CN112872220A - Electromagnetic end effector for carrying automobile control arm stamping parts - Google Patents
Electromagnetic end effector for carrying automobile control arm stamping parts Download PDFInfo
- Publication number
- CN112872220A CN112872220A CN202110433774.3A CN202110433774A CN112872220A CN 112872220 A CN112872220 A CN 112872220A CN 202110433774 A CN202110433774 A CN 202110433774A CN 112872220 A CN112872220 A CN 112872220A
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- CN
- China
- Prior art keywords
- cylinder
- sucker
- end effector
- steel
- control arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
- B21D43/02—Advancing work in relation to the stroke of the die or tool
- B21D43/18—Advancing work in relation to the stroke of the die or tool by means in pneumatic or magnetic engagement with the work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an electromagnetic end effector for carrying automobile control arm stamping parts, which comprises a flange plate, wherein a steel disc is arranged on one side of the flange plate, which is not connected with a control arm, a spring is arranged at the center of the steel disc and is connected with a steel support, suckers are arranged at the end parts of 3 support arms of the steel support, each sucker is in a hollow cylinder shape, a neodymium iron boron cylinder which is tightly connected with the inner wall of the sucker cylinder is arranged in the sucker cylinder, an aluminum nickel cobalt cylinder which is tightly connected with the inner wall of the neodymium iron boron cylinder and is provided with a winding coil is arranged in the neodymium iron boron cylinder, heat-resistant rubber with a concave round hole is arranged on the outward end face of each sucker. The end effector is installed at the tail end of the mechanical arm in a flange plate mode, the requirements of grabbing and placing stamping parts in the stamping process of the automobile control arm can be met, and the end effector is economical in material, simple in appearance structure and long in service life.
Description
Technical Field
The invention relates to an automobile manufacturing technology, in particular to an electromagnetic end effector for carrying automobile control arm stamping parts.
Background
In the mechanical production process, particularly the production of stamping parts, after one process is finished, the stamping parts need to be transferred to a next die for next stamping, the work has high repetition rate and large danger coefficient, most factories use industrial mechanical arms to replace manual work for operation, an end effector is a device which is arranged at the tail end of the industrial mechanical arm and is used for grabbing workpieces, and mechanical clamping jaw type end effectors and vacuum chuck type end effectors are common, the mechanical clamping jaw type end effectors grab the workpieces by using a clamping jaw structure and are commonly used for plates with strong rigidity and more rules; the vacuum end effector utilizes negative pressure generated by air exhausted from the inside of the sucking disc to adsorb a workpiece, and the workpiece automatically falls off after air is injected.
The end effector commonly used in the industrial production at present is the vacuum type, but to curved surface component, vacuum chuck can't form a confined environment and produce the negative pressure, and the work piece can't be snatched to in the stamping workpiece production process, the work piece surface often scribbles lubricating oil, very easily produces the slippage during lateral motion, will lead to the work piece can't accurately put into the mould of next process like this.
In view of the above technical problems, it is urgently needed to design an end effector with a new structure for carrying curved surface members in the production process.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide an electromagnetic end effector for carrying automobile control arm stamping parts. The end effector is installed at the tail end of the mechanical arm in a flange plate mode, the requirements of grabbing and placing stamping parts in the stamping process of the automobile control arm can be met, and the end effector is economical in material, simple in appearance structure and long in service life.
The technical scheme for realizing the purpose of the invention is as follows:
an electromagnetic end effector for carrying stamping parts of control arms of automobiles comprises a flange plate, the difference from the prior art is that a steel disc is arranged on one side of the flange plate, which is not connected with the control arms, a spring is arranged at the center of the steel disc, the steel disc is connected with a steel support through the spring, the steel support is provided with 3 support arms in different directions, every two adjacent support arms of the 3 support arms are 120 degrees, the center of the spring is superposed with the center of the steel support, the spring can play a role of buffering, through grooves are arranged on the 3 support arms of the steel support, a sucker is arranged at the outward end part of each support arm, a fastener penetrates through the grooves and is movably connected with the sucker, the sucker can slide in the grooves, the position of the sucker can be freely adjusted in the grooves to adapt to the sizes of different workpieces, the sucker is in a cylindrical shape, and a hollow neodymium iron boron, be equipped with the alnico cylinder of the area coiling coil with neodymium iron boron cylinder inner wall zonulae occludens in the neodymium iron boron cylinder, be equipped with the heat-resisting rubber that has sunken round hole on the terminal surface that the sucking disc is outside, increase the one deck adsorbable and can reduce the horizontal slip that the work piece produced in the motion process at the heat-resisting rubber of workpiece surface, the another side and the control arm of ring flange are connected, what the ring flange can relax convenient installs on the arm.
The hollow cylinder of the sucker is 1008 steel.
The groove length of the groove is 60mm-80mm, the positions of the three suckers can be adjusted by the support frame with the groove according to the size of a workpiece, the radius of the maximum working outer ring is 80mm, and the radius of the minimum working outer ring is 60 mm.
The outer diameter of the steel disc is smaller than that of the flange plate.
When the workpiece is conveyed, the workpiece is fixed after the position of the support arm is adjusted according to the size of the workpiece to be conveyed by the sucker, then the workpiece is adsorbed and conveyed, after the workpiece is conveyed, a reverse direct current is conducted to the coil on the alnico cylinder to generate a magnetic field opposite to the magnetic field of the NdFeB cylinder 6, and the magnetic field forces of the two are mutually offset, so that the workpiece falls off.
This technical scheme can solve the problem that vacuum type end effector can't absorb the curved surface component to avoided the long-time circular telegram of traditional electro-magnet to lead to the problem that magnetic force became invalid, and can be according to the distance between the work piece size adjustment sucking disc, had fine suitability.
The end effector is installed at the tail end of the mechanical arm in a flange plate mode, the requirements of grabbing and placing stamping parts in the stamping process of the automobile control arm can be met, a layer of rubber capable of being adsorbed on the surface of a workpiece is added, the transverse slippage of the workpiece in the movement process is effectively reduced, and the end effector is economical in material, simple in appearance structure and long in service life.
The end effector is installed at the tail end of the mechanical arm in a flange plate mode, the requirements of grabbing and placing stamping parts in the stamping process of the automobile control arm can be met, and the end effector is economical in material, simple in appearance structure and long in service life.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment;
FIG. 2 is a schematic view of the structure of the heat-resistant rubber in the example.
In the figure, 1, a flange plate 2, a steel disc 3, a fastener 4, a spring 5, a sucker 6, a neodymium iron boron cylinder 7, an aluminum nickel cobalt cylinder 8, a steel bracket 9, a groove 10 and heat-resistant rubber are arranged.
Detailed Description
The invention will be further elucidated with reference to the drawings and examples, without however being limited thereto.
Example (b):
referring to fig. 1, an electromagnetic end effector for carrying stamping parts of automobile control arms comprises a flange plate 1, a steel disc 2 is arranged on one side, not connected with the control arms, of the flange plate 1, a spring 4 is arranged at the center of the steel disc 2, the spring 4 is connected with a steel support 8, the steel support 8 is provided with 3 support arms in different directions, 120 degrees are formed between every two adjacent support arms of the 3 support arms, the center of the spring 4 is superposed with the center of the steel support 8, the spring 4 can play a buffering role, through grooves 9 are formed in the 3 support arms of the steel support 8, a sucker 5 is arranged at the outward end of each support arm, a fastener 3 penetrates through the groove 9 to be movably connected with the sucker 5, the sucker 5 can slide in the groove 9, the position of the sucker can be freely adjusted in the groove to adapt to the sizes of different workpieces, and the sucker 5 is, be equipped with in the 5 cylinders of sucking disc with 5 cylinders of sucking disc inner wall zonulae occludens's neodymium iron boron cylinder 6, be equipped with in the neodymium iron boron cylinder 6 with the 6 inner wall zonulae occludens's of neodymium iron boron cylinder alnico cylinder 7 of taking the coiling, be equipped with the heat-resisting rubber 10 that has sunken round hole on the 5 terminal surfaces outwards of sucking disc, heat-resisting rubber 10 is as shown in figure 2, it can reduce the horizontal slip that the work piece produced in the motion process to increase the heat-resisting rubber 10 of one deck adsorbability on workpiece surface, the another side and the control arm of ring flange 1 are connected, ring flange 1.
The hollow cylinder of the sucker 5 is 1008 steel.
The groove length of the groove 9 is 60mm-80mm, the positions of the three suckers can be adjusted by the support frame 8 with the groove according to the size of a workpiece, the radius of the maximum working outer ring is 80mm, and the radius of the minimum working outer ring is 60 mm.
The outer diameter of the steel disc 2 is smaller than that of the flange plate 1.
When the workpiece is conveyed, the workpiece conveyed by the sucker 5 according to the required size is adjusted and fixed at the position of the supporting arm, then the workpiece is adsorbed and conveyed, after the workpiece is conveyed, a reverse direct current is conducted to the coil on the alnico cylinder 7 to generate a magnetic field opposite to the magnetic field of the neodymium iron boron cylinder 6, and the magnetic field forces of the two are mutually offset, so that the workpiece falls off.
Claims (4)
1. An electromagnetic end effector for carrying stamping parts of control arms of automobiles comprises a flange plate and is characterized in that a steel disc is arranged on one side of the flange plate, which is not connected with the control arms, a spring is arranged at the center of the steel disc and is connected with a steel support, the steel support is provided with 3 support arms in different directions, 120 degrees are formed between every two adjacent support arms of the 3 support arms, the center of the spring is superposed with the center of the steel support, through grooves are arranged on the 3 support arms of the steel support, a sucker is arranged at the outward end part of each support arm, a fastener penetrates through the groove and is movably connected with the sucker, the sucker can slide in the groove and is in a hollow cylinder shape, a neodymium iron boron cylinder tightly connected with the inner wall of the sucker cylinder is arranged in the sucker cylinder, and an aluminum nickel cobalt cylinder with a coil and tightly connected with the inner wall, the end surface of the sucking disc facing outwards is provided with heat-resistant rubber with a concave round hole, and the other surface of the flange plate is connected with the control arm.
2. The electromagnetic end effector for handling vehicle control arm stampings of claim 1 wherein the suction cup openwork cylinder is 1008 steel.
3. The electromagnetic end effector for handling automobile control arm stampings as set forth in claim 1 wherein said recesses have a slot length of 60mm to 80 mm.
4. The electromagnetic end effector for handling automobile control arm stampings as set forth in claim 1 wherein said steel disk has an outer diameter less than an outer diameter of the flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110433774.3A CN112872220A (en) | 2021-04-22 | 2021-04-22 | Electromagnetic end effector for carrying automobile control arm stamping parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110433774.3A CN112872220A (en) | 2021-04-22 | 2021-04-22 | Electromagnetic end effector for carrying automobile control arm stamping parts |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112872220A true CN112872220A (en) | 2021-06-01 |
Family
ID=76040751
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110433774.3A Pending CN112872220A (en) | 2021-04-22 | 2021-04-22 | Electromagnetic end effector for carrying automobile control arm stamping parts |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112872220A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114130914A (en) * | 2021-10-28 | 2022-03-04 | 桂林航天工业学院 | Single-arm robot punching and carrying equipment |
-
2021
- 2021-04-22 CN CN202110433774.3A patent/CN112872220A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114130914A (en) * | 2021-10-28 | 2022-03-04 | 桂林航天工业学院 | Single-arm robot punching and carrying equipment |
| CN114130914B (en) * | 2021-10-28 | 2023-06-27 | 桂林航天工业学院 | Single-arm robot stamping and carrying equipment |
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