CN203345911U - Floating type grouping variable-magnetism electromagnetic chuck - Google Patents

Abstract

The utility model discloses a floating type grouping variable-magnetism electromagnetic chuck which comprises a chuck framework, wherein a floating joint mounting plate is fixedly arranged at the top of the chuck framework; a datum joint mounting plate is fixedly arranged at the bottom of the chuck framework; a chuck connecting plate is arranged at the top of the middle section of the chuck framework; line passing plates are fixedly arranged on two sides of the middle section of the chuck framework respectively; floating joints are fixedly arranged on the floating joint mounting plate; a datum joint is fixedly arranged on the datum joint mounting plate; and both the floating joints and the datum joint comprise electromagnets. According to the floating type grouping variable-magnetism electromagnetic chuck, when a plate material is absorbed, the electromagnetic chuck can be pressed downwards in a plate direction more to a certain extent by the aid of upper floating performance of the magnetic joints, so that the electromagnetic chuck can be guaranteed to be reliably contacted with a plate surface; and when the plate material is grabbed, all joints can be guaranteed to be really absorbed with the plate by the lower floating performance of the floating joints.

Description

Floating type grouping variable magnetic force magnetic chuck

Technical field

The utility model relates to a kind of sucker, is specifically related to a kind of floating type grouping variable magnetic force magnetic chuck.

Background technology

Automation captures the technology of sheet material in the concern that more and more is subject to now people, and it can alleviate people's labour intensity effectively, enhances productivity.The key point of this technology is the instrument that captures sheet material, one adopts the sucker of various principles, modal is the permanent magnet chuck that utilizes the vacuum cup of vacuum principle and utilize permanent magnet, although these suckers can adapt to the actions such as absorption, crawl and placement of most of sheet materials, and its shortcoming is respectively arranged.

Vacuum cup is not suitable for the jagged sheet material (as the sheet material of Cheng Chonghou) in surface, or there is the sheet material of large metering-orifice on surface, these situations all make sucker joint can't and sheet material between form the actv. evacuated space, permanent magnet chuck is because the magnetic-field intensity of permanent magnet has restriction to a certain degree, so flexible for the control of magnetic-field intensity unlike electromagnet, therefore under same volume, the magnetic force of permanent magnet chuck will be significantly less than magnetic chuck, and permanent magnet chuck is fixed value for the whole adsorption affinity of sheet material, can't as magnetic chuck, divide into groups to control the variation changed the whole adsorption affinity of sheet material, so existing permanent magnet chuck there will be extreme case, the sucker adsorption affinity is excessive, the normal situation that several sheet materials of absorption occur, adsorption affinity is too small, the situation of sheet material often occurs dropping, so even if this type of sucker adsorption affinity design is appropriate, the occasion that also the inadaptable sheet material (model change) to Different Weight operates.In addition, permanent magnet chuck also has a shortcoming, when placing sheet material, each joint design of permanent magnet sucker has coiler part, and usually understands the galvanization formation magnetic field contrary with permanent magnet, although can make by the mode of offset magnetic field the adsorption affinity of sheet material is disappeared, reach the purpose of placing sheet material, but this kind of mode of operation, be the means that are similar to the demagnetization technique of permanent magnet, and if things go on like this permanent magnet magnetic force can weaken gradually; And sucker at work, due to energising use for a long time, can produce heat, this can produce the effect that weaken magnetic force to permanent magnet equally, these two kinds of results all can be after long-time the use, thereby makes drop the at work situation of sheet material of permanent magnet chuck cause unpredictable potential safety hazard.Although magnetic chuck can overcome above problem from absorption principle, existing magnetic chuck technology also has defect, makes it can't be adapted to the operation of warpage slab.

Existing all kinds of sucker can't be realized for sheet material in absorption structure, capture, place the fully unsteady characteristic of any process, this has just caused all joints of sucker all to adsorb fully at any time with sheet material, even adsorb successfully, if at sucker to certain moment in the operating process of sheet material, between certain joint and sheet material, adsorption affinity is disintegrated to produce and is come off, in the successor operation process of this posterior sucker to sheet material, this joint again can carry out failure-free absorption with sheet material, covert reduction the equivalent adsorption affinity of sucker to sheet material, exist hidden danger completely, common all kinds of suckers are substantially all the operations of reply and thin plate in addition, be that sucker can force sheet material to deform, rather than sucker floats with sheet material, this has just caused when running into slab, because joint does not have complete floatability, sheet material is not surrendered by suction can yet, owing to can't guaranteeing the practical absorption at any state of joint and sheet material, so common all kinds of suckers are when the operational circumstances of the sheet material of this type of slab air spots of reply or warpage, the joint not shortcoming of fully unsteady characteristic is amplified more.

The utility model content

Technical problem to be solved in the utility model is to provide a kind of floating type grouping variable magnetic force magnetic chuck, and it can be for porous and to a certain degree each sheet material particularly absorption, crawl and placement of slab uneven to bending.

For solving the problems of the technologies described above, the technical solution of the floating type grouping variable magnetic force of the utility model magnetic chuck is:

Comprise the sucker framework, the top of sucker framework is fixedly installed the floating junction adapter plate, and the bottom of sucker framework is fixedly installed benchmark jiont treatment plate; The top, stage casing of sucker framework is provided with the sucker connecting panel, and the both sides, stage casing of sucker framework were fixedly installed respectively the line plate; Be fixedly installed floating junction on the floating junction adapter plate, on benchmark jiont treatment plate, be fixedly installed the benchmark joint; Described floating junction, benchmark joint all include electromagnet.

Benchmark magnet boatswain chair in the middle of described benchmark joint comprises, connect the end with the collar in the middle of a side of middle benchmark magnet boatswain chair is fixedly connected with, and the opposite side of middle benchmark magnet boatswain chair is fixedly connected with benchmark joint electromagnet; The middle end that is fixedly connected with middle benchmark connector rod with the other end of the collar that connects; On middle benchmark connector rod, movable sleeve is provided with two spring housings, the two ends of two spring housing difference linking springs; The left spring cover can clamp benchmark jiont treatment plate with the flange face of middle benchmark connector rod, and realization is fixedly connected with the sucker framework.

Anti-rotating shaft in the middle of being provided with one between benchmark magnet boatswain chair and benchmark joint electromagnet in the middle of described.

Described floating junction comprises the magnet boatswain chair, and a side of magnet boatswain chair is fixedly connected with an end of intermediate connecting sleeve, and the opposite side of magnet boatswain chair is fixedly connected with the floating junction electromagnet; The other end of intermediate connecting sleeve is fixedly connected with an end of the underloading connector rod of floating; The underloading connector rod of floating movable sleeve vertically is provided with spring free end cover and spring fixed end cover, and the spring free end cover overlaps with spring fixed end the two ends that are connected respectively two springs; The flange face of the spring fixed end cover abutting end of two springs can clamp the floating junction adapter plate, and realization is fixedly connected with the sucker framework.

Be provided with an anti-rotating shaft in described magnet boatswain chair.

Gap between described floating junction and adsorption plate face is greater than the gap between benchmark joint and adsorption plate face.

The technique effect that the utility model can reach is:

The utility model adopts electromagnet, utilizes fully unsteady mechanical structure form, by sucker, produces the equivalent adsorption affinity of internal force reinforcement sucker, and, according to the warpage form of sheet material, the gap of floating junction and adsorption plate face can be adjusted.One is under the prerequisite that does not affect the sucker normal operation, and the regional warpage of sheet material is more serious, and the gap of the corresponding floating junction arranged and adsorption plate face is larger.Such adjustment purpose is all stressed benchmark that all trends towards that makes sheet material.And the control packet of joint can carry out according to the practical operation technological process of sheet material.

The utility model is in the adsorption process to sheet material, lower springs due to benchmark joint and floating junction, they have the unsteady characteristics that make progress, so just can be when the sucker adsorbent, allow sucker more to press down, thereby each magnetic coupling that guarantees sucker practical with the sheet material laminating, also to a certain degree also made up the unfairness factor of sheet material simultaneously, this joint unsteady characteristic that makes progress makes sucker more reliable to sheet material absorption action.

In crawl process at sucker to sheet material, the benchmark joint does not have floating property aloft as benchmark, at first there is not upper springs in the benchmark joint, therefore determined that from structure it can't float downwards, the lower springs rigidity of its secondary standard joint is larger, even the internal force produced during the whole adsorbent of floating junction on every side also is not enough to make it surrender, therefore the benchmark joint, as the crawl benchmark of whole sucker, does not substantially exist unsteady in the crawl process.For floating junction, owing to the benchmark joint, having height, therefore floating junction is in the instant of energising, because there is upper springs in it, just can will overcome making a concerted effort of upper lower spring by magnetic force, be adsorbed on sheet material, and this to make a concerted effort be exactly the internal force that sucker produces, it can result from the rightabout power of sheet material gravity in the process of sucker crawl sheet material, plays the effect of strengthening the whole equivalent adsorption affinity of sucker.On the other hand, if for some reason, floating junction comes off with sheet material in certain moment or process, this floating junction also can automatically again adsorb in the crawl process of back, thereby realize the fully unsteady characteristics of floating junction in whole process, make like this sucker play very important effect for the crawl process of sheet material, mentioned sucker at whole operating process reliability and alerting ability.The gap of these floating junctions and adsorption plate face can be adjusted in addition, makes the equivalence of the integral body to the sheet material adsorption affinity of sucker that more variation value can be arranged.And its control packet can carry out according to the practical operation technological process of sheet material.

The accompanying drawing explanation

Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail:

Fig. 1 a is the block diagram of the floating type grouping variable magnetic force of the utility model magnetic chuck, and Fig. 1 b is the cross sectional drawing of Fig. 1 a, and Fig. 1 c is the front elevation of Fig. 1 a, and Fig. 1 d is the birds-eye view of Fig. 1 c;

Fig. 2 is the partial enlarged drawing of A in Fig. 1 b;

Fig. 3 a is the block diagram of benchmark joint of the present utility model, and Fig. 3 b is the front elevation of Fig. 3 a, and Fig. 3 c is the right elevation of Fig. 3 b, and Fig. 3 d is the C-C view of Fig. 3 b;

Fig. 4 a is the block diagram of floating junction of the present utility model, and Fig. 4 b is the front elevation of Fig. 4 a, and Fig. 4 c is the left view of Fig. 4 b, and Fig. 4 d is the B-B view of Fig. 4 b;

Fig. 5 a is the control packet schematic diagram of sucker of the sheet material of corresponding intermediate recess, two sections perks, and Fig. 5 b is the birds-eye view of Fig. 5 a;

Fig. 6 a is that H2 gap floating junction group is installed on the block diagram on the floating junction adapter plate, and Fig. 6 b is the front elevation of Fig. 6 a, and Fig. 6 c is the C-C view of Fig. 6 b, and Fig. 6 d is the birds-eye view of Fig. 6 b;

Fig. 7 a is that H3 gap floating junction group is installed on the block diagram on the floating junction adapter plate, and Fig. 7 b is the front elevation of Fig. 7 a, and Fig. 7 c is the B-B view of Fig. 7 b, and Fig. 7 d is the birds-eye view of Fig. 7 b;

Fig. 8 a is the block diagram of benchmark jiont treatment on benchmark jiont treatment plate, and Fig. 8 b is the front elevation of Fig. 8 a, and Fig. 8 c is the F-F view of Fig. 8 b, and Fig. 8 d is the E-E view of Fig. 8 b.

Description of reference numerals in figure:

1 is the sucker framework, and 2 is the underloading joint that floats,

3 is floating junction, and 4 is the benchmark joint,

5 is the sucker connecting panel, and 6 was the line plate,

7 is that floating junction adapter plate 8 is benchmark jiont treatment plate,

41 is middle benchmark connector rod, and 42 is spring housing,

43 is middle the connection to use the collar, and 44 is middle benchmark magnet boatswain chair,

45 is middle anti-rotating shaft, and 46 is hexagon socket cap head screw,

47 is benchmark joint electromagnet, and 48 is spring,

21 is the underloading connector rod of floating, and 22 is the spring free end cover,

23 is the spring fixed end cover, and 24 is intermediate connecting sleeve,

25 is the magnet boatswain chair, and 26 is anti-rotating shaft,

27 is the floating junction electromagnet, and 28 is hexagon socket cap head screw,

29 is spring.

The specific embodiment

As shown in Fig. 1 a to Fig. 1 d, Fig. 2, the floating type grouping variable magnetic force of the utility model magnetic chuck, comprise sucker framework 1, and the top of sucker framework 1 is fixedly installed floating junction adapter plate 7, and the bottom of sucker framework 1 is fixedly installed benchmark jiont treatment plate 8; The top, stage casing of sucker framework 1 is provided with sucker connecting panel 5, and sucker connecting panel 5 is connected for external device and sucker; The both sides, stage casing of sucker framework 1 were fixedly installed respectively line plate 6, crossed line plate 6 and made it, in sucker work, the loosening generation unforeseen circumstances that waits not to occur for the cable of tying up on fixing sucking disk; Be fixedly installed floating junction 2,3 on floating junction adapter plate 7, on benchmark jiont treatment plate 8, be fixedly installed benchmark joint 4;

Described floating junction 2,3, benchmark joint 4 all include electromagnet.

Gap between floating junction 2,3 and adsorption plate face is greater than the gap between benchmark joint 4 and adsorption plate face; According to the buckling deformation situation of sheet material, the gap of floating junction 2,3 and adsorption plate face can be adjusted; One is under the prerequisite that does not affect the sucker normal operation, the regional warpage of sheet material is more serious, the gap of the corresponding floating junction 2,3 arranged and adsorption plate face is larger, such adjustment purpose is to make all stressed of sheet material all trend towards benchmark, and the control packet of joint can carry out according to the practical operation technological process of sheet material.

As shown in Fig. 3 a to Fig. 3 d, benchmark joint 4 (is benchmark joint or middle benchmark joint, the structure of two kinds of benchmark joints is identical) comprise in the middle of benchmark magnet boatswain chair 44, one side of middle benchmark magnet boatswain chair 44 connects the end with the collar 43 in the middle of being fixedly connected with by a plurality of hexagon socket cap head screws 46, and the opposite side of middle benchmark magnet boatswain chair 44 is fixedly connected with benchmark joint electromagnet 47;

The middle end that is fixedly connected with middle benchmark connector rod 41 with the other end of the collar 43 that connects; On middle benchmark connector rod 41, movable sleeve is provided with 42, two spring housings of two spring housings 42 two ends of linking springs 48 respectively;

Left spring cover 42 can clamp benchmark jiont treatment plate with the flange face of middle benchmark connector rod 41, and realization is fixedly connected with sucker framework 1;

Anti-rotating shaft 45 in the middle of being provided with one between middle benchmark magnet boatswain chair 44 and benchmark joint electromagnet 47, relatively rotate between benchmark joint electromagnet 47 and middle benchmark magnet boatswain chair 44 for preventing.

As shown in Fig. 4 a to Fig. 4 d, floating junction comprises magnet boatswain chair 25, and a side of magnet boatswain chair 25 is fixedly connected with an end of intermediate connecting sleeve 24, and the opposite side of magnet boatswain chair 25 is fixedly connected with floating junction electromagnet 27;

The other end of intermediate connecting sleeve 24 is fixedly connected with an end of the underloading connector rod 21 of floating by hexagon socket cap head screw 28; The underloading connector rod 21 of floating movable sleeve vertically is provided with spring free end cover 22 and spring fixed end cover 23, and spring free end cover 22 and spring fixed end cover 23 are connected respectively the two ends of two springs 29;

The flange face that the spring fixed end of two springs 29 overlaps 23 abutting ends can clamp the floating junction adapter plate, and realization is fixedly connected with sucker framework 1;

Be provided with an anti-rotating shaft 26 in magnet boatswain chair 25, relatively rotate between floating junction electromagnet 27 and magnet boatswain chair 25 for preventing.

According to the warpage form of sheet material, the gap of floating junction and adsorption plate face can be adjusted; One is under the prerequisite that does not affect the sucker normal operation, and the regional warpage of sheet material is more serious, and the gap of the corresponding floating junction arranged and adsorption plate face is larger; Such adjustment purpose is all stressed benchmark that all trends towards that makes sheet material; And the control packet of joint can carry out according to the practical operation technological process of sheet material.The utility model adopts on the integral installation plate and carries out adjustment in batches, as shown in Fig. 6 a to Fig. 6 d, Fig. 7 a to Fig. 7 d; Also can adjust separately single magnetic coupling.

Floating junction 2,3 of the present utility model, benchmark joint 4 all comprise electromagnet, and electromagnet is compared with permanent magnet identical shaped, equal volume, has the characteristics such as magnetic-field intensity is large, magnetic force is controlled; As the magnetic-field intensity of cylindrical permanent magnet is:

$B=\frac{\stackrel{\→}{n}{B}_r}{2}(\frac{z+L_m}{\sqrt{{(z+L_m)}^2+R^2}}-\frac{z}{\sqrt{z^2+R^2}})$ Formula 1

Wherein: z is the distance apart from permanent magnet, L _mfor permanent magnet length, R is the permanent magnet radius, B _rfor the permanent magnet residual magnetism after saturation of magnetization;

And the magnetic-field intensity of cylindrical year direct current screw actuator electromagnet is:

$B=\frac{{\mathrm{\&mu;}}_0}{2}\mathrm{nI}(\frac{z+{\mathrm{<figure-callout\; id="2"\; label="L\; m\; R"\; filenames="DEST\_PATH\_HDA0000369133000000013.png,DEST\_PATH\_HDA0000369133000000021.png"\; state="\{\{state\}\}">L</figure-callout>}}_m}{\sqrt{R^{}}}-\frac{z}{\sqrt{{\mathrm{<figure-callout\; id="2"\; label="R"\; filenames="DEST\_PATH\_HDA0000369133000000013.png,DEST\_PATH\_HDA0000369133000000021.png"\; state="\{\{state\}\}">R</figure-callout>}}^2+z^2}})$ Formula 2

Wherein: z is the distance according to electromagnet, L _mfor electromagnet length, R is the electromagnet radius, and n is coiling density, and I is contained direct current size.

Comparison expression 1 can be found with formula 2, for the adjustment means of magnitude of field intensity electromagnet far away more than permanent magnet, therefore one electromagnet magnetic-field intensity is larger than permanent magnet identical shaped, equal volume, and can, by the control that magnetic force has or not that realizes of electric current of make-and-break, also can change by the size that changes electric current the magnetic force of single electromagnet.

The situation of magnetic force decline can not occur to produce as permanent magnet in electromagnet yet simultaneously, and the life-span is far longer than permanent magnet, the potential safety hazard that the magnetic force of need not worrying as permanent magnet goes down and brings usually.

The decline of permanent magnet magnetic force mainly stems from: 1, the degeneration of the magnetic of permanent magnet itself is specific, although this process is very slow; 2, when placing sheet material, each joint design of permanent magnet sucker has coiler part, and usually understand galvanization and form the magnetic field contrary with permanent magnet, although can be that adsorption affinity disappears by the mode of offset magnetic field, reach the purpose of placing sheet material, but this kind of mode of operation is the means that are similar to the demagnetization technique of permanent magnet, and if things go on like this permanent magnet magnetic force can weaken gradually; 3, energising is used for a long time, can produce heat, can produce the effect that weakens magnetic force to permanent magnet.

The utility model is according to the warpage form of sheet material, and the gap of floating junction and adsorption plate face can be adjusted.One is under the prerequisite that does not affect the sucker normal operation, and the regional warpage of sheet material is more serious, and the gap of the corresponding floating junction arranged and adsorption plate face is larger.Such adjustment purpose is all stressed benchmark that all trends towards that makes sheet material.And the control packet of joint can carry out according to the practical operation technological process of sheet material.When joint, fully effectively during adsorbent, floating junction 2,3 can produce the internal force contrary with the sheet material gravity direction, has in a disguised form strengthened magnetic chuck for the equivalent adsorption affinity of the integral body of sheet material.

The utility model is in the adsorption process to sheet material, lower springs due to benchmark joint and floating junction, they have the unsteady characteristics that make progress, so just can be when the sucker adsorbent, allow sucker more to press down, thereby each magnetic coupling that guarantees sucker practical with the sheet material laminating, also to a certain degree also made up the unfairness factor of sheet material simultaneously, this joint unsteady characteristic that makes progress makes sucker more reliable to sheet material absorption action.

In crawl process at sucker to sheet material, the benchmark joint does not have floating property aloft as benchmark, at first there is not upper springs in the benchmark joint, therefore determined that from structure it can't float downwards, the lower springs rigidity of its secondary standard joint is larger, even the internal force produced during the whole adsorbent of floating junction on every side also is not enough to make it surrender, therefore the benchmark joint, as the crawl benchmark of whole sucker, does not substantially exist unsteady in the crawl process.For floating junction, owing to the benchmark joint, having height, therefore floating junction is in the instant of energising, because there is upper springs in it, just can will overcome making a concerted effort of upper lower spring by magnetic force, be adsorbed on sheet material, and this to make a concerted effort be exactly the internal force that sucker produces, it can result from the rightabout power of sheet material gravity in the process of sucker crawl sheet material, plays the effect of strengthening the whole equivalent adsorption affinity of sucker.On the other hand, if for some reason, floating junction comes off with sheet material in certain moment or process, this floating junction also can automatically again adsorb in the crawl process of back, thereby realize the fully unsteady characteristics of floating junction in whole process, make like this sucker play very important effect for the crawl process of sheet material, mentioned sucker at whole operating process reliability and alerting ability.The gap of these floating junctions and adsorption plate face can be adjusted in addition, makes the equivalence of the integral body to the sheet material adsorption affinity of sucker that more variation value can be arranged., and its control packet can carry out according to the practical operation technological process of sheet material.

The utility model, in order to simplify adjustment difficulty, adopts floating junction adapter plate 7, can carry out adjustment in batches to floating junction 2,3, as shown in Fig. 6 a to Fig. 6 d, Fig. 7 a to Fig. 7 d; Can certainly adjust separately single magnetic coupling 2,3.

The adjustment of the sheet material sucker of corresponding intermediate recess, two sections perks and the embodiment of control packet:

The sheet material situation: sheet material is intermediate recess, the form of distortion of two ends perk, sheet metal thickness 6mm, sheet material length 18lOmm to 2240mm.

1, the length due to sheet material is 18lOmm to 2240mm, and sheet material is longer, therefore the benchmark joint is provided with three, is installed on respectively the left, center, right of sucker by benchmark jiont treatment plate 8, as Fig. 8 a to Fig. 8 d.

2, according to the sheet material form of intermediate recess, two sections perks, the warpage of sheet material zone line is the most serious, sucker is set near the floating junction of centre portion and the gap maximum of adsorption plate face, is H3.Sheet material both sides warpage degree one, sucker is set less near the gap of the floating junction of two side portions and adsorption plate face, be H2.As Fig. 2.H2, H3 gap floating junction group adopts 7 integral installations of floating junction adapter plate on the sucker framework, as Fig. 6 a to Fig. 6 d, Fig. 7 a to Fig. 7 d.

Below just completed determining the basic arrangement form of sucker.

3, different joints can be carried out to control packet by electrical wiring, realize that sucker is to the variable magnetic force function in the sheet material operating process.As shown in Fig. 5 a to Fig. 5 b, sheet material form according to intermediate recess, two sections perks, all joints can be divided into to three groups of magnetic couplings, wherein the 3rd group of joint is the benchmark joint, first group of joint is the mixing group that heavily loaded joint adds certain several underloading joint, second group of joint is the underloading joint, makes magnetic chuck can be applied to the whole process of sheet material operation.During as adsorbent, only open the one group of magnetic coupling group that can bear sheet material gravity, when sheet material and other sheet material are separated to certain altitude, open again all magnetic couplings, make the magnetic chuck ability reach maximization, guarantee the reliability of sucker to the sheet material operation, can not produce again the situation of several sheet materials of absorption simultaneously; When placing sheet material, when sheet material drops to certain altitude, first close two groups of magnetic coupling groups of floating, just close all magnetic couplings until arrive placement location, make can not exert an influence because of the excessive sheet material that oneself is stacked of sucker magnetic force in put procedure.

So far, completed adjustment and the control packet to sucker.

The adjustment of the sheet material sucker that corresponding center protrusion, two ends are sagging and the embodiment of control packet:

The sheet material situation: sheet material is center protrusion, the form of distortion that two ends are sagging, sheet metal thickness 6mm, sheet material length 18lOmm to 2240mm.

1, the length due to sheet material is 18lOmm to 2240mm, and sheet material is longer, therefore the benchmark joint is provided with three, is arranged in respectively the left, center, right of sucker.

2, according to center protrusion, the sheet material form that two ends are sagging, the warpage of sheet material two end regions is the most serious, sucker is set near the floating junction of two end portions and the gap maximum of adsorption plate face, in the middle of sheet material warpage degree one, sucker is set less near the gap of the floating junction of centre portion and adsorption plate face.

Below just completed determining the basic arrangement form of sucker.

The sheet material of corresponding intermediate recess, two sections perks, the work checking embodiment of the sucker of actual installation on robot:

Briefing:

1, sheet material is intermediate recess, the form of two ends perk, and maximum deformation quantity is 6mm, and sheet material length is 1810mm to 2240mm, and sucker is installed on the robot end that model is IRB6640-185/2.8, and the power of the maximum that robot tool body end can bear is F _robot=1800N.What floating junction adopted is the electromagnet that model is CEH60, and its adsorption affinity is F _cEH60=1KN, joint gravity is lkg, for the benchmark joint, adopts F _cEH120=4.5KN, joint gravity is 5kg, the gravity of sheet material is G to the maximum _plate=750N.

2, according to deflection and the form of distortion of sheet material, the sucker arrangement form is as Fig. 2, and sucker is near the floating junction of centre portion and the gap H of adsorption plate face ₃=14mm, higher than benchmark joint 8mm.Sucker is near the floating junction of two side portions and the gap of adsorption plate face, H ₂=12mm is higher than benchmark joint 6mm.The floating junction spring is all selected YA2 * 28 * 52GB/T2089-60Si2MnA, and spring constant is k _gently=2.02N/mm.H2 gap floating junction number n _gently=10, H3 gap floating junction number n _heavy=8.The upper spring pre compressed magnitude is 16mm, and the lower spring pre compressed magnitude is 7.72mm.For the benchmark joint, mainly be distributed in three places, sheet material left, middle and right according to the sheet deformation situation, benchmark joint spring is all selected YA3 * 35 * 42GB/T2089-60Si2MnA, and spring constant is k _benchmark=7.46N/mm.Benchmark joint number n _benchmark=3, pre compressed magnitude is 12mm.

3, in order to make the structure space compactness of sucker, the spring of all joints all adopts the precompressed compression form.

Checking 1: the reliability of absorption

When heavily loaded floating junction absorption and sheet material, its spring internal force is:

F _spring=2k _gentlyx _gently=2 * 2.02 * 14=56.56N ≈ 6%F _cEH60.Now show that its possibility come off is very little once heavily loaded floating junction and sheet material absorption.

Checking 2: the possibility of absorption

When heavily loaded floating junction has just been switched on, the power of generation is:

If the internal force produced during single heavily loaded floating junction adsorbent:

F _heavy=2k _heavyx _heavy=2 * 2.02 * 14=56.56N<F _{magnetic force}

Therefore can overcoming spring, magnetic force make heavily loaded floating junction be adsorbed in sheet material.

Checking 3: the reliability of benchmark

All underloading floating junctions produce internal force F _{total light}=2k _gentlyx _gentlyn _gently=2 * 2.02 * 12 * 10=484.8N

All heavily loaded floating junctions produce internal force F _{gross weight}=2k _heavyx _heavyn _heavy=2 * 2.02 * 14 * 8=452.48N

F _benchmark=3k _benchmarkx _benchmark=3 * 7.46 * 12=268.56N

∴ F _{total light}+ F _{gross weight}=937.28N<F _benchmark+ G _plate=1018.56N condition meets

Therefore the internal force that all floating junctions produce can not make the surrender of benchmark joint, produces displacement.

Checking 4: the pressing down property of sucker

When sucker is depressed into lOmm, guarantee that all joints and sheet material adsorb conscientiously.

Now take sheet material as object of reference, and the benchmark joint is total to lOmm to top offset, and the underloading floating junction is to top offset 4mm, and heavily loaded floating junction is to top offset 2mm.

F _{total light}=2k _gentlyx _gentlyn _gently=2 * 2.02 * 4 * 10=161.6N

F _{total light}=2k _heavyx _heavyn _heavy=2 * 2.02 * 2 * 8=64.64N

F _benchmark=3k _benchmarkx _benchmark=3 * 7.46 * 22=492.36N

F _robot=1800N>F _{total light}+ F _{gross weight}+ F _benchmark=161.6+64.64+492.36=718.6N

When robot presses down lOmm with sucker, can sounding alarm.

Finally it is worth mentioning that the way about sucker reply burst power cut-off incident, the principle of permanent magnet chuck is that dead electricity is inhaled, therefore during outage, sheet material can or not drop in principle, but the shortcoming of mentioning in this article due to permanent magnet chuck, dropping of permanent magnet chuck sheet material after long-term the use can occur sooner or later in actual applications, and its unpredictability has more caused safe hidden danger.And this floating type grouping variable magnetic force magnetic chuck is paid no attention to outage source (Uninterrupted Power Supply the is called for short UPS) function that in the time of just can realizing that reply happens suddenly power cut-off incident, sheet material does not drop by cooperation.

The utility model is specially adapted to porous and the to a certain degree work such as each absorption to the sheet material (especially slab) of crooked injustice, crawl, placement, to realizing automation sheet material operation tool, is of great significance.

Claims (6)

1. a floating type grouping variable magnetic force magnetic chuck, it is characterized in that: comprise the sucker framework, the top of sucker framework is fixedly installed the floating junction adapter plate, and the bottom of sucker framework is fixedly installed benchmark jiont treatment plate; The top, stage casing of sucker framework is provided with the sucker connecting panel, and the both sides, stage casing of sucker framework were fixedly installed respectively the line plate; Be fixedly installed floating junction on the floating junction adapter plate, on benchmark jiont treatment plate, be fixedly installed the benchmark joint;

Described floating junction, benchmark joint all include electromagnet.

2. floating type grouping variable magnetic force magnetic chuck according to claim 1, it is characterized in that: benchmark magnet boatswain chair in the middle of described benchmark joint comprises, connect the end with the collar in the middle of one side of middle benchmark magnet boatswain chair is fixedly connected with, the opposite side of middle benchmark magnet boatswain chair is fixedly connected with benchmark joint electromagnet;

The middle end that is fixedly connected with middle benchmark connector rod with the other end of the collar that connects; On middle benchmark connector rod, movable sleeve is provided with two spring housings, the two ends of two spring housing difference linking springs;

The left spring cover can clamp benchmark jiont treatment plate with the flange face of middle benchmark connector rod, and realization is fixedly connected with the sucker framework.

3. floating type grouping variable magnetic force magnetic chuck according to claim 2, is characterized in that: anti-rotating shaft in the middle of being provided with between benchmark magnet boatswain chair and benchmark joint electromagnet in the middle of described.

4. floating type grouping variable magnetic force magnetic chuck according to claim 1, it is characterized in that: described floating junction comprises the magnet boatswain chair, one side of magnet boatswain chair is fixedly connected with an end of intermediate connecting sleeve, and the opposite side of magnet boatswain chair is fixedly connected with the floating junction electromagnet;

The other end of intermediate connecting sleeve is fixedly connected with an end of the underloading connector rod of floating; The underloading connector rod of floating movable sleeve vertically is provided with spring free end cover and spring fixed end cover, and the spring free end cover overlaps with spring fixed end the two ends that are connected respectively two springs;

The flange face of the spring fixed end cover abutting end of two springs can clamp the floating junction adapter plate, and realization is fixedly connected with the sucker framework.

5. floating type grouping variable magnetic force magnetic chuck according to claim 4, is characterized in that: be provided with an anti-rotating shaft in described magnet boatswain chair.

6. floating type grouping variable magnetic force magnetic chuck according to claim 1, it is characterized in that: the gap between described floating junction and adsorption plate face is greater than the gap between benchmark joint and adsorption plate face.

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