CN117506985A - Round hollow electric permanent sucker and operation method - Google Patents
Round hollow electric permanent sucker and operation method Download PDFInfo
- Publication number
- CN117506985A CN117506985A CN202311751775.8A CN202311751775A CN117506985A CN 117506985 A CN117506985 A CN 117506985A CN 202311751775 A CN202311751775 A CN 202311751775A CN 117506985 A CN117506985 A CN 117506985A
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- Prior art keywords
- permanent magnet
- chuck
- machine tool
- manipulator
- electro
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- 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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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000000463 material Substances 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 12
- 230000005347 demagnetization Effects 0.000 claims description 12
- 230000005389 magnetism Effects 0.000 claims description 6
- 230000007306 turnover Effects 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 4
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000007774 longterm Effects 0.000 abstract description 3
- 210000000078 claw Anatomy 0.000 description 3
- 238000007599 discharging Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001962 electrophoresis Methods 0.000 description 1
- 239000006249 magnetic particle Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a round hollow electric permanent magnet chuck and an operation method thereof. The invention solves the technical problems of poor universality, unstable clamping and easy abrasion in long-term use in the prior art by the round hollow electric permanent sucker and the operation method.
Description
Technical Field
The invention relates to the technical field of clamps, in particular to a circular hollow electric permanent sucker and an operation method.
Background
And the loading and unloading of the parts are carried out by adopting a robot tail end clamp. In the prior art, two cylinders are arranged on a set of tool to grab a workpiece needing to be fed and discharged. The existing defects are that the universality of the air cylinder is poor, the tool of the air cylinder can be changed with the model after the product is replaced, and the model of the air cylinder is also changed with the model when the size of the product is changed; when the air claw is used, the air claw has a fixed influence on a product due to unstable air pressure, the clamping part is worn after long-term use, and the air claw needs to be replaced regularly, so that the cost is increased.
Disclosure of Invention
The invention aims to provide a circular hollow electric permanent sucker and an operation method thereof, which are used for solving the technical problems of poor universality, unstable clamping and easy abrasion in long-term use in the prior art.
In order to achieve the above purpose, the invention provides a round hollow electric permanent magnet chuck, which comprises a chuck connecting seat and an electric permanent magnet chuck, wherein the two ends of the chuck connecting seat are respectively provided with the electric permanent magnet chuck, the electric permanent magnet chuck is movably connected with the chuck connecting seat through a guide shaft, a flange seat is arranged on the side edge of the chuck connecting seat, and the flange seat is connected with the output end of a manipulator.
Further, the electric permanent magnet sucker is of an annular structure, a bulging hole is formed in the middle of the electric permanent magnet sucker, and four symmetrical threaded connectors are formed in the lower end face of the electric permanent magnet sucker.
Further, the electric permanent magnet sucker is composed of an electric permanent magnet sucker A and an electric permanent magnet sucker B, and the electric permanent magnet sucker A and the electric permanent magnet sucker B are respectively arranged on two opposite end surfaces of the sucker connecting seat.
Further, the sucking disc connecting seat is of an opening rectangular structure, through holes coaxially arranged with the expanding holes of the permanent magnet sucking discs are formed in the middle positions of the two opposite end faces of the sucking disc connecting seat, a plurality of linear bearings are mounted on the periphery of the two opposite end faces of the sucking disc connecting seat, and a cavity is reserved between the two opposite end faces of the sucking disc connecting seat.
Further, external threads are arranged on the outer contour surfaces of the two ends of the guide shaft, one end of the guide shaft is connected with the lower end surface of the electric permanent magnet sucker through threads, the other end of the guide shaft is inserted into the cavity of the sucker connecting seat through a linear bearing, and the external threads of the guide shaft inserted into the cavity of the sucker connecting seat are locked through double-layer nuts.
Further, an elastic washer is arranged between the double-layer nut and the linear bearing.
Further, the outer wall of the guide shaft is sleeved with a light load type die spring, the light load type die spring is positioned between the electric permanent magnet sucker and the sucker connecting seat, and a flat washer is arranged at the abutting part of the light load type die spring and the linear bearing on the electric permanent magnet sucker and the sucker connecting seat.
Further, the flange seat is rotationally connected with the output end of the manipulator.
The operation method of the circular hollow electric permanent sucker comprises the following steps:
s1, connecting an output end of a manipulator with a circular hollow electric permanent magnet chuck through a flange seat, taking materials on a feeding tray by the manipulator through an electric permanent magnet chuck A, outputting a control signal by a PLC after the manipulator is attached to a product, controlling an electric permanent magnet chuck controller to conduct magnetizing action, electrifying an internal coil of the electric permanent magnet chuck, clamping the product by using an electric magnetism generation principle to enable a magnetic cylinder to carry out magnetic product clamping, and moving the manipulator to a first machine tool after the material taking is completed;
s2, after the first machine tool is machined, the manipulator rotates six axes after the material taking of the electro-permanent magnet sucker B is completed to place the product on the electro-permanent magnet sucker A in the first machine tool, the product reaches a specified material placing position, the PLC outputs a demagnetization control signal, the electro-permanent magnet sucker controller performs demagnetization operation to power off the internal coil of the electro-permanent magnet sucker, the demagnetization action of the magnetic cylinder is achieved, so that the clamped product is released, the manipulator enters the first machine tool to take down the product which is machined in the first machine tool before the manipulator is taken down through the electro-permanent magnet sucker B, and after the manipulator exits the first machine tool, the first machine tool starts to operate a machining program;
s3, taking out a product by the first machine tool, putting the product on a turnover mechanism by using an electro-permanent magnet sucker B of the manipulator, and after the turnover is finished, enabling the manipulator to come to a second machine tool to wait for operation again;
s4, after the second machine tool is machined, the manipulator enters the second machine tool, the product machined in the second machine tool is taken down by the electro-permanent magnet sucker B, after the manipulator rotates six axes, the electro-permanent magnet sucker A charges the second machine tool, the manipulator withdraws from the second machine tool after the charging is finished, and the second machine tool starts to operate a machining program;
s5, finally, the finished product after being processed is put back to a blanking tray by the electro-permanent magnetic chuck B; the robot continues the material taking action of the next product, so that a cycle is entered, and the blank is fed and discharged from the robot one time, and finally, the finished product is directly discharged.
Based on the technical scheme, the invention can produce the following beneficial effects:
(1) According to the circular hollow electric permanent magnet chuck and the operation method, the product is adsorbed and clamped through the electric permanent magnet chuck, so that the universality of the product is realized, the processing efficiency is improved, the operation is more convenient, the electric permanent magnet chuck is used for feeding and discharging the electric permanent magnet, the residual magnetism on the surface of the electric permanent magnet after demagnetization is almost zero, even small magnetic particles can not be adsorbed on the surface of a magnetic pole, the sucked product can not be scratched, and abrasion can not be generated.
(2) According to the circular hollow electric permanent magnet chuck and the operation method, the light load type die spring is arranged between the electric permanent magnet chuck and the chuck connecting seat, a certain compression buffer can be provided in the use process, the circular hollow electric permanent magnet chuck is not easy to damage in feeding and discharging, and the flat gasket and the elastic gasket arranged on the guide shaft are respectively used for reducing the impact force received by the guide shaft under the action of the light load type die spring, so that the clamping stability is improved.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a use effect diagram of an embodiment of the present invention;
in the figure: 1. a sucker connecting seat; 2. an electrophoresis magnetic chuck; 3. a guide shaft; 4. a flange seat; 5. a manipulator; 6. a linear bearing; 7. a double layer nut; 8. a light load type die spring; 9. a flat gasket; 10. a bulging hole; 11. and an elastic gasket.
Detailed Description
For a better understanding of the objects, structures and functions of the present invention, a circular hollow electro-permanent magnet chuck and method of operation of the present invention will be described in further detail with reference to the accompanying drawings.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
As shown in fig. 1-2, the circular hollow electric permanent magnet chuck provided by the invention comprises a chuck connecting seat 1 and an electric permanent magnet chuck 2, wherein the electric permanent magnet chuck 2 is arranged at two ends of the chuck connecting seat 1, the electric permanent magnet chuck 2 is movably connected with the chuck connecting seat 1 through a guide shaft 3, a flange seat 4 is arranged at the side edge of the chuck connecting seat 1, and the flange seat 4 is connected with the output end of a manipulator 5.
The electric permanent magnet sucker 2 is of an annular structure, a bulging hole 10 is formed in the middle of the electric permanent magnet sucker 2, and four symmetrical threaded connectors are formed in the lower end face of the electric permanent magnet sucker 2.
When the machine tool is used for automatic feeding and discharging, an outer circle, an end face and an inner hole are required to be machined, and when the machine tool is used for expanding a core, a product is required to be jacked to the bottom of the expanding hole 10 so that the product is clamped in place.
The electric permanent magnet sucker 2 consists of an electric permanent magnet sucker A and an electric permanent magnet sucker B which are respectively arranged on two opposite end surfaces of the sucker connecting seat 1.
The sucking disc connecting seat 1 is of an open rectangular structure, through holes coaxially arranged with the expanding holes 10 of the permanent magnet sucking discs 2 are formed in the middle positions of the two opposite end faces of the sucking disc connecting seat 1, a plurality of linear bearings 6 are arranged on the periphery of the two opposite end faces of the sucking disc connecting seat 1, and a cavity is reserved between the two opposite end faces of the sucking disc connecting seat 1.
External threads are arranged on the outer contour surfaces of the two ends of the guide shaft 3, one end of the guide shaft 3 is connected with the lower end surface of the electro-permanent magnetic chuck 2 through threads, the other end of the guide shaft 3 is inserted into the cavity of the chuck connecting seat 1 through the linear bearing 6, and the external threads of the guide shaft 3 inserted into the cavity of the chuck connecting seat 1 are locked through the double-layer nut 7.
An elastic washer 11 is arranged between the double-layer nut 7 and the linear bearing 7.
The outer wall of the guide shaft 3 is sleeved with a light load type die spring 8, the light load type die spring 8 is positioned between the electric permanent magnet sucker 2 and the sucker connecting seat 1, and a flat washer 9 is arranged at the abutting part of the light load type die spring 8 and the linear bearing 6 on the electric permanent magnet sucker 2 and the sucker connecting seat 1.
When the circular hollow electric permanent magnet chuck adsorbs a product, the electric permanent magnet chuck 2 receives extrusion force due to the generation of adsorption force, the electric permanent magnet chuck 2 transmits the extrusion force to the light load type die spring 8 for compression, and the guide shaft 3 connected with the lower end surface of the electric permanent magnet chuck 2 stretches into the cavity of the chuck connecting seat 1 for adjustment.
The PLC outputs a control signal to control the electric permanent magnet sucker controller to conduct magnetizing action, the magnetizing working principle is to electrify an internal coil of the electric permanent magnet sucker (2), and the electric magnetism generating principle is utilized to enable the magnetic cylinder to carry out magnetism so as to clamp a workpiece; the PLC outputs a demagnetization control signal, and the electric permanent magnet sucker controller performs demagnetization operation, so that the internal coil of the electromagnetic sucker (2) is powered off, and the demagnetization action of the magnetic cylinder is achieved, so that the clamped workpiece is released.
The flange seat 4 is rotationally connected with the output end of the manipulator 5.
The operation method of the circular hollow electric permanent sucker comprises the following steps:
s1, connecting an output end of a manipulator 5 with a circular hollow electric permanent magnet chuck through a flange seat 4, taking materials from the manipulator 5 on a feeding tray through an electric permanent magnet chuck A, outputting a control signal by a PLC after the manipulator 5 is attached with products, controlling an electric permanent magnet chuck controller to conduct magnetizing action, electrifying an internal coil of the electric permanent magnet chuck 2, enabling a magnetic cylinder to carry out product clamping by utilizing an electric magnetism principle, and moving the manipulator 5 to a first machine tool to wait for operation after the taking materials are completed;
s2, after the first machine tool is machined, the manipulator 5 rotates six axes after the material taking of the electro-permanent magnet sucker B is finished to place a product on the electro-permanent magnet sucker A in the first machine tool, the product reaches a specified material placing position, the PLC outputs a demagnetization control signal, the electro-permanent magnet sucker controller performs demagnetization operation to power off an internal coil of the electro-permanent magnet sucker 2, and the demagnetization action of a magnetic cylinder is achieved, so that the clamped product is released, the manipulator 5 enters the first machine tool to take down the product which is machined in the first machine tool before the manipulator 5 is taken down through the electro-permanent magnet sucker B, and after the manipulator 5 is taken out of the first machine tool, the first machine tool starts to operate a machining program;
s3, taking out a product by the first machine tool, putting the product on a turnover mechanism by using an electro-permanent magnet sucker B of the manipulator 5, and waiting for operation again by the manipulator 5 to a second machine tool after the turnover is completed;
s4, after the second machine tool is machined, the manipulator 5 enters the second machine tool, the product machined in the second machine tool is taken down by the electro-permanent magnet sucker B, after the manipulator 5 rotates six axes, the electro-permanent magnet sucker A charges the second machine tool, the manipulator withdraws from the second machine tool after the charging is finished, and the second machine tool starts to operate a machining program;
s5, finally, the finished product after being processed is put back to a blanking tray by the electro-permanent magnetic chuck B; the robot continues the material taking action of the next product, so that a cycle is entered, and the blank is fed and discharged from the robot one time, and finally, the finished product is directly discharged.
It will be understood that the invention has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (9)
1. The utility model provides a circular cavity electricity permanent magnet chuck, its characterized in that, includes sucking disc connecting seat (1) and electricity permanent magnet chuck (2), the both ends of sucking disc connecting seat (1) all set up electricity permanent magnet chuck (2), and electricity permanent magnet chuck (2) carry out swing joint with sucking disc connecting seat (1) through guiding axle (3), side mounting flange seat (4) of sucking disc connecting seat (1), and flange seat (4) are connected with the output of manipulator (5).
2. The circular hollow electric permanent magnet chuck according to claim 1, wherein the electric permanent magnet chuck (2) is of an annular structure, a bulging hole (10) is formed in the middle of the electric permanent magnet chuck (2), and four symmetrical threaded connectors are formed in the lower end face of the electric permanent magnet chuck (2).
3. A circular hollow electro permanent magnet chuck according to claim 2, characterized in that the electro permanent magnet chuck (2) is composed of an electro permanent magnet chuck a and an electro permanent magnet chuck B, which are respectively arranged on two opposite end surfaces of the chuck connecting seat (1).
4. The circular hollow electric permanent magnet chuck according to claim 1, wherein the chuck connecting seat (1) is of an open rectangular structure, through holes coaxially arranged with the expanding holes (10) of the electric permanent magnet chuck (2) are formed in the middle positions of two opposite end surfaces of the chuck connecting seat (1), a plurality of linear bearings (6) are arranged on the periphery of two opposite end surfaces of the chuck connecting seat (1), and a cavity is reserved between the two opposite end surfaces of the chuck connecting seat (1).
5. The circular hollow electric permanent magnet chuck according to claim 1, wherein external threads are arranged on the outer contour surfaces of two ends of the guide shaft (3), one end of the guide shaft (3) is connected with the lower end surface of the electric permanent magnet chuck (2) through threads, the other end of the guide shaft (3) is inserted into the cavity of the chuck connecting seat (1) through a linear bearing (6), and the external threads of the guide shaft (3) inserted into the cavity of the chuck connecting seat (1) are locked through a double-layer nut (7).
6. A circular hollow electro permanent chuck according to claim 5, characterized in that an elastic washer (11) is arranged between the double nut (7) and the linear bearing (7).
7. A circular hollow electric permanent chuck according to claim 1, characterized in that the outer wall of the guide shaft (3) is sleeved with a light load type die spring (8), the light load type die spring (8) is positioned between the electric permanent chuck (2) and the chuck connecting seat (1), and a flat washer (9) is arranged at the abutting part of the light load type die spring (8) and the linear bearing (6) on the electric permanent chuck (2) and the chuck connecting seat (1).
8. A circular hollow electro permanent chuck according to claim 1, characterized in that the flange seat (4) is in rotational connection with the output end of the manipulator (5).
9. A method of operating a circular hollow electro-permanent chuck according to any one of claims 1 to 8, characterized in that it comprises the steps of:
the method comprises the steps that S1, the output end of a manipulator (5) is connected with a circular hollow electric permanent magnet sucker through a flange seat (4), the manipulator (5) takes materials through the electric permanent magnet sucker A on a feeding tray, after the manipulator (5) is attached to a product, a PLC outputs a control signal to control an electric permanent magnet sucker controller to conduct magnetizing action, an internal coil of the electric permanent magnet sucker (2) is electrified, a magnetic cylinder is magnetized to clamp the product by utilizing an electric magnetism generation principle, and the manipulator (5) takes materials to be moved to a first machine tool to wait for operation after the material is taken;
s2, after the first machine tool is machined, the manipulator (5) rotates six axes after the material taking of the electro-permanent magnet sucker B is finished to place a product on the electro-permanent magnet sucker A in the first machine tool, the product reaches a specified material placing position, the PLC outputs a demagnetization control signal, the electro-permanent magnet sucker controller performs demagnetization operation, the internal coil of the electro-permanent magnet sucker (2) is powered off, the demagnetizing action of the magnetic cylinder is achieved, and therefore clamped products are released, the manipulator (5) enters the first machine tool to take down the product which is machined in the first machine tool before the manipulator (5) enters the first machine tool through the electro-permanent magnet sucker B, and after the manipulator (5) exits the first machine tool, the first machine tool starts to operate a machining program;
s3, taking out a product by the first machine tool, putting the product on a turnover mechanism by using an electro-permanent magnet sucker B of the manipulator (5), and waiting for operation again when the manipulator (5) arrives at the second machine tool after the turnover is finished;
s4, after the second machine tool is machined, the manipulator (5) enters the second machine tool, the product machined in the second machine tool is taken down by the electro-permanent magnet sucker B, after the manipulator (5) rotates six axes, the electro-permanent magnet sucker A charges the second machine tool, the manipulator exits the second machine tool after the charging is finished, and the second machine tool starts to operate a machining program;
s5, finally, the finished product after being processed is put back to a blanking tray by the electro-permanent magnetic chuck B; the robot continues the material taking action of the next product, so that a cycle is entered, and the blank is fed and discharged from the robot one time, and finally, the finished product is directly discharged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311751775.8A CN117506985A (en) | 2023-12-19 | 2023-12-19 | Round hollow electric permanent sucker and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311751775.8A CN117506985A (en) | 2023-12-19 | 2023-12-19 | Round hollow electric permanent sucker and operation method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117506985A true CN117506985A (en) | 2024-02-06 |
Family
ID=89762817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311751775.8A Pending CN117506985A (en) | 2023-12-19 | 2023-12-19 | Round hollow electric permanent sucker and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117506985A (en) |
-
2023
- 2023-12-19 CN CN202311751775.8A patent/CN117506985A/en active Pending
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