CN214988674U - Automatic feeding device for special-shaped ferromagnetic material workpiece - Google Patents

Abstract

The utility model discloses an automatic feeding device for special-shaped ferromagnetic material workpieces, which is used for automatically feeding ferromagnetic material workpieces with complex shapes and heavier weight and relates to the technical field of workpiece feeding equipment; the robot comprises an electromagnetic chuck, a robot, a demagnetizer and a mechanical claw, wherein the electromagnetic chuck and the mechanical claw are arranged on a crank arm of the robot; the feeding process comprises the following steps: determining a part sucking part by adopting a visual guide system, sucking the part from a point A by a robot electromagnetic chuck, placing the part at a point B at a feeding end of a demagnetizer, automatically conveying the part by the demagnetizer, moving to a discharging end, stopping, determining a part grabbing part by adopting the visual guide system, grabbing the part at a point C by a robot mechanical gripper, placing the part at a positioning tool D of machining equipment or detection equipment, and finishing a feeding process; the utility model discloses a twice vision guide snatchs, accomplishes the part and piles up state to accurate positioning from unordered, and it is wider to snatch part adaptability.

Description

Automatic feeding device for special-shaped ferromagnetic material workpiece

Technical Field

The utility model provides an automatic feeding device of dysmorphism ferromagnetic material work piece for the complicated heavy metal parts machining of shape or the automatic feeding of testing process, the utility model relates to a work piece charging equipment technical field.

Background

At present, most of automatic feeding in the manufacturing industry is truss robots and joint robots, according to the development of modern technology, vision-guided robots are applied to automatic feeding, and a gripper part is generally divided into a mechanical gripper and an electromagnetic chuck; the mechanical gripper can control the mechanical gripper to axially rotate, open and knead the workpiece through a motor or drive the clamping jaw to clamp through the clamping jaw cylinder, so as to clamp the workpiece; the electromagnetic chuck attracts a workpiece by magnetizing, and the specific operation is that the electromagnetic chuck is moved to the position above the workpiece to be taken and placed, slowly descends, continues to descend at certain positions after contacting the workpiece, enables the magnetic attraction surface of the electromagnetic chuck to be tightly attached to the workpiece through the buffering of a spring, the controller starts magnetizing to enable the magnetic force to attract the workpiece, opens a sensor, detects whether the workpiece is attracted, and places the attracted workpiece on a machine to be processed after confirming the attraction;

at present, the mechanical gripper feeding device or the electromagnetic chuck feeding device cannot meet the requirement of universal feeding of workpieces, if the mechanical gripper is adopted, the gripping point is difficult to determine, the structural universality difficulty of the mechanical gripper is high, and the electromagnetic chuck feeding device is adopted, the residual magnetism of parts is high, and the residual magnetism of parts is not allowed to be high in a plurality of working procedure processing and detecting working procedures, so that the electromagnetic chuck feeding device cannot meet the working procedure requirement.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a: the automatic feeding device for the special-shaped ferromagnetic material workpiece is used for feeding parts one by one from a disordered stacking state and accurately positioning the parts on processing equipment or detection equipment.

The utility model adopts the technical scheme as follows: the utility model provides an automatic feeding device of dysmorphism ferromagnetic material work piece, includes electromagnet, robot, demagnetization machine, gripper, be provided with electromagnet and gripper on the crank arm of robot, electromagnet and gripper are the hard joint with the robot, through the control of robot multidimension degree.

Near the robot is provided with the demagnetization machine, the feed end and the discharge end of demagnetization machine all set up in the crank working range of robot, make things convenient for the robot to put and get the work piece.

Still be provided with material frame and processing or check out test set in the robot working range, the material frame sets up the feed end at the demagnetization machine, and processing or check out test set up the discharge end at the demagnetization machine, and this kind of design uses the robot to put and gets the work piece stroke short, has improved work efficiency.

Near the robot is provided with the demagnetization machine, the feed end setting of demagnetization machine is in the crank arm working range of robot.

Be close to the feed end department of demagnetization machine is provided with the material frame, and the butt joint the discharge end department of demagnetization machine is provided with processing or check out test set, the material frame sets up in the crank arm working range of robot.

The robot is a robot with a vision guide system, can more accurately grab a workpiece and puts the workpiece into processing equipment or detection equipment according to the design requirement.

The mechanical claw adopts a mechanical claw with a pneumatic structure, and has a simple structure and a long service life.

The demagnetizer is a conveyor belt type demagnetizer or a roller type demagnetizer or a conveyor chain type demagnetizer, and different types of demagnetizers can be selected according to the size and the structural characteristics of parts.

To sum up, owing to adopted above-mentioned technical scheme, the beneficial effects of the utility model are that:

the utility model discloses an electromagnet will be in unordered state in the material frame, and the gesture is random, in the part of mutual extrusion, with the quick snatching of part, the rethread demagnetization machine demagnetizes, places the part location through the gripper at last on processing or check out test set, has solved the gripper and has snatched the problem of difficulty in the material frame, has also solved electromagnet and has snatched the part back, the high problem of part remanence, the utility model discloses the security is high, work efficiency is high, and part positioning accuracy is high, and the commonality is high.

Drawings

The invention will now be described, by way of example, with reference to the accompanying drawings, in which:

fig. 1 is a schematic top view of embodiment 3 of the present invention;

fig. 2 is a schematic diagram of the grabbing state of the electromagnetic chuck of the present invention;

FIG. 3 is a schematic view of the gripping state of the gripper according to the present invention;

fig. 4 is a schematic top view of embodiment 5 of the present invention;

labeled as: 1-workpiece, 2-material frame, 3-electromagnetic chuck, 4-robot, 5-demagnetizer, 6-mechanical claw, and 7-processing or detecting equipment.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, of the embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1

As shown in fig. 1-4, an automatic feeding device for a special-shaped metal workpiece 1 comprises an electromagnetic chuck 3, a robot 4, a demagnetizer 5 and a gripper 6, wherein the electromagnetic chuck 3 and the gripper 6 are arranged on a crank arm of the robot 4.

Example 2

On the basis of embodiment 1, near robot 4 is provided with demagnetization machine 5, demagnetization machine 5's feed end and discharge end all set up in robot 4's crank arm working range, make things convenient for robot 4 to put and get work piece 1.

Example 3

On embodiment 2's basis, be provided with material frame 2 and processing or check out test set 7 in the 4 working ranges of robot, material frame 2 and processing or check out test set 7 all set up in the crank arm working ranges of robot 4, material frame 2 sets up at the feed end of demagnetization machine 5, and processing or check out test set 7 set up the discharge end at demagnetization machine 5, and this kind of design uses robot 4 to put and get 1 stroke of work piece short, has improved work efficiency.

When in use: determining a part sucking position by adopting a visual guide system → sucking the part from a point A by the robot 4 electromagnetic chuck 3 → placing the part at a point B at the feeding end of the demagnetizer 5 → the demagnetizer 5 automatically transmitting the part to demagnetize and move to a discharging end to stop → determining a part grabbing position by adopting the visual guide system → the robot 4 mechanical gripper grabs the part at a point C → placing the part at a positioning tool D point of processing equipment or detection equipment, and finishing the feeding process.

Example 4

On embodiment 1's basis, near robot 4 is provided with demagnetization machine 5, demagnetization machine 5's feed end sets up in robot 4's crank arm working range, during the use, draws the part with electromagnetism sucking disc 3 earlier and places in demagnetization machine 5 feeding end point, and the good position back of reuse gripper 6 accurate positioning carries out demagnetization.

Example 5

On embodiment 4's basis, be close to demagnetization machine 5's feed end department is provided with material frame 2, butt joint demagnetization machine 5's feed end department is provided with processing or check out test set, material frame 2 sets up in the crank arm working range of robot 4, and during the use, work piece 1 absorbs the part through electromagnet 3 and places in demagnetization machine 5 feed end point, and the back of demagnetizing is carried out after 6 accurate positioning good positions of reuse gripper, and direct transfer is to processing or check out test set 7.

Example 6

On the basis of the embodiment 1, the robot 4 is a robot 4 with a visual guide system, can more accurately grab the workpiece 1, and directly places the workpiece 1 into processing equipment or detection equipment according to the design requirement by adopting the mechanical claw 6.

Example 7

On the basis of the embodiment 1, the mechanical claw 6 adopts the mechanical claw 6 with a pneumatic structure, and has a simple structure and long service life.

Example 8

On the basis of embodiment 1, the demagnetizer 5 is a conveyor-type demagnetizer or a roller-type demagnetizer or a conveyor chain-type demagnetizer.

The above description is only for the preferred embodiment of the present invention, and the present invention is not limited thereto, the protection scope of the present invention is defined by the claims, and all structural changes equivalent to the contents of the description and drawings of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. The utility model provides an automatic feeding device of dysmorphism ferromagnetic material work piece, includes electromagnet (3), robot (4), demagnetization machine (5), gripper (6), its characterized in that, be provided with electromagnet (3) and gripper (6) on the crank arm of robot (4).

2. The automatic feeding device of a shaped ferromagnetic material workpiece according to claim 1, characterized in that a demagnetizer (5) is arranged near the robot (4), and the feeding end and the discharging end of the demagnetizer (5) are both arranged in the working range of the crank arm of the robot (4).

3. The automatic feeding device of a dysmorphism ferromagnetic material work piece according to claim 2, characterized in that, still be provided with material frame (2) and processing or check out test set (7) in robot (4) working range, material frame (2) set up the feed end at demagnetization machine (5), processing or check out test set (7) set up the discharge end at demagnetization machine (5).

4. An automatic feeding device of a shaped ferromagnetic material workpiece according to claim 1, characterized in that near the robot (4) there is a demagnetizer (5), and the feeding end of the demagnetizer (5) is set in the crank working range of the robot (4).

5. The automatic feeding device of a dysmorphism ferromagnetic material work piece according to claim 4, characterized in that, be close to the inlet end of demagnetization machine (5) and be provided with material frame (2), the butt joint the discharge end of demagnetization machine (5) is provided with processing or check out test set (7), material frame (2) set up in the crank working range of robot (4).

6. An automatic feeding device of a shaped ferromagnetic material workpiece as in claim 1, characterized by the fact that said robot (4) is a robot with visual guidance system.

7. An automatic feeding device of a shaped ferromagnetic material workpiece as in claim 1, characterized by that said gripper (6) is a pneumatically structured gripper.

8. An automatic feeding device of a shaped ferromagnetic material piece according to claim 1, characterized in that said demagnetizer (5) is a conveyor belt type or roller type or conveyor chain type demagnetizer.

Images