Multifunctional end mechanism of an automated handling device

Abstract

The utility model discloses a kind of multifunctional terminal mechanism of automatic handling device, more specifically in the technical field of automatic handling, including mounting bracket and side plate, and side plate is fixedly installed in the front side of mounting bracket, the top of side plate is fixedly installed with photoelectric sensor and fast plug connector, and photoelectric sensor is located in the front side of fast plug connector, the front side of mounting bracket and the top position of fast plug connector are fixedly installed with RFID read-write head, the front side of mounting bracket is provided with two support components.The utility model can realize the interaction of material information by RFID read-write head, photoelectric sensor emits light beam to tray bottom surface and receives reflection signal, load distribution on both sides of tray can be monitored in real time by weighing sensor, second photoelectric sensor can form detection area covering equipment door width, simple structure can effectively improve sensitivity, so that real collision or motion overload can be accurately detected.

Description

Technical Field

[0001] This utility model relates to the field of automated handling technology, and more specifically, to a multifunctional end mechanism of an automated handling device. Background Technology

[0002] In the field of automated production lines for pallet exchange, automated handling devices are typically industrial articulated robots. Traditional end effector structures are usually composed of simple metal frames with rigid mechanical designs to achieve simple pallet handling functions. Their core function is limited to physical support and lacks state perception capabilities. In terms of structural design, these mechanisms are generally fixed-size or simple forks with basic angle adjustment mechanisms. To improve adaptability, some high-end end effectors adopt integrated designs. For example, some industrial robot end grippers integrate pressure sensors in their fingertips to achieve closed-loop control of gripping force and avoid damage to fragile items.

[0003] The collision detection of existing end effectors still relies mainly on the robot's own system. Six-dimensional force sensors are installed on the robot joints and can detect external collisions, but their sensitivity is insufficient. They cannot accurately detect whether it is a real collision or a motion overload, and they cannot predict the risk of slippage caused by manual clamping errors on the pallet. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a multi-functional end mechanism for an automated handling device, which aims to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multifunctional end mechanism for an automated handling device, comprising a mounting frame and a side plate, wherein the side plate is fixedly mounted on the front side of the mounting frame, a photoelectric sensor and a quick-connect connector are fixedly mounted on the top of the side plate, and the photoelectric sensor is located on the front side of the quick-connect connector. An RFID reader / writer head is fixedly mounted on the front side of the mounting frame and at the top position of the quick-connect connector. Two support components are provided on the front side of the mounting frame, each of the two support components comprising a support plate, a weighing sensor, a second photoelectric sensor, a first liquid column level, and a second liquid column level. The two weighing sensors are fixedly mounted on the top of the support plate near one side edge, and the two second photoelectric sensors are respectively fixedly mounted on the top of the two support plates near the front edge.

[0006] Furthermore, the two first liquid column levels are respectively installed on the top of the two support plates, and the two second liquid column levels are respectively fixedly installed on opposite sides of the two support plates.

[0007] As can be seen, in the above technical solution, the two second liquid column levels can detect the pitch tilt of the forks, and the two first liquid column levels can detect the roll tilt of the forks. The installer can directly read the liquid column offset and quickly complete the horizontal calibration of the forks.

[0008] Furthermore, the mounting bracket is provided with two adjustment components, each of which includes a self-locking motor, a first gear rod, a second gear rod, a connecting plate, a plug plate, two fixing bolts, and an indicator plate.

[0009] Furthermore, the output shaft ends of the two self-locking motors are respectively fixedly connected to the two first gear rods, and the two self-locking motors are fixedly mounted on the top of the mounting frame. The two first gear rods are movably connected to the top of the mounting frame through bearings, and the front sides of the two first gear rods are respectively meshed with the two second gear rods.

[0010] Furthermore, the top and bottom ends of the two second gear rods are movably connected to the mounting bracket via bearings, and the two connecting plates are respectively fixedly sleeved on the two second gear rods, with the front sides of the two connecting plates respectively fixedly connected to the two insert plates.

[0011] Furthermore, the front sides of the two insert plates respectively penetrate the two support plates, and the two insert plates are fixed to the two support plates by multiple fixing bolts.

[0012] It can be seen that the above technical solution facilitates the disassembly and replacement of the support plate.

[0013] Furthermore, the bottom ends of the two indicator plates are respectively fixedly connected to the two second gear rods, and angle rulers are provided on the outer sides of the two indicator plates, and the bottom ends of the two angle rulers are fixedly connected to the mounting bracket.

[0014] As can be seen, in the above technical solution, the second gear rod drives the indicator plate to rotate, and the rotation angle of the support plate can be observed by the cooperation of the indicator plate and the angle ruler.

[0015] The technical effects and advantages of this utility model are as follows: 1. This utility model can realize the interaction of material information through RFID reader / writer head, photoelectric sensor emits a light beam to the bottom of the tray and receives the reflected signal, two first liquid column level gauges and two second liquid column level gauges can realize real-time monitoring of dual-axis attitude, weighing sensor can monitor the load distribution on both sides of the tray in real time, and second photoelectric sensor can form a detection area covering the width of the equipment door. The structure is simple and can effectively improve sensitivity, so as to accurately detect whether it is a real collision or a motion overload. 2. This utility model uses a self-locking motor to drive the first gear rod to rotate, which in turn drives the second gear rod and the connecting plate to rotate, and then drives the insert plate and the support plate to rotate. The angle of the support plate can be adjusted as needed, and the two fixing bolts can be rotated in sequence to move them away from the insert plate, thereby releasing the fixation between the insert plate and the support plate, and allowing the support plate to be disassembled and replaced. The structure is simple and easy to use. Attached Figure Description

[0016] The structures, proportions, sizes, etc. illustrated in this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the implementation conditions of this utility model. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and objectives that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a perspective view of the present invention from a downward angle; Figure 3 This is a schematic diagram of the mounting bracket and side plate assembly structure of this utility model; Figure 4 This is a schematic diagram of the support component structure of this utility model; Figure 5 This is a schematic diagram of the adjustment component structure of this utility model.

[0018] In the diagram: 1. Mounting bracket; 2. Side plate; 3. Photoelectric sensor; 4. RFID reader / writer head; 5. Quick-connect connector; 6. Support assembly; 7. Adjustment assembly; 8. Angle gauge; 601. Support plate; 602. Weighing sensor; 603. Second photoelectric sensor; 604. First liquid column level; 605. Second liquid column level; 701. Self-locking motor; 702. First gear rod; 703. Second gear rod; 704. Connecting plate; 705. Insert plate; 706. Fixing bolt; 707. Indicator plate. Detailed Implementation

[0019] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0020] Refer to the instruction manual appendix Figure 1-3This embodiment of an automated handling device multifunctional end mechanism includes a mounting frame 1 and a side plate 2. The side plate 2 is fixedly installed on the front side of the mounting frame 1. A photoelectric sensor 3 and a quick connector 5 are fixedly installed on the top of the side plate 2, and the photoelectric sensor 3 is located on the front side of the quick connector 5. An RFID reader / writer head 4 is fixedly installed on the front side of the mounting frame 1 and at the top of the quick connector 5. Two support components 6 are provided on the front side of the mounting frame 1. Each support component 6 includes a support plate 601, a weighing sensor 602, a second photoelectric sensor 603, a first liquid column level 604, and a second liquid column level 605. The two weighing sensors 602 are fixedly installed on the top of the support plate 601 near one side edge. The two second photoelectric sensors 603 are respectively fixedly installed on the top of the two support plates 601 near the front edge.

[0021] like Figure 1 , 2 As shown in Figure 4, two first liquid column levels 604 are respectively installed on the top of two support plates 601, and two second liquid column levels 605 are respectively fixedly installed on opposite sides of the two support plates 601.

[0022] like Figure 1 , 2 As shown in Figure 5, the mounting frame 1 is equipped with two adjustment components 7. Each adjustment component 7 includes a self-locking motor 701, a first gear rod 702, a second gear rod 703, a connecting plate 704, a insert plate 705, two fixing bolts 706, and an indicator plate 707. The output shaft ends of the two self-locking motors 701 are respectively fixedly connected to the two first gear rods 702, and the two self-locking motors 701 are fixedly mounted on the top of the mounting frame 1. The two first gear rods 702 are movably connected to the top of the mounting frame 1 through bearings, and the front sides of the two first gear rods 702 mesh with the two second gear rods 703 respectively. The top and bottom ends of 703 are movably connected to the mounting bracket 1 via bearings. Two connecting plates 704 are respectively fixedly sleeved on the two second gear rods 703, and the front sides of the two connecting plates 704 are respectively fixedly connected to the two insert plates 705. The front sides of the two insert plates 705 pass through the two support plates 601, and the two insert plates 705 and the two support plates 601 are respectively fixed by multiple fixing bolts 706. The bottom ends of the two indicator plates 707 are respectively fixedly connected to the two second gear rods 703. Angle rulers 8 are provided on the outer side of the two indicator plates 707, and the bottom ends of the two angle rulers 8 are fixedly connected to the mounting bracket 1.

[0023] The self-locking motor 701 is activated, which drives the first gear rod 702 to rotate, thereby driving the second gear rod 703 and the connecting plate 704 to rotate, which in turn drives the insert plate 705 and the support plate 601 to rotate. The angle of the support plate 601 can be adjusted as needed. At the same time, the second gear rod 703 drives the indicator plate 707 to rotate. By cooperating with the angle ruler 8, the rotation angle of the support plate 601 can be observed. By rotating the two fixing bolts 706 in sequence and moving them away from the insert plate 705, the fixing between the insert plate 705 and the support plate 601 can be released, and the support plate 601 can be disassembled and replaced. The structure is simple and easy to use.

[0024] The usage method of this embodiment is as follows: During use, material information can be exchanged through the RFID reader / writer 4. By reading the processing information (such as process status, material number, etc.) in the RFID chip tag bound to the pallet, the data is synchronized to the host computer control system in real time during the handling process. The latest material information can also be written into the chip. The photoelectric sensor 3 adopts reflective photoelectric sensing technology, which emits a beam of light to the bottom of the pallet and receives the reflected signal. When the robot takes out the pallet, if it detects that the gap between the fork and the pallet is greater than a certain amount, it determines that the fork is not fully inserted and prohibits the lifting action to prevent the pallet from tipping over during handling. Two first liquid column levels 604 and two second liquid column levels 605 can realize real-time monitoring of dual-axis attitude. The two second liquid column levels 605 can detect the pitch tilt of the fork, and the two first liquid column levels 604 can detect the roll tilt of the fork. The installer can directly read the liquid column offset and quickly complete the horizontal calibration of the fork. The load cell 602 is connected to the robot's analog I / O port. The load cell 602 can monitor the load distribution on both sides of the pallet in real time. During the teaching phase, load data is collected, and the debugging personnel can refer to the load data to optimize the trajectory planning and ensure a smooth transition of the load curve. During the operation phase, it acts as an additional safety protection detection. When an abnormal load is detected, the robot's running speed is dynamically reduced. When the abnormal load increases to a certain value, an emergency stop is triggered to prevent the objects on the pallet from colliding with objects in the line. The second photoelectric sensor 603 is connected to the robot's own digital I / O port and can form a detection area covering the width of the equipment door. Before entering the workstation, it scans the space in front of it. If it detects that the light path is blocked (such as the equipment door is not open), it stops the fork from moving forward and alarms. It replaces the passive protection that relies on external equipment safety signals. The structure is simple and can effectively improve sensitivity, so that it can accurately detect whether it is a real collision or a motion overload. The integrated transmission hub of the quick-connect connector 5 synchronously transmits electro-hydraulic, pneumatic and control signals to the tray through a single interface. It can feed back the proximity switch signals on the tray (such as workpiece in-situ detection and locking status) to the robot I / O module in real time. In case of abnormality, it triggers the robot to stop urgently to prevent the workpiece from slipping and damaging the equipment in the production line.

[0025] All contents not described in detail in the specification are existing technologies known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited; conventional equipment can be used. Electrical control components not mentioned in this technical solution are not shown in the figures because they are existing technologies, and will not be described here.

[0026] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A multifunctional end mechanism for an automated handling device, comprising a mounting frame (1) and a side plate (2), wherein the side plate (2) is fixedly mounted on the front side of the mounting frame (1), characterized in that: A photoelectric sensor (3) and a quick connector (5) are fixedly installed on the top of the side plate (2), and the photoelectric sensor (3) is located on the front side of the quick connector (5). An RFID reader (4) is fixedly installed on the front side of the mounting frame (1) and at the top of the quick connector (5). Two support components (6) are provided on the front side of the mounting frame (1). Each of the two support components (6) includes a support plate (601), a weighing sensor (602), a second photoelectric sensor (603), a first liquid column level (604), and a second liquid column level (605). The two weighing sensors (602) are fixedly installed on the top of the support plate (601) near one side edge. The two second photoelectric sensors (603) are respectively fixedly installed on the top of the two support plates (601) near the front side edge.

2. The multi-functional end mechanism of the automated handling device according to claim 1, characterized in that: Two first liquid column levels (604) are respectively installed on the top of two support plates (601), and two second liquid column levels (605) are respectively fixedly installed on opposite sides of the two support plates (601).

3. The multi-functional end mechanism of the automated handling device according to claim 1, characterized in that: The mounting bracket (1) is provided with two adjustment components (7), each of which includes a self-locking motor (701), a first gear rod (702), a second gear rod (703), a connecting plate (704), a plug plate (705), two fixing bolts (706) and an indicator plate (707).

4. The multi-functional end mechanism of the automated handling device according to claim 3, characterized in that: The output shaft ends of the two self-locking motors (701) are respectively fixedly connected to the two first gear rods (702), and the two self-locking motors (701) are fixedly installed on the top of the mounting bracket (1). The two first gear rods (702) are movably connected to the top of the mounting bracket (1) through bearings, and the front sides of the two first gear rods (702) are respectively meshed with the two second gear rods (703).

5. The multi-functional end mechanism of the automated handling device according to claim 3, characterized in that: The top and bottom ends of the two second gear rods (703) are movably connected to the mounting bracket (1) via bearings. The two connecting plates (704) are respectively fixedly sleeved on the two second gear rods (703), and the front sides of the two connecting plates (704) are respectively fixedly connected to the two insert plates (705).

6. The multi-functional end mechanism of the automated handling device according to claim 3, characterized in that: The front sides of the two insert plates (705) respectively penetrate the two support plates (601), and the two insert plates (705) are fixed to the two support plates (601) by a plurality of fixing bolts (706).

7. The multi-functional end mechanism of the automated handling device according to claim 3, characterized in that: The bottom ends of the two indicator plates (707) are fixedly connected to the two second gear rods (703) respectively. Angle rulers (8) are provided on the outer side of the two indicator plates (707), and the bottom ends of the two angle rulers (8) are fixedly connected to the mounting bracket (1).

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