CN105619429B - Manipulator pneumatic electromagnetic force sucking disc device - Google Patents
Manipulator pneumatic electromagnetic force sucking disc device Download PDFInfo
- Publication number
- CN105619429B CN105619429B CN201410699505.1A CN201410699505A CN105619429B CN 105619429 B CN105619429 B CN 105619429B CN 201410699505 A CN201410699505 A CN 201410699505A CN 105619429 B CN105619429 B CN 105619429B
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- Prior art keywords
- cylinder
- piston
- cover
- winding
- manipulator
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- 238000004804 winding Methods 0.000 claims abstract description 26
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 13
- 229910052802 copper Inorganic materials 0.000 claims description 13
- 239000010949 copper Substances 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 8
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 229910000976 Electrical steel Inorganic materials 0.000 claims description 3
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 239000004411 aluminium Substances 0.000 claims 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 239000004033 plastic Substances 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 239000011810 insulating material Substances 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Abstract
The invention relates to the field of automobile stamping technology, in particular to a manipulator pneumatic electromagnetic force sucker device; the method is characterized in that: the device comprises a front cover, a cylinder body, a mounting base, a wire, a coil, a winding, an elastic switch and a piston, wherein the front cover is connected with the cylinder cover; the winding is arranged in the front cover, and the coil is wound on the winding and connected with the lead; the cylinder cover is connected with the cylinder body, and the cylinder cover and the cylinder body form a cylinder, and the elastic switch is arranged in the cylinder cover; the piston is arranged in the cylinder body and can move back and forth in the cylinder, a push rod is arranged on one side of the piston facing the cylinder cover, and air holes are formed at two end parts of the cylinder and used for filling air so as to control the movement of the piston; one end of the mounting base is fixedly connected with the air cylinder, and the other end of the mounting base is connected with the manipulator. By adopting the design, the invention can flexibly control the magnetic force of the magnetic chuck on the basis of not changing the original control system, improves the application range of the manipulator, enhances the flexibility of the manipulator, and has low cost and simple structure.
Description
Technical Field
The invention relates to the field of automobile stamping technology, in particular to a manipulator pneumatic electromagnetic force sucker device.
Background
In a highly-automated production workshop, when an automobile processing technology is carried out, fully-automatic manipulators are adopted for carrying, and suction cups of the manipulators are generally driven by air pressure. The automobile door inner plate structure has complex shape, large size and area, uneven surface and many holes. When the inner plate of the automobile door is carried, the air pressure type plastic sucker is not suitable for being adopted due to the fact that the position of the inner plate is not smooth enough, and when the inner plate is replaced by the smaller plastic sucker, the plate cannot be grasped due to insufficient suction. Aiming at the existing foreign introduced full-automatic stamping equipment, the control system of the manipulator is difficult to change due to technical monopoly. The pneumatic permanent magnet suction disc device provided by the device controls the grabbing and putting down actions by adjusting the suction force by changing the distance, and because the device is fixed by the magnetic force, the light plate is easy to put down, the heavy plate is not grabbed, the device cannot be suitable for door inner plate plates with different qualities, and the flexibility is not strong.
Disclosure of Invention
The invention aims to provide a sucker device which is applicable to automobile door inner plates with different weights on the basis of not changing an original control system, does not interfere with an original manipulator, improves the application range of the manipulator and enhances the flexibility of the manipulator.
In order to achieve the above object, the present invention is achieved by:
the utility model provides a manipulator pneumatic electromagnetic force sucking disc device, it includes protecgulum, cylinder head, cylinder block, sealing gasket, installation base, wire, coil, winding, elastic switch, piston ring, characterized by: the front cover is hollow and is provided with an opening at one end, and the opening is connected with one side of the cylinder cover; the winding is arranged in the front cover through the opening, and the coil is wound on the winding and connected with the lead; the inside of the cylinder cover is hollow, a side wall connected with the front cover is provided with a wire slot for a wire to pass through, the other side of the cylinder cover is provided with an opening, and the opening is connected with one side of the cylinder body, so that a cylinder is formed by the wire slot and the opening, a sealing gasket is arranged on the contact surface of the wire slot and the cylinder cover, and the elastic switch is arranged in the cylinder cover through the opening; an opening is formed in one side of the cylinder body, which is connected with the cylinder cover, a piston is arranged in the cylinder body through the opening and can move back and forth in the cylinder, a push rod is arranged on one side of the piston, which faces the cylinder cover, and when the piston is started to a limit position in the direction of the cylinder cover, the push rod contacts the elastic switch and enables the elastic switch to be in a conducting state; when the piston leaves the limit position, the ejector rod does not touch the elastic switch any more, so that the elastic switch is in an off state; the piston ring is sleeved on the piston; air holes are formed at the two end parts of the air cylinder and used for filling air so as to control the movement of the piston; one end of the mounting base is fixedly connected with the air cylinder, and the other end of the mounting base is connected with the manipulator.
The manipulator pneumatic electromagnetic force sucking disc device is characterized in that a groove is formed in the side face of the front cover and used for installing a wire.
The manipulator pneumatic electromagnetic force sucking disc device is characterized in that the winding is made of silicon steel sheets, the winding is cylindrical, the diameters of two ends of the winding are larger than those of the middle section, and the winding is wound on the middle section of the winding and limited by the two ends.
The manipulator pneumatic electromagnetic force sucking disc device, the elastic switch includes chassis and two copper sheets, and two are all installed on the base, and when the ejector pin did not touch the copper sheet, two copper sheets were not contacted each other.
The manipulator pneumatic electromagnetic force sucking disc device is characterized in that two air holes are respectively formed in the side surfaces of the cylinder cover and the cylinder body.
The manipulator pneumatic electromagnetic force sucking disc device also comprises an anti-slip rubber ring which is cylindrical, a round hole is arranged in the middle of the anti-slip rubber ring, the anti-slip rubber ring is sleeved on the front cover, and uneven patterns are carved on the upper surface of the anti-slip rubber ring.
The manipulator pneumatic electromagnetic force sucking disc device, the installation base include that its bottom is used for the cylindric spliced pole of being connected with the manipulator and the top is used for the connecting platform who is connected with the cylinder, be equipped with the ring groove on the spliced pole for install the bolt that disappears when being connected in the manipulator, a spliced pole bottom side is the plane for prevent that the cylinder from taking place to rotate when using.
By adopting the design, the invention can flexibly control the magnetic force of the magnetic chuck on the basis of not changing the original control system, improves the application range of the manipulator, enhances the flexibility of the manipulator, and has low cost and simple structure.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
FIG. 2 is a schematic view of the internal cross-section of the center of the present invention.
Fig. 3 is a front view of the anti-slip rubber ring of the present invention.
FIG. 4 is a schematic diagram of the implementation of the drop action of the present invention.
Fig. 5 is a schematic diagram of the grabbing action implemented by the invention.
Detailed Description
Description of the reference numerals:
1 anti-slip rubber ring 2 front cover 3 cylinder cover 4 cylinder body
5 mounting base 6a, 6b air holes 7, 7b wire casing 10 sealing gasket
11 winding 12 coil 13 elastic switch 14a, 14b copper sheet
15 piston 16 piston ring 17 raised 20 pattern.
Embodiments suitable for the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1 and 2, a pneumatic electromagnetic chuck device for a robot includes a front cover 2, a coil 12, a winding 11, a cylinder head 3, an elastic switch 13, a piston 15, a piston ring 16, a cylinder block 4, a mounting base 5, an anti-slip rubber ring 1 and a sealing gasket 10,
in order to mount the sucker device on the manipulator, a T-shaped mounting base 5 is designed, one end of a T-shaped straight plane is mounted on the side surface of the cylinder body 4, the other end of the T-shaped straight plane is mounted on the side surface of the cylinder cover 3, the sucker device is mounted and fixed by four screws, the other end of the mounting base is cylindrical and is provided with a circular groove 8, the sucker device is inserted into a circular hole of the manipulator during mounting, the groove 8 is used for mounting a pin bolt to prevent sliding, and in addition, the cylindrical head is provided with a plane 9 for preventing the sucker device from rotating.
The front end of the front cover 2 is cylindrical, the rear end of the front cover is rectangular, a wire groove 7 is formed in the side face of the front cover and is used for installing a wire, a round hole is formed in the middle of the front cover and is used for installing a winding 11, the front cover 2 is installed at one end of the cylinder cover 3, the other end of the front cover is installed with the cylinder body 4, a sealing gasket 10 is installed in the middle of the front cover, the front cover is fastened by four bolts, an elastic switch 13 is installed on the cylinder cover 3, and a piston 15 is installed in the cylinder body 4. The cylinder body, the piston, the cylinder cover and the mounting base are made of aluminum, so that the piston movement is prevented from being influenced by magnetism, and the front cover is made of iron, so that magnetism is enhanced.
The winding 11 is in a circular I shape and consists of silicon steel sheets, the coil 12 is wound in a concave groove of the winding 11, the winding 11 is arranged in the front cover 2, the cylinder cover 2 is in a rectangular shape, a round hole is arranged in the middle, the radius of the round hole is smaller than that of a cylinder cavity of the cylinder body 4, and a wire groove 7b is formed in the bottom of the cylinder cover 2 and used for outputting wires. The cylinder body 4 is also rectangular, so that an air gap is reserved when the piston 15 runs to the bottom of the cylinder body 4, the piston 15 can be pushed quickly, a stepped round hole is formed in the middle of the cylinder body 4, and the radius of the round hole 19 is larger than that of the round hole 18.
The piston 15 is cylindrical, a groove is formed in the surface of the cylinder and is used for installing a piston ring 16, sealing gas is added into the piston ring, and a cylindrical protrusion 17 is formed at one end of the piston. In order to control the piston movement, the cylinder head 3 and the cylinder block 4 each have an air hole 6a, 6b in their sides.
The elastic switch 13 mainly comprises a chassis and two copper sheets 14a and 14b, wherein the front ends of the copper sheets are provided with a circular contact, the copper sheets are arranged on the base at intervals, the base is made of insulating materials, the whole base is arranged in a circular cavity of the cylinder cover 3, and a square hole 7b is arranged in the cavity and used for guiding out a lead wire of the elastic switch 13.
As shown in fig. 3, the anti-slip rubber ring 1 is cylindrical, a round hole is formed in the middle of the anti-slip rubber ring, the anti-slip rubber ring is sleeved on the cylinder of the front cover 2, an uneven pattern 20 is carved on one side surface of the anti-slip rubber ring, and the anti-slip rubber ring is added to prevent the adsorption plate from sliding, so that the surface quality and the positioning accuracy of the adsorption plate are affected.
As shown in fig. 4 and 5, when the air flow enters from 6b and flows out from 6a, the piston 15 moves leftwards, and when the air flow runs to the bottom, the bulge 17 presses the copper sheet of the elastic switch 13, so that the circular contacts of 14a and 14b are attached, and the conducting circuit enables the winding 11 to have magnetism, so that the metal sheet is attracted to realize the grabbing action. When the air flow goes from 6a to 6b, the piston 15 moves to the right, the protrusion 17 of the piston releases the elastic switch, the copper sheets 14a and 14b spring open, the circuit is broken to demagnetize the winding 11, and the lowering action is realized.
By adopting the design, the invention can flexibly control the magnetic force of the magnetic chuck on the basis of not changing the original control system, improves the application range of the manipulator, enhances the flexibility of the manipulator, and has low cost and simple structure.
Claims (1)
1. The utility model provides a manipulator pneumatic electromagnetic force sucking disc device, it includes iron protecgulum, aluminium system cylinder head, aluminium system cylinder block, sealing gasket, installation base, wire, coil, winding, elastic switch, aluminium system piston, piston ring, characterized by: the front cover is hollow and is provided with an opening at one end, and the opening is connected with one side of the cylinder cover; the winding is arranged in the front cover through the opening, and the coil is wound on the winding and connected with the lead; the inside of the cylinder cover is hollow, a side wall connected with the front cover is provided with a wire slot for a wire to pass through, the other side of the cylinder cover is provided with an opening, and the opening is connected with one side of the cylinder body, so that a cylinder is formed by the wire slot and the opening, a sealing gasket is arranged on the contact surface of the wire slot and the cylinder cover, and the elastic switch is arranged in the cylinder cover through the opening; an opening is formed in one side of the cylinder body, which is connected with the cylinder cover, a piston is arranged in the cylinder body through the opening and can move back and forth in the cylinder, a push rod is arranged on one side of the piston, which faces the cylinder cover, and when the piston is started to a limit position in the direction of the cylinder cover, the push rod contacts the elastic switch and enables the elastic switch to be in a conducting state; when the piston leaves the limit position, the ejector rod does not touch the elastic switch any more, so that the elastic switch is in an off state; the piston ring is sleeved on the piston; air holes are formed at the two end parts of the air cylinder and used for filling air so as to control the movement of the piston; one end of the mounting base is fixedly connected with the air cylinder, and the other end of the mounting base is connected with the manipulator; wherein, a groove is arranged on the side surface of the front cover for installing a lead; the winding is made of silicon steel sheets, the winding is cylindrical, the diameters of two ends of the winding are larger than those of the middle section, and the coil is wound on the middle section of the winding and limited by the two ends; the elastic switch comprises a chassis and two copper sheets, wherein the two copper sheets are arranged on the base, and when the ejector rod does not touch the copper sheets, the two copper sheets are not contacted with each other; two air holes are respectively formed in the side surfaces of the cylinder cover and the cylinder body; the anti-skid rubber sleeve is cylindrical, a round hole is formed in the middle of the anti-skid rubber sleeve, the anti-skid rubber sleeve is sleeved on the front cover, and uneven patterns are carved on the upper surface of the anti-skid rubber sleeve; the installation base includes that its bottom is used for the cylindric spliced pole of being connected with the manipulator and the top is used for the connecting platform who is connected with the cylinder, is equipped with the ring groove on the spliced pole for install the bolt that disappears when being connected in the manipulator, spliced pole bottom side is the plane, takes place to rotate when being used for preventing the cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410699505.1A CN105619429B (en) | 2014-11-28 | 2014-11-28 | Manipulator pneumatic electromagnetic force sucking disc device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410699505.1A CN105619429B (en) | 2014-11-28 | 2014-11-28 | Manipulator pneumatic electromagnetic force sucking disc device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105619429A CN105619429A (en) | 2016-06-01 |
| CN105619429B true CN105619429B (en) | 2024-04-05 |
Family
ID=56034964
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410699505.1A Active CN105619429B (en) | 2014-11-28 | 2014-11-28 | Manipulator pneumatic electromagnetic force sucking disc device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105619429B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107719772A (en) * | 2017-08-15 | 2018-02-23 | 拓卡奔马机电科技有限公司 | A kind of air draught converter switch on bag-opening machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1600081A (en) * | 1977-04-27 | 1981-10-14 | Festo Maschf Stoll G | Piston/cylinder assemblies |
| CN201566098U (en) * | 2009-12-17 | 2010-09-01 | 深圳创维－Rgb电子有限公司 | Cylinder of hot runner system |
| CN204366974U (en) * | 2014-11-28 | 2015-06-03 | 上海新朋联众汽车零部件有限公司 | Manipulator vapour-pressure type electromagnetic force Acetabula device |
-
2014
- 2014-11-28 CN CN201410699505.1A patent/CN105619429B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1600081A (en) * | 1977-04-27 | 1981-10-14 | Festo Maschf Stoll G | Piston/cylinder assemblies |
| CN201566098U (en) * | 2009-12-17 | 2010-09-01 | 深圳创维－Rgb电子有限公司 | Cylinder of hot runner system |
| CN204366974U (en) * | 2014-11-28 | 2015-06-03 | 上海新朋联众汽车零部件有限公司 | Manipulator vapour-pressure type electromagnetic force Acetabula device |
Non-Patent Citations (1)
| Title |
|---|
| 吴健兴 ; 罗艳蕾 ; 陈伦军 ; .气缸电磁缓冲装置的研究.机床与液压.2013,(第01期),67-69. * |
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| CN105619429A (en) | 2016-06-01 |
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