End effector for mechanical arm to pick up spools

Abstract

The utility model relates to the production technical field of spool, concretely relates to the end effector for the mechanical arm suction spool, include: first support plate, first end surface connects the mechanical arm flange, the mechanical arm flange is used for connecting the mechanical arm, second support plate, the first end surface of second support plate connects elastic component, the second end of elastic component is connected to first support plate, electromagnet, the second end surface of second support plate is connected to. The utility model through double -deck elastic support carries electromagnet as the pickup structure of spool, the low requirement of surface flatness of spool, and can satisfy the purpose that the pickup speed is fast, simultaneously, can avoid the rigid collision of the buffer of elastic piece in the pickup process, protects electromagnet and spool to cause damage in the pickup process, in addition, the pick -up demand of the support plate of bearing spool can be satisfied to the suction disc of cooperation setting in electromagnet side, expands the function of end effector.

Description

Technical Field

[0001] This utility model relates to the field of I-beam wheel manufacturing technology, and more specifically to an end effector for a robotic arm to pick up I-beam wheels. Background Technology

[0002] Currently, robotic arms are widely used in industrial automated production lines, for example, for picking and transporting materials. In existing technologies, robotic arms mostly grasp materials through accessories such as suction cups and grippers, without other supporting functions. In the steel cord production process, especially in the transfer process of empty I-beams, it involves the transfer of individual I-beams as well as the stacking of multiple layers of I-beams, with each layer separated by partitions.

[0003] If the robotic arm uses a suction cup to pick up the I-beams, the flatness and size of the I-beams are required to be high, and there are many restrictions on their use. If the robotic arm uses a gripper to pick up the I-beams, the transfer process is slow and cannot meet the transfer requirements of the entire layer of I-beams. Utility Model Content

[0004] To address the technical problems existing in the current I-beam pick-up devices, this utility model proposes an end effector for a robotic arm to pick up I-beams, comprising:

[0005] A first support plate has a first end face connected to a robotic arm flange, the robotic arm flange being used to connect the robotic arm.

[0006] A second support plate, the first end face of which is connected to an elastic component, and the second end of which is connected to the first support plate;

[0007] An electromagnet is connected to the second end face of the second support plate. The electromagnet is configured to include a conductive state and a de-energized state. When the electromagnet is in the conductive state, it can attract the I-beam wheel. When the electromagnet is in the de-energized state, the attracted I-beam wheel is released.

[0008] A suction cup structure is connected to the second end of the second support plate;

[0009] The second end face of the second support plate is provided with a telescopic structure. The suction cup structure is connected to the telescopic end of the telescopic structure. When the telescopic structure is in a shortened state, the suction surface of the suction cup structure is higher than the suction surface of the electromagnet. When the telescopic structure is in an extended state, the suction surface of the suction cup structure is lower than the suction surface of the electromagnet.

[0010] Preferably, the second support plate is provided with a connecting plate on one side facing the first support plate, and the first end of the telescopic structure is connected to the connecting plate, and the second end is connected to the suction cup structure.

[0011] Preferably, the telescopic structure includes a cylinder.

[0012] Preferably, the first support plate includes a first region and a second region located on the left and right sides of the robotic arm flange. A second support plate is connected below both the first region and the second region. An electromagnet is provided below each of the second support plates, and the suction cup structure is located between the two electromagnets.

[0013] Preferably, the elastic component includes a guide rod, a spring, and a sliding sleeve. The sliding sleeve is connected to the first support plate. The first end of the guide rod is connected to the second support plate, and the second end passes through the sliding sleeve and is slidably connected to the sliding sleeve. The spring is sleeved on the outer wall of the guide rod. When the first support plate and the second support plate approach each other, the spring is compressed and stores energy.

[0014] Preferably, both the first and second regions are provided with four elastic components, which are arranged in a rectangular shape and the rectangular outline is larger than the outline of the electromagnet.

[0015] Preferably, a sensor is provided between the first support plate and the second support plate, and the sensor is used to detect the relative distance between the first support plate and the second support plate.

[0016] Preferably, the sensor includes a pressure sensor, which is mounted on the second support plate and extends toward the first support plate, such that the detection surface of the pressure sensor has a predetermined distance from the first support plate.

[0017] Compared with the prior art, the advantages of this utility model are:

[0018] This invention uses an electromagnet mounted on a double-layer elastic bracket as the picking structure for the I-beam wheel. It has low requirements for the surface flatness of the I-beam wheel and can meet the purpose of fast picking speed. At the same time, the elastic element can buffer the rigid collision during the picking process to avoid damage to the electromagnet and the I-beam wheel. In addition, the suction cup set on one side of the electromagnet can meet the picking needs of the support plate supporting the I-beam wheel, thus expanding the function of the end effector. Attached Figure Description

[0019] The accompanying drawings are not intended to be drawn to scale. In the drawings, each identical or nearly identical component shown in the various figures may be denoted by the same reference numeral. For clarity, not every component is labeled in each figure. Embodiments of various aspects of the present invention will now be described by way of example and with reference to the accompanying drawings, wherein:

[0020] Figure 1 This is a schematic diagram of the end effector for a robotic arm to pick up an I-beam wheel, as shown in this utility model.

[0021] Figure 2 This is a schematic diagram showing the distribution of the multiple elastic components of this utility model;

[0022] Figure 3 This is a top view of the end effector for a robotic arm to pick up an I-beam wheel, as shown in this utility model;

[0023] Figure 4 This is a bottom view of the end effector for a robotic arm to pick up an I-beam wheel, as shown in this utility model. Detailed Implementation

[0024] To better understand the technical content of this utility model, specific embodiments are provided below in conjunction with the accompanying drawings.

[0025] Combination Figures 1 to 4 As shown, this utility model proposes an end effector for a robotic arm to pick up I-beams, including a first support plate 10, a second support plate 20, an electromagnet 30, and a suction cup structure 40. It should be understood that this end effector is installed at the end of the robotic arm and is controlled by the robotic arm to have different spatial positions and angles, thereby completing the task of transferring the I-beams and the support plate supporting multiple I-beams from a first target point to a second target point.

[0026] Specifically, the first end face of the first support plate 10 is connected to the robotic arm flange 11, which is used to connect the robotic arm. The first end face of the second support plate 20 is connected to the elastic member 22, and the second end of the elastic member 22 is connected to the first support plate 10.

[0027] Thus, the first support plate 10 and the second support plate 20 are elastically connected by the elastic component 22, avoiding rigid impact when the robotic arm picks up the I-beam or the support plate.

[0028] Furthermore, the electromagnet 30 is connected to the second end face of the second support plate 20. The electromagnet 30 is configured to include a conductive state and a de-energized state. When the electromagnet 30 is in the conductive state, the electromagnet 30 can attract the H-shaped wheel. When the electromagnet 30 is in the de-energized state, the attracted H-shaped wheel is released.

[0029] Thus, by controlling the conductivity of the electromagnet 30, a ferromagnetic I-beam can be attracted. When attracting, it is only necessary to move the electromagnet 30 above the I-beam and control the electromagnet 30 to be energized. There are no special requirements for the surface shape and placement of the electromagnet 30. Therefore, this picking method can meet the requirements of high speed and low requirements for the flatness of the I-beam surface.

[0030] Furthermore, the suction cup structure 40 is connected to the second end of the second support plate 20. In this way, through the adsorption action of the suction cup structure 40, the support plate carrying multiple I-beams can be picked up and transferred to the target position, thus expanding the function of the actuator.

[0031] The second end face of the second support plate 20 is provided with a telescopic structure 24, and the suction cup structure 40 is connected to the telescopic end of the telescopic structure 24. When the telescopic structure 24 is in a shortened state, the suction surface of the suction cup structure 40 is higher than the suction surface of the electromagnet 30. When the telescopic structure 24 is in an extended state, the suction surface of the suction cup structure 40 is lower than the suction surface of the electromagnet 30.

[0032] Thus, when picking up one or two I-beams, the suction cup structure 40 does not participate in the picking process and is in a retracted state. When it is necessary to pick up the support plate that carries the I-beams, the suction cup structure 40 extends so that it can contact the surface of the support plate and pick up the surface of the support plate by negative pressure suction.

[0033] In an optional embodiment, the second support plate 20 has a connecting plate 21 on one side facing the first support plate 10, and the first end of the telescopic structure 24 is connected to the connecting plate 21, and the second end is connected to the suction cup structure 40. Preferably, the telescopic structure 24 includes a cylinder.

[0034] Thus, the cylinder is installed closer to the first support plate 10, providing a basis for it to be in the retracted position. That is, when the electromagnet 30 is used to pick up the I-beam wheel normally, the suction cup structure 40 will not contact the surface of the I-beam wheel.

[0035] Furthermore, the first support plate 10 includes a first region and a second region located on the left and right sides of the robotic arm flange 11. The first region and the second region are both connected to the lower part of the second support plate 20. Each second support plate 20 is provided with an electromagnet 30 below it, and the suction cup structure 40 is located between the two electromagnets 30.

[0036] In this way, by arranging two electromagnets 30, the number of pick-up items can be expanded, that is, two I-beam wheels can be picked up at one time. The suction cup structure 40 is set between the two electromagnets 30, which helps to control the adsorption position of the suction cup structure 40 and avoid collision with the I-beam wheels.

[0037] In the above embodiments, combined with Figure 1 and Figure 2 As shown, the elastic component 22 includes a guide rod 221, a spring 222, and a sliding sleeve 223. The sliding sleeve 223 is connected to the first support plate 10. The first end of the guide rod 221 is connected to the second support plate 20, and the second end passes through the sliding sleeve 223 and is slidably connected to the sliding sleeve 223. The spring 222 is sleeved on the outer wall of the guide rod 221.

[0038] Thus, when the first support plate 10 and the second support plate 20 approach each other, the spring 222 is compressed and stores energy, and the deformation of the spring 222 prevents the electromagnet and the I-beam wheel from having a rigid collision.

[0039] In a preferred embodiment, both the first region and the second region are provided with four elastic components 22, which are arranged in a rectangular shape and the rectangular outline is larger than the outline of the electromagnet 30.

[0040] Thus, through the guiding action of the four elastic components 22, the entire second support plate 20 can be moved closer or further away from the first support plate 10 in parallel, avoiding local stress concentration and bending.

[0041] In the above embodiment, a sensor 23 is provided between the first support plate 10 and the second support plate 20. The sensor 23 is used to detect the relative distance between the first support plate 10 and the second support plate 20.

[0042] Preferably, the sensor 23 includes a pressure sensor, which is mounted on the second support plate 20 and extends toward the first support plate 10, such that the detection surface of the pressure sensor has a predetermined distance from the first support plate 10.

[0043] Thus, when sensor 23 detects that the relative distance between the first support plate 10 and the second support rod 20 exceeds the preset value, it sends a distance signal to the robotic arm, which can control the robotic arm to stop moving downward to avoid causing an uncontrollable rigid collision.

[0044] In conjunction with the above embodiments, this utility model uses an electromagnet mounted on a double-layer elastic bracket as the picking structure for the I-beam wheel. This reduces the requirements for the surface flatness of the I-beam wheel and meets the requirement for high picking speed. At the same time, the elastic element can buffer the rigid collision during the picking process to prevent damage to the electromagnet and the I-beam wheel. In addition, the suction cup set on one side of the electromagnet can meet the picking needs of the support plate that carries the I-beam wheel, thus expanding the function of the end effector.

[0045] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Those skilled in the art to which this invention pertains can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of this invention shall be determined by the claims.

Claims

1. An end effector for a robotic arm to pick up an I-beam wheel, characterized in that, include: A first support plate (10) has a first end face connected to a robotic arm flange (11), the robotic arm flange (11) being used to connect the robotic arm; A second support plate (20) is provided, with its first end face connected to an elastic member (22), and the second end of the elastic member (22) is connected to the first support plate (10). An electromagnet (30) is connected to the second end face of the second support plate (20). The electromagnet (30) is configured to include a conductive state and a de-energized state. When the electromagnet (30) is in the conductive state, the electromagnet (30) can attract the I-beam. When the electromagnet (30) is in the de-energized state, the attracted I-beam is released. A suction cup structure (40) is connected to the second end of the second support plate (20); The second end face of the second support plate (20) is provided with a telescopic structure (24). The suction cup structure (40) is connected to the telescopic end of the telescopic structure (24). When the telescopic structure (24) is in a shortened state, the suction surface of the suction cup structure (40) is higher than the suction surface of the electromagnet (30). When the telescopic structure (24) is in an extended state, the suction surface of the suction cup structure (40) is lower than the suction surface of the electromagnet (30).

2. The end effector for a robotic arm to pick up an I-beam wheel according to claim 1, characterized in that, The second support plate (20) has a connecting plate (21) on one side facing the first support plate (10). The first end of the telescopic structure (24) is connected to the connecting plate (21), and the second end is connected to the suction cup structure (40).

3. The end effector for a robotic arm to pick up an I-beam wheel according to claim 1, characterized in that, The telescopic structure (24) includes a cylinder.

4. The end effector for a robotic arm to pick up an I-beam wheel according to claim 1, characterized in that, The first support plate (10) includes a first region and a second region located on the left and right sides of the robotic arm flange (11). The first region and the second region are connected to a second support plate (20) below each of the two regions. Each second support plate (20) is provided with an electromagnet (30) below it. The suction cup structure (40) is located between two electromagnets (30).

5. The end effector for a robotic arm to pick up an I-beam wheel according to claim 4, characterized in that, The elastic component (22) includes a guide rod (221), a spring (222), and a sliding sleeve (223). The sliding sleeve (223) is connected to the first support plate (10). The first end of the guide rod (221) is connected to the second support plate (20), and the second end passes through the sliding sleeve (223) and is slidably connected to the sliding sleeve (223). The spring (222) is sleeved on the outer wall of the guide rod (221). When the first support plate (10) and the second support plate (20) approach each other, the spring (222) is compressed and stores energy.

6. The end effector for a robotic arm to pick up an I-beam wheel according to claim 5, characterized in that, The first and second regions are each provided with four elastic components (22), which are arranged in a rectangular shape and the rectangular outline is larger than the outline of the electromagnet (30).

7. The end effector for a robotic arm to pick up an I-beam wheel according to claim 1, characterized in that, A sensor (23) is provided between the first support plate (10) and the second support plate (20), and the sensor (23) is used to detect the relative distance between the first support plate (10) and the second support plate (20).

8. The end effector for a robotic arm to pick up an I-beam wheel according to claim 7, characterized in that, The sensor (23) includes a pressure sensor, which is mounted on the second support plate (20) and extends toward the first support plate (10) such that the detection surface of the pressure sensor has a predetermined distance from the first support plate (10).

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