CN110802626A

CN110802626A - Adsorption mechanism of workpiece in mechanical claw

Info

Publication number: CN110802626A
Application number: CN201911220219.1A
Authority: CN
Inventors: 周国鹏; 胡侃; 冯锦平; 王志斌
Original assignee: Hubei University of Science and Technology
Current assignee: Hubei University of Science and Technology
Priority date: 2019-12-03
Filing date: 2019-12-03
Publication date: 2020-02-18

Abstract

The invention provides an adsorption mechanism for a workpiece in a mechanical claw, and belongs to the technical field of machinery. The lower section of the mounting column is of a hollow structure, a rotary drum is rotatably connected in the mounting column, a material suction pipe is connected in the rotary drum in a threaded manner, a limiting rod is connected in the material suction pipe in a spline manner, the limiting rod is fixedly connected with the mounting column, and an electromagnetic adsorption piece is arranged at the lower end of the material suction pipe; the electromagnetic adsorption piece is including fixing the adsorption head at inhaling material pipe lower extreme, a jack has in the adsorption head, the adsorption head internal fixation is provided with an armature block, around being equipped with electrical coil on the armature block, the lower extreme of gag lever post is fixed to be provided with and to insert the ejector pin of establishing in the jack, electrical coil's one end links to each other with the negative pole of a power, contact one and contact two all set up on the inner wall of jack, sliding connection has a contact piece in the jack, link to each other through a reset spring who is in under the compression state between contact piece and the jack bottom. The invention has the advantages of reliable taking, crisp release and the like.

Description

Adsorption mechanism of workpiece in mechanical claw

Technical Field

The invention belongs to the technical field of machinery, and relates to an adsorption mechanism for a workpiece in a mechanical claw.

Background

In production activities, in severe working environments such as high temperature and much dust, in order to improve production efficiency, reduce labor intensity, save labor cost and the like, repetitive labor is gradually replaced by machinery. The mechanical arm is used for conveying the parts from one station to another station, and an actuator such as a sucking disc, a mechanical claw, a support frame and the like is required to be arranged at the tail end of the mechanical arm.

For the taking of shaft workpieces, due to the smoothness, the grabbing precision and the grabbing efficiency are low, particularly for small-size shaft workpieces, the tail end of the mechanical arm is not suitable for being provided with more electric control parts and driving elements, and the self weight and the volume of the mechanical arm can be increased.

Disclosure of Invention

The invention aims to provide a workpiece adsorption mechanism in a mechanical claw, aiming at solving the technical problem of how to reliably take workpieces and release workpieces to be crisp.

The purpose of the invention can be realized by the following technical scheme: the adsorption mechanism for the workpieces in the mechanical claw is characterized in that the mechanical claw comprises a base plate and a mounting column fixed on the base plate, the lower section of the mounting column is of a hollow structure, a rotary drum is connected in the mounting column in a rotating mode, a material suction pipe is connected in the rotary drum in a threaded mode, a limiting rod is connected in the material suction pipe in a spline mode and fixedly connected with the mounting column, an electromagnetic adsorption piece is arranged at the lower end of the material suction pipe, and the mechanical claw is used for clamping iron workpieces;

the electromagnetic adsorption piece is including fixing the adsorption head at inhaling material pipe lower extreme, a jack has in the adsorption head, the adsorption head internal fixation is provided with an armature block, around being equipped with the circular telegram coil on the armature block, the lower extreme of gag lever post is fixed to be provided with and to insert the ejector pin of establishing in the jack, the one end of circular telegram coil links to each other with the negative pole of a power, a contact one is connected to the positive pole of power, a contact two is connected to the other end of circular telegram coil, contact one and contact two all set up on the inner wall of jack, sliding connection has a contact block in the jack, it links to each other through a reset spring who is in under the compression state between contact block and the jack bottom.

The rotary drum is driven to rotate clockwise, the material suction pipe located in the rotary drum moves downwards, the electromagnetic adsorption piece at the lower end of the material suction pipe adsorbs the workpiece, the rotary drum rotates reversely, the material suction pipe located in the rotary drum moves upwards, a circuit of the electromagnetic adsorption piece is disconnected, magnetic force disappears, and the workpiece is heavily detached.

The whole process is simple and reliable, the workpieces are guaranteed to be taken one by one, and the situations of workpiece blocking and the like cannot be caused.

The work piece is when the unloading, through the disconnection of external control circular telegram coil, circular telegram coil switches on again when getting the piece, it is higher to the cooperative control requirement of mechanical gripper like this, the maloperation appears easily, in order to solve this problem, the fixed ejector pin that sets up in the lower extreme of gag lever post, this ejector pin when the adsorption head shifts up, with the jack cooperation, it moves down to order about the contact block, make circular telegram coil disconnection, automatically, accomplish the circuit breaking to circular telegram coil, avoid the work piece because of the adsorption affinity can not be smooth and easy break away from the adsorption head, lead to the unloading incomplete, when inhaling the material pipe and move down, the ejector pin breaks away from the jack, circular telegram coil is switched on.

In the workpiece adsorption mechanism in the mechanical claw, the lower end surface of the adsorption head is a concave U-shaped curved surface.

The curved surface is personally submitted to the adsorption head lower extreme, and this curved surface is the U type, and with the curved surface cooperation of work piece, axle type work piece can be under the adsorption affinity automatic position of putting, makes the axis of axle type work piece be located between two splint, avoids splint to its interference lead to the work piece can not be smooth and easy promoted.

Drawings

Figure 1 is a front view of the present gripper.

Fig. 2 is a schematic perspective view of the present gripper.

Figure 3 is a cross-sectional view of the present gripper in an open position.

Fig. 4 is a cross-sectional view of the present gripper in a closed position.

Fig. 5 is an enlarged view of a portion a in fig. 3.

Fig. 6 is a schematic circuit diagram of the electromagnetic absorption member.

Fig. 7 is a schematic structural view of a parallel axis cylinder.

In the figure, 11, a substrate; 12. mounting a column; 13. a splint; 14. a guide rail; 15. a chuck; 2. a parallel axis cylinder; 21. a gas source connector; 22. a push rod; 23. a piston; 24. a return spring; 31. a rotating drum; 32. a material suction pipe; 33. a limiting rod; 34. a ring gear; 35. a rack; 36. an adsorption head; 37. a jack; 38. an armature block; 39. an electrified coil; 41. a top rod; 42. a first contact; 43. a second contact; 44. a contact block; 45. a return spring; 5. and connecting the flanges.

Detailed Description

The following are specific embodiments of the present invention and are further described with reference to the drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1, 2 and 3, the mechanical gripper includes a base plate 11, a mounting column 12 and two clamp plates 13, the mounting column 12 is fixed in the middle of the base plate 11, two parallel guide rails 14 are provided on the base plate 11, guide grooves matched with the guide rails 14 are provided on the two clamp plates 13, the two clamp plates 13 are respectively connected to two sides of the mounting column 12 in a sliding manner, a parallel axis cylinder 2 fixed on the base plate 11 is provided between the two clamp plates 13, the parallel axis cylinder 2 can push the clamp plates 13 to move horizontally along the guide rails 14, and a chuck 15 with a notch is provided on the inner side of the clamp plate 13.

The two clamping plates 13 are close to each other or separated from each other to realize the folding and unfolding of the two clamping heads 15, and the two clamping plates 13 are respectively positioned at two sides of the mounting column 12, and the two clamping plates 13 are stable in the sliding process, so that the workpiece is positioned in the middle, and is uniformly stressed, and the workpiece cannot slide down.

As shown in fig. 3, 4, 5, 6 and 7, the lower section of the mounting post 12 is of a hollow structure, a rotary drum 31 is rotatably connected in the mounting post 12, a material suction pipe 32 is connected in the rotary drum 31 through internal threads, a limiting rod 33 is connected in the material suction pipe 32 through splines, the limiting rod 33 is fixedly connected with the mounting post 12, a gear ring 34 is fixedly arranged outside the rotary drum 31, two racks 35 are respectively and fixedly arranged on the two clamping plates 13, the racks 35 are engaged with the gear ring 34, the two racks 35 are respectively located on two sides of the gear ring 34, an electromagnetic adsorption piece is arranged at the lower end of the material suction pipe 32, and the mechanical claw is used for clamping an iron workpiece. When the two clamping plates 13 are far away from each other, the clamping plates are under the action of the rack 35 and the gear ring 34, the rotary drum 31 rotates, the material suction pipe 32 in the rotary drum 31 moves downwards until the material suction pipe 32 moves downwards to a position below the clamping plates 13, the workpiece is sucked by the electromagnetic suction piece at the lower end of the material suction pipe 32, when the two clamping plates 13 are close to each other, the rack 35 and the gear ring 34 are used, the rotary drum 31 rotates, the material suction pipe 32 in the rotary drum 31 moves upwards until the material suction pipe 32 lifts the workpiece to a position between the two clamping heads 15, at the moment, the distance between the two clamping heads 15 is small, the workpiece can be clamped, the circuit of the electromagnetic suction piece is disconnected, the magnetic force disappears, the two clamping plates 13 are far away from each other, the workpiece is heavily lifted away, and the material.

The electromagnetic adsorption piece comprises an adsorption head 36 fixed at the lower end of the material suction pipe 32, an insertion hole 37 is formed in the adsorption head 36, an armature block 38 is fixedly arranged in the adsorption head 36, an electrified coil 39 is wound on the armature block 38, a push rod 41 capable of being inserted into the insertion hole 37 is fixedly arranged at the lower end of the limiting rod 33, one end of the electrified coil 39 is connected with the negative electrode of a power supply, the positive electrode of the power supply is connected with a first contact 42, the other end of the electrified coil 39 is connected with a second contact 43, the first contact 42 and the second contact 43 are both arranged on the inner wall of the insertion hole 37, a contact block 44 is slidably connected in the insertion hole 37, and the contact block 44 is connected with the bottom of the insertion hole 37 through a reset spring 45 in a compression state. When the workpiece is discharged, the electrified coil 39 is controlled to be disconnected through the outside, the electrified coil 39 is conducted again when the workpiece is taken, so that the requirement on cooperative control of the mechanical gripper is high, misoperation is easy to occur, in order to solve the problem, the ejector rod 41 is fixedly arranged at the lower end of the limiting rod 33, when the ejector rod 41 moves upwards on the adsorption head 36, the ejector rod is matched with the jack 37, the contact block 44 is driven to move downwards, the electrified coil 39 is disconnected, the electrified coil 39 is automatically disconnected, the phenomenon that the workpiece cannot smoothly separate from the adsorption head 36 due to adsorption force is avoided, discharging is incomplete, when the suction pipe 32 moves downwards, the ejector rod 41 is separated from the jack 37, and the electrified coil 39 is electrified again.

The lower end surface of the suction head 36 is a U-shaped curved surface which is concave upward. The lower end surface of the adsorption head 36 is a curved surface which is U-shaped and matched with the curved surface of a workpiece, the shaft workpiece can automatically swing to a right position under the action of adsorption force, the axis of the shaft workpiece is located between the two clamping plates 13, and the phenomenon that the workpiece cannot be smoothly lifted due to the interference of the clamping plates 13 on the shaft workpiece is avoided.

The number of the parallel shaft cylinders 2 is two, the two parallel shaft cylinders 2 are respectively located on two sides of the mounting column 12, two ends of the two parallel shaft cylinders 2 are respectively provided with a push rod 22, and the two push rods 22 of the same parallel shaft cylinder 2 are respectively fixedly connected with the two clamping plates 13. The two parallel shaft cylinders 2 which are symmetrically arranged can improve the reliability of driving the clamping plate 13.

The top of the mounting post 12 has a connection flange 5. The connecting flange 5 is used for being connected with the tail end of the mechanical arm, and the mechanical claw is used as a detachable universal piece and is wider in application range.

The cylinder comprises a cylinder body, an air source connector 21 is arranged on the cylinder body, pistons 23 which are connected in the cylinder body in a sliding mode are arranged at the inner ends of two push rods 22 respectively, the two pistons 23 are connected through return springs 24 in a compressed state, an air cavity is formed between the outer side of each piston 23 and the cylinder body, and the two air cavities are connected in parallel and then communicated with the air source connector 21.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. The adsorption mechanism of the workpiece in the mechanical claw is characterized in that the mechanical claw comprises a base plate (11) and a mounting column (12) fixed on the base plate, the lower section of the mounting column (12) is of a hollow structure, a rotary drum (31) is rotationally connected in the mounting column (12), a material suction pipe (32) is connected with the inner thread of the rotary drum (31), a limiting rod (33) is connected with the inner spline of the material suction pipe (32), the limiting rod (33) is fixedly connected with the mounting column (12), a gear ring (34) is fixedly arranged outside the rotary drum (31), a rack (35) is fixedly arranged on each of the two clamping plates (13), the racks (35) are meshed with the gear ring (34), the two racks (35) are respectively positioned at two sides of the gear ring (34), the lower end of the material suction pipe (32) is provided with an electromagnetic adsorption piece, and the mechanical claw is used for clamping an iron workpiece;

the electromagnetic adsorption piece comprises an adsorption head (36) fixed at the lower end of the material suction pipe (32), the adsorption head (36) is internally provided with an insertion hole (37), an armature block (38) is fixedly arranged in the adsorption head (36), an energizing coil (39) is wound on the armature block (38), a top rod (41) which can be inserted into the jack (37) is fixedly arranged at the lower end of the limiting rod (33), one end of the electrified coil (39) is connected with the negative pole of a power supply, the positive pole of the power supply is connected with a first contact (42), the other end of the electrified coil (39) is connected with a second contact (43), the first contact (42) and the second contact (43) are both arranged on the inner wall of the jack (37), a contact block (44) is connected in the insertion hole (37) in a sliding mode, and the contact block (44) is connected with the bottom of the insertion hole (37) through a return spring (45) in a compressed state.

2. A workpiece suction mechanism in a robot claw according to claim 1, characterized in that the lower end surface of the suction head (36) is a U-shaped curved surface which is concave upward.