CN111994625A - Tools and spool handling systems that assist robotic arms in picking and placing spools - Google Patents

Abstract

The invention relates to a tool capable of assisting a mechanical arm to take and place a wire reel, which comprises: a base for connecting with a mechanical arm; a driving mechanism mounted on the base; a pick-and-place assembly comprising a slidable device A plurality of hooking members on the base and connected with the driving mechanism, the plurality of hooking members can move together and separate under the driving of the driving mechanism, and enable them to align the wire after passing through the through hole of the wire reel The disc is hooked. The tool and the spool handling system provided by the present invention can assist the mechanical arm to take out the spool, so as to solve the problems of high labor intensity and high cost of the spool handling personnel.

Description

Tools and spool handling systems that assist robotic arms in picking and placing spools

technical field

The invention belongs to the technical field of wire spool handling, and in particular relates to a tool and a spool handling system capable of assisting a mechanical arm to take and pay off wire spools.

Background technique

The enameled wire is a typical filament, which is often stored in a spool. In the existing process of producing filament, it is still necessary to manually transport the spool full of filament, resulting in high labor intensity and high cost for the staff.

SUMMARY OF THE INVENTION

In order to solve all or part of the above problems, the purpose of the present invention is to provide a tool and a spool handling system capable of assisting a robotic arm to pick and place spools, so as to solve the problems of high labor intensity and high cost of spool handling personnel.

According to a first aspect of the invention, there is provided a tool capable of assisting a robotic arm to pick and place a reel, comprising: a base for connecting with the robotic arm; a drive mechanism mounted on the base; a pick-and-place assembly , the pick-and-place assembly includes a plurality of hooking members slidably arranged on the base and connected with the driving mechanism, and the plurality of the hooking members can move together under the driving of the driving mechanism and separation movement, and make it possible to hook the spool after passing through the through hole of the spool.

Further, the pick-and-place assembly further includes a guide rail provided on the base and a slider set on the guide rail and used to carry the hooking member, the slider is connected to the driving mechanism and is connected to the drive mechanism. can be driven by the drive mechanism.

Further, the hooking member includes a base portion provided on the slider and a hook portion provided on the base portion, wherein the hook portion is in a 7-shape.

Further, the drive mechanism includes a linear drive assembly capable of independently driving the corresponding hooking member, and the linear drive assembly is an air cylinder, a hydraulic cylinder or a linear motor.

Further, the tool includes an orientation recognition module disposed on the base and used for connecting with the robotic arm, so that the robotic arm can obtain the orientation of the through hole of the wire reel through the orientation identification module.

Further, the orientation recognition module is a camera.

Further, the tool further includes a first elastic member provided on the base, a first pressing plate mounted on the base through the first elastic member, and a first elastic member provided on the base. Two elastic members and a second pressing plate mounted on the base through the second elastic member, wherein the first pressing plate and the second pressing plate are respectively provided on both sides of the pick-and-place assembly. When the hooking member hooks the wire reel, both the first elastic part and the second elastic part are compressed and apply pressure to the wire reel through the first pressing plate and the second pressing plate, and prevent any The spool wobbles on the pick-and-place assembly.

Further, each of the first elastic member and the second elastic member includes a guide rod fixed on the first pressing plate or the second pressing plate and vertically penetrating the base and a guide rod provided on the guide rod. A disengagement prevention member on the end and preventing the guide rod from being separated from the base, and a compression spring sleeved on the guide rod and located between the base and the first pressing plate or the second pressing plate.

Further, a flexible crash pad is provided on each side of the first pressing plate and the second pressing plate facing the spool.

According to a second aspect of the present invention, there is provided a wire reel handling system, including the tool disclosed in the first aspect of the present invention capable of assisting a robotic arm to take out a wire reel.

According to the tool and the spool handling system capable of assisting the robotic arm to pick and place the spool of the present invention, the tool can drive the pick-and-place assembly through the drive mechanism installed on the base to realize the automatic extraction and lowering of the spool, ensuring that the robotic arm can change the tool and the location of the spool and complete the handling of the spool. Compared with manual handling, the wire reel handling system using the tool can reduce the labor intensity of personnel and save handling costs. At the same time, since the tool completes the extraction of the wire reel by passing through the multiple hooking members from the inside and then hooking the wire reel, it can effectively avoid the possibility of the hooking members being in contact with the filament and being scratched. In addition, the tool capable of assisting the robotic arm to take out the spool and the spool handling system of the present invention are simple in structure, easy to assemble, safe and reliable to use, and convenient for popularization and application.

Description of drawings

The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In the picture:

FIG. 1 is a front view of a tool capable of assisting a robotic arm to take out a reel according to an embodiment of the present invention;

2 is a perspective view of a tool capable of assisting a robotic arm to take and pay off a spool according to an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of the base and the hooking part of the tool capable of assisting the robotic arm to take out the spool according to the embodiment of the present invention.

In the drawings, the same components are given the same reference numerals. The drawings are not drawn to actual scale.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings. FIG. 1 is a front view of a tool capable of assisting a robotic arm in picking and placing spools according to an embodiment of the present invention, FIG. 2 is a perspective view of a tool capable of assisting a robotic arm in taking and placing spools according to an embodiment of the present invention, and FIG. 3 is an embodiment of the present invention Schematic diagram of the structure of the hook part of the tool that can assist the robotic arm to take out the reel. As shown in FIG. 1 , FIG. 2 and FIG. 3 , an embodiment of the present invention discloses a tool 100 capable of assisting a robotic arm to pick and place a reel, which includes a base 10 , a drive mechanism 20 and a pick and place assembly 30 . The base 10 is used to connect the robot arm and can install the drive mechanism 20 and the pick-and-place assembly 30 . In order to conveniently connect the existing manipulator, the base 10 may be provided with a flange structure, so that it can be detachably connected to the manipulator through bolts. The pick-and-place assembly 30 includes a plurality of hook members 31 slidably disposed on the base 10 and connected with the driving mechanism 20 . The plurality of hooking members 31 can be moved together and separated under the driving of the driving mechanism 20, so that they can hook the spool after passing through the through hole of the spool. The number of the hooking members 31 is not limited, but for cost saving, the number of the hooking members 31 is preferably two or three.

The tool 100 can automatically pick up and put down the spool by driving the pick-and-place assembly through the drive mechanism installed on the base, ensuring that the robotic arm can change the positions of the tool 100 and the spool and complete the handling of the spool. Compared with manual handling, the wire reel handling system using the tool 100 can reduce the labor intensity of personnel and save handling costs. At the same time, since the tool 100 completes the extraction of the wire reel by means of a plurality of hooking members passing through the inside and then hooking the wire reel, the possibility of the hooking members being in contact with the filament and being scratched can be effectively avoided.

In this embodiment, the pick-and-place assembly further includes a guide rail 31 arranged on the base and a slider 33 arranged on the guide rail 31 and used to carry the hooking member 31. The slider 33 is connected to the driving mechanism 20 and held by it. Drive, so as to ensure that each hook member 31 is carried by the slider 33 to make the moving together and the moving apart. The hooking member 31 includes a base portion 311 provided on the slider 33 and a hook portion 312 provided on the base portion 311, wherein the hook portion can be optionally 7-shaped, and the 7-shaped hook portion can safely complete the spool. hook, and has a better anti-drop effect. The base portion 311 and the hooking portion 312 are preferably integral structures.

In this embodiment, the driving mechanism 20 includes a linear driving assembly capable of independently driving the corresponding hooking members 31 . The linear drive assembly can be selected as a drive mechanism capable of outputting linear motion, such as an air cylinder, a hydraulic cylinder or a DC motor. Then, considering the low cost, reliable quality and high adaptability of the cylinder, it is suggested that the drive assembly is preferably the cylinder. When the number of the hooking members 31 is two and the linear driving component is an air cylinder, the two air cylinders are staggered and symmetrical, and the two hooking members 31 are also staggered and symmetrical, and each cylinder can drive one hooking member 31 to move, and promotes The two hooking members 31 jointly complete the closing movement and the separating movement.

In this embodiment, the tool 100 further includes an orientation recognition module 40 disposed on the base 10 and used for connecting the robotic arm, so that the robotic arm can obtain the orientation of the through hole of the wire reel through the orientation recognition module 40, so that the robotic arm can insert the tool 100 into the tool 100. The hooking members 31 in the closed state pass through the through holes of the bobbin together. The orientation recognition module 40 can be selected as a position detection sensor or a camera. As the orientation recognition module 40 has the advantages of safety, reliability, wide recognition range and high precision, the camera is preferred.

In this embodiment, the tool 100 further includes a first elastic member disposed on the base 10 , a first pressing plate 61 installed on the base 10 through the first elastic member, and a second elastic member disposed on the base 10 component and the second pressing plate installed on the base 10 through the second elastic component, wherein the first pressing plate 61 and the second pressing plate are respectively arranged on both sides of the pick-and-place assembly 30. When hooked, both the first elastic member and the second elastic member are compressed and apply pressure to the spool through the first pressing plate 61 and the second pressing plate, and prevent the spool from shaking on the pick-and-place assembly 30 . Wherein, both the first elastic member and the second elastic member include a guide rod 62 fixed on the first pressing plate 61 or the second pressing plate and vertically penetrating the base, and a guide rod 62 disposed on the piercing end of the guide rod 62 and preventing the The guide rod 62 is separated from the anti-detachment member 63 (preferably a nut or a spring) of the base 10 , and a compression spring 64 sleeved on the guide rod 62 and located between the base 10 and the first pressing plate 61 or the second pressing plate. The guide rod 62 is used to control the direction of elastic compression. By selecting different types of compression springs 64 , the spools of different weights can be adapted to prevent the spools from shaking on the pick-and-place assembly 30 . Preferably, a flexible crash pad is provided on the side of the first pressing plate 61 and the second pressing plate facing the spool, so as to better protect the spool.

In a not-shown embodiment, it relates to a spool handling system comprising a robotic arm and the above-mentioned tool 100 . Since the tool 100 can drive the pick-and-place assembly through the drive mechanism installed on the base to realize automatic extraction and release of the spool, the robotic arm can change the positions of the tool 100 and the spool and complete the handling of the spool. Compared with manual handling, the wire reel handling system using the tool 100 can reduce the labor intensity of personnel and save handling costs. At the same time, since the tool 100 completes the extraction of the wire reel by means of a plurality of hooking members passing through the inside and then hooking the wire reel, the possibility of the hooking members being in contact with the filament and being scratched can be effectively avoided.

In addition, the terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. In the description of the present invention, "plurality" means a plurality unless otherwise expressly and specifically defined.

In this application, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

The above is only the preferred embodiment of the present invention, but the scope of the present invention is not limited to this, any person skilled in the art can easily make changes or changes within the technical scope disclosed by the present invention, and such changes Or changes should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims. As long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any manner. The present invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims (10)

1. a tool capable of assisting a robotic arm to take out a reel, is characterized in that, comprising: a base for connecting with the robotic arm; a drive mechanism, mounted on the base; A pick and place assembly comprising a plurality of hook members slidably arranged on the base and connected with the driving mechanism, the plurality of hook members can be driven by the driving mechanism The closing motion and the separating motion are made so that the coil can be hooked after passing through the through hole of the coil. 2 . The tool according to claim 1 , wherein the pick-and-place assembly further comprises a guide rail provided on the base and a slider set on the guide rail and used for carrying the hooking member. 3 . , the sliding block is connected with the driving mechanism and can be driven by the driving mechanism. 3. The tool of claim 2, wherein the hooking member comprises a base provided on the slider and a hooking portion provided on the base, wherein the hooking portion is presented as 7 type. 4 . The tool according to claim 1 , wherein the driving mechanism comprises a linear driving component capable of independently driving the corresponding hooking member, and the linear driving component is an air cylinder, a hydraulic cylinder or a linear motor. 5 . 5. The tool according to any one of claims 1 to 4, characterized in that it comprises an orientation recognition module arranged on the base and used for connecting the mechanical arm, so that the mechanical arm can pass through all the The orientation recognition module acquires the orientation of the through hole of the wire reel. 6. The tool according to claim 5, wherein the orientation recognition module is a camera. 7. The tool according to any one of claims 1 to 4, further comprising a first elastic member provided on the base and mounted on the base through the first elastic member The first pressure plate, and the second elastic member provided on the base and the second pressure plate installed on the base through the second elastic member, wherein the first pressure plate and the second pressure plate are respectively set On both sides of the pick-and-place assembly, the first elastic part and the second elastic part are compressed and pass through the first pressing plate whenever a plurality of the hooking members hook the wire reel. and a second pressure plate apply pressure to the spool and prevent the spool from shaking on the pick-and-place assembly. 8 . The tool according to claim 7 , wherein the first elastic member and the second elastic member each comprise a fixedly arranged on the first pressing plate or the second pressing plate and vertically penetrate the base. 9 . A guide rod and a disengagement-preventing member arranged on the outgoing end of the guide rod and preventing the guide rod from being separated from the base, and a guide rod sleeved on the guide rod and located between the base and the first pressing plate or Compression springs between the second pressure plates. 9 . The tool according to claim 7 , wherein a flexible crash pad is provided on the side of the first pressing plate and the second pressing plate facing the wire reel. 10 . 10. A spool handling system, characterized by comprising a robotic arm and the tool according to any one of claims 1 to 9.

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