CN113369179A - Electromagnetic auxiliary gripping device - Google Patents
Electromagnetic auxiliary gripping device Download PDFInfo
- Publication number
- CN113369179A CN113369179A CN202110599779.3A CN202110599779A CN113369179A CN 113369179 A CN113369179 A CN 113369179A CN 202110599779 A CN202110599779 A CN 202110599779A CN 113369179 A CN113369179 A CN 113369179A
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- China
- Prior art keywords
- base
- arm
- electromagnetic
- manipulator
- electromagnet
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- 229910052751 metal Inorganic materials 0.000 claims abstract description 18
- 239000002184 metal Substances 0.000 claims abstract description 18
- 230000005291 magnetic effect Effects 0.000 claims description 11
- 239000000126 substance Substances 0.000 abstract description 4
- 230000005294 ferromagnetic effect Effects 0.000 abstract description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000005674 electromagnetic induction Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 229910017052 cobalt Inorganic materials 0.000 description 2
- 239000010941 cobalt Substances 0.000 description 2
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical compound [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910052759 nickel Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 229910001385 heavy metal Inorganic materials 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/36—Sorting apparatus characterised by the means used for distribution
- B07C5/361—Processing or control devices therefor, e.g. escort memory
- B07C5/362—Separating or distributor mechanisms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/344—Sorting according to other particular properties according to electric or electromagnetic properties
Abstract
The invention provides an electromagnetic auxiliary grabbing device which comprises a base, a mechanical arm, an electromagnetic detector and an upper computer. The base is arranged on the mobile device, and the mobile device drives the base to move in multiple axes; the mechanical arm comprises a plurality of mechanical arms distributed on the base, each mechanical arm consists of a driving arm and a driven arm which are hinged, the driving arm is installed on the base, the tail end of the driven arm is detachably provided with a clamping jaw, and the clamping jaw is loaded with an electromagnet; the electromagnetic detector is arranged on at least one clamping jaw and connected with the electromagnet, and if the electromagnetic detector senses that the object clamped by the clamping jaw is metal, the electromagnet is conducted to assist in fixing; the upper computer is connected with the moving device and the manipulator and is used for controlling the moving device to drive the base to move and controlling the grabbing operation of the manipulator. The invention uses the electromagnetic detector to detect whether the grabbed object is metal, and if the grabbed object is metal, the electromagnet is started to provide auxiliary grabbing for attracting ferromagnetic substances.
Description
Technical Field
The invention relates to the field of machinery, in particular to an electromagnetic auxiliary grabbing device.
Background
At present, in the field of manipulator grabbing, the grabbing mode of most of manipulators is single, the method is low in efficiency, the working strength is high, and resource waste is easily caused. Although the corresponding grabbing mechanical arms are equipped in the current factory, the grabbing mode of the mechanical arms is single, only one article can be grabbed, the factory task cannot be completed in a short time, and the factory efficiency is low. In addition, the mini mechanical arm is used for grabbing the objects together through a plurality of mechanical arms to achieve the purpose of sorting the objects, but when the objects are too many, the objects occupy a large number of space positions, the layout of a factory is influenced, and therefore the enterprise benefit is influenced.
In addition, the current mechanical arm grabbing logic is not intelligent enough, the action of the mechanical arm is fixed, a program is needed to set the motion path of the mechanical arm, the independent learning capacity is not available, the flexibility is not good, articles in a small range can be grabbed usually, the size is large, the space arrangement is strictly limited, when the grabbing target is large, the probability of grabbing failure is increased, a worker is required to grab the target by manual operation, and the mechanical arm is difficult to grab stably.
Disclosure of Invention
The invention provides an electromagnetic auxiliary grabbing device, which comprises:
the base is arranged on a mobile device, and the mobile device drives the base to move in multiple axes;
the manipulator comprises a plurality of mechanical arms distributed on a base, each mechanical arm consists of a driving arm and a driven arm which are hinged, the driving arm is installed on the base, a clamping jaw is detachably installed at the tail end of the driven arm, and an electromagnet is loaded on the clamping jaw;
the electromagnetic detector is arranged on at least one clamping jaw or the driven arm and connected with the electromagnet, and if the electromagnetic detector senses that the articles clamped by the clamping jaws are metal, the electromagnet is conducted to assist in fixing;
the upper computer is connected with the moving device and the manipulator and used for controlling the moving device to drive the base to move and controlling the grabbing operation of the manipulator.
Furthermore, a plurality of servo motors are arranged on the base, the driving arm is arranged on a rotating shaft of each servo motor, and the driving arm swings up and down around the rotating shaft as a center;
the driving arm and the driven arm of each mechanical arm are hinged through a hinge seat, a short balancing rod is connected between the hinge seat and the base, and two ends of the short balancing rod are respectively rotatably connected with the hinge seat and the base;
the middle of the hinged seat and the clamping jaw is connected with a long balancing rod, and two ends of the long balancing rod are respectively connected with the hinged seat and the clamping jaw in a rotating mode.
Furthermore, the hinged seat is a triangular block, and one end of the short balancing rod and one end of the long balancing rod, and the hinged ends of the driving arm and the driven arm are respectively hinged with three vertexes of the triangular block.
Furthermore, each clamping jaw is provided with a plurality of pneumatic fingers, and the electro-magnet setting is in pneumatic finger's centre gripping side.
Further, a multi-view wide-angle camera is arranged on the lower surface of the base and is connected with the upper computer;
the upper computer is connected with a manual control panel, and the manual control panel is provided with a display and an operation rocker.
Furthermore, the magnetic strength of the electromagnet is adjustable in multi-gear magnetic field strength;
when the object is grabbed for the first time, if the object is not grabbed successfully, the upper computer automatically increases the magnetic field intensity of the electromagnet, so that the object can be grabbed for the next time.
The invention has the advantages that:
1) the manipulator has the electromagnetic auxiliary function and the electromagnetic induction function, when the manipulator needs to grab large metal objects, the electromagnetic induction device on the manipulator can identify metal substances and then transmit information to the manipulator, the manipulator can automatically open the electromagnet to assist the grabbing of the manipulator and then finish the autonomous grabbing of the metal substances, manual control is not needed, the electromagnetic force generated by electrifying the manipulator can enable the grabbing of metals such as iron, nickel, cobalt and the like to be more stable, grabbing failure caused by too heavy metal objects can be avoided, and resource waste is greatly relieved;
2) the magnetic field intensity of the electromagnet is adjustable, and when an object is grabbed, if the object is not grabbed successfully, the upper computer automatically increases the magnetic field intensity of the electromagnet to facilitate the next grabbing;
3) the fingers of the manipulator are detachable and replaceable, different mechanical fingers can be replaced according to different grabbing materials, the replacement mode is simple and rapid, the manipulator can be fully utilized, the device is not idle, and therefore the resource waste phenomenon is relieved. The manipulator is made of modularized flexible materials, and can be replaced conveniently at any time to guarantee that objects can be grabbed without being damaged.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an electromagnetic auxiliary gripping device according to the present invention;
fig. 2 is a flow chart of the robot gripping process of the present invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
Referring to fig. 1, the invention provides an electromagnetic auxiliary gripping device, which comprises a base 1, a manipulator 10, an electromagnetic detector and an upper computer.
The base 1 is mounted on a moving device (a mechanical arm capable of moving in multiple axes), and the moving device drives the base 1 to move in multiple axes. The manipulator 10 comprises a plurality of mechanical arms distributed on a base 1, each mechanical arm is composed of a driving arm 11 and a driven arm 14 which are hinged to each other, the driving arm 11 is installed on the base 1, a clamping jaw 4 is detachably installed at the tail end of the driven arm 14, and an electromagnet is loaded on the clamping jaw 4. And the electromagnetic detector is arranged on at least one clamping jaw 4 or the driven arm 14 and is connected with the electromagnet, and if the electromagnetic detector senses that the object clamped by the clamping jaw 4 is metal, the electromagnet is conducted to give auxiliary fixation. The upper computer is connected with the moving device and the manipulator 10 and used for controlling the moving device to drive the base 1 to move and controlling the grabbing operation of the manipulator 10.
An operator only needs to set a manipulator automatic grabbing mode on a human-computer interaction interface according to a prompt, the manipulator automatically grabs after receiving information of an upper computer, firstly, the manipulator automatically generates a travel route, reaches above a grabbed object and then slowly descends to a specified height; whether the sensing article is metal is come to the utilization electromagnetic detector, if be metal, transfer information to the host computer for the manipulator is automatic opens electromagnetic relay and assists the manipulator and snatchs, has increased the electromagnetic force for the finger part of manipulator, has the electromagnetic force cooperation manipulator that electromagnetic relay produced when making the manipulator snatch and snatchs work, makes and snatchs the metal object stablely more. If the electromagnet is not metal, the electromagnet is not started to enter a common grabbing mode.
In an alternative embodiment, a plurality of servo motors 2 are arranged on a base 1, a driving arm 11 is arranged on a rotating shaft of each servo motor 2, and the driving arm 11 swings up and down around the rotating shaft as a center; the driving arm 11 and the driven arm 14 of each mechanical arm are hinged through a hinge base 13, a short balance rod 12 is connected between the hinge base 13 and the base 1, and two ends of the short balance rod 12 are respectively in rotating connection with the hinge base 13 and the base 1; the middle of the hinged seat 13 and the clamping jaw 4 is connected with a long balance rod 15, and two ends of the long balance rod 15 are respectively connected with the hinged seat 13 and the clamping jaw 4 in a rotating mode.
In an alternative embodiment, the hinge base 13 is a triangular block, and the short balance bar 12, one end of the long balance bar 15, and the hinge ends of the driving arm 11 and the driven arm 14 are respectively hinge-connected to three vertexes of the triangular block.
In an alternative embodiment, each jaw 4 is provided with a plurality of pneumatic fingers, and the electromagnets are arranged on the gripping side of the pneumatic fingers. Preferably, the magnetic strength of the electromagnet has multi-gear magnetic field intensity and is adjustable, and particularly, when an object is grabbed, if the object is not grabbed successfully, the upper computer automatically increases the magnetic field intensity of the electromagnet, so that the object can be grabbed next time, and the energy consumption can be reduced.
In an optional embodiment, the lower surface of the base 1 is provided with a multi-view wide-angle camera 3 which is connected with the upper computer; the upper computer is connected with a manual control panel, and the manual control panel is provided with a display and an operation rocker. This device can switch manual operation mode, utilizes camera 3 to gather image data directly under in real time, utilizes afterwards to control the rocker and control mobile device and manipulator, and mobile device carries out the removal of multidimension degree in the space and drives the manipulator arrival and move to the relevant position, controls the rocker afterwards and controls the manipulator and snatch article.
The manipulator adopts electromagnetic induction and electromagnetic auxiliary grabbing, when the manipulator grabs a large metal object, an electromagnetic inductor in the electromagnetic auxiliary can automatically induce the metal object, the manipulator automatically opens an electromagnetic auxiliary mode after recognizing the metal object, and if the grabbed object is a metal capable of attracting ferromagnetic substances such as iron, nickel, cobalt and the like, the manipulator can obtain an additional electromagnetic force auxiliary manipulator grabbing task, so that grabbing is more stable and safe, and grabbing efficiency of the manipulator is improved. A manipulator can snatch different classes's object, can automatic switch-over manipulator snatch the mode, the extra burden of mill that has significantly reduced, reasonable utilization resource. The mechanical arm belongs to a modularized device, can be randomly disassembled and assembled, and reduces the production cost.
The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (6)
1. An electromagnetically assisted grasping apparatus, comprising:
the device comprises a base (1), wherein the base (1) is installed on a mobile device, and the mobile device drives the base (1) to move in multiple axes;
the manipulator (10) comprises a plurality of mechanical arms distributed on a base (1), each mechanical arm consists of a driving arm (11) and a driven arm (14) which are hinged to each other, the driving arm (11) is installed on the base (1), a clamping jaw (4) is detachably installed at the tail end of the driven arm (14), and electromagnets are loaded on the clamping jaws (4);
the electromagnetic detector is arranged on at least one clamping jaw (4) or the driven arm (14) and connected with the electromagnet, and if the electromagnetic detector senses that the articles clamped by the clamping jaw (4) are metal, the electromagnet is conducted to assist in fixing;
the upper computer is connected with the moving device and the manipulator (10) and used for controlling the moving device to drive the base (1) to move and controlling the grabbing operation of the manipulator (10).
2. The electromagnetic auxiliary grabbing device of claim 1, wherein a plurality of servo motors (2) are arranged on the base (1), the active arm (11) is installed on a rotating shaft of each servo motor (2), and the active arm (11) swings up and down around the rotating shaft as a center;
the driving arm (11) and the driven arm (14) of each mechanical arm are hinged through a hinge seat (13), a short balancing rod (12) is connected between the hinge seat (13) and the base (1), and two ends of the short balancing rod (12) are respectively in rotating connection with the hinge seat (13) and the base (1);
the middle of the hinged seat (13) and the clamping jaw (4) is connected with a long balancing rod (15), and two ends of the long balancing rod (15) are respectively in rotating connection with the hinged seat (13) and the clamping jaw (4).
3. The electromagnetic assisted gripping device according to claim 2, characterized in that the articulated seat (13) is a triangular block, and the short balance bar (12), one end of the long balance bar (15) and the articulated ends of the driving arm (11) and the driven arm (14) are respectively articulated with three vertexes of the triangular block.
4. Electromagnetic assisted gripping device according to claim 1, characterized in that each gripper jaw (4) is provided with a plurality of pneumatic fingers, the electromagnets being arranged on the gripping side of the pneumatic fingers.
5. The electromagnetic auxiliary grabbing device of claim 1, wherein the lower surface of the base (1) is provided with a multi-view wide-angle camera (3) connected with the upper computer;
the upper computer is connected with a manual control panel, and the manual control panel is provided with a display and an operation rocker.
6. The electromagnetic assisted grasping apparatus according to claim 1, wherein the magnetic strength of the electromagnet is adjustable for a plurality of levels of magnetic field strength;
when the object is grabbed, if the object is not grabbed successfully, the upper computer automatically increases the magnetic field intensity of the electromagnet, so that the object can be grabbed next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110599779.3A CN113369179A (en) | 2021-05-31 | 2021-05-31 | Electromagnetic auxiliary gripping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110599779.3A CN113369179A (en) | 2021-05-31 | 2021-05-31 | Electromagnetic auxiliary gripping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113369179A true CN113369179A (en) | 2021-09-10 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110599779.3A Pending CN113369179A (en) | 2021-05-31 | 2021-05-31 | Electromagnetic auxiliary gripping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113369179A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114538077A (en) * | 2022-03-15 | 2022-05-27 | 北京市地质机械厂有限责任公司 | Through hammer grabbing device |
| CN114655689A (en) * | 2022-03-15 | 2022-06-24 | 北京市地质机械厂有限责任公司 | Through hammer grabbing device |
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| GB165098A (en) * | 1920-06-18 | 1922-09-20 | Henri Louis Adrien Schweitzer | Improvements in apparatus for separating or sorting fragmentary materials by electric conductivity |
| GB2210293A (en) * | 1987-09-28 | 1989-06-07 | Auton Juan Jose Rius | Apparatus to separate metallic bodies from non-metallic comminuted materials |
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|---|---|---|---|---|
| CN114538077A (en) * | 2022-03-15 | 2022-05-27 | 北京市地质机械厂有限责任公司 | Through hammer grabbing device |
| CN114655689A (en) * | 2022-03-15 | 2022-06-24 | 北京市地质机械厂有限责任公司 | Through hammer grabbing device |
| CN114538077B (en) * | 2022-03-15 | 2024-02-23 | 北京市地质机械厂有限责任公司 | Through hammer grabbing device |
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| CB03 | Change of inventor or designer information |
Inventor after: Huang Qinying Inventor after: OuYang Huabing Inventor after: Chen Tian Inventor before: Huang Qinying Inventor before: OuYang Huabing Inventor before: Chen Tian |
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