Electromagnetic wire spool gripping mechanism

Abstract

The application relates to the technical field of electromagnetic wire spool storage, and provides an electromagnetic wire spool grabbing mechanism, which realizes accurate grabbing and intelligent tray splicing of electromagnetic wire spools through the synergistic effect of three-axis servo driving, an adjustable pneumatic clamping jaw and an industrial vision system. The mechanism is deeply integrated with an MES / WMS system, significantly improves tray utilization and tray splicing efficiency, reduces manual intervention, and is suitable for transformer production logistics automation scenes.

Description

Technical Field

[0001] This utility model belongs to the field of electromagnetic wire spool storage technology, specifically relating to an electromagnetic wire spool gripper mechanism. Background Technology

[0002] In transformer manufacturing, the assembly of spools (or simply spools) has traditionally relied on manual labor, resulting in low efficiency, poor precision, and high labor costs. Furthermore, the lack of an intelligent control solution deeply integrated with MES / WMS systems leads to low tray utilization and rigid assembly logic. Therefore, there is an urgent need for a highly efficient, precise, and intelligent spool gripper mechanism to solve these problems. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides an electromagnetic wire spool gripper mechanism, which solves the problem of low efficiency in traditional manual spool assembly.

[0004] To achieve the above objectives, this utility model provides the following technical solution: an electromagnetic wire spool gripper mechanism, comprising:

[0005] A gripping device, wherein the lower end of the gripping device is provided with an adjustable pneumatic gripper, the adjustable pneumatic gripper extending and retracting horizontally to grip and release the target spool;

[0006] The intelligent control unit communicates with the existing MES / WMS system to generate the optimal path for the gripping device to move to the target spool or to the target tray.

[0007] An XYZ axis servo drive mechanism, connected to the gripping device, is used to drive the gripping device to move above the target spool or the target tray according to the optimal path; and

[0008] An industrial vision system, comprising an industrial vision camera disposed at the lower end of the gripping device, for identifying and locating the target spool.

[0009] Furthermore, the XYZ axis servo drive mechanism includes a frame, a crossbeam, an X-axis servo mechanism, a Y-axis servo mechanism, and a Z-axis servo mechanism; the frame is provided with an X-axis rack guide rail, and the X-axis servo mechanism cooperates with the X-axis rack guide rail; the crossbeam is connected to the X-axis servo mechanism; the crossbeam is provided with a Y-axis rack guide rail; the Y-axis servo mechanism cooperates with the Y-axis rack guide rail; the Z-axis servo mechanism is connected to the Y-axis servo mechanism; and the Z-axis servo mechanism is connected to the gripping device.

[0010] Furthermore, the Z-axis servo mechanism includes: a fixed bracket, a movable bracket, and a Z-axis servo drive assembly; the fixed bracket is connected to the Y-axis servo mechanism; the movable bracket is movably fitted onto the outside of the fixed bracket, and the movable bracket is connected to the fixed bracket through the Z-axis servo drive assembly, which drives the movable bracket to rise and fall; the lower end of the movable bracket is connected to the gripping device.

[0011] Furthermore, the Z-axis servo drive assembly includes: a Z-axis servo motor, gears, chains, and an adapter plate; two Z-axis servo motors are horizontally fixedly mounted on the upper and lower ends of the fixed bracket, respectively; each Z-axis servo motor has a gear connected to both ends; there are two chains, arranged in parallel and spaced apart, with each chain's ends engaging with the gears at the upper and lower ends of the fixed bracket, respectively; the adapter plate is fixedly connected to the same side of the two chains, and the adapter plate is also connected to the movable bracket.

[0012] Furthermore, the side wall of the fixed bracket is provided with a directional guide rail; the side wall of the movable bracket is provided with a groove that mates with the directional guide rail.

[0013] Furthermore, the adjustable pneumatic gripper includes a bidirectional cylinder and a spool gripper; the bidirectional cylinder is horizontally mounted on the lower end of the movable bracket, and each of the two telescopic ends of the bidirectional cylinder is connected to a spool gripper; the two spool grippers are arranged opposite to each other, and the opposite ends of the two spool grippers are provided with protrusions.

[0014] Furthermore, the industrial vision camera is disposed at the lower end of the bidirectional cylinder and located between the two spool grippers.

[0015] The beneficial effects of this invention are as follows: The XYZ axis servo drive mechanism, based on the optimal path generated by the intelligent control unit connected to the existing MES / WMS system, drives the gripping device to move above the target spool or target pallet. The gripping device then clamps the target spool and moves it onto the target pallet, effectively avoiding the inefficiencies and inaccuracies caused by traditional palletizing methods that rely heavily on manual operation. Compared with existing technologies, this invention significantly improves palletizing efficiency and accuracy through automated operation, while reducing human error rates, providing a more efficient and intelligent solution for the warehousing and logistics industry. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the electromagnetic wire spool gripper mechanism of this utility model;

[0017] Figure 2 This is a three-dimensional structural diagram of the Z-axis servo mechanism of the electromagnetic wire spool gripper mechanism of this utility model;

[0018] Figure 3 for Figure 2 A cross-sectional view of the Z-axis servo mechanism;

[0019] Figure 4 This is a schematic diagram of the electromagnetic wire spool gripper mechanism of this utility model installed on one side of the automated warehouse.

[0020] In the diagram, 1-frame; 2-crossbeam; 3-X-axis servo mechanism; 4-X-axis rack and pinion guide; 5-Y-axis servo mechanism; 6-Y-axis rack and pinion guide; 7-Z-axis servo mechanism; 71-fixed bracket; 72-movable bracket; 73-Z-axis servo motor; 74-gear; 75-chain; 76-adapter plate; 77-directional guide rail; 8-bidirectional cylinder; 9-spool gripper; 10-protrusion; 11-industrial vision camera; 12-gripping device; 13-automatic warehouse; 14-stacking crane; 15-roller table; 16-pallet; 17-spool. Detailed Implementation

[0021] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0022] like Figures 1-4 The electromagnetic wire spool gripper mechanism shown includes: gripping device 12, intelligent control unit, XYZ axis servo drive mechanism, and industrial vision system.

[0023] The lower end of the gripping device 12 is equipped with an adjustable pneumatic gripper, which extends and retracts horizontally to grip and release the target spool 17.

[0024] The intelligent control unit communicates with the existing MES / WMS system to generate the optimal path for the gripping device 12 to move to the target spool 17 or to the target tray 16.

[0025] The XYZ axis servo drive mechanism is connected to the gripping device 12 and is used to drive the gripping device 12 to move to the target spool 17 or to the top of the target tray 16 according to the optimal path.

[0026] The industrial vision system includes an industrial vision camera 11, which is located at the lower end of the gripping device 12 and is used to identify and locate the target spool 17.

[0027] It should be noted that the intelligent control unit and industrial vision system in this embodiment can directly adopt existing technologies. The MES / WMS system is an existing system.

[0028] like Figure 1As shown, the XYZ axis servo drive mechanism includes a frame 1, a crossbeam 2, an X-axis servo mechanism 3, a Y-axis servo mechanism 5, and a Z-axis servo mechanism 7. The frame 1 is equipped with two parallel X-axis rack guides 4, the length direction of which is along the X-direction, i.e., the length direction of the frame 1. The X-axis servo mechanism 3 cooperates with the X-axis rack guides 4. The crossbeam 2 is connected to the X-axis servo mechanism 3, and one X-axis servo mechanism 3 is connected to each of the two X-axis rack guides 4. The crossbeam 2 is connected between the two X-axis servo mechanisms 3. Under the action of the X-axis servo mechanism 3, the crossbeam 2 moves horizontally along the length direction of the frame 1. The crossbeam 2 is equipped with two parallel Y-axis rack guides 6, the length direction of which is the width direction of the frame 1, and the width direction of the frame 1 is also the Y-direction. The Y-axis servo mechanism 5 cooperates with two Y-axis rack and pinion guides 6, and moves horizontally along the width direction of the frame 1 on the Y-axis rack and pinion guides 6. The Z-axis servo mechanism 7 is connected to the Y-axis servo mechanism 5 and is connected to the gripping device 12. The Z-axis servo mechanism 7 realizes the lifting and lowering of the gripping device 12, that is, realizes the movement of the gripping device 12 along the Z direction, which is the height direction of the frame 1.

[0029] like Figure 2 , Figure 3 As shown, the Z-axis servo mechanism 7 includes: a fixed bracket 71, a movable bracket 72, and a Z-axis servo drive assembly; the fixed bracket 71 is connected to the Y-axis servo mechanism 5; the movable bracket 72 is movably mounted on the outside of the fixed bracket 71, and the movable bracket 72 is connected to the fixed bracket 71 through the Z-axis servo drive assembly, which drives the movable bracket 72 to rise and fall, and the lower end of the movable bracket 72 is connected to the gripping device 12.

[0030] The Z-axis servo drive assembly includes: a Z-axis servo motor 73, a gear 74, a chain 75, and an adapter plate 76; two Z-axis servo motors 73 are horizontally fixedly mounted on the upper and lower ends of the fixed bracket 71, respectively; each Z-axis servo motor 73 has a gear 74 connected to both ends; there are two chains 75, arranged in parallel and spaced apart, and the two ends of each chain 75 are respectively engaged with the gears 74 at the upper and lower ends of the fixed bracket 71; the adapter plate 76 is fixedly connected to the same side of the two chains 75, and the adapter plate 76 is also connected to the movable bracket 72.

[0031] Under the action of Z-axis servo motor 73, drive gear 74 to rotate. The rotation of gear 74 drives chain 75 to rotate. The rotation direction of the two chains 75 is the same. The adapter plate 76 is fixed to the outer side of the two chains 75. So when the outer side of the chain 75 rises and falls, the adapter plate 76 rises and falls synchronously. The adapter plate 76 drives the movable bracket 72 to rise and fall synchronously.

[0032] To ensure the stable lifting and lowering of the movable support 72, a directional guide rail 77 is provided on the side wall of the fixed support 71; a groove is provided on the side wall of the movable support 72 to cooperate with the directional guide rail 77. The cooperation between the directional guide rail 77 and the groove guides the movable support 72 to move smoothly along the height direction of the frame 1.

[0033] The adjustable pneumatic gripper includes a bidirectional cylinder 8 and a spool gripper 9. The bidirectional cylinder 8 is horizontally mounted at the lower end of the movable bracket 72, and each of the two telescopic ends of the bidirectional cylinder 8 is connected to a spool gripper 9. The two spool grippers 9 are arranged opposite each other, and protrusions 10 are provided at the opposite ends of the two spool grippers 9. An industrial vision camera 11 is located at the lower end of the bidirectional cylinder 8 and between the two spool grippers 9.

[0034] When the adjustable pneumatic gripper moves above the target spool 17 under the action of the X-axis servo mechanism 3 and Y-axis servo mechanism 5 of the XYZ axis servo drive mechanism, the spool gripper 9 is positioned at both ends of the target spool 17 under the action of the Z-axis servo drive assembly. Under the action of the bidirectional cylinder 8, the protrusion 10 of the spool gripper 9 aligns with the center hole at the shaft end of the target spool 17, and the bidirectional cylinder 8 further retracts, causing the spool gripper 9 to clamp the target spool 17. The protrusion 10 can be a tapered cylindrical structure, and the center hole at the shaft end of the spool 17 is a tapered hole. After the sidewall of the protrusion 10 contacts the sidewall of the tapered hole, as the bidirectional cylinder 8 retracts, the protrusion 10 converges towards the center of the tapered hole, improving the clamping accuracy of the spool gripper 9. Under the action of the XYZ axis servo drive mechanism, the target spool 17 is moved above the target tray 16. The two telescopic ends of the bidirectional cylinder 8 extend to release the target spool 17 onto the target tray 16, completing the transfer of the target spool 17.

[0035] The determination, positioning, and data management of the target spool 17 and the target tray 16 adopt existing technologies.

[0036] This invention enables automatic palletizing of spools 17, significantly improving work efficiency and reducing reliance on manual labor. Since different products have different raw material requirements, this invention can be flexibly adjusted according to specific requirements to achieve customized material palletizing, thereby better meeting diverse logistics needs. On manufacturing production lines, semi-finished products produced in the previous process can be directly delivered to the next process after automatic palletizing, achieving seamless connection and automated transition of the production line.

[0037] Through deep integration of the MES (Manufacturing Execution System) and WMS (Warehouse Management System), intelligent management of the spool 17 and pallet 16 in the automated warehouse 13 can be achieved. The specific operation method is as follows:

[0038] Before each used spool 17 is put into storage, the QR codes on both the pallet 16 and the spool 17 need to be scanned. This binds the pallet 16 and the spool 17 to the MES and WMS systems. The system then automatically delivers the pallet 16 to the designated storage location in the automated storage and retrieval system (AS / RS) 13. Simultaneously, the storage location in AS / RS 13, the pallet 16, and the spool 17 are all linked together. AS / RS 13 is equipped with a stacker crane 14, and roller tables 15 are located at the entrances and exits of AS / RS 13, below the frame 1 of the XYZ axis servo drive mechanism.

[0039] Because the MES and WMS systems can accurately record the quantity, model, specifications, and specific location information of the spools 17 stored in the automated storage and retrieval system 13, when the workshop performs automated traying of spools 17 during off-peak hours, the system prioritizes ensuring that the spools 17 on the same pallet 16 maintain the same model and gauge to meet production consistency and efficiency requirements. Simultaneously, the system optimizes the space utilization of the pallets 16, ensuring that each pallet 16 can hold three spools 17, and calculates the optimal arrangement scheme using an algorithm, as follows:

[0040] Prioritizing consistency in the specifications and models of the spools 17 on pallets 16, trays 16 with inconsistent spool 17 specifications are removed from the warehouse. An empty pallet 16 is also removed, and the inconsistent spool 17 models are stored across multiple pallets 16. Since a maximum of three spools 17 of the same specification can be placed on a pallet 16, for pallets 16 or single spools 17 that do not conform to the system's optimization plan, spools 17 of the same specification that can be combined with pallets 16 in the automated storage and retrieval system (AS / RS) 13 are removed from the AS / RS 13. The system will issue a command to retrieve them from AS / RS 13. At this time, the spools 17 are precisely grasped and reassembled using the gripping device 12 on the rack 1. During the reassembly process, the system monitors and adjusts the position of the spools 17 in real time to ensure they conform to the optimal arrangement plan. After the assembly is completed, the reassembled pallets 16 will be sent back to the automated warehouse 13 to await the workshop's call instructions so that they can be quickly put into use in subsequent production processes. In this way, the pallets 16 in the automated warehouse 13 can generally store up to 3 spools 17.

[0041] This process not only improves the space utilization and material management efficiency of the automated warehouse 13, but also reduces errors from manual intervention and enhances the overall operational efficiency of the production line through intelligent palletizing and scheduling. Simultaneously, the system's real-time monitoring and data analysis functions provide reliable data support for subsequent inventory optimization and production planning. The specific steps are as follows:

[0042] 1. Outbound and Transfer:

[0043] The spools 17 and pallets 16 that need to be re-palletized are automatically retrieved from the automated storage and retrieval system (AS / RS) 13 via the stacker crane 14. According to system instructions, the stacker crane 14 retrieves the target spools 17 and target pallets 16 from their storage location in the AS / RS 13 and transfers them via roller tables 15 at the AS / RS 13 entrance / exit to a designated position below the rack 1, ready for re-palletization. The entire transfer process is monitored in real-time by logistics management software to ensure that the materials accurately reach their designated locations.

[0044] 2. Operation of the electromagnetic spool gripper 9 mechanism and transfer of spool 17:

[0045] ① The intelligent control unit of the electromagnetic wire spool gripper 9 mechanism communicates in real time with the logistics management software via the network. The XYZ axis servo drive mechanism of the electromagnetic wire spool gripper 9 mechanism receives system instructions and executes the assembling task.

[0046] ② Since the dimensions of the spools 17 and the tray 16 are fixed, the distance between the three spools 17 placed on the tray 16 is preset by the backend. Figure 4 The gripping positions of the spools 17 on the four roller tables 15 of the automated storage and retrieval system 13 shown can be directly set in the background. There are four trays 16, and each tray 16 can hold a maximum of three spools 17, for a total of 4*3=12 coordinates (the Z coordinate is the highest and lowest point of the adjustable pneumatic gripper lifting, which are the same).

[0047] ③ The industrial vision camera 11 accurately locates the position of the tray 16 and the position and orientation of the spool 17 on the tray 16. Since the dimensions of the spool 17 and the tray 16 are fixed, the system automatically generates the relative positions of the tray 16 and the spool 17 on the four roller tables 15 below the frame 1. The system then scans the QR codes marked on the spool 17 at the above 12 coordinate positions and compares them with the data in the system to verify that the QR code number of the spool 17 is consistent with the system. The places without QR codes are the 12 coordinate vacancy positions, which can be used to place the spool 17. It should be noted that the method of setting QR codes on the spool 17 and the tray 16 is a conventional technical means.

[0048] ④ Using the material management system of the automated warehouse 13, the spool 17 to be moved is moved from one of the 12 coordinates. The gripping device 12 rotates the spool 17 to another target coordinate. The XYZ axis servo drive mechanism on the frame 1 (also called the scaffold) moves precisely according to instructions, and the adjustable pneumatic gripper positions itself above the spool 17 to be transferred. The adjustable pneumatic gripper, through the opening and closing action of the bidirectional cylinder 8, firmly grips the spool 17 and raises it to a safe height. Subsequently, the XYZ axis servo drive mechanism moves the spool 17 directly above the target tray 16, and through a lowering action, places the spool 17 in the designated position. The bidirectional cylinder 8 releases the spool gripper 9, completing the transfer operation of the spool 17. Throughout the process, the system uses an industrial vision camera 11 to monitor the position and status of the spool 17 in real time, ensuring the accuracy and safety of the operation.

[0049] 3. Inbound and cycle operations:

[0050] After the spool 17 transfer operation is completed, the spool 17 and pallet 16 are automatically stored in the automated storage and retrieval system (AS / RS) 13 via the roller table 15. The stacker crane 14 then restores them to the designated location in the AS / RS 13 according to system instructions. Simultaneously, the system schedules the next spool 17 and pallet 16 to be palletized to be retrieved from the AS / RS 13, and repeats the above operation until all spools 17 and pallets 16 requiring palletizing are optimally arranged in the AS / RS 13. The entire process achieves fully automated palletizing without manual intervention, significantly improving efficiency and accuracy.

[0051] 4. System optimization and monitoring:

[0052] Throughout the palletizing process, the MES and WMS systems work together to monitor real-time information such as the inventory status of the automated warehouse 13, the model of the spool 17, and the capacity of the pallet 16, and optimize the palletizing plan through algorithms. The system records data for each palletizing operation, including the transfer time of the spool 17 and the utilization rate of the pallet 16, providing data support for subsequent inventory management and production scheduling. Simultaneously, the system has an anomaly detection function, which can promptly alarm and activate emergency plans in the event of malfunctions or abnormal situations, ensuring the continuous operation of the production line.

[0053] The above are merely preferred embodiments of this utility model. The protection scope of this utility model is not limited to the above embodiments. All technical solutions falling within the scope of this utility model's concept are within its protection scope. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of this utility model should also be considered within its protection scope.

Claims

1. An electromagnetic wire spool gripper mechanism, characterized in that, include: A gripping device, wherein the lower end of the gripping device is provided with an adjustable pneumatic gripper, the adjustable pneumatic gripper extending and retracting horizontally to grip and release the target spool; The intelligent control unit communicates with the existing MES / WMS system to generate the optimal path for the gripping device to move to the target spool or to the target tray. An XYZ axis servo drive mechanism, connected to the gripping device, is used to drive the gripping device to move above the target spool or the target tray according to the optimal path; and An industrial vision system, comprising an industrial vision camera disposed at the lower end of the gripping device, for identifying and locating the target spool.

2. The electromagnetic wire spool gripper mechanism according to claim 1, characterized in that, The XYZ axis servo drive mechanism includes a frame, a crossbeam, an X-axis servo mechanism, a Y-axis servo mechanism, and a Z-axis servo mechanism. An X-axis rack and pinion guide is provided on the frame, and the X-axis servo mechanism cooperates with the X-axis rack and pinion guide. The crossbeam is connected to the X-axis servo mechanism. A Y-axis rack and pinion guide is provided on the crossbeam; the Y-axis servo mechanism cooperates with the Y-axis rack and pinion guide. The Z-axis servo mechanism is connected to the Y-axis servo mechanism. The Z-axis servo mechanism is connected to the gripping device.

3. The electromagnetic wire spool gripper mechanism according to claim 2, characterized in that, The Z-axis servo mechanism includes: a fixed bracket, a movable bracket, and a Z-axis servo drive assembly; the fixed bracket is connected to the Y-axis servo mechanism; the movable bracket is movably fitted onto the outside of the fixed bracket, and the movable bracket is connected to the fixed bracket through the Z-axis servo drive assembly, which drives the movable bracket to rise and fall; the lower end of the movable bracket is connected to the gripping device.

4. The electromagnetic wire spool gripper mechanism according to claim 3, characterized in that, The Z-axis servo drive assembly includes: a Z-axis servo motor, gears, chains, and an adapter plate; two Z-axis servo motors are horizontally fixedly mounted on the upper and lower ends of the fixed bracket, respectively; each Z-axis servo motor has a gear connected to both ends; there are two chains, arranged in parallel and spaced apart, with each chain's ends engaging with the gears on the upper and lower ends of the fixed bracket, respectively; the adapter plate is fixedly connected to the same side of the two chains, and the adapter plate is also connected to the movable bracket.

5. The electromagnetic wire spool gripper mechanism according to claim 4, characterized in that, The fixed bracket has a directional guide rail on its side wall; the movable bracket has a groove on its side wall that mates with the directional guide rail.

6. The electromagnetic wire spool gripper mechanism according to claim 3, characterized in that, The adjustable pneumatic gripper includes a bidirectional cylinder and a spool gripper; the bidirectional cylinder is horizontally mounted on the lower end of the movable bracket, and each of the two telescopic ends of the bidirectional cylinder is connected to a spool gripper; the two spool grippers are arranged opposite to each other, and the opposite ends of the two spool grippers are provided with protrusions.

7. The electromagnetic wire spool gripper mechanism according to claim 6, characterized in that, The industrial vision camera is mounted at the lower end of the bidirectional cylinder and positioned between the two spool grippers.

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