide rail 132 may also be in the shape of a cross or even a grid, to improve the adjustment direction of the magnetic suction part 14 that is slidably connected to the guide rail 132. This, in conjunction with the connecting shaft 131 that can drive the guide rail 132 to rotate, allows multiple magnetic suction parts 14 to be adjusted into different shaped patterns, thereby adapting to various other irregularly shaped metal plates. In short, it is understood that those skilled in the art can adjust the shape and specifications of the guide rail 132 according to existing technical means to better adapt to the metal plate adsorption operation. Here, the shape of the guide rail 132 is not further limited.

[0046] Furthermore, the drive unit 12 includes a second drive mechanism 121 and a first gear 122. The output shaft of the second drive mechanism 121 meshes with the first gear 122. The adjustment unit 13 is connected to the first gear 122, and the first gear 122 is connected to the connecting shaft 131.

[0047] To further improve the overall stability of the drive unit 12, in this embodiment, the first gear 122 and the connecting shaft 131 are fixedly connected. In other embodiments, the above connection method can be replaced with a detachable connection, which makes it easier for staff to replace the connecting shaft 131 or the gear.

[0048] With this configuration, when picking up or placing metal plates, the second drive mechanism 121 can drive the first gear 122 to rotate, thereby causing the displacement part connected to the first gear 122 to rotate accordingly, adjusting the direction of the magnetic suction part 14 at the bottom of the displacement part, so that the magnetic suction part 14 can fully fit with metal plates placed in different directions.

[0049] As another preferred embodiment of this utility model, such as Figure 2 As shown, the drive unit 12 also includes a second gear 123, wherein the output shaft of the second drive mechanism 121 is arranged opposite to the first gear 122, and the second drive mechanism 121 meshes with the first gear 122 through the second gear 123. This arrangement ensures that the vertical load on the adsorbed metal plate is only on the first gear 122, thereby improving the service life of the second drive mechanism 121.

[0050] It should be noted that the number of teeth of the first gear 122 and the second gear 123 are not the same, thus forming a deceleration or acceleration structure, which serves to adjust the second drive structure.

[0051] Optionally, such as Figure 1 , Figure 2 and Figure 6As shown, the electromagnetic end picker 1 further comprises a mounting shell 11, and the first gear 122 and the second gear 123 are arranged in the mounting shell 11, so as to provide protection for the two gears, and further, the gears are usually added with lubricating oil during operation, and dust or flocculation in the air is easy to adhere to the lubricating oil on the first gear 122 or the second gear 123, thereby affecting the rotation of the first gear 122 or the second gear 123, so that the first gear 122 and the second gear 123 are arranged in the shell to ensure isolation from the outside, thereby prolonging the service life of the gears.

[0052] Further, as shown in Figures 2-4 , the magnetic attraction part 14 comprises a buffer assembly 141 and a plurality of magnetic attraction blocks 142, and the magnetic attraction blocks 142 are movably connected with the adjusting part 13 through the buffer assembly 141. Through this arrangement, when the electromagnetic end picker 1 is used to adsorb or place the metal plate, the buffer assembly 141 can play a buffering role to avoid excessive pressure from damaging the metal plate.

[0053] Further, as shown in Figure 3 and Figure 4 , the buffer assembly 141 comprises an adjusting plate 1411, an adjusting rod 1412, a first elastic member 1413 and a second elastic member 1414, the adjusting plate 1411 is fixedly connected with the adjusting part 13, an adjusting space accommodating the adjusting rod 1412 is formed between the adjusting plate 1411 and the adjusting part 13, the adjusting rod 1412 movably penetrates the adjusting part 13, the first elastic member 1413 is sleeved on the adjusting rod 1412 in the adjusting space, the second elastic member 1414 is sleeved on the adjusting rod 1412 on the other side of the adjusting plate 1411, and the end of the adjusting rod 1412 away from the adjusting part 13 is fixedly connected with the magnetic attraction block 142.

[0054] Through this arrangement, when the electromagnetic end picker 1 is pressed to adsorb the metal plate, the second elastic member 1414 is compressed to play a buffering role to avoid excessive force from damaging the metal plate; when the electromagnetic end picker 1 lifts the metal plate, the first elastic member 1413 is stretched to play a buffering role; when the electromagnetic end picker 1 places the metal plate, the stretched first elastic member 1413 gradually reduces the stretching degree with the contact of the metal plate and the floor, and also plays a buffering role.

[0055] As a preferred embodiment, as shown in Figure 3 and Figure 4As shown, the electromagnetic end effector 1 also includes a protective frame 15. The protective frame 15 is elastically connected to the adjusting plate 1411 via a connecting column, and the vertical height of the protective frame 15 is slightly lower than that of the magnetic block 142. Specifically, when the electromagnetic end effector 1 presses down to attract, the protective frame 15 first contacts the plate. Under pressure, the elastic element on the protective frame 15 is compressed, and the adjusting plate 1411 continues to move downward relative to the protective frame 15, causing the magnetic block 142 to move downward until the magnetic block 142 abuts against the steel plate. The magnetic block 142 is suspended on the adjusting plate 1411 by two elastic elements (i.e., the first elastic element 1413 and the second elastic element 1414). If the steel plate is uneven or the horizontal height of the magnetic blocks 142 is inconsistent due to assembly, each magnetic block 142 can self-adjust through the compression of the elastic element, so that all magnetic blocks 142 are in contact with the surface of the steel plate, avoiding excessive pressure between some protruding magnetic blocks 142 and the steel plate.

[0056] Example 2:

[0057] Figure 7 This is a first-view schematic diagram of an automatic metal sheet sorting device provided in this embodiment; Figure 8 This is a second-view schematic diagram of an automatic metal sheet sorting device provided in this embodiment; Figure 9 This is a schematic diagram of the moving component and electromagnetic end effector structure of an automatic metal sheet sorting device provided in this embodiment; Figure 10 for Figure 8 A magnified view of a portion of point A in the middle.

[0058] This embodiment describes an automatic metal sheet sorting device, such as... Figure 7 As shown, the automatic metal sheet sorting device includes the electromagnetic end effector 1 of Embodiment 1 above. The automatic metal sheet sorting device also includes a frame 2, two moving components 3, two vision components 4, and a control component 5. The two moving components 3 are movably connected to the frame 2, the two vision components 4 are fixedly installed on the two moving components 3, the two electromagnetic end effectors 1 are installed at the bottom of the two moving components 3, and the control component 5 is electrically connected to the moving components 3, the electromagnetic end effectors 1, and the vision components 4.

[0059] The metal plate automatic sorting device is provided in the above manner, and when the metal plate needs to be sorted, the visual component 4 first performs visual identification on the metal plate in the sorting area and feeds back picture information to the control component 5, and the control component 5 analyzes the size and shape of the metal plate; when the metal plate is small, the control component 5 controls the two moving components 3 to work independently, the two moving components 3 move without interfering with each other, and the bottom electromagnetic end pick-up 1 sorts the metal plate, greatly improving the work efficiency; when the metal plate is large, the control component 5 controls the two moving components 3 to work cooperatively, the electromagnetic end pick-up 1 at the bottom of the two moving components 3 respectively adsorbs the metal plate at two places, and transports the metal plate while keeping relatively static, which can effectively avoid vibration or shaking of the metal plate during transportation due to a single stress point, and also avoid deformation or even bending of the metal plate due to its own weight, greatly improving the transportation quality during sorting.

[0060] Further, as shown in Figures 8-10 The rack 2 includes a first fixed beam 21 and a second fixed beam 22, the first fixed beam 21 and the second fixed beam 22 are arranged in parallel, and the two moving components 3 are respectively slidably arranged between the first fixed beam 21 and the second fixed beam 22.

[0061] Further, the moving component 3 includes a first moving mechanism 31, a second moving mechanism, and a third moving mechanism 33, the first moving mechanism 31 is slidably arranged between the first fixed beam 21 and the second fixed beam 22, the second moving mechanism is slidably arranged on the first moving mechanism 31, the third moving mechanism 33 is slidably arranged on the second moving mechanism, and the electromagnetic end pick-up 1 is arranged at the bottom of the third moving mechanism 33; the sliding directions of the first moving mechanism 31, the second moving mechanism, and the third moving mechanism 33 are perpendicular to each other.

[0062] As another embodiment of the utility model, the first moving mechanism 31 includes a first moving rod 311 and a first driving member 312, the two ends of the first moving rod 311 are respectively slidably connected with the first fixed beam 21 and the second fixed beam 22, the first moving rod 311 is arranged perpendicularly to the first fixed beam 21, and the first driving member 312 can drive the first moving rod 311 to move along the first fixed beam 21.

[0063] As another embodiment of the utility model, the second moving mechanism includes a moving plate and a second driving member 322, the moving plate is slidably connected with the first moving rod 311 through the second driving member 322, and the second driving member 322 can drive the moving plate to slide along the first moving rod 311 in the axial direction.

[0064] As another embodiment of the utility model, the third moving mechanism 33 includes a second moving rod 331 and a third driving member 332, the second moving rod 331 is slidably connected with the moving plate through the third driving member 332, and the second moving rod 331 is perpendicular to the first fixed beam 21 and the first moving rod 311, and the third driving member 332 is used to drive the second moving rod 331 to move along the axial direction of the second moving rod 331, and the first electromagnetic end pick-up 1 is arranged directly below the second moving rod 331.

[0065] For the convenience of description, the axial direction of the first fixed beam 21 is defined as the X-axis direction, the axial direction of the first moving rod 311 is defined as the Y-axis direction, and the axial direction of the second moving rod 331 is defined as the Z-axis direction. Through this arrangement, the first moving mechanism 31, the second moving mechanism and the third moving mechanism 33 can be cooperated with each other to realize the movement of the first electromagnetic end pick-up 1 along the X, Y and Z axes, so that the electromagnetic end pick-up 1 can sort and carry the metal plate in any track within the movement range.

[0066] Further, the control assembly 5 includes a control panel 51, a general control cabinet 52 and two sub-control cabinets 53, the control panel 51 is electrically connected with the general control cabinet 52, the general control cabinet 52 is electrically connected with the two sub-control cabinets 53 respectively, the two sub-control cabinets 53 are fixedly arranged on the two first moving mechanisms 31 respectively, and are electrically connected with the moving assembly 3 and the electromagnetic end pick-up 1.

[0067] Through this arrangement, the staff can set the working mode, movement parameters and metal plate size information through the control panel 51, and synchronously send the information to the general control cabinet 52; the visual assembly 4 sends the image information shot to the general control cabinet 52, the general control cabinet 52 processes the image information according to the preset parameters, and judges whether the two moving assemblies 3 work independently or cooperatively; the general control cabinet 52 controls the working of the two moving assemblies 3 through the two sub-control cabinets 53 respectively, so that the mutual interference of the movement control of the two moving assemblies 3 can be avoided.

[0068] It should be noted that, in order to improve the convenience of the device, the above-mentioned electrical connection can also be a communication connection, so as to realize remote control.

[0069] Embodiment 3:

[0070] As shown in Figures 7 to 10 Another embodiment of the utility model metal plate automatic sorting device, this embodiment is similar to embodiment 2, the difference lies in, still including the maintenance ladder 23, the maintenance passage 24, the tank chain 25, the travel limit switch 313 and the like structure.

[0071] As another embodiment of the utility model, as shown in Figure 8As shown, the metal plate automatic sorting device further comprises an inspection ladder 23 and an inspection passage 24, the inspection passage 24 is fixedly arranged beside the second fixed beam 22, the inspection ladder 23 is used for the inspector to enter the inspection passage 24, and the sub-control cabinet 53 is located at the connecting position of the first moving mechanism 31 and the second fixed beam 22.

[0072] Through the arrangement mode, when the moving assembly 3 fails, the inspector can enter the inspection passage 24 through the inspection ladder 23 and can inspect the sub-control cabinet 53, so that the inspection work is facilitated and the inspection efficiency is improved.

[0073] As another embodiment of the utility model, as shown in Figure 7 and Figure 9 As shown, the second fixed beam 22, the first moving mechanism 31 and the third moving mechanism 33 are all provided with a tank chain 25 for restraining the wire.

[0074] Through the arrangement mode, the connecting cable between the components can be prevented from being knotted or wound during the sorting movement of the moving assembly 3.

[0075] As another embodiment of the utility model, as shown in Figure 10 As shown, the first moving mechanism 31 is provided with an anti-collision stroke limiting switch 313.

[0076] Through the arrangement mode, when the control system fails, the stroke limiting switch 313 can ensure that the two first moving mechanisms 31 are kept outside the limit distance, so that mutual collision is prevented.

[0077] Obviously, the above embodiments of the utility model are only examples for clearly explaining the utility model, and are not the limitation on the embodiments of the utility model. For ordinary skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments are not enumerated. Any modification, equivalent replacement and improvement within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. An electromagnetic end effector, characterized by, The device comprises a driving part, an adjusting part and a plurality of magnetic parts connected in sequence, the plurality of magnetic parts are slidably connected to the bottom of the adjusting part, and the driving part can drive the adjusting part and the plurality of magnetic parts to rotate so as to adjust the position of the magnetic parts on the horizontal plane.

2. The electromagnetic end effector of claim 1, wherein, The adjusting part comprises a connecting shaft, a guide rail, a first driving mechanism and a plurality of movable plates, the guide rail is connected to the driving part through the connecting shaft, the plurality of movable plates are slidably connected to the guide rail, the first driving mechanism is used to drive the movable plates to slide on the guide rail, and the magnetic parts are arranged on the movable plates.

3. The electromagnetic end effector of claim 2, wherein, The guide rail has a cross structure, and four magnetic parts are arranged at the respective ends of the cross structure guide rail, and the magnetic parts can be close to or away from the cross center under the action of the first driving mechanism.

4. The electromagnetic end effector of claim 2, wherein, The driving part comprises a second driving mechanism and a first gear, the output shaft of the second driving mechanism is engaged with the first gear, the adjusting part is connected to the first gear, and the first gear is connected to the connecting shaft.

5. The electromagnetic end effector according to any one of claims 1-4, wherein, The magnetic part comprises a buffer assembly and a plurality of magnetic blocks, and the magnetic blocks are movably connected to the adjusting part through the buffer assembly.

6. The electromagnetic end effector of claim 5, wherein, The buffer assembly comprises an adjusting plate, an adjusting rod, a first elastic member and a second elastic member, the adjusting plate is fixedly connected to the adjusting part, an adjusting space for accommodating the adjusting rod is formed between the adjusting plate and the adjusting part, the adjusting rod is movably arranged in the adjusting plate, the first elastic member is sleeved on the adjusting rod in the adjusting space, the second elastic member is sleeved on the adjusting rod on the other side of the adjusting plate, and the end of the adjusting rod away from the adjusting part is fixedly connected to the magnetic block.

7. A metal sheet automatic sorting device, characterized by comprising: The metal plate automatic sorting device further comprises a rack, two moving assemblies, two vision assemblies and a control assembly; the two moving assemblies are movably connected to the rack, the two vision assemblies are fixedly arranged on the two moving assemblies respectively, the two electromagnetic end pickers are arranged at the bottom of the two moving assemblies respectively, and the control assembly is electrically connected with the moving assemblies, the electromagnetic end pickers and the vision assemblies.

8. The metal sheet automatic sorting device according to claim 7, characterized in that, The rack comprises a first fixed beam and a second fixed beam, and the first fixed beam is arranged in parallel with the second fixed beam; the two moving assemblies are slidably arranged between the first fixed beam and the second fixed beam.

9. The metal sheet automatic sorting device according to claim 7, characterized in that, The moving assembly comprises a first moving mechanism, a second moving mechanism and a third moving mechanism; the first moving mechanism is slidably arranged between the first fixed beam and the second fixed beam, the second moving mechanism is slidably arranged on the first moving mechanism, the third moving mechanism is slidably arranged on the second moving mechanism, and the electromagnetic end picker is arranged at the bottom of the third moving mechanism; the sliding directions of the first moving mechanism, the second moving mechanism and the third moving mechanism are perpendicular to each other.

10. The metal sheet automatic sorting device according to claim 9, characterized in that, The control assembly comprises a control board, a general control cabinet and two sub-control cabinets; the control board is electrically connected with the general control cabinet, the general control cabinet is electrically connected with the two sub-control cabinets respectively, the two sub-control cabinets are fixedly arranged on the two first moving mechanisms respectively, and are electrically connected with the moving assemblies and the electromagnetic end pickers.

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