阅读说明：本技术 用于抓取链轨节的工业机器人末端执行器和码垛的方法 (Industrial robot end effector for gripping caterpillar links and palletizing method ) 是由 张号 张元� 黄胜利 杨凯 杜启恒 于 2021-06-26 设计创作，主要内容包括：一种用于抓取链轨节的工业机器人末端执行器和码垛的方法,用于抓取链轨节的工业机器人末端执行器,包括固定在支架两侧的伸缩机构,伸缩机构的末端各固定一电磁铁,电磁铁的厚度小于链轨节的厚度,电磁铁一侧设有位移传感器,位移传感器检测是否抓取链轨节,将信号传递给控制器,控制器控制伸缩机构的运动和电磁铁的通断电状态。末端执行器的电磁铁吸取链轨节,移动到料筐上方,末端执行器下降到料筐内,电磁铁释放链轨节,排列链轨节时,使链轨节从料筐相对的两侧壁向中间排列,末端执行器在料筐上方时,转动末端执行器,使末端执行器后侧面始终朝向料筐侧壁。本发明适应四工序之间的链轨节转移,能紧密排列链轨节,避免浪费空间。(The utility model provides an industrial robot end effector and pile up neatly method for snatching caterpillar link, industrial robot end effector for snatching caterpillar link, including fixing the telescopic machanism in support both sides, an electro-magnet is respectively fixed to telescopic machanism's end, and the thickness of electro-magnet is less than the thickness of caterpillar link, and electro-magnet one side is equipped with displacement sensor, and displacement sensor detects whether snatch the caterpillar link, gives the controller with the signal transmission, and the controller controls telescopic machanism's motion and the break-make electricity state of electro-magnet. And when the end effector is arranged above the charging basket, the end effector is rotated to enable the rear side surface of the end effector to face the side wall of the charging basket all the time. The invention is suitable for the transfer of the caterpillar links among the four processes, can tightly arrange the caterpillar links and avoid wasting space.)

1. A industrial robot end effector for snatching caterpillar link, including fixing the telescopic machanism in support both sides, characterized by: the tail end of the telescopic mechanism is respectively fixed with an electromagnet, the thickness of the electromagnet is smaller than that of the caterpillar track section, one side of the electromagnet is provided with a displacement sensor, the displacement sensor detects whether the caterpillar track section is grabbed or not, a signal is transmitted to a controller, and the controller controls the movement of the telescopic mechanism and the power-on and power-off state of the electromagnet.

2. An industrial robot end effector for gripping a caterpillar link according to claim 1, characterized in that: the support both sides are equipped with linear guide mechanism, linear guide mechanism includes fixed block and guide rail, the guide rail is followed the fixed block slides, the fixed block is fixed on the support, the guide rail lower extreme is connected the electro-magnet.

3. An industrial robot end effector for gripping a caterpillar link according to claim 1, characterized in that: the telescopic mechanism adopts a cylinder.

4. An industrial robot end effector for gripping a caterpillar link according to claim 1, characterized in that: the displacement sensor adopts a proximity switch.

5. An industrial robot end effector for gripping a caterpillar link according to claim 1, characterized in that: and inverted triangular reinforcing plates are arranged on two sides of the support.

6. An industrial robot end effector for gripping a caterpillar link according to claim 1, characterized in that: the rear side surface of the bracket is closer to the front than the rear side surface of the caterpillar track section.

7. A method of implementing single layer track link palletization using an end effector as in claim 1, via the steps of: the method is characterized in that the caterpillar track sections are arranged from two opposite side walls of the charging basket to the middle when the caterpillar track sections are arranged, and the tail end executor is rotated when the tail end executor is arranged above the charging basket, so that the rear side face of the tail end executor always faces to the side walls of the charging basket.

Technical Field

The invention relates to the field of machining, in particular to an industrial robot end effector for grabbing caterpillar links and a stacking method.

Background

The track link structure is shown in fig. 1 and comprises a link body, wherein one end of the link body is provided with a sleeve hole 603, the other end of the link body is provided with a step hole 604, the other two side surfaces are provided with a hole on one side surface, namely a hole surface 601, and the other side surface is provided with no hole, namely a tread surface 602. The track link is divided into a left link and a right link, the two links are completely symmetrical, based on the upward direction of the hole surface 601, as shown in fig. 2, the boss of the step hole 604 on the right side of the link body is called a right track link, and as shown in fig. 3, the boss of the step hole 604 on the left side of the link body is called a left track link.

The caterpillar track section is divided into a left part and a right part which are symmetrical, and the chamfering in the upper process and the stacking in the lower process basket are related to the drilling process of the caterpillar track section at present. The robot is limited by the fact that the postures and the positioning modes of the track links in the three processes are different, one industrial robot cannot be compatible with the three processes in the traditional robot loading and unloading mode, one industrial robot needs to be configured for each process independently, and the robot is high in cost and large in occupied area.

When the caterpillar links are piled up in the basket after being processed, the piling mode is that the caterpillar links are orderly arranged from one side of the basket to the opposite side, when the caterpillar links are close to the other side, the front side of the end effector can be blocked by the basket wall, and the caterpillar links in the last row cannot be close to the basket wall, so that partial space is wasted.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an industrial robot end effector for grabbing a caterpillar link and a stacking method.

The purpose of the invention is realized by the following technical means:

a industrial robot end effector for snatching caterpillar link, including fixing the telescopic machanism in the support both sides, an electro-magnet is respectively fixed to telescopic machanism's end, and the thickness of electro-magnet is less than caterpillar link's thickness, and electro-magnet one side is equipped with displacement sensor, and displacement sensor detects whether snatch caterpillar link, gives the controller with the signal transmission, and the controller controls telescopic machanism's motion and the break-make electricity state of electro-magnet.

According to the preferred scheme, linear guide rail mechanisms are arranged on two sides of the support and comprise fixing blocks and guide rails, the guide rails slide along the fixing blocks, the fixing blocks are fixed on the support, and the lower ends of the guide rails are connected with electromagnets.

According to the preferred scheme, the telescopic mechanism adopts an air cylinder, the displacement sensor adopts a proximity switch, inverted triangle reinforcing plates are arranged on two sides of the support, and the rear side surface of the support is close to the front side surface of the caterpillar track section.

The method for realizing the feeding and discharging of the caterpillar track section by using the end effector comprises the following steps:

a. the robot drives the end effector to move to the chamfering machine (DB), the cylinder (QB) extends out, the cylinder (QA) retracts, and the left caterpillar track section is placed into the chamfering machine (B);

b. after the chamfering process is finished, the end effector moves to a chamfering machine (DA), the air cylinder (QA) extends out, the electromagnet (A) absorbs the hole surface of the left caterpillar track section, the end effector moves to the chamfering machine (DB), the air cylinder (QB) extends out, the air cylinder (QA) retracts, the electromagnet B absorbs the hole surface of the right caterpillar track section, the end effector moves, and the right caterpillar track section is extracted; c. the end effector moves to the working position of the push surface machine tool, and the electromagnet A and the electromagnet B release the caterpillar track section;

d. after the dough pushing process is finished, the air cylinders (A) and (B) extend out simultaneously, the electromagnet (A) absorbs the right caterpillar link, the electromagnet (B) absorbs the left caterpillar link, the end effector moves to the position above the charging basket, and the electromagnet (A) and the electromagnet (B) release the caterpillar link.

The method for realizing single-layer caterpillar link stacking by using the end effector comprises the steps that the electromagnet of the end effector absorbs the caterpillar links and moves to the position above a charging basket, the end effector descends into the charging basket, the electromagnet releases the caterpillar links, the caterpillar links are arranged towards the middle from two opposite side walls of the charging basket when the caterpillar links are arranged, and the rear side face of the end effector always faces the side wall of the charging basket when the end effector is arranged above the charging basket.

Compared with the prior art, the invention has the following obvious advantages: the end effector adopts an electromagnetic adsorption mode, adapts to caterpillar link transfer among four processes, realizes left link and right link switching, realizes material transfer among the four processes by using one industrial robot and one set of end effector, makes up time difference among the processes, maximizes the working capacity of the industrial robot, minimizes the waiting time of a machine tool, can adapt to the requirements of three processes of chamfering, face pushing and stacking, realizes that one industrial robot finishes three processes of feeding and discharging, greatly improves the production efficiency and reduces the production cost. According to the stacking method, the rear side face of the end effector always faces the side wall of the charging basket, the rear side face is forward compared with the rear side face of the caterpillar track section, the thickness of the electromagnet is smaller than that of the caterpillar track section, the basket wall is prevented from blocking the end effector, the caterpillar track sections can be tightly arranged, and space waste is avoided.

Drawings

FIG. 1 is a schematic view of the construction of a caterpillar link; FIG. 2 is a top view of the right track link; FIG. 3 is a top view of the left track link; FIG. 4 is a front view of the end effector; FIG. 5 is a right side view of the end effector; FIG. 6 is a distribution diagram of chamfering, pushing and stacking process equipment.

Detailed Description

The invention is described in further detail below with reference to the following description of the drawings and the detailed description.

The industrial robot end effector for grabbing the caterpillar link as shown in fig. 4 and 5 is characterized in that a linear guide rail mechanism is respectively arranged on two sides of a support 1 and comprises a fixing block 3 and a guide rail 2, the guide rail 2 slides along the fixing block 3, the fixing block 3 is fixed on the support 1, an electromagnet is connected to the lower end of the guide rail 2, the thickness of the electromagnet is smaller than that of the caterpillar link, the left side of the electromagnet is an electromagnet A, the right side of the electromagnet is an electromagnet B, an air cylinder is arranged on the inner side of the guide rail 2, an air cylinder QA is arranged on the left side of the cylinder QA, an air cylinder QB is arranged on the right side of the cylinder QA, the lower end of the air cylinder QB is connected with the electromagnet A, a proximity switch is arranged on the inner side of the electromagnet and detects whether the caterpillar link is grabbed or not, a signal is transmitted to a controller, and the controller controls the motion of the air cylinder and the on-off state of the electromagnet. The two sides of the bracket 1 are provided with inverted triangle reinforcing plates 7, and the rear side surface of the bracket 1 is closer to the front than the rear side surface of the caterpillar track section.

As shown in fig. 6, the profile of each processing device, the track link, is processed through the following four steps: a material taking process, wherein the position is required to be that the hole surface faces upwards, the trepanning end is in front, and the step hole end is behind; and a second step: and the chamfering process is realized by two chamfering machines. One pair of left section chamfers and one pair of right section chamfers, the position requirements are that the hole faces outwards, the step face of the step hole faces downwards, and the step hole is horizontally placed; and a third step of: a surface pushing process, wherein the surface pushing process is processed by a surface pushing machine tool, two pieces, namely a left section and a right section, are processed at one time, the hole surfaces are upward, the position requirements are that the sleeve hole ends are arranged at two sides, the step hole ends are arranged in the middle, namely the step hole ends of the left section and the right section are adjacent; step four: the stacking in the basket, the basket is darker, and the side is straight, and four faces have two face openings, and the position requirement is, and the hole face is up, and a left side is adjacent to the right side and is placed, and the step hole is adjacent, arranges in proper order, and next row of pendulum is on this row.

The method for realizing the loading and unloading stacking of the caterpillar track by using the end effector comprises the following steps:

a. the robot drives the end effector to move to the chamfering machine (DB), the cylinder (QB) extends out, the cylinder (QA) retracts, and the left caterpillar track section is placed into the chamfering machine (B);

b. after the chamfering process is finished, the end effector moves to a chamfering machine (DA), the air cylinder (QA) extends out, the electromagnet (A) absorbs the hole surface of the left caterpillar track section, the end effector moves to the chamfering machine (DB), the air cylinder (QB) extends out, the air cylinder (QA) retracts, the electromagnet B absorbs the hole surface of the right caterpillar track section, the end effector moves, and the right caterpillar track section is extracted; c. the end effector moves to the working position of the push surface machine tool, and the electromagnet A and the electromagnet B release the caterpillar track section;

d. after the dough pushing process is finished, the air cylinders (A) and (B) extend out simultaneously, the electromagnet (A) absorbs the right caterpillar link, the electromagnet (B) absorbs the left caterpillar link, the end effector moves to the position above the charging basket, and the electromagnet (A) and the electromagnet (B) release the caterpillar link.

The invention also provides a method for realizing single-layer caterpillar track stacking, wherein an electromagnet of the end effector sucks the caterpillar track to move above the charging basket, the end effector descends into the charging basket, the electromagnet releases the caterpillar track, the caterpillar track is arranged from two opposite side walls of the charging basket to the middle, and when the end effector is above the charging basket, the end effector is rotated to enable the rear side surface of the end effector to always face the side wall of the charging basket.

If the stacking is carried out for the first time, the rear side face of the end effector is close to one side wall of the charging basket, if the stacking is carried out for the second time, the rear side face of the end effector is close to one side of the charging basket, which is far away from the first caterpillar track section, if the stacking is carried out for the third time, the rear side face of the end effector is close to the first side, the end effector moves towards the middle of the charging basket in a stepping mode relative to the first stacking caterpillar track section, the third stacking caterpillar track section is adjacent to the first stacking caterpillar track section, if the stacking is carried out for the fourth time, the rear side face of the end effector is close to the second side, the end effector moves towards the middle of the charging basket in a stepping mode relative to the second stacking caterpillar track section, the fourth stacking caterpillar track section is adjacent to the second stacking caterpillar track section, the stacking process is continuously repeated until one layer of the charging basket cannot accommodate a new caterpillar track section, and single-layer stacking is completed.