Metal workpiece carrying robot based on electromagnetic adsorption

Abstract

The utility model discloses a metal workpiece carrying robot based on electromagnetic adsorption. The metal workpiece carrying robot comprises a guide rail; the first movable base is arranged on the guide rail; the second movable base is connected with the first movable base; the rotary holder is arranged on the first movable base; the material temporary storage mechanism is arranged on the second movable base; the first support is arranged on the rotary holder; the parallel two-degree-of-freedom mechanical arm is movably connected with the first support; the second support is arranged at the tail end of the parallel two-degree-of-freedom mechanical arm; the electromagnet executing mechanism is movably connected with the second support; one end of the synchronous pulley mechanism is connected with the second support, and the other end is connected with the electromagnet actuating mechanism; and the pitching mechanism is arranged on the parallel two-degree-of-freedom mechanical arm. According to the technical scheme disclosed by the utility model, the manipulator can be suitable for metal workpieces with different sizes, shapes and contours, effective grabbing and placing operation is realized, and the carrying requirements of various types of workpieces are met.

Description

Technical Field

[0001] This utility model relates to the field of logistics handling equipment technology, and more specifically, to a metal workpiece handling robot based on electromagnetic adsorption for cranes. Background Technology

[0002] In today's highly industrialized era, the manufacturing and logistics industries are booming. Metal workpieces, as key basic components in many fields, play a crucial role in the production process through handling. However, existing logistics handling equipment is gradually revealing many insurmountable problems when dealing with metal workpiece handling tasks, severely restricting the further development of the industry.

[0003] Currently, most traditional logistics handling equipment is based on relatively simple and fixed mechanical structure designs, lacking sufficient flexibility and adaptability. Regarding size, traditional handling equipment is typically designed for a specific size range, with its robotic arm end effector usually employing mechanical grippers for workpiece gripping. The limited gripping range of these grippers makes them unsuitable for handling metal workpieces of varying sizes. Furthermore, in terms of shape, when dealing with complex-shaped metal workpieces, such as sharp-edged or irregularly shaped components, the robotic arm structure of traditional handling equipment, typically employing three degrees of freedom or fewer, restricts the adjustment range of the orientation and angle of its end effector grippers. This generally makes it difficult to conform to the surface contours of complex-shaped workpieces, resulting in unstable gripping, easy slippage, and ineffective handling. Therefore, traditional handling equipment has poor adaptability to workpiece shape and size, generally struggling to grasp metal workpieces with irregular contours or large size variations, significantly limiting the types of workpieces it can handle and failing to meet the complex handling needs arising from the diversified product production of modern manufacturing.

[0004] Therefore, how to provide a metal workpiece handling robot based on electromagnetic adsorption that can be applied to metal workpieces of various sizes and shapes, effectively grasp and place them, and meet the handling needs of various types of workpieces has become a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a metal workpiece handling robot based on electromagnetic adsorption, which can be applied to metal workpieces of various sizes and shapes, effectively grasping and placing them to meet the handling needs of various types of workpieces. The technical solution provided by this utility model is as follows:

[0006] This utility model provides a metal workpiece handling robot based on electromagnetic adsorption, comprising: a guide rail; a first movable base disposed on the guide rail; a second movable base disposed on the guide rail and connected to the first movable base; a rotary gimbal disposed on the first movable base; a material storage mechanism disposed on the second movable base; a first support disposed on the rotary gimbal; a parallel two-degree-of-freedom robotic arm disposed on and movably connected to the first support; a second support disposed at the end of the parallel two-degree-of-freedom robotic arm; an electromagnet actuator movably connected to the second support for magnetic adsorption and gripping of workpieces; a synchronous belt pulley mechanism connected at one end to the second support and at the other end to the electromagnet actuator for adjusting the pitch angle of the electromagnet actuator; and a pitch mechanism disposed on the parallel two-degree-of-freedom robotic arm, at one end movably connected to the first support and at the other end movably connected to the second support.

[0007] Furthermore, in a preferred embodiment of this utility model, the first movable base or the second movable base includes:

[0008] A U-shaped frame spanning the guide rail;

[0009] A movable wheel is located at the bottom of the U-shaped frame and abuts against the top surface of the guide rail;

[0010] A servo motor is mounted on the U-shaped frame and connected to the moving wheel;

[0011] Guide wheels are disposed on the side wall of the U-shaped frame and abut against the side wall of the guide rail;

[0012] The displacement sensor assembly and the inertial navigation sensor assembly are mounted on the U-shaped frame.

[0013] Furthermore, in a preferred embodiment of this utility model, the first support includes:

[0014] The robotic arm support is mounted on the rotary gimbal;

[0015] Support arm support mounted on the robotic arm support.

[0016] Furthermore, in a preferred embodiment of this utility model, the rotating gimbal includes:

[0017] Mounting base disposed on the first movable base;

[0018] A rotary bearing fitted onto the mounting base and connected to the parallel two-degree-of-freedom robotic arm;

[0019] A motor mounting plate is disposed on the support of the robotic arm;

[0020] A rotary motor mounted vertically on a motor mounting plate;

[0021] A transmission gear located at the output end of the rotary motor and meshing with the slewing bearing.

[0022] Furthermore, in a preferred embodiment of this utility model, the metal workpiece handling robot based on electromagnetic adsorption further includes a counterweight box disposed on one end of the motor mounting plate.

[0023] Furthermore, in a preferred embodiment of this invention, the parallel two-degree-of-freedom robotic arm comprises:

[0024] The first drive motor is installed on the left side wall of the robotic arm support;

[0025] The first large arm is located at the output end of the first drive motor;

[0026] Joint components located at the end of the first upper arm;

[0027] A first forearm, one end of which is movably connected to the joint component and the other end of which is movably connected to the second support;

[0028] The second drive motor is installed on the right side wall of the robotic arm support;

[0029] The boom short connecting rod is located at the output end of the second drive motor;

[0030] The second upper arm is disposed at the end of the short link of the upper arm, with one end movably connected to the short link of the upper arm and the other end movably connected to the joint component;

[0031] A second forearm, one end of which is movably connected to the joint component, and the other end of which is movably connected to the second support;

[0032] The support arm is mounted on the support arm support, with one end movably connected to the support arm support and the other end movably connected to the joint component.

[0033] Furthermore, in a preferred embodiment of this utility model, the second forearm is a bent forearm;

[0034] The bent forearm is provided with a first through hole, a second through hole and a third through hole;

[0035] The first through hole and the third through hole are respectively provided at both ends of the bent forearm, and the second through hole is provided at the bending point of the bent forearm;

[0036] The joint component passes through the second through hole and is movably connected to the bent forearm.

[0037] Furthermore, in a preferred embodiment of this utility model, the pitch mechanism includes:

[0038] An L-shaped three-hole connecting plate is disposed on the joint component;

[0039] The L-shaped three-hole connecting plate is provided with a fourth through hole and a fifth through hole at both ends, and a sixth through hole is provided at the bend of the L-shaped three-hole connecting plate;

[0040] The joint component passes through the sixth through hole and is movably connected to the L-shaped three-hole connecting plate;

[0041] One end is connected to the robotic arm support, and the other end is connected to the first pitch linkage of the fourth through hole;

[0042] One end is connected to the second support, and the other end is connected to the second pitch link of the fifth through hole.

[0043] Furthermore, in a preferred embodiment of this utility model, the synchronous belt pulley mechanism includes:

[0044] The stepper motor is mounted on the second support;

[0045] An encoder is installed at the output end of the stepper motor;

[0046] The drive pulley is connected to the output end of the stepper motor;

[0047] The driven pulley is disposed on the electromagnet actuator;

[0048] One end is connected to the driving pulley, and the other end is connected to the synchronous belt of the driven pulley.

[0049] Furthermore, in a preferred embodiment of this utility model, the metal workpiece handling robot based on electromagnetic adsorption further includes: an image acquisition terminal disposed on the electromagnet actuator.

[0050] Compared with existing technologies, the advantages of this utility model are:

[0051] First, regarding workpiece size applicability, the end effector of the metal workpiece handling robot adopts the electromagnet actuator, which is movably mounted on the second support. It grips the metal workpiece based on electromagnetic attraction, and compared to traditional mechanical clamps, it has no limitation on the gripping range. It can directly attract the workpiece surface using magnetic force, making it suitable for handling workpieces of various sizes. Second, regarding workpiece contour applicability, the metal workpiece handling robot provides five degrees of freedom for orientation adjustment: the first degree of freedom is the horizontal movement of the first and second moving bases. In this novel robotic arm, the first and second movable bases are interconnected and mounted on the guide rail, allowing for linear movement along the rail. This enables the robot to move closer to the workpiece, facilitating the transfer of the logistics handling station and allowing for large-scale positional changes. The second degree of freedom is the horizontal rotation of the rotary gimbal, which is mounted on the first movable base. When the robot moves to the handling location, the rotary gimbal allows for directional adjustment, bringing the end effector electromagnet closer to the workpiece. The third and fourth degrees of freedom are the arm pitch of the parallel two-degree-of-freedom robotic arm. The parallel two-degree-of-freedom robotic arm is mounted on the rotating platform. It is driven by two power sources on the first support, which work together to drive the two arms in parallel. This parallel drive adjusts the spatial position of the robotic arm's end effector, i.e., the electromagnet actuator. A pitch mechanism is provided on the parallel two-degree-of-freedom robotic arm, providing pitch freedom for the entire robotic arm and its end effector components. This changes the spatial tilt angle of the end effector, allowing the electromagnet actuator to gradually approach the workpiece to be transported. The fifth degree of freedom is end effector pitch fine-tuning, i.e., fine-tuning the pitch angle of the electromagnet actuator. The robotic arm of the novel handling robot is equipped with a second support at its end. The electromagnet actuator is movably mounted on the second support. One end of the synchronous belt pulley mechanism is connected to the second support, and the other end is connected to the electromagnet actuator. Its driving end is mounted on the second support, and its driven end is mounted on the electromagnet actuator. By utilizing the synchronous belt transmission principle, the rotational motion of the driving end is transmitted to the electromagnet actuator, causing the electromagnet actuator to rotate relative to the second support. This allows for fine adjustment of the end-effector pitch angle, enabling the electromagnet actuator to conform to the workpiece and perform workpiece gripping and adsorption.In summary, the metal workpiece handling robot achieves precise contact through the coordinated action of horizontal base movement, gimbal orientation adjustment, arm pitch adjustment, and end effector fine-tuning. This collective action constitutes the multi-dimensional motion capability of the electromagnet actuator in space, enabling multi-directional and multi-angle adjustments to the electromagnet actuator's spatial position and three-dimensional posture. This allows the electromagnet actuator to approach and contact a localized area of ​​the workpiece surface at a suitable tilt angle, grasping the workpiece to be transported. Therefore, the metal workpiece handling robot is suitable for grasping and transporting workpieces of various contours. Thus, the technical solution provided by this invention, compared to existing technologies, is applicable to metal workpieces of various sizes and shapes, achieving effective grasping and placement operations and meeting the handling needs of various types of workpieces. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 A frontal overall structural diagram of the metal workpiece handling robot based on electromagnetic adsorption provided for an embodiment of this utility model;

[0054] Figure 2 A schematic diagram of the overall rear structure of the metal workpiece handling robot based on electromagnetic adsorption provided for an embodiment of this utility model;

[0055] Figure 3 A schematic diagram of the overall side structure of the metal workpiece handling robot based on electromagnetic adsorption provided for an embodiment of this utility model;

[0056] Figure 4 A schematic diagram of the overall bottom structure of the metal workpiece handling robot based on electromagnetic adsorption provided in this embodiment of the utility model;

[0057] Figure 5 A schematic diagram of the structure of the rotary gimbal provided in this embodiment of the utility model;

[0058] Figure 6 A schematic diagram of the structure of the parallel two-degree-of-freedom robotic arm provided in this embodiment of the utility model;

[0059] Figure 7 This is a schematic diagram of the structure of the second forearm provided in an embodiment of the present invention;

[0060] Figure 8This is a schematic diagram of the structure of the L-shaped three-hole connecting plate provided in an embodiment of the present utility model.

[0061] Explanation of reference numerals in the attached figures:

[0062] Guide rail 1; First movable base 2; Second movable base 3; U-shaped frame 301; Moving wheel 302; Servo motor 303; Guide wheel 304; Rotary gimbal 4; Rotary bearing 401; Motor mounting plate 402; Rotary motor 403; Transmission gear 404; Material storage mechanism 5; First support 6; Robotic arm support 601; Support arm support 602; Parallel two-degree-of-freedom robotic arm 7; First drive motor 701; First large arm 702; Joint component 703; First small arm Arm 704; Second drive motor 705; Boom short link 706; Second boom 707; Second forearm 708; Support boom 709; Second support 8; Electromagnet actuator 9; Synchronous pulley mechanism 10; Pitch mechanism 11; L-shaped three-hole connecting plate 1101; First pitch link 1102; Second pitch link 1103; Counterweight box 12; First through hole 13; Second through hole 14; Third through hole 15; Fourth through hole 16; Fifth through hole 17; Sixth through hole 18. Detailed Implementation

[0063] To enable those skilled in the art to better understand the technical solutions of this utility model, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0064] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly set on the other component; when a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to the other component.

[0065] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "first", "second", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0066] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0067] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0068] like Figures 1 to 8 As shown, the metal workpiece handling robot based on electromagnetic adsorption provided in this embodiment of the present invention includes: a guide rail 1, a first movable base 2, a second movable base 3, a rotary gimbal 4, a material storage mechanism 5, a first support 6, a parallel two-degree-of-freedom robotic arm 7, a second support 8, an electromagnet actuator 9, a synchronous pulley mechanism 10, and a pitching mechanism 11.

[0069] This utility model provides a metal workpiece handling robot based on electromagnetic adsorption, specifically comprising: a guide rail 1; a first movable base 2 disposed on the guide rail 1; a second movable base 3 disposed on the guide rail 1 and connected to the first movable base 2; a rotary gimbal 4 disposed on the first movable base 2; a material storage mechanism 5 disposed on the second movable base 3; a first support 6 disposed on the rotary gimbal 4; a parallel two-degree-of-freedom robotic arm 7 disposed on the first support 6 and movably connected to the first support 6; a second support 8 disposed at the end of the parallel two-degree-of-freedom robotic arm 7; an electromagnet actuator 9 movably connected to the second support 8 for magnetic adsorption and gripping of workpieces; a synchronous belt pulley mechanism 10 connected at one end to the second support 8 and at the other end to the electromagnet actuator 9 for adjusting the pitch angle of the electromagnet actuator 9; and a pitch mechanism 11 disposed on the parallel two-degree-of-freedom robotic arm 7, with one end movably connected to the first support 6 and the other end movably connected to the second support 8. The technical solution provided by this utility model, compared with the prior art, can be applied to metal workpieces of various sizes and shapes, achieving effective gripping and placement operations, and meeting the handling needs of various types of workpieces. The technical solution of this utility model will be specifically described below with reference to the embodiments:

[0070] Specifically, in the embodiments of this utility model, the first movable base 2 or the second movable base 3 includes: a U-shaped frame 301 spanning across the guide rail 1; a movable wheel 302 disposed at the bottom of the U-shaped frame 301 and abutting against the top surface of the guide rail 1; a servo motor 303 disposed on the U-shaped frame 301 and connected to the movable wheel 302; a guide wheel 304 disposed on the side wall of the U-shaped frame 301 and abutting against the side wall of the guide rail 1; a displacement sensor assembly and an inertial navigation sensor assembly disposed on the U-shaped frame 301.

[0071] like Figure 4 As shown, the first mobile base 2 and the second mobile base 3 have the same structure, serving as the core mechanism for driving the robot to move linearly along the guide rail 1. In this embodiment, the main structure of the first mobile base 2 or the second mobile base 3 consists of the U-shaped frame 301, the moving wheel 302, the servo motor 303, the guide wheel 304, the displacement sensing component, and the inertial navigation sensing component. The U-shaped frame 301 is a U-shaped structure with its opening facing downwards, straddling and riding on the guide rail 1, providing a mounting base and movement path for other components. The moving wheel 302 is located at the bottom of the U-shaped frame 301, abutting against the top surface of the guide rail 1. The servo motor 303 is connected to the axle of the moving wheel 302 through a transmission mechanism, directly driving its rotation. Secondly, the guide wheel 304 is installed on the side wall of the U-shaped frame 301. Its rim contacts and is pre-tightened with the side of the guide rail 1. It is used in pairs to form a clamping constraint, which can eliminate lateral degrees of freedom and prevent the base from swaying, shaking or even derailing relative to the guide rail 1 under the action of inertial force or lateral force. The displacement sensing component and the inertial navigation sensing component constitute the "eyes and cerebellum" of the base movement, which is used to achieve precise positioning. The displacement sensor component is installed on the U-shaped frame 301, and its measuring head is aligned with the guide rail 1 to measure the absolute position of the first moving base 2 or the second moving base 3. The inertial navigation sensing component is directly installed inside the U-shaped frame 301 to measure the three-dimensional acceleration, angular velocity and other motion attitude information of the first moving base 2 and the second moving base 3.

[0072] Specifically, in an embodiment of this utility model, the first support 6 includes: a robotic arm support 601 disposed on the rotary gimbal 4; and a support arm support 602 disposed on the robotic arm support 601.

[0073] Specifically, in an embodiment of this utility model, the rotary gimbal 4 includes: a mounting base disposed on the first movable base 2; a rotary support 401 sleeved on the mounting base and connected to the parallel two-degree-of-freedom robotic arm 7; a motor mounting plate 402 disposed on the robotic arm support 601; a rotary motor 403 vertically disposed on the motor mounting plate 402; and a transmission gear 404 disposed at the output end of the rotary motor 403 and meshing with the rotary support 401.

[0074] like Figure 5 As shown, the rotary gimbal 4 provides horizontal rotational freedom for the parallel two-degree-of-freedom robotic arm 7. In this embodiment, the rotary gimbal 4 consists of the mounting base, slewing bearing 401, motor mounting plate 402, rotary motor 403, and transmission gear 404. The rotary gimbal 4, driven by a "rotary motor-gear-external gear slewing bearing 401" mechanism and in conjunction with a high-rigidity crossed roller bearing, efficiently converts the motor torque into rotational motion of the robotic arm support 601 in the horizontal plane, thereby providing horizontal rotational freedom for the parallel two-degree-of-freedom robotic arm 7. The mounting base, serving as the foundation of the entire gimbal, is mounted on the first movable base 2 for positioning. The slewing bearing 401, which supports all the rotating components above it, is mounted on the mounting base and is a crossed roller bearing with an integrated external gear ring to provide rotational freedom. The rotational driving force is provided by the rotary motor 403, which is vertically mounted on the motor mounting plate 402. The transmission gear 404 is mounted on the output shaft of the rotary motor 403. The rotational power is output from the rotary motor 403 and transmitted from the transmission gear 404 to the slewing bearing 401, causing the slewing bearing 401 to rotate on a fixed axis, thereby driving the parallel two-degree-of-freedom robotic arm 7 to perform rotational motion.

[0075] Specifically, in an embodiment of this utility model, the metal workpiece handling robot based on electromagnetic adsorption further includes a counterweight box 12 disposed on one end of the motor mounting plate 402.

[0076] like Figure 1 As shown in this embodiment of the utility model, in order to achieve torque balance, the motor mounting plate 402 is provided with a counterweight box 12. The counterweight box 12 can hold counterweights, which are used to resist the huge overturning torque generated when the robotic arm extends and grasps heavy objects, so as to ensure the overall stability and safety of the robot under static and dynamic conditions.

[0077] Specifically, in an embodiment of this utility model, the parallel two-degree-of-freedom robotic arm 7 includes: a first drive motor 701 disposed on the left side wall of the robotic arm support 601; a first upper arm 702 disposed on the output end of the first drive motor 701; a joint component 703 disposed on the end of the first upper arm 702; a first lower arm 704 movably connected at one end to the joint component 703 and at the other end to the second support 8; a second drive motor 705 disposed on the right side wall of the robotic arm support 601; and a first lower arm 704 disposed on the right side wall of the robotic arm support 601. The output end of the second drive motor 705 includes a large arm short connecting rod 706; a second large arm 707 disposed at the end of the large arm short connecting rod 706, with one end movably connected to the large arm short connecting rod 706 and the other end movably connected to the joint component 703; a second small arm 708 disposed on the support arm support 602, with one end movably connected to the support arm support 602 and the other end movably connected to the joint component 703; and a support large arm 709 disposed on the support arm support 602, with one end movably connected to the support arm support 602 and the other end movably connected to the joint component 703.

[0078] like Figure 6As shown in this embodiment of the invention, the parallel two-degree-of-freedom robotic arm 7 achieves precise positioning of the end effector in a two-dimensional plane by coordinating the parallel connecting rod and joint component 703 driven by two motors on the robotic arm support 601; the structure of the parallel two-degree-of-freedom robotic arm 7 consists of the first drive motor 701, the first upper arm 702, the joint component 703, the first lower arm 704, the second drive motor 705, the upper arm short connecting rod 706, the second upper arm 707, the second lower arm 708, and the supporting upper arm 709; the parallel... The two-degree-of-freedom robotic arm 7 is an optimized variant of a typical "planar five-bar parallel mechanism." For the left kinematic chain, the first drive motor 701 is rigidly mounted on the left side wall of the robotic arm support 601, serving as one of the core power sources. Its output shaft directly drives the first upper arm 702 to rotate. One end of the first upper arm 702 is fixedly connected to the motor output shaft, while the other end is movably connected to one end of the first lower arm 704 via a joint component 703. The other end of the first lower arm 704 is connected to the second support 8. For the right kinematic chain… The second drive motor 705 is mounted on the right side wall of the robotic arm support 601, symmetrically arranged with the first drive motor 701. It drives the short connecting rod 706 of the upper arm to rotate. The output end of the short connecting rod 706 is movably connected to one end of the second upper arm 707 through a hinge point. The other end of the second upper arm 707 is connected to the joint component 703. The second forearm 708 is connected to the joint component 703 at one end and to the second support 8 at the other end. The joint component 703 is a composite hinge, which is connected to both the first upper arm 702 and the first forearm 704. The second upper arm 707, the second lower arm 708, and the supporting upper arm 709 are connected, serving as the hub where the left and right kinematic chains converge and synthesize motion. Finally, the supporting upper arm 709 is movably connected at one end to the robotic arm support 601 and at the other end to the joint component 703. This component is not directly driven by the motor; it provides an additional constraint and support for the entire parallel mechanism, forming a stable triangle or similar closed structure together with the left and right active chains, greatly enhancing the rigidity and load-bearing capacity of the end effector.

[0079] Specifically, in an embodiment of this utility model, the second forearm 708 is a bent forearm; the bent forearm is provided with a first through hole 13, a second through hole 14 and a third through hole 15; the first through hole 13 and the third through hole 15 are respectively provided at both ends of the bent forearm, and the second through hole 14 is provided at the bending point of the bent forearm; the joint component 703 passes through the second through hole 14 and is movably connected to the bent forearm.

[0080] like Figure 7As shown in this embodiment of the present invention, the second forearm 708 is an integrally formed bent forearm. The bent forearm has a first through hole 13, a second through hole 14, and a third through hole 15 arranged sequentially from left to right. The first through hole 13 and the third through hole 15 are located at both ends of the bent forearm, and the second through hole 14 is located at the bend of the forearm. The joint component 703 passes through the second through hole 14, and the bent forearm can rotate around the joint component 703. Specifically, the forearm is bent, and the bending angle changes the instantaneous center of motion and lever arm of the linkage, which is equivalent to introducing an optimized lever in the kinematic chain. The same input displacement is exchanged for a larger output angular displacement, so that the bent forearm can rotate around the joint component 703 within the same mechanism motion space, thereby obtaining a larger angular displacement range, thereby enhancing the pitch adjustment capability of the end of the robotic arm, i.e., the second support 8.

[0081] Specifically, in an embodiment of this utility model, the pitch mechanism 11 includes: an L-shaped three-hole connecting plate 1101 disposed on the joint component 703; the L-shaped three-hole connecting plate 1101 has a fourth through hole 16 and a fifth through hole 17 respectively at both ends, and a sixth through hole 18 at the bend of the L-shaped three-hole connecting plate 1101; the joint component 703 passes through the sixth through hole 18 and is movably connected to the L-shaped three-hole connecting plate 1101; one end is connected to the robotic arm support 601, and the other end is connected to the first pitch link 1102 of the fourth through hole 16; one end is connected to the second support 8, and the other end is connected to the second pitch link 1103 of the fifth through hole 17.

[0082] like Figure 6 As shown in this embodiment of the invention, the main structure of the pitch mechanism 11 consists of the first pitch link 1102, the L-shaped three-hole connecting plate 1101, and the second pitch link 1103. The pitch mechanism 11, combined with the parallel two-degree-of-freedom robotic arm 7, forms a transmission chain that converts linear push-pull motion into rotational pitch motion. The L-shaped three-hole connecting plate 1101 serves as a motion conversion node, efficiently transmitting the pitch driving force from the robotic arm support 601 to the end-effector second support 8. When the overall pitch angle of the robotic arm needs to be adjusted, the drive source pushes or pulls the first... The linear motion of the first pitch link 1102 is converted into a drive for the L-shaped three-hole connecting plate 1101 through its hinge point with the fourth through hole 16. Since the L-shaped three-hole connecting plate 1101 is hinged to the joint component 703 through the sixth through hole 18, this drive will force the connecting plate to rotate around the joint component 703. The rotation of the L-shaped three-hole connecting plate 1101 is then transmitted to the second support 8 through the fifth through hole 17 and the second pitch link 1103 hinged thereto, thereby ultimately driving the entire end effector to complete the pitch action around the axis of the joint component 703.

[0083] Specifically, in an embodiment of this utility model, the synchronous pulley mechanism 10 includes: a stepper motor disposed on the second support 8; an encoder disposed on the output end of the stepper motor; a driving pulley connected to the output end of the stepper motor; a driven pulley disposed on the electromagnet actuator 9; and a synchronous belt with one end connected to the driving pulley and the other end connected to the driven pulley.

[0084] In this embodiment of the invention, the synchronous pulley mechanism 10 serves as the final checkpoint for adjusting the robot's end-effector posture. Its main structure comprises a stepper motor, encoder, active pulley, driven pulley, and synchronous belt. The stepper motor rotates, driving the active pulley, which is directly connected to its output end, to rotate. The synchronous belt, through meshing with the teeth of the active and driven pulleys, transmits this rotational motion to the driven pulley fixed on the electromagnet actuator 9, thereby causing the entire electromagnet actuator to precisely deflect around its mounting axis by a specified angle. Working in conjunction with the parallel two-degree-of-freedom robotic arm 7 and the pitch mechanism 11, it comprehensively controls the position and posture of the end-effector in three-dimensional space, enabling it to adapt to various metal workpieces with different contours.

[0085] Specifically, in an embodiment of this utility model, the metal workpiece handling robot based on electromagnetic adsorption further includes an image acquisition terminal disposed on the electromagnet actuator 9.

[0086] In this embodiment of the invention, the image acquisition terminal uses a D435i camera, which is used to capture information such as the shape, size, and position of the workpiece in real time during the logistics handling process.

[0087] As described above, the electromagnetic adsorption-based metal workpiece handling robot provided by this utility model aims to solve the problem of poor shape and size adaptability of traditional logistics handling equipment, making it difficult to grasp irregularly shaped and differently sized metal workpieces, thus limiting the types of workpieces that can be handled. The main structure of the electromagnetic adsorption-based metal workpiece handling robot disclosed in this utility model consists of the guide rail 1, the first movable base 2, the second movable base 3, the rotary gimbal 4, the material storage mechanism 5, the first support 6, the parallel two-degree-of-freedom robotic arm 7, the second support 8, the electromagnet actuator 9, the synchronous pulley mechanism 10, and the pitching mechanism 11. This design effectively solves the problem of poor applicability of traditional handling equipment to the size and shape of metal workpieces.First, regarding workpiece size applicability, the end effector of the metal workpiece handling robot adopts the electromagnet actuator 9, which is movably mounted on the second support 8. It grips the metal workpiece based on electromagnetic attraction, and compared to traditional mechanical clamps, it has no limitation on the clamping range. It can directly attract the workpiece surface using magnetic force, making it suitable for handling workpieces of various sizes. Second, regarding workpiece contour applicability, the metal workpiece handling robot provides five degrees of freedom for orientation adjustment: the first degree of freedom is the horizontal movement of the first moving base 2 and the second moving base 3. The first movable base 2 and the second movable base 3 are interconnected and mounted on the guide rail 1, allowing for linear movement along the guide rail 1. They are used to move the handling robot closer to the workpiece to be handled, realizing the transfer of the logistics handling station and enabling the robot to perform large-scale position changes. The second degree of freedom is the horizontal rotation of the rotary gimbal 4, which is mounted on the first movable base 2. When the handling robot moves to the handling location, the rotary gimbal 4 can be used to adjust its direction, allowing the end effector electromagnet 9 to approach the workpiece to be handled. The third and fourth degrees of freedom are the arm pitch of the parallel two-degree-of-freedom robotic arm 7. The two-degree-of-freedom robotic arm 7 is mounted on the rotary gimbal 4. It is driven by two power sources on the first support 6, which work together to drive the two arms in parallel. This parallel drive adjusts the spatial position of the robotic arm's end effector, the electromagnet actuator 9. A pitch mechanism 11 is installed on the parallel two-degree-of-freedom robotic arm 7. This mechanism provides pitch freedom to the entire robotic arm and its end effector, thereby changing the spatial tilt angle of the end effector and allowing the electromagnet actuator 9 to gradually approach the workpiece to be transported. The fifth degree of freedom is end effector pitch fine-tuning, i.e., fine-tuning the pitch angle of the electromagnet actuator 9. The robotic arm of the described handling robot is equipped with a second support 8 at its end. The electromagnet actuator 9 is movably mounted on the second support 8. One end of the synchronous belt pulley mechanism 10 is connected to the second support 8, and the other end is connected to the electromagnet actuator 9. Its driving end is mounted on the second support 8, and its driven end is mounted on the electromagnet actuator 9. Using the synchronous belt transmission principle, the rotational motion of the driving end is transmitted to the electromagnet actuator 9, causing the electromagnet actuator 9 to rotate relative to the second support 8. This allows for fine adjustment of the end-effector pitch angle, enabling the electromagnet actuator 9 to conform to the workpiece and perform workpiece gripping and adsorption.In summary, the metal workpiece handling robot achieves precise contact through the coordinated action of horizontal movement of the moving base, orientation adjustment of the rotating gimbal 4, approximate angle adjustment of the arm's pitch, and precise end-effector fine-tuning. This collectively constitutes the multi-dimensional motion capability of the electromagnet actuator 9 in space. It can adjust the spatial position and three-dimensional posture of the electromagnet actuator 9 from multiple directions and angles, allowing it to approach and contact a local area of ​​the workpiece surface at a suitable tilt angle, thus grasping the workpiece to be transported. This makes the metal workpiece handling robot suitable for grasping and transporting workpieces of various contours. Therefore, the technical solution provided by this utility model, compared to existing technologies, is applicable to metal workpieces of various sizes and shapes, achieving effective grasping and placement operations and meeting the handling needs of various types of workpieces.

[0088] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A metal workpiece handling robot based on electromagnetic adsorption, characterized in that, include: Guide rail (1); The first movable base (2) is set on the guide rail (1); The second movable base (3) is disposed on the guide rail (1) and connected to the first movable base (2); The gimbal (4) is mounted on the first mobile base (2); Material storage mechanism (5) is provided on the second movable base (3); The first support (6) is set on the rotary gimbal (4); A parallel two-degree-of-freedom robotic arm (7) is mounted on the first support (6) and movably connected to the first support (6). The second support (8) is set at the end of the parallel two-degree-of-freedom manipulator (7); An electromagnet actuator (9) is movably connected to the second support (8) and used for magnetic adsorption gripping of workpieces. One end is connected to the second support (8), and the other end is connected to the electromagnet actuator (9), and a synchronous belt pulley mechanism (10) is used to adjust the pitch angle of the electromagnet actuator. A pitching mechanism (11) is mounted on the parallel two-degree-of-freedom robotic arm (7), with one end movably connected to the first support (6) and the other end movably connected to the second support (8).

2. The metal workpiece handling robot based on electromagnetic adsorption according to claim 1, characterized in that, The first movable base (2) or the second movable base (3) includes: A U-shaped frame (301) spanning the guide rail (1). The movable wheel (302) is located at the bottom of the U-shaped frame (301) and abuts against the top surface of the guide rail (1). A servo motor (303) is mounted on the U-shaped frame (301) and connected to the moving wheel (302). Guide wheel (304) is disposed on the side wall of the U-shaped frame (301) and abuts against the side wall of the guide rail (1). The displacement sensor assembly and the inertial navigation sensor assembly are mounted on the U-shaped frame (301).

3. The metal workpiece handling robot based on electromagnetic adsorption according to claim 1, characterized in that, The first support (6) includes: The robotic arm support (601) is mounted on the rotary gimbal (4). Support arm support (602) is provided on the robotic arm support (601).

4. The metal workpiece handling robot based on electromagnetic adsorption according to claim 3, characterized in that, The gimbal (4) includes: Mounting base disposed on the first movable base (2); A slewing bearing (401) is sleeved on the mounting base and connected to the parallel two-degree-of-freedom robotic arm (7). Motor mounting plate (402) is provided on the robotic arm support (601); A rotary motor (403) is vertically mounted on a motor mounting plate (402); A transmission gear (404) is disposed at the output end of the rotary motor (403) and meshes with the slewing bearing (401).

5. The metal workpiece handling robot based on electromagnetic adsorption according to claim 4, characterized in that, The metal workpiece handling robot based on electromagnetic adsorption also includes: The counterweight box (12) is located on one end of the motor mounting plate (402).

6. The metal workpiece handling robot based on electromagnetic adsorption according to claim 3, characterized in that, The parallel two-degree-of-freedom robotic arm (7) includes: The first drive motor (701) is installed on the left side wall of the robotic arm support (601). The first large arm (702) is located at the output end of the first drive motor (701). Joint component (703) disposed at the end of the first upper arm (702); A first forearm (704) with one end movably connected to the joint component (703) and the other end movably connected to the second support (8). The second drive motor (705) is installed on the right side wall of the robotic arm support (601). The boom short link (706) is located at the output end of the second drive motor (705). The second upper arm (707) is disposed at the end of the upper arm short link (706), with one end movably connected to the upper arm short link (706) and the other end movably connected to the joint component (703). A second forearm (708) with one end movably connected to the joint component (703) and the other end movably connected to the second support (8). The support arm (709) is mounted on the support arm support (602), with one end movably connected to the support arm support (602) and the other end movably connected to the joint component (703).

7. The metal workpiece handling robot based on electromagnetic adsorption according to claim 6, characterized in that, The second forearm (708) is a bent forearm; The bent forearm is provided with a first through hole (13), a second through hole (14) and a third through hole (15). The first through hole (13) and the third through hole (15) are respectively provided at both ends of the bent forearm, and the second through hole (14) is provided at the bending point of the bent forearm; The joint component (703) passes through the second through hole (14) and is movably connected to the bent forearm.

8. The metal workpiece handling robot based on electromagnetic adsorption according to claim 6, characterized in that, The pitch mechanism (11) includes: An L-shaped three-hole connecting plate (1101) is disposed on the joint component (703). The L-shaped three-hole connecting plate (1101) has a fourth through hole (16) and a fifth through hole (17) at both ends, and a sixth through hole (18) is provided at the bend of the L-shaped three-hole connecting plate (1101). The joint component (703) passes through the sixth through hole (18) and is movably connected to the L-shaped three-hole connecting plate (1101); One end is connected to the robotic arm support (601), and the other end is connected to the first pitch link (1102) of the fourth through hole (16). One end is connected to the second support (8), and the other end is connected to the second pitch link (1103) of the fifth through hole (17).

9. The metal workpiece handling robot based on electromagnetic adsorption according to claim 1, characterized in that, The synchronous belt pulley mechanism (10) includes: A stepper motor is mounted on the second support (8); An encoder is installed at the output end of the stepper motor; The drive pulley is connected to the output end of the stepper motor; A driven pulley is provided on the electromagnet actuator (9); One end is connected to the driving pulley, and the other end is connected to the synchronous belt of the driven pulley.

10. The metal workpiece handling robot based on electromagnetic adsorption according to claim 1, characterized in that, The metal workpiece handling robot based on electromagnetic adsorption also includes: The image acquisition terminal is installed on the electromagnet actuator (9).

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