CN115256446A - A depalletizing end picker - Google Patents

Abstract

The invention discloses an unstacking end effector which comprises a support, a mechanical arm, a vacuum mechanism and a magnetic suction mechanism, wherein the mechanical arm is arranged on the support; the mechanical arm is connected with the bracket and is used for driving the bracket to move; the vacuum mechanism comprises a sucker and a vacuum pump, the sucker is arranged on the bracket, and an inlet of the vacuum pump is communicated with the sucker; the magnetic attraction mechanism comprises a magnet and an extensible member, one end of the extensible member is connected with the magnet, and the other end of the extensible member is connected with the support. The invention has the beneficial effects that: when the sucking disc descends to the position with the tablet contact, vacuum in the sucking disc rises, and simultaneously, the magnet provides a magnetic attraction to the tablet, then moves to appointed station on with the support through the arm, when reacing the back, keeps away from the tablet through the extensible member drive magnet, closes the vacuum pump simultaneously to can make the tablet fall appointed station. According to the invention, the magnet and the sucker provide the adsorption force for adsorbing the material sheet together, and for the material sheet with smaller width or more openings, the material sheet can be prevented from being separated from the sucker, so that the stability of the unstacking process is improved.

Description

A destacking end picker

technical field

The invention relates to the technical field of material unstacking, in particular to an end picker for unstacking.

Background technique

The destacking end picker is a device that grabs raw materials from neatly piled materials and sends them to downstream processing equipment. At present, vacuum suction cups are mostly used for pick-ups for destacking on hot-pressing lines (such as the Chinese invention patent with application number CN202011616952.8).

The diameter of the suction cup is fixed. When it is necessary to suck a small-width material, if the diameter of the suction cup is larger than the width of the material, part of the area of the suction cup is located outside the material and communicates with the air. The vacuum degree in the suction cup is difficult to guarantee, resulting in suction The effect is poor, and the tablet is easy to break away from the suction cup. In addition, for a tablet with sufficient width but with many grooves (openings) on the surface, the above-mentioned technical problems also exist.

Contents of the invention

In view of this, it is necessary to provide a destacking end picker, which is used to solve the technical problem that the blanks with smaller width or more openings are easy to detach from the suction cup.

In order to achieve the above object, the present invention provides a destacking end picker, including a bracket, a mechanical arm, a vacuum mechanism and a magnetic suction mechanism;

The mechanical arm is connected to the support and used to drive the support to move;

The vacuum mechanism includes a suction cup and a vacuum pump, the suction cup is installed on the bracket, and the inlet of the vacuum pump communicates with the suction cup;

The magnetic attraction mechanism includes a magnet and a telescopic piece, one end of the telescopic piece is connected to the magnet, and the other end of the telescopic piece is connected to the bracket.

In some embodiments, the vacuum mechanism further includes a vacuum degree detection part, and the vacuum degree detection part is used to detect the vacuum degree in the suction cup.

In some embodiments, the vacuum mechanism further includes a pressure sensor, the fixed end of the pressure sensor is installed on the bracket, and the detection end of the pressure sensor is fixedly connected with the suction cup.

In some embodiments, the vacuum mechanism further includes an adjustment guide rail and an adjustment block, the adjustment guide rail is fixed on the support, the adjustment block is detachably connected to the adjustment guide rail, and the adjustment block is on the The position on the adjustment rail is adjustable.

In some embodiments, the support includes a main rod and several support rods, each of the support rods is fixed on the main rod, the support rods are perpendicular to the adjustment guide rails, and the adjustment guide rails are fixed to the corresponding The position of the adjustment guide rail on the corresponding support rod is adjustable.

In some embodiments, the telescopic member is a telescopic air cylinder, the cylinder body of the telescopic air cylinder is fixed on the support rod, and the output shaft of the telescopic air cylinder is fixedly connected to the magnet.

In some embodiments, the magnetic attraction mechanism further includes a first hoop, the first hoop is fixedly sleeved on the support rod, and the cylinder body of the telescopic cylinder is fixed on the first hoop .

In some embodiments, the destacking end picker also includes an in-position detection mechanism, the in-position detection mechanism includes a micro switch and a detection rod, and the housing of the micro switch is fixed to the support via a second hoop. On the rod, the detection end of the micro switch is fixedly connected with the detection rod, and the detection rod is vertically arranged below the support rod.

In some embodiments, the micro switch includes a switch box, a first contact and a second contact, the switch box is fixed on the pole, and the first contact is fixed in the switch box , the second contact is elastically connected in the switch box, and the second contact is fixedly connected with the detection rod.

In some embodiments, the depalletizing end effector further includes a double-material detection probe, and the double-material detection probe is installed on the support rod.

Compared with the prior art, the beneficial effect of the technical solution proposed by the present invention is: when in use, the support is driven down by the mechanical arm, and the vacuum pump is turned on. Ascending, at the same time, the magnet provides a magnetic attraction to the tablet, and then moves the bracket up to the designated station through the mechanical arm. When it reaches the position, the magnet is driven away from the tablet through the telescopic piece, and the vacuum pump is turned off at the same time, so that the tablet can fall. to the designated station. The present invention uses the magnet and the sucker to jointly provide the adsorption force for absorbing the material sheet, which can prevent the material sheet from detaching from the sucker for the material sheet with small width or many openings, and improves the stability of the unstacking process.

Description of drawings

Fig. 1 is a three-dimensional structural schematic view of an embodiment of the destacking end picker provided by the present invention;

Fig. 2 is a schematic diagram of the three-dimensional structure of Fig. 1 after omitting the blank;

Fig. 3 is a three-dimensional schematic diagram of a group of vacuum mechanisms and magnetic suction mechanisms in Fig. 1;

Fig. 4 is a schematic diagram of the three-dimensional structure of Fig. 3 at another viewing angle;

Fig. 5 is a schematic diagram of the three-dimensional structure of the in-position detection mechanism in Fig. 3;

In the figure: 1-bracket, 11-main rod, 12-support rod, 2-vacuum mechanism, 21-suction cup, 22-pressure sensor, 23-adjusting guide rail, 24-adjusting block, 3-magnetic suction mechanism, 31-magnet , 32-Expandable part, 33-First hoop, 4-Material, 5-In-position detection mechanism, 51-Micro switch, 511-Switch box, 512-First contact, 513-Second contact, 52 - detection rod, 53 - second hoop, 6 - double material detection probe.

Detailed ways

Preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of the application and together with the embodiments of the present invention are used to explain the principle of the present invention and are not intended to limit the scope of the present invention.

Please refer to FIGS. 1-4 , the present invention provides a destacking end picker, including a bracket 1 , a mechanical arm (not shown), a vacuum mechanism 2 and a magnetic attraction mechanism 3 .

Described mechanical arm is connected with described support 1, and is used for driving described support 1 to move, and in the present embodiment, mechanical arm can select the common mechanical arm on the market for use, and the effect of mechanical arm is to move support 1 from feeding end to discharge end.

The vacuum mechanism 2 includes a suction cup 21 and a vacuum pump, the suction cup 21 is installed on the support 1 , and the inlet of the vacuum pump communicates with the suction cup 21 .

The magnetic attraction mechanism 3 includes a magnet 31 and a telescopic member 32 , one end of the telescopic member 32 is connected to the magnet 31 , and the other end of the telescopic member 32 is connected to the bracket 1 .

When in use, the mechanical arm drives the support 1 down, and the vacuum pump is turned on. When the suction cup 21 falls to a position in contact with the sheet 4, the vacuum degree in the suction cup 21 rises, and at the same time, the magnet 31 provides a magnetic attraction to the sheet 4. Next, the support 1 is moved up to the designated station by the mechanical arm, and when it arrives, the magnet 31 is driven away from the tablet 4 by the telescopic member 32, and the vacuum pump is turned off at the same time, so that the tablet 4 can be dropped to the designated station. In the present invention, the magnet 31 and the suction cup 21 jointly provide the adsorption force for absorbing the material sheet 4. For the material sheet 4 with a smaller width or more openings, it can prevent the material sheet 4 from detaching from the suction cup 21 and improve the stability of the unstacking process. sex.

In order to facilitate the detection of whether the suction cup 21 is in contact with the sheet 4, please refer to FIGS. The degree of vacuum in the suction cup 21 is described above. When the suction cup 21 is in contact with the sheet 4, the opening of the suction cup 21 is blocked (partially or completely), so that under the action of the vacuum pump, the vacuum degree in the suction cup 21 will drop, so that it can be detected. Whether the suction cup 21 is in contact with the tablet 4 or not.

In order to prevent multiple sheets 4 from being sucked up simultaneously due to the excessive magnetic force provided by the magnet 31, please refer to FIG. 1. In a preferred embodiment, the vacuum mechanism 2 also includes a pressure sensor 22, and the pressure sensor 22 The fixed end of the pressure sensor is installed on the bracket 1, and the detection end of the pressure sensor 22 is fixedly connected with the suction cup 21. In this embodiment, when the suction cup 21 is lowered to the position in contact with the sheet 4, the mechanical arm drives the bracket 1 rising, during the rising process of the tablet 4, the gravity of the tablet 4 is equal to the sum of the magnetic attraction force of the tablet 4 and the adsorption force of the sucker 21, so if the magnetic attraction force of the magnet 31 to the tablet 4 is greater than the gravity of the tablet 4 , then the sucker 21 actually provides a downward thrust to the tablet 4, and the pressure sensor 22 detects the pressure. 32 is shortened, thereby increasing the distance between the magnet 31 and the sheet 4 to reduce the magnetic attraction force. When the pressure sensor 22 detects the tension, it indicates that the magnetic attraction force of the magnet 31 on the sheet 4 is smaller than that of the sheet 4 at this time. Gravity, afterwards, continue to increase the distance between the magnet 31 and the sheet 4, until the pressure sensor 22 detects that the tension is greater than a preset value (can be determined according to experiments), at this time, the sheet 4 is under the joint action of the magnet 31 and the sucker 21 Only then can it be sucked up, and the tablet below the tablet 4 is not subjected to the suction force of the sucker 21, and the gravity of the tablet below (the gravity of each tablet is roughly equal) is greater than the magnetic attraction force it receives, so it will not be sucked up. , thereby reducing the probability that multiple tablets 4 are sucked up simultaneously.

In order to facilitate the adjustment of the installation position of the suction cup 21 on the bracket 1, please refer to Figure 1 and Figure 4, in a preferred embodiment, the vacuum mechanism 2 also includes an adjustment guide rail 23 and an adjustment block 24, and the adjustment guide rail 23 is fixed On the support 1, the adjustment block 24 is detachably connected to the adjustment guide rail 23, and the position of the adjustment block 24 on the adjustment guide rail 23 is adjustable. When in use, by changing the adjustment block 24 By adjusting the position on the guide rail 23, the installation position of the suction cup 21 on the support 1 can be adjusted, so that the suction area of the suction cup 21 can be increased according to the shape of the tablet 4 and the opening position, so as to improve the suction effect.

In order to further adjust the installation position of the suction cup 21 on the bracket 1, please refer to Fig. 1 and Fig. 4. In a preferred embodiment, the bracket 1 includes a main pole 11 and several poles 12, and each pole 12 are all fixed on the main pole 11, the pole 12 is perpendicular to the adjustment guide rail 23, the adjustment guide rail 23 is fixed on the corresponding pole 12, and the adjustment guide rail 23 is on the corresponding The position on the pole 12 is adjustable. When in use, by changing the position of the adjustment guide rail 23 on the corresponding pole 12, the installation position of the suction cup 21 on the support 1 can be adjusted, so that the position of the suction cup 21 can be adjusted according to the position of the tablet 4. The shape and the opening position increase the suction area of the suction cup 21 to improve the suction effect.

In order to specifically realize the function of the telescopic member 32, please refer to Fig. 1-Fig. The output shaft of the telescopic cylinder is fixedly connected with the magnet 31 .

In order to specifically realize the fixed connection between the cylinder body of the telescopic cylinder and the strut 12, please refer to Figures 1-3, in a preferred embodiment, the magnetic mechanism 3 also includes a first hoop 33, The hoop 33 is fixedly sleeved on the support rod 12 , and the cylinder body of the telescopic cylinder is fixed on the first hoop 33 .

In order to prevent the manipulator from continuously descending and crushing the end picker when there is a problem with the vacuum signal, please refer to Figure 1, Figure 3 and Figure 5. In a preferred embodiment, the destacking end picker also includes an in-position detection mechanism 5, The in-position detection mechanism 5 includes a micro switch 51 and a detection rod 52, the housing of the micro switch 51 is fixed on the pole 12 via a second hoop 53, the detection end of the micro switch 51 is connected to the The detection rod 52 is fixedly connected, and the detection rod 52 is vertically arranged below the pole 12 . When in use, when there is a problem with the vacuum signal, the device cannot detect the existence of the material sheet 4 and continues to descend. sheet 4 (or storage table) contact, after that, continue to descend, detection lever 52 touches the detecting end of microswitch 51, thus microswitch 51 closes, and system detects corresponding signal, thereby sends out the alarm and makes manipulator stop and continue downward, thereby Protects end effectors.

In order to specifically realize the function of the micro switch 51, please refer to FIG. 3 and FIG. 5. In a preferred embodiment, the micro switch 51 includes a switch box 511, a first contact 512 and a second contact 513. The switch box 511 is fixed on the pole 12, the first contact 512 is fixed in the switch box 511, the second contact 513 is elastically connected in the switch box 511, and the second The contact 513 is fixedly connected with the detection rod 52 . Therefore, the micro switch 51 can be closed and a corresponding signal can be sent through the second contact 513 of the first contact 512 .

In order to prevent a plurality of blanks 4 from being taken to the preset station at the same time, please refer to FIG. 1. In a preferred embodiment, the destacking end picker also includes a double-material detection probe 6, so The double-material detection probe 6 is installed on the support rod 12 . In this embodiment, the double-material detection probe 6 is a ROLAND double-material detection probe, which can detect the thickness of the conductor, thereby judging whether the material piece 4 picked up is single.

In order to better understand the present invention, the working process of the destacking end picker provided by the present invention will be described in detail below in conjunction with Fig. 1-Fig. 21 descends to the position in contact with the tablet 4, the vacuum degree in the suction cup 21 rises, and at the same time, the magnet 31 provides a magnetic attraction force to the tablet 4, and then, the support 1 is moved up to the designated station by the mechanical arm. Finally, the magnet 31 is driven away from the tablet 4 by the telescopic member 32, and the vacuum pump is turned off at the same time, so that the tablet 4 can be dropped to a designated station. In the present invention, the magnet 31 and the suction cup 21 jointly provide the adsorption force for absorbing the material sheet 4. For the material sheet 4 with a smaller width or more openings, it can prevent the material sheet 4 from detaching from the suction cup 21 and improve the stability of the unstacking process. sex.

The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention , should be covered within the protection scope of the present invention.

Claims (10)

1. An unstacking end effector is characterized by comprising a support, a mechanical arm, a vacuum mechanism and a magnetic suction mechanism;

the mechanical arm is connected with the bracket and is used for driving the bracket to move;

the vacuum mechanism comprises a sucker and a vacuum pump, the sucker is arranged on the bracket, and an inlet of the vacuum pump is communicated with the sucker;

the magnetic attraction mechanism comprises a magnet and an extensible member, one end of the extensible member is connected with the magnet, and the other end of the extensible member is connected with the support.

2. The unstacking end effector as claimed in claim 1 wherein the vacuum mechanism further comprises a vacuum level sensing member for sensing the vacuum level in the suction cup.

3. The unstacking end effector as claimed in claim 2 wherein the vacuum mechanism further comprises a pressure sensor having a fixed end mounted on the support and a sensing end fixedly connected to the suction cup.

4. The unstacking end effector as claimed in claim 3 wherein the vacuum mechanism further comprises an adjustment rail secured to the frame and an adjustment block removably attached to the adjustment rail, the adjustment block being adjustably positionable on the adjustment rail.

5. The unstacking end-effector according to claim 4 wherein the support comprises a main bar and a plurality of legs, each of the legs being fixed to the main bar, the legs being perpendicular to the adjustment guide, the adjustment guide being fixed to the respective leg, the adjustment guide being adjustable in position on the respective leg.

6. The unstacking end-effector as claimed in claim 5, wherein the telescopic member is a telescopic cylinder, a cylinder body of the telescopic cylinder is fixed on the supporting rod, and an output shaft of the telescopic cylinder is fixedly connected with the magnet.

7. The unstacking end-effector as claimed in claim 6, wherein the magnetic attraction mechanism further comprises a first anchor ear fixedly sleeved on the support rod, and a cylinder body of the telescopic cylinder is fixed on the first anchor ear.

8. The unstacking end-effector according to claim 5, further comprising an in-position detection mechanism, wherein the in-position detection mechanism comprises a micro switch and a detection rod, a housing of the micro switch is fixed on the supporting rod through a second hoop, a detection end of the micro switch is fixedly connected with the detection rod, and the detection rod is vertically arranged below the supporting rod.

9. The unstacking end-effector according to claim 8, wherein the micro-switch comprises a switch box, a first contact and a second contact, the switch box is fixed on the support rod, the first contact is fixed in the switch box, the second contact is elastically connected in the switch box, and the second contact is fixedly connected with the detection rod.

10. The unstacking end-effector as claimed in claim 5 further comprising a double material detection probe mounted on the support bar.

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