Quick-release type magnetic attraction and release device

Abstract

The utility model relates to the technical field of pick-and-place devices, in particular to a quick disassembly type magnetic suction and place device which comprises a mechanical arm, a quick disassembly and assembly mechanism and a pick-and-place mechanism, the pick-and-place mechanism comprises a longitudinal rod, a quick disassembly and assembly head, a plurality of transverse rods and a plurality of magnetic suction and place devices, and the quick disassembly and assembly head is detachably connected with the quick disassembly and assembly mechanism. The connecting piece is arranged on the cross rod, the shaft rod is arranged on the connecting piece, the universal ball is arranged at the bottom end of the shaft rod, the ball seat is rotationally connected with the universal ball, the taking and placing shell is arranged on the ball seat, the magnet is arranged in the taking and placing shell, a lifting cavity is formed in the taking and placing shell, and the magnet is connected to the inner wall of the lifting cavity in a sliding mode. The magnet divides the lifting cavity into an upper cavity and a lower cavity, and an upper air hole communicated with the upper cavity and a lower air hole communicated with the lower cavity are formed in the side wall of the taking and placing shell. The taking and placing mechanism can be quickly disassembled and assembled, the taking and placing mechanism can be conveniently disassembled, assembled and maintained, the taking and placing shell can be adaptively adjusted according to the flatness of the workpiece, and it is guaranteed that the taking and placing shell can be tightly attached to the workpiece.

Description

Technical Field

[0001] This utility model relates to the field of wire technology, and in particular to a quick-release magnetic pick-and-place device. Background Technology

[0002] Vacuum chucks are no longer suitable for handling workpieces with multiple holes, frequently causing suction failure alarms and severely impacting production efficiency. Existing patents, such as Chinese patent application number 201320688277.9, disclose a single-arm electromagnetic chuck assembly robot, comprising multiple electromagnetic chucks, an electromagnetic chuck mounting plate, a movable telescopic rod, a universal joint, an extension rod, a compression spring, a guide sleeve, a bracket, and a proximity switch. The electromagnetic chucks are connected to the universal joint, which is connected to the movable telescopic rod via the extension rod. The movable telescopic rod is connected to the electromagnetic chuck mounting plate via the guide sleeve. A proximity switch for detecting the extension of the movable telescopic rod is located at the end of the guide sleeve. A compression spring is located between the electromagnetic chucks and the guide sleeve. The electromagnetic chuck mounting plate is fixed to the bracket. While this patent can magnetically attract workpieces with a certain tilt angle, it lacks the feature of quick assembly and disassembly, making maintenance inconvenient. Therefore, its shortcomings are obvious, and a solution is urgently needed. Utility Model Content

[0003] In order to solve the above-mentioned technical problems, the purpose of this utility model is to provide a quick-release magnetic suction and release device.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A quick-release magnetic pick-and-place device includes a robotic arm and a pick-and-place mechanism. The robotic arm's execution end is equipped with a quick-release mechanism. The pick-and-place mechanism includes a longitudinal rod, multiple horizontal rods arranged in a straight line on the bottom surface of the longitudinal rod, and a T-shaped quick-release head on the top surface of the longitudinal rod. The quick-release head is detachably connected to the quick-release mechanism. Each horizontal rod is equipped with multiple magnetic pick-and-place devices at intervals. Each magnetic pick-and-place device includes a connector mounted on the horizontal rod, a shaft mounted on the connector, a universal ball at the bottom end of the shaft, a ball seat rotatably connected to the universal ball, a pick-and-place shell mounted on the ball seat, and a magnet disposed inside the pick-and-place shell. The pick-and-place shell has a lifting cavity inside. The magnet is slidably connected to the inner wall of the lifting cavity, dividing the lifting cavity into an upper cavity and a lower cavity. The side wall of the pick-and-place shell has an upper air hole and a lower air hole, with the upper air hole communicating with the upper cavity and the lower air hole communicating with the lower cavity.

[0006] Furthermore, the top opening of the lifting cavity is provided with a cover plate on the side of the ball seat away from the universal ball. The cover plate covers the top port of the lifting cavity, and a sealing structure is provided between the cover plate and the top surface of the pick-up and drop-out shell. The sealing structure is arranged around the top port of the lifting cavity.

[0007] Furthermore, the sealing structure includes a sealing groove and a sealing ring embedded in the sealing groove, the sealing groove being located on the bottom surface of the cover plate and / or the top surface of the pick-up and drop-out shell.

[0008] Furthermore, the omnidirectional ball is fixedly connected to the shaft via a connector.

[0009] Furthermore, a sleeve is provided on the top surface of the connector, and the bottom end of the shaft is inserted into the sleeve.

[0010] Furthermore, the bottom end face of the connector is provided with a stud, and the universal ball is recessed with a threaded hole for threaded connection with the stud.

[0011] Furthermore, the sleeve has a threaded hole on its side wall, and a bolt is threaded into the threaded hole. The end face of the bolt is used to abut against the side wall of the shaft.

[0012] Furthermore, the quick-release mechanism includes a flange, two L-shaped support plates symmetrically mounted on both sides of the flange, and a clamping actuator mounted on the flange. The two L-shaped support plates form a T-shaped groove. The body or flange of the clamping actuator is mounted on the execution end of the robotic arm. The quick-release head is inserted into the T-shaped groove, and the two L-shaped support plates support the two sides of the quick-release head. The clamping end of the clamping actuator extends into the T-shaped groove and clamps the quick-release head.

[0013] Furthermore, the horizontal plate of the L-shaped tray is recessed with a positioning groove for accommodating the side of the quick-release head, the bottom wall of the positioning groove is provided with a positioning post, and the side of the quick-release head is provided with a positioning hole that matches the concave and convex positioning post.

[0014] Furthermore, the positioning post is located at one end of the positioning groove, and the vertical plate of the L-shaped tray has a flared bevel at the end near the positioning post.

[0015] The beneficial effects of this utility model are as follows: In practical applications, the quick-release mechanism and quick-release head are quickly assembled to quickly install the pick-and-place mechanism on the robotic arm. The robotic arm controls the pick-and-place mechanism to move above the workpiece, so that the bottom surface of the pick-and-place shell of multiple magnetic pick-and-place devices contacts the top surface of the workpiece. Since the ball seat can rotate relative to the universal ball, when the top surface of the workpiece is inclined, the pick-and-place shell can drive the ball seat to adaptively adjust relative to the universal ball, so that the bottom surface of the pick-and-place shell completely fits the top surface of the workpiece. At this time, the external inflation mechanism introduces gas into the upper cavity through the upper air hole. As the air pressure in the upper cavity increases, it drives the magnet to move down along the lifting cavity, so that the magnet can magnetically attract the workpiece. The robotic arm controls the pick-and-place mechanism to move the workpiece to the required position. When it is necessary to put down the workpiece, the external inflation mechanism introduces gas into the lower cavity through the lower air hole. As the air pressure in the lower cavity increases, it drives the magnet to move up along the lifting cavity, so that the magnet cannot magnetically attract the workpiece, thereby stably placing the workpiece in the required position. This invention enables quick assembly and disassembly of the pick-and-place mechanism, facilitating its assembly, disassembly, and maintenance. Furthermore, the pick-and-place shell can adaptively adjust according to the flatness of the workpiece, ensuring that the pick-and-place shell fits tightly against the workpiece. Attached Figure Description

[0016] Fig. 1 This is a three-dimensional structural diagram of the concealed robotic arm and the workpiece of this utility model.

[0017] Fig. 2 This is a cross-sectional view of the magnetic pick-and-place device of this utility model.

[0018] Fig. 3 This is an exploded view of the quick-release mechanism and quick-release head of this utility model.

[0019] Explanation of reference numerals in the attached figures:

[0020] 1. Picking and placing mechanism; 2. Quick-release mechanism; 3. Longitudinal bar; 4. Cross bar; 5. Quick-release head; 6. Magnetic pick-and-place device; 7. Connecting part; 8. Shaft; 9. Universal ball; 10. Ball seat; 11. Picking and placing shell; 12. Magnet; 13. Lifting chamber; 14. Upper chamber; 15. Lower chamber; 16. Upper air hole; 17. Lower air hole; 18. Cover plate; 19. Connecting head; 20. Sleeve; 21. Stud; 22. Flange; 23. L-shaped support plate; 24. Pressure driver; 25. T-shaped bracket; 26. Positioning groove; 27. Positioning pin; 28. Positioning hole; 29. ​​Flared bevel; 30. Workpiece. Detailed Implementation

[0021] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to embodiments and accompanying drawings. The content mentioned in the embodiments is not intended to limit the present invention.

[0022] like Figs. 1 to 3As shown, this utility model provides a quick-release magnetic pick-and-place device, which includes a robotic arm and a pick-and-place mechanism 1. The execution end of the robotic arm is equipped with a quick-release mechanism 2. The pick-and-place mechanism 1 includes a vertical rod 3, multiple horizontal rods 4 arranged in a straight line on the bottom surface of the vertical rod 3, and a T-shaped quick-release head 5 installed on the top surface of the vertical rod 3. The quick-release head 5 is detachably connected to the quick-release mechanism 2. Multiple magnetic pick-and-place devices 6 are installed at intervals on each horizontal rod 4. The magnetic pick-and-place device 6 includes a connecting piece 7 installed on the horizontal rod 4, a shaft 8 installed on the connecting piece 7, and a bottom part set on the shaft 8. The assembly includes a universal ball 9, a ball seat 10 rotatably connected to the universal ball 9, a pick-and-place shell 11 installed on the ball seat 10, and a magnet 12 installed inside the pick-and-place shell 11. The pick-and-place shell 11 has a lifting cavity 13 inside. The magnet 12 is slidably connected to the inner wall of the lifting cavity 13. The magnet 12 divides the lifting cavity 13 into an upper cavity 14 and a lower cavity 15. The side wall of the pick-and-place shell 11 has an upper air hole 16 and a lower air hole 17. The upper air hole 16 communicates with the upper cavity 14, and the lower air hole 17 communicates with the lower cavity 15. The upper air hole 16 is located above the lower air hole 17. The crossbar 4 is perpendicular to the vertical bar 3.

[0023] In practical applications, the quick-release mechanism 2 and quick-release head 5 are quickly assembled to rapidly install the pick-and-place mechanism 1 onto the robotic arm. The robotic arm controls the pick-and-place mechanism 1 to move above the workpiece 30, so that the bottom surface of the pick-and-place shell 11 of the multiple magnetic pick-and-place devices 6 contacts the top surface of the workpiece 30. Since the ball seat 10 can rotate relative to the universal ball 9, when the top surface of the workpiece 30 is tilted, the pick-and-place shell 11 can drive the ball seat 10 to adaptively adjust relative to the universal ball 9, so that the bottom surface of the pick-and-place shell 11 completely fits the top surface of the workpiece 30. At this time, the external air inflator... Gas is introduced into the upper cavity 14 through the upper air hole 16. As the air pressure in the upper cavity 14 increases, it drives the magnet 12 to move downward along the lifting cavity 13, allowing the magnet 12 to magnetically attract the workpiece 30. The robotic arm controls the pick-and-place mechanism 1 to move the workpiece 30 to the desired position. When it is necessary to put the workpiece 30 down, the external inflation mechanism introduces gas into the lower cavity 15 through the lower air hole 17. As the air pressure in the lower cavity 15 increases, it drives the magnet 12 to move upward along the lifting cavity 13, preventing the magnet 12 from magnetically attracting the workpiece 30, thus stably placing the workpiece 30 in the desired position. This utility model enables quick assembly and disassembly of the pick-and-place mechanism 1, facilitating its assembly, disassembly, and maintenance. Furthermore, the pick-and-place shell 11 can adaptively adjust according to the flatness of the workpiece 30, ensuring that the pick-and-place shell 11 fits tightly against the workpiece 30.

[0024] In this embodiment, the top of the lifting cavity 13 is open, and a cover plate 18 is provided on the side of the ball seat 10 away from the universal ball 9. The cover plate 18 covers the top port of the lifting cavity 13, and a sealing structure is provided between the cover plate 18 and the top surface of the pick-and-place shell 11. The sealing structure is arranged around the top port of the lifting cavity 13. Specifically, the cover plate 18 is detachably connected to the pick-and-place shell 11 via locking screws. The sealing structure includes a sealing groove and a sealing ring embedded in the sealing groove. The sealing groove is provided on the bottom surface of the cover plate 18 and / or the top surface of the pick-and-place shell 11, and the sealing ring is used to seal the gap between the cover plate 18 and the pick-and-place shell 11. This structural design not only facilitates the disassembly and assembly of the pick-and-place shell 11 and the ball seat 10, but also facilitates the disassembly and assembly of the magnet 12 and the pick-and-place shell 11. The sealing structure is used to seal the gap between the cover plate 18 and the pick-and-place shell 11, providing good sealing performance.

[0025] In this embodiment, the universal ball 9 is fixedly connected to the shaft 8 via the connector 19. This structural design facilitates the connection between the universal ball 9 and the shaft 8.

[0026] In this embodiment, a sleeve 20 is provided on the top surface of the connector 19, and the bottom end of the shaft 8 is inserted into the sleeve 20. A threaded hole is provided on the side wall of the sleeve 20, and a bolt is threaded into the threaded hole. The threaded end face of the bolt is used to abut against the side wall of the shaft 8. During assembly, after the shaft 8 is inserted into the sleeve 20, the bolt is tightened so that the threaded end face of the bolt locks the shaft 8. When disassembly is required, the bolt is loosened so that the threaded end of the bolt releases the shaft 8, and the shaft 8 can be pulled out from the sleeve 20.

[0027] In this embodiment, a stud 21 is provided on the bottom end face of the connector 19, and a threaded hole is recessed in the universal ball 9 for threaded connection with the stud 21. The threaded connection between the stud 21 and the threaded hole facilitates the assembly and disassembly of the connector 19 and the universal ball 9, and the connection between the connector 19 and the universal ball 9 is firm.

[0028] In this embodiment, the quick-release mechanism 2 includes a flange 22, two L-shaped support plates 23 symmetrically mounted on both sides of the flange 22, and a clamping actuator 24 mounted on the flange 22. The two L-shaped support plates 23 form a T-shaped groove 25. The body of the clamping actuator 24 or the flange 22 is mounted on the execution end of the robotic arm. The quick-release head 5 is inserted into the T-shaped groove 25, and the two L-shaped support plates 23 support the two sides of the quick-release head 5. The clamping end of the clamping actuator 24 extends into the T-shaped groove 25 and clamps the quick-release head 5. Specifically, the clamping actuator 24 can be a cylinder or a hydraulic cylinder, etc.

[0029] In practical applications, when assembling the quick-release head 5 with the quick-release mechanism 2, the quick-release head 5 is inserted laterally into the T-shaped tray 25. The horizontal plates of the two L-shaped trays 23 support the bottom surfaces of both sides of the quick-release head 5. Then, the clamping end of the clamping driver 24 presses the quick-release head 5 onto the two L-shaped trays 23 to lock the quick-release head 5, thereby assembling the robotic arm and the suction mechanism. When it is necessary to disassemble the suction mechanism, the clamping end of the clamping driver 24 releases the quick-release head 5, and the quick-release head 5 can be pulled laterally out of the T-shaped tray 25.

[0030] In this embodiment, the horizontal plate of the L-shaped support plate 23 is recessed with a positioning groove 26 for accommodating the side of the quick-release head 5, and the bottom wall of the positioning groove 26 is provided with a positioning post 27. The side of the quick-release head 5 is provided with a positioning hole 28 that matches the positioning post 27.

[0031] When assembling the quick-release head 5 and the quick-release mechanism 2, the top plate of the quick-release head 5 slides laterally into the T-shaped bracket 25 along the horizontal top surface of the L-shaped bracket 23. When the quick-release head 5 is assembled in place, it will be housed in the positioning groove 26, and the positioning pin 27 will be inserted into the positioning hole 28 to achieve quick positioning of the quick-release head 5, thereby improving the positional accuracy and stability of the quick-release head 5 and the two L-shaped brackets 23. At this time, the quick-release head 5 is pressed by the clamping driver 24, thereby firmly locking the quick-release head 5.

[0032] In this embodiment, the positioning post 27 is located at one end of the positioning groove 26, and the vertical plate of the L-shaped support plate 23 is provided with a flared bevel 29 at the end near the positioning post 27. The flared bevel 29 facilitates the side insertion of the top plate of the quick-release head 5 into the T-shaped support groove 25.

[0033] All technical features in this embodiment can be freely combined according to actual needs.

[0034] The above embodiments are preferred implementations of this utility model. In addition, this utility model can also be implemented in other ways. Any obvious substitutions without departing from the concept of this technical solution are within the protection scope of this utility model.

Claims

1. A quick-release magnetic pick-and-place device, characterized by: The utility model provides a kind of quick detachable mechanism for mechanical arm and pick-and-place mechanism (1), the executing end of mechanical arm is equipped with quick detachable mechanism (2), pick-and-place mechanism (1) includes longitudinal rod (3), the bottom surface of longitudinal rod (3) is equipped with multiple horizontal rods (4) in linear arrangement, and T-shaped quick detachable head (5) is equipped with on the top surface of longitudinal rod (3), quick detachable head (5) is detachably connected with quick detachable mechanism (2), each horizontal rod (4) is equipped with multiple magnetic pick-and-place devices (6) at interval, magnetic pick-and-place device (6) includes connecting piece (7) equipped with on horizontal rod (4), shaft (8) equipped with on connecting piece (7), universal ball (9) arranged on the bottom end of shaft (8), ball seat (10) rotatably connected with universal ball (9), pick-and-place shell (11) equipped with on ball seat (10) and magnet (12) arranged in pick-and-place shell (11), the inside of pick-and-place shell (11) is provided with lifting cavity (13), magnet (12) is slidably connected to the inner wall of lifting cavity (13), magnet (12) separates lifting cavity (13) into upper cavity (14) and lower cavity (15), the side wall of pick-and-place shell (11) is provided with upper air hole (16) and lower air hole (17), upper air hole (16) is communicated with upper cavity (14), and lower air hole (17) is communicated with lower cavity (15).

2. The quick-release magnetic pick-and-place device of claim 1, wherein: The top end of lifting cavity (13) is opened, the side, away from universal ball (9), of ball seat (10) is provided with cover plate (18), cover plate (18) covers the top end port of lifting cavity (13), and sealing structure is arranged between cover plate (18) and the top surface of pick-and-place shell (11), and the sealing structure is arranged around the top end port of lifting cavity (13).

3. The quick-release magnetic pick-and-place device of claim 2, wherein: The sealing structure includes sealing groove and sealing ring embedded in the sealing groove, and the sealing groove is arranged on the bottom surface of the cover plate (18) or / and the top surface of the pick-and-place shell (11).

4. The quick release magnetic pick-and-place device of claim 1, wherein: The universal ball (9) is fixedly connected with the shaft (8) through the connecting head (19).

5. The quick release magnetic pick-and-place device of claim 4, wherein: The top end surface of the connecting head (19) is provided with a sleeve (20), and the bottom end of the shaft (8) is inserted into the sleeve (20).

6. The quick release magnetic pick-and-place device of claim 5, wherein: The bottom end surface of the connecting head (19) is provided with a threaded hole, and the universal ball (9) is recessed with a threaded hole threadedly connected with the threaded hole.

7. The quick release magnetic pick-and-place device of claim 5, wherein: The side wall of the sleeve (20) is provided with a threaded hole, and the threaded hole is threadedly connected with a bolt, and the screw end surface of the bolt is used to abut against the side wall of the shaft (8).

8. The quick release magnetic pick-and-place device of claim 1, wherein: The quick detachable mechanism (2) includes a flange (22), two L-shaped supporting plates (23) symmetrically arranged on both sides of the flange (22), and a pressing driver (24) arranged on the flange (22), the two L-shaped supporting plates (23) form a T-shaped supporting groove (25), and the main body of the pressing driver (24) or the flange (22) is arranged on the executing end of the mechanical arm; the quick detachable head (5) is inserted into the T-shaped supporting groove (25), the two L-shaped supporting plates (23) support the two side portions of the quick detachable head (5), and the pressing end of the pressing driver (24) extends into the T-shaped supporting groove (25) and presses the quick detachable head (5).

9. The quick release magnetic pick-and-place device of claim 8, wherein: The horizontal plate of the L-shaped supporting plate (23) is recessed with a positioning groove (26) for accommodating the side portion of the quick detachable head (5), the bottom wall of the positioning groove (26) is protruded with a positioning column (27), and the side portion of the quick detachable head (5) is provided with a positioning hole (28) matched with the positioning column (27).

10. The quick release magnetic pick-and-place device of claim 9, wherein: The positioning column (27) is located at one end of the positioning groove (26), and the vertical plate of the L-shaped supporting plate (23) is provided with a flared inclined surface (29) near one end of the positioning column (27).

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