CN212374410U - Magnetic grabbing device that robot can just gentle switch - Google Patents
Magnetic grabbing device that robot can just gentle switch Download PDFInfo
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- CN212374410U CN212374410U CN202021785963.4U CN202021785963U CN212374410U CN 212374410 U CN212374410 U CN 212374410U CN 202021785963 U CN202021785963 U CN 202021785963U CN 212374410 U CN212374410 U CN 212374410U
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Abstract
The utility model relates to the field of clamping devices, in particular to a magnetic gripping device which can be switched between rigid and flexible for a robot, which comprises a connecting frame, a cylinder, a magnetic gripping tool, a rubber shock absorber, a positioning sleeve and a positioning pin; the inner hole of the positioning sleeve is provided with a first conical surface; the upper end of the positioning pin is provided with a second conical surface; the first conical surface is matched with the second conical surface; a piston rod of the air cylinder extends out to push the magnetic gripper to move downwards and stretch the rubber shock absorber, so that the contact between the first conical surface and the second conical surface can be realized, and the magnetic gripper is in a rigid connection state; when the air cylinder is reset, the piston rod retracts, the rubber shock absorber rebounds, the separation of the first conical surface and the second conical surface can be realized, and the magnetic gripping apparatus is in a flexible connection state; the rigid connection and flexible connection switching between the tail end of the robot and the magnetic gripping apparatus is realized by controlling the extension and retraction of the piston rod of the air cylinder, and the safety and reliability of the whole process of gripping, carrying and placing ferromagnetic workpieces, particularly heavy objects, by using the magnetic gripping apparatus are guaranteed.
Description
Technical Field
The utility model relates to a clamping device field, in particular to magnetism grabbing device that robot can just gentle switch over.
Background
At present, the grabbing and carrying of ferromagnetic workpieces are mostly realized by installing a grabbing actuator such as a clamping jaw or a sucking disc at the tail end of a robot, but when the electromagnetic sucking disc or an electric permanent magnetic sucking disc is used for adsorbing the workpieces, particularly heavy objects, so as to grab, carry and place the workpieces, the pure rigid connection or the pure flexible connection between the electromagnetic sucking disc or the electric permanent magnetic sucking disc and the tail end of the robot has certain problems: (1) because the flatness of the workpiece has deviation or the placing posture has inclination, the electromagnetic chuck or the electric permanent magnetic chuck can not be well attached to the workpiece due to pure rigid connection, so that the magnetic attraction of the chuck is greatly reduced if the existing air gap is too large, and even the workpiece can not be attracted; the reaction force generated when the workpiece is placed on the clamp can also easily cause the deformation and the damage of the sucker, and even the phenomena of overload alarm, shutdown and the like of the robot occur. (2) Electromagnetic chuck or electric permanent magnetism sucking disc of pure flexonics can be better when snatching the work piece laminating work piece surface, also can solve the reaction force problem of anchor clamps through the great elastic deformation that flexonics produced when placing, but work piece unstability, rocking can appear in work piece handling in the sucking disc of flexonics, the scheduling problem drops even.
SUMMERY OF THE UTILITY MODEL
For solving the technical problem that exists among the above-mentioned prior art, the utility model provides a can realize electromagnet or electric permanent magnetism sucking disc automatic switch-over's device between rigid connection and flexonics state to the fail safe nature of guarantee transportation.
The utility model provides a technical scheme that its technical problem adopted is:
a magnetic gripping device capable of rigid and flexible switching for a robot comprises a connecting frame, and a cylinder, a magnetic gripping tool, a rubber shock absorber, a positioning sleeve and a positioning pin which are arranged on the connecting frame; the connecting frame is provided with a plurality of connecting holes for providing an interface for connecting with an external robot; the cylinder body of the cylinder is inversely arranged at the central position of the connecting frame, and the end surface of the piston rod of the cylinder is contacted with the upper surface of the magnetic gripping apparatus; rubber shock absorbers are further arranged between the connecting frame and the magnetic gripping apparatus, are uniformly distributed at four corners of the connecting frame and are used for flexible connection between the connecting frame and the magnetic gripping apparatus; the outer side of the cylinder is also uniformly provided with a combination of a positioning sleeve and a positioning pin, and the combination and the rubber shock absorber are distributed in a staggered manner; the positioning sleeve is arranged on the connecting frame; the upper end of the positioning pin is matched with the positioning sleeve, and the lower end of the positioning pin is connected with the magnetic gripping apparatus.
Further, the magnetic gripper may be an electromagnetic chuck or an electro-permanent magnetic chuck.
Furthermore, the rubber shock absorber has the deformability of multiple degrees of freedom such as compression, tension and torsion, and is used for driving the magnetic gripper to achieve fine adjustment of the position in each direction.
Furthermore, an inner hole of the positioning sleeve is provided with a first conical surface; the upper end of the positioning pin is provided with a second conical surface; the first conical surface is matched with the second conical surface; a piston rod of the air cylinder extends out to push the magnetic gripper to move downwards and stretch the rubber shock absorber, so that the contact between the first conical surface and the second conical surface can be realized, and the magnetic gripper is in a rigid connection state; when the air cylinder is reset, the piston rod retracts, the rubber shock absorber rebounds, the separation of the first conical surface and the second conical surface can be realized, and the magnetic gripping apparatus is in a flexible connection state; the rigid connection and flexible connection switching between the tail end of the robot and the magnetic gripping apparatus is realized by controlling the extension and retraction of the piston rod of the air cylinder.
Has the advantages that:
the utility model discloses a magnetism grabbing device that robot can just gentle switch over structural design is simple, reasonable, easily realizes, and the cost is lower, through the automatic switch-over to magnetism gripping apparatus rigid connection and flexonics, has ensured to snatch the ferromagnetic work piece especially heavy object, transport and place the fail safe nature of whole process, has improved the transportation efficiency of work piece greatly, has practiced thrift the human cost for the enterprise to intelligent in realizing the workshop provides good basis.
The present invention will be further explained with reference to the drawings and examples.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the matching between the positioning sleeve and the positioning pin of the present invention.
In the figure:
1. the device comprises a connecting frame, 2, a cylinder, 3, a magnetic gripper, 4, a rubber shock absorber, 5, a positioning sleeve, 6 and a positioning pin;
11. connecting holes;
51. a first conical surface 61 and a second conical surface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which the invention belongs. The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include typical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Example one
As shown in fig. 1, the magnetic gripping device for a robot capable of rigid and flexible switching according to the present invention comprises a connecting frame 1, and a cylinder 2, a magnetic gripper 3, a rubber damper 4, a positioning sleeve 5 and a positioning pin 6 which are mounted on the connecting frame 1; the connecting frame 1 is provided with a plurality of connecting holes 11 for providing interfaces for connecting with external robots; the cylinder body of the cylinder 2 is inversely arranged at the central position of the connecting frame 1, and the end surface of the piston rod of the cylinder is contacted with the upper surface of the magnetic gripping apparatus 3; rubber shock absorbers 4 are further arranged between the connecting frame 1 and the magnetic gripping apparatus 3, are uniformly distributed at four corners of the connecting frame 1 and are used for flexible connection between the connecting frame 1 and the magnetic gripping apparatus 3; the outer side of the cylinder 2 is also uniformly provided with a combination of a positioning sleeve 5 and a positioning pin 6 which are distributed in a staggered manner with the rubber shock absorber 4; the positioning sleeve 5 is arranged on the connecting frame 1; the upper end of the positioning pin 6 is matched with the positioning sleeve 5, and the lower end of the positioning pin is connected with the magnetic gripping apparatus 3.
Further, the magnetic gripper 3 may be an electromagnetic chuck or an electro permanent magnetic chuck.
Further, the rubber damper 4 has a deformation capability with multiple degrees of freedom, such as compression, tension, torsion and the like, and is used for driving the magnetic gripper 3 to realize position fine adjustment in various directions.
Further, as shown in fig. 2, the inner hole of the positioning sleeve 5 is provided with a first conical surface 51; the upper end of the positioning pin 6 is provided with a second conical surface 61; the first conical surface 51 is matched with the second conical surface 61; a piston rod of the air cylinder 2 extends out to push the magnetic gripper 3 to move downwards and stretch the rubber shock absorber 4, so that the first conical surface 51 can be contacted with the second conical surface 61, and the magnetic gripper 3 is in a rigid connection state; when the cylinder 2 is reset, the piston rod retracts, the rubber shock absorber 4 rebounds, the separation of the first conical surface 51 and the second conical surface 61 can be realized, and the magnetic gripper 3 is in a flexible connection state; the rigid connection and flexible connection between the connecting frame 1 and the magnetic gripping apparatus 3 are switched by controlling the extension and retraction of the piston rod of the air cylinder 2.
A switching method of a magnetic grabbing device capable of being switched rigidly and flexibly for a robot comprises the following steps:
the method comprises the following steps: when a workpiece is grabbed, the piston rod of the air cylinder 2 is in a retraction state, the conical surface 51 is separated from the conical surface 61, the connecting frame 1 is connected with the magnetic grabber 3 only through the rubber shock absorber 4, and at the moment, the magnetic grabber 3 is in a flexible state, so that the lower surface of the magnetic grabber 3 is tightly attached to the upper surface of the workpiece, and the adsorption is firmer;
step two: when a workpiece is carried for carrying, a piston rod of the air cylinder 2 extends out, the conical surface 51 and the conical surface 61 are completely contacted and tightly attached, and the magnetic gripping apparatus 3 is completely in a rigid state, so that the workpiece is stable, does not shake or fall off in the carrying process, and is safe and reliable;
step three: when a workpiece is placed, the piston rod of the air cylinder 2 retracts, the driving conical surface 51 and the conical surface 61 are separated again, the magnetic gripping apparatus 3 is in a flexible state again, and the problems that the workpiece is deformed and damaged by the reaction force generated when the workpiece is placed on the clamp, and even the robot is overloaded, alarmed, stopped and the like are solved.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, but rather is described in the embodiments and descriptions herein to illustrate the principles of the invention and that various modifications and changes may be made without departing from the spirit and scope of the invention, all of which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a magnetism grabbing device that robot can just gentle switch which characterized in that: comprises a connecting frame, and a cylinder, a magnetic gripping apparatus, a rubber shock absorber, a positioning sleeve and a positioning pin which are arranged on the connecting frame; the connecting frame is provided with a plurality of connecting holes for providing an interface for connecting with an external robot; the cylinder body of the cylinder is inversely arranged at the central position of the connecting frame, and the end surface of the piston rod of the cylinder is contacted with the upper surface of the magnetic gripping apparatus; rubber shock absorbers are further arranged between the connecting frame and the magnetic gripping apparatus, are uniformly distributed at four corners of the connecting frame and are used for flexible connection between the connecting frame and the magnetic gripping apparatus; the outer side of the cylinder is also uniformly provided with a combination of a positioning sleeve and a positioning pin, and the combination and the rubber shock absorber are distributed in a staggered manner; the positioning sleeve is arranged on the connecting frame; the upper end of the positioning pin is matched with the positioning sleeve, and the lower end of the positioning pin is connected with the magnetic gripping apparatus.
2. The rigid-flexible switchable magnetic grasping device for a robot according to claim 1, characterized in that: the magnetic gripper may be an electromagnetic chuck or an electro-permanent magnetic chuck.
3. The rigid-flexible switchable magnetic grasping device for a robot according to claim 1, characterized in that: the rubber shock absorber has the deformability of multiple degrees of freedom such as compression, stretching and torsion and is used for driving the magnetic gripping apparatus to realize fine adjustment of the position in each direction.
4. The rigid-flexible switchable magnetic grasping device for a robot according to claim 1, characterized in that: the inner hole of the positioning sleeve is provided with a first conical surface; the upper end of the positioning pin is provided with a second conical surface; the first conical surface is matched with the second conical surface; a piston rod of the air cylinder extends out to push the magnetic gripper to move downwards and stretch the rubber shock absorber, so that the contact between the first conical surface and the second conical surface can be realized, and the magnetic gripper is in a rigid connection state; when the air cylinder is reset, the piston rod retracts, the rubber shock absorber rebounds, the separation of the first conical surface and the second conical surface can be realized, and the magnetic gripping apparatus is in a flexible connection state; the rigid connection and flexible connection switching between the tail end of the robot and the magnetic gripping apparatus is realized by controlling the extension and retraction of the piston rod of the air cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021785963.4U CN212374410U (en) | 2020-08-25 | 2020-08-25 | Magnetic grabbing device that robot can just gentle switch |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021785963.4U CN212374410U (en) | 2020-08-25 | 2020-08-25 | Magnetic grabbing device that robot can just gentle switch |
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| Publication Number | Publication Date |
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| CN212374410U true CN212374410U (en) | 2021-01-19 |
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| CN202021785963.4U Active CN212374410U (en) | 2020-08-25 | 2020-08-25 | Magnetic grabbing device that robot can just gentle switch |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233180A (en) * | 2021-06-15 | 2021-08-10 | 佛山市川东磁电股份有限公司 | Multifunctional material taking equipment |
| CN116040310A (en) * | 2023-02-15 | 2023-05-02 | 苏州天准科技股份有限公司 | Flexible pick-up rigid positioning conveying device, conveying method and defect detection equipment |
-
2020
- 2020-08-25 CN CN202021785963.4U patent/CN212374410U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113233180A (en) * | 2021-06-15 | 2021-08-10 | 佛山市川东磁电股份有限公司 | Multifunctional material taking equipment |
| CN113233180B (en) * | 2021-06-15 | 2023-01-13 | 佛山市川东磁电股份有限公司 | Multifunctional material taking equipment |
| CN116040310A (en) * | 2023-02-15 | 2023-05-02 | 苏州天准科技股份有限公司 | Flexible pick-up rigid positioning conveying device, conveying method and defect detection equipment |
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Address after: 241007 No.16, Lingyuan Road, national robot industrial park, Wanchun East Road, Jiujiang Economic Development Zone, Wuhu City, Anhui Province Patentee after: WUHU XIROBOT TECHNOLOGY CO.,LTD. Patentee after: Anhui Xingjian Intelligent Manufacturing Equipment Co.,Ltd. Address before: 241007 No.16, Lingyuan Road, national robot industrial park, Wanchun East Road, Jiujiang Economic Development Zone, Wuhu City, Anhui Province Patentee before: WUHU XIROBOT TECHNOLOGY CO.,LTD. Patentee before: HARBIN XIROBOT TECHNOLOGY Co.,Ltd. |