Electro-permanent magnetic transfer robot and feeding device thereof

Abstract

The utility model discloses a kind of electric permanent magnetic transfer manipulator and its feeding device, belong to handling manipulator technical field;Including manipulator support frame;First air cylinder and sliding table are set to the top of manipulator support frame, first air cylinder connects sliding table one side and will sliding table from first position transversely move to second position;Electric permanent magnetic gripper mounting table and second air cylinder, second air cylinder is vertically installed to the top of sliding table, second air cylinder top output end connects electric permanent magnetic gripper mounting table and will electric permanent magnetic gripper mounting table from first position vertically move to second position;Electric permanent magnetic gripper, multiple electric permanent magnetic gripper is fixed to electric permanent magnetic gripper mounting table bottom, and it is evenly set along electric permanent magnetic gripper mounting table axis one circle.The utility model provides a kind of electric permanent magnetic transfer manipulator and its feeding device, can prolong gripper service life, will not leave mark on material.

Description

Technical Field

[0001] This utility model relates to the field of material handling robot technology, and more specifically, to an electro-permanent magnet transfer robot and its feeding device. Background Technology

[0002] Mechanical handling devices play an important role in production. Commonly used robotic arms are usually fixed by pneumatic chucks. One of the disadvantages of this fixing method is that the chuck gripper directly grasps the material. The chuck gripper is usually hook-shaped. Due to the influence of the downward pressure of the material, the chuck gripper will deform over time, resulting in unstable material gripping and easily causing production accidents. Secondly, under the action of the material's own gravity, the conventional pneumatic chuck gripper will leave marks on the material, which is not conducive to the handling of materials for which the flatness of the material surface is important.

[0003] Based on the above problems, we propose an electro-permanent magnet transfer robot that directly adsorbs and grasps materials using a permanent magnet chuck. The gripper has a long service life and leaves no marks on the materials. Summary of the Invention

[0004] To overcome the problems mentioned in the background above, this utility model provides an electro-permanent magnet transfer robot and its feeding device, which can extend the service life of the gripper and will not leave marks on the material.

[0005] To solve the above-mentioned technical problems, the technical solution of this utility model is as follows:

[0006] An electro-permanent magnet transfer robot includes a robot support frame;

[0007] A first cylinder and a sliding table are installed on the top of the robot arm support frame. The first cylinder is connected to one side of the sliding table and moves the sliding table laterally from the first position to the second position.

[0008] An electro-permanent magnet gripper mounting platform and a second cylinder are provided. The second cylinder is vertically mounted on the top of the sliding platform. The top output end of the second cylinder is connected to the electro-permanent magnet gripper mounting platform and moves the electro-permanent magnet gripper mounting platform longitudinally from the first position to the second position.

[0009] Electro-permanent magnet grippers, multiple electro-permanent magnet grippers are fixed to the bottom of the electro-permanent magnet gripper mounting platform and are evenly arranged around the axis of the electro-permanent magnet gripper mounting platform.

[0010] Preferably, at least three electro-permanent magnet grippers are provided.

[0011] Preferably, the top of the robotic arm support frame is provided with a slide rail, and the bottom of the sliding table is slidably mounted on the slide rail by a slider.

[0012] Preferably, it also includes multiple guide rods, which vertically penetrate the sliding table and connect to the top of the electro-permanent magnet gripper mounting platform. The guide rods and the electro-permanent magnet gripper are spaced apart around the axis of the electro-permanent magnet gripper mounting platform.

[0013] Preferably, a connecting platform is fixed in the middle of the multiple guide rods, and the top middle position of the connecting platform is connected to the bottom output end of the second cylinder.

[0014] Preferably, the electro-permanent magnet gripper mounting platform has multiple adjustment slots arranged radially thereon, and the top of the electro-permanent magnet gripper is slidably mounted in the adjustment slots and fixed by fasteners.

[0015] Preferably, the electro-permanent magnet gripper includes a housing, an internal coil, and a circuit board, with the internal coil and circuit board disposed inside the housing and the internal coil electrically connected to the circuit board; a power supply port is also provided outside the housing.

[0016] Preferably, the electro-permanent magnet gripper is also equipped with a storage battery and a short-circuit alarm, both of which are electrically connected to the circuit board.

[0017] This application also provides a feeding device disposed below any of the above-mentioned electro-permanent magnet transfer manipulators, including a feeding platform bracket and a feeding platform disposed at the bottom of the manipulator support frame, wherein one end of the feeding platform is rotatably connected to one end of the top of the manipulator support frame via a hinge.

[0018] Preferably, it also includes a third cylinder, which is vertically disposed on one side inside the feeding table support, and the top output end of the third cylinder is hinged to the bottom of one end of the feeding table opening.

[0019] Preferably, the feeding platform is a conveyor belt.

[0020] Compared with the prior art, the beneficial effects of this utility model's technical solution are:

[0021] This utility model provides an electro-permanent magnet transfer robot and its feeding device. The electro-permanent magnet gripper uses a permanent magnet chuck to adsorb materials instead of gripping them. It has a longer service life than a pneumatic chuck gripper and does not leave marks on the materials during gripping. In addition, an adjustment groove is set on the electro-permanent magnet gripper mounting platform to change the spacing of the electro-permanent magnet gripper, which is suitable for gripping materials of different sizes. Attached Figure Description

[0022] 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.

[0023] Figure 1 This is a front view structural diagram of the present utility model;

[0024] Figure 2 For the present utility model Figure 1 Side view sectional structural schematic diagram;

[0025] Figure 3 This is a top view of the structure of this utility model;

[0026] Figure 4 This is a front view structural diagram of the feeding device of this utility model.

[0027] The markings in the diagram are as follows: 1. Robot support frame; 2. First cylinder; 3. Sliding table; 4. Electro-permanent magnet gripper mounting platform; 5. Second cylinder; 6. Guide rod; 7. Connecting platform; 8. Adjustment groove; 9. Electro-permanent magnet gripper; 10. Slide rail; 11. Slider; 12. Feeding table bracket; 13. Third cylinder; 14. Feeding table. Detailed Implementation

[0028] To better understand the purpose, structure, and function of this utility model, the technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific preferred embodiments.

[0029] In the description of this utility model, it should be understood that the terms "left side," "right side," "upper part," "lower part," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and 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. "First," "second," etc., do not indicate the importance of the components, and therefore should not be construed as a limitation of this utility model. The specific dimensions used in the embodiments are only for illustrating the technical solution and do not limit the scope of protection of this utility model. It is understandable that some well-known structures and their descriptions may be omitted in the accompanying drawings for those skilled in the art.

[0030] Unless otherwise expressly specified and limited, the terms "installation," "setting," "connection," and "fixation" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Example

[0031] like Figure 1As shown, this application discloses an electro-permanent magnet transfer robot, including a robot support frame 1; a first cylinder 2 and a sliding table 3 disposed on the top of the robot support frame 1, the first cylinder 2 being connected to one side of the sliding table 3 and moving the sliding table 3 laterally from a first position to a second position; an electro-permanent magnet gripper mounting platform 4 and a second cylinder 5, the second cylinder 5 being vertically mounted on the top of the sliding table 3, the top output end of the second cylinder 5 being connected to the electro-permanent magnet gripper mounting platform 4 and moving the electro-permanent magnet gripper mounting platform 4 longitudinally from the first position to the second position; and electro-permanent magnet grippers 9, multiple electro-permanent magnet grippers 9 being fixed to the bottom of the electro-permanent magnet gripper mounting platform 4 and evenly arranged around the axis of the electro-permanent magnet gripper mounting platform 4.

[0032] In the above embodiment, the second cylinder 5 drives the electro-permanent magnet gripper mounting platform 4 to move downward. When the electro-permanent magnet gripper 9 contacts the top of the material, the induction switch is activated, and the suction cup at the bottom of the electro-permanent magnet gripper 9 adsorbs the material, and then the second cylinder 5 is lifted. The first cylinder 2 then drives the sliding platform 3 to move laterally on the top of the robot support frame 1. After reaching the designated position, the second cylinder 5 moves downward again to complete the cargo handling. The electro-permanent magnet transfer robot of this application has a longer service life than the pneumatic chuck gripper, and at the same time, it does not leave marks on the material when gripping. In addition, an adjustment groove 8 is provided on the mounting platform of the electro-permanent magnet gripper 9, which can change the spacing of the electro-permanent magnet gripper 9, and is suitable for gripping materials of different sizes.

[0033] Furthermore, at least three electro-permanent magnet grippers are installed.

[0034] Furthermore, such as Figure 2 As shown, the top of the robotic arm support frame 1 is provided with a slide rail 10, and the bottom of the sliding table 3 is slidably mounted on the slide rail 10 via a slider 11. The slide rail 10 is symmetrically arranged at one end of the top of the front and rear sides of the robotic arm support frame 1. The bottom of the sliding table 3 is also equipped with at least one set of slide rail 10, which works in conjunction with the displacement sensor set at the position of the slide rail 10 to ensure the movement accuracy.

[0035] Furthermore, such as Figure 1-3 As shown, it also includes multiple guide rods 6, which vertically penetrate the sliding table 3 and connect to the top of the electro-permanent magnet gripper mounting platform 4. The guide rods 6 and the electro-permanent magnet gripper 9 are spaced apart around the axis of the electro-permanent magnet gripper mounting platform 4. The function of the guide rods 6 is to protect the bottom connection position of the second cylinder 5. When the surface moves laterally, the connection end is subjected to radial stress, which may cause damage. At the same time, it improves the stability when the material rises.

[0036] Furthermore, such as Figure 1 As shown, a connecting platform 7 is fixed in the middle of the multiple guide rods 6. The top middle position of the connecting platform 7 is connected to the bottom output end of the second cylinder 5. In order to further improve the longitudinal movement stroke of the material, a longer guide rod 6 is used. Therefore, a connecting platform 7 is set in the middle of the guide rod 6 to facilitate the bottom connection of the second cylinder 5.

[0037] Furthermore, such as Figure 3 As shown, the electro-permanent magnet gripper mounting platform 4 has multiple adjustment slots 8 arranged radially thereon. The top of the electro-permanent magnet gripper 9 is slidably installed in the adjustment slots 8 and fixed by fasteners. In order to adapt to the material size, adjustment slots 8 are opened on the electro-permanent magnet gripper mounting platform 4. The adjustment slots 8 can adjust the position of the electro-permanent magnet gripper 9 to facilitate gripping materials of different sizes.

[0038] Furthermore, the electro-permanent magnet gripper 9 includes a housing, an internal coil, and a circuit board. The internal coil and the circuit board are disposed inside the housing, and the internal coil is electrically connected to the circuit board. A power supply port is also provided outside the housing.

[0039] Furthermore, the electro-permanent magnet gripper 9 is also equipped with a storage battery and a short-circuit alarm, both of which are electrically connected to the circuit board. Example

[0040] like Figure 4 As shown, this application provides a feeding device, which is disposed below an electro-permanent magnet transfer robot, including a feeding platform bracket 12 and a feeding platform 14 disposed at the bottom of the robot support frame 1. One end of the feeding platform 14 is rotatably connected to the top end of the robot support frame 1 via a hinge.

[0041] Furthermore, it also includes a third cylinder 13, which is vertically installed on one side inside the feeding table support 12. The top output end of the third cylinder 13 is hinged to the bottom of the opening end of the feeding table 14.

[0042] Furthermore, the feeding platform 14 is a conveyor belt.

[0043] Based on the above embodiments, when materials need to be transferred, the second cylinder 5 drives the electro-permanent magnet gripper mounting platform 4 to move downward. When the electro-permanent magnet gripper 9 contacts the top of the material, the induction switch is activated, and the suction cup at the bottom of the electro-permanent magnet gripper 9 adsorbs the material, and then the second cylinder 5 is raised. The first cylinder 2 then drives the sliding platform 3 to move horizontally on the top of the robot arm support frame 1. After reaching the designated position, the second cylinder 5 moves downward again, placing the material on the top of the feeding platform 14 at one end of the third cylinder 13. There are two ways for the feeding platform 14 to transfer materials: one is that the feeding platform 14 does not need a transmission mechanism and is raised by the second cylinder 5 to make the feeding platform 14 form a certain angle, or the feeding platform 14 uses a conveyor belt to transport materials.

[0044] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. An electro-permanent magnet transfer robot, characterized in that: Including the robotic arm support frame (1); The first cylinder (2) and the sliding table (3) are set on the top of the robot support frame (1). The first cylinder (2) is connected to one side of the sliding table (3) and moves the sliding table (3) laterally from the first position to the second position. The electro-permanent magnet gripper mounting platform (4) and the second cylinder (5) are installed vertically on the top of the sliding table (3). The top output end of the second cylinder (5) is connected to the electro-permanent magnet gripper mounting platform (4) and moves the electro-permanent magnet gripper mounting platform (4) longitudinally from the first position to the second position. Electro-permanent magnet gripper (9), multiple electro-permanent magnet grippers (9) are fixed at the bottom of the electro-permanent magnet gripper mounting platform (4) and are evenly arranged around the axis of the electro-permanent magnet gripper mounting platform (4).

2. The electro-permanent magnet transfer robot according to claim 1, characterized in that, The top of the robotic arm support frame (1) is provided with a slide rail (10), and the bottom of the sliding table (3) is slidably mounted on the slide rail (10) via a slider (11).

3. The electro-permanent magnet transfer robot according to claim 1, characterized in that, It also includes multiple guide rods (6), which vertically penetrate the sliding table (3) and are connected to the top of the electro-permanent magnet gripper mounting platform (4). The guide rods (6) and the electro-permanent magnet gripper (9) are spaced around the axis of the electro-permanent magnet gripper mounting platform (4).

4. The electro-permanent magnet transfer robot according to claim 3, characterized in that, A connecting platform (7) is fixed in the middle of the multiple guide rods (6), and the bottom output end of the second cylinder (5) is connected to the top middle position of the connecting platform (7).

5. The electro-permanent magnet transfer robot according to claim 1, characterized in that, The electro-permanent magnet gripper mounting platform (4) has multiple adjustment slots (8) arranged radially thereon. The top of the electro-permanent magnet gripper (9) is slidably installed in the adjustment slots (8) and fixed by a fastener.

6. The electro-permanent magnet transfer manipulator according to claim 1, characterized in that, The electro-permanent magnet gripper (9) includes a shell, an internal coil, and a circuit board. The internal coil and the circuit board are located inside the shell, and the internal coil is electrically connected to the circuit board. A power supply port is also provided outside the shell.

7. The electro-permanent magnet transfer manipulator according to claim 6, characterized in that, The electro-permanent magnet gripper (9) is also equipped with a storage battery and a short-circuit alarm, both of which are electrically connected to the circuit board.

8. A feeding device, disposed below any electro-permanent magnet transfer robot according to claims 1-7, characterized in that, Includes a feeding platform bracket (12) and a feeding platform (14) located at the bottom of the robot arm support frame (1), one end of which is rotatably connected to the top end of the robot arm support frame (1) via a hinge.

9. The feeding device according to claim 8, characterized in that, It also includes a third cylinder (13), which is vertically installed on one side inside the feeding table support (12). The top output end of the third cylinder (13) is hinged to the bottom of the opening end of the feeding table (14).

10. The feeding device according to claim 8, characterized in that, The feeding platform (14) is a conveyor belt.

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