CN210939295U - Flexible magnetic force net type mechanical grabbing device - Google Patents
Flexible magnetic force net type mechanical grabbing device Download PDFInfo
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- CN210939295U CN210939295U CN201920925938.2U CN201920925938U CN210939295U CN 210939295 U CN210939295 U CN 210939295U CN 201920925938 U CN201920925938 U CN 201920925938U CN 210939295 U CN210939295 U CN 210939295U
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- 239000004816 latex Substances 0.000 claims description 29
- 229920000126 latex Polymers 0.000 claims description 29
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 11
- 210000000988 bone and bone Anatomy 0.000 claims description 4
- 238000010030 laminating Methods 0.000 abstract 1
- 230000001360 synchronised effect Effects 0.000 description 25
- 230000005540 biological transmission Effects 0.000 description 21
- 210000000078 claw Anatomy 0.000 description 18
- 230000005484 gravity Effects 0.000 description 6
- 239000010410 layer Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000000839 emulsion Substances 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000009347 mechanical transmission Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002344 surface layer Substances 0.000 description 1
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Abstract
The utility model discloses a flexible magnetic force net formula machinery grabbing device relates to machinery and snatchs technical field, can adapt to the appearance of different shape objects to can be firm promptly the object, the structure is simpler simultaneously, and it is more convenient to control. The utility model discloses a: including arm and clamping structure, clamping structure sets up at the arm end, and clamping structure includes two clamping face, and the clamping face is magnet board and flexible net respectively, the edge and the location magnet piece fixed connection of flexible net. The utility model discloses not only optimized the gripper with by the contact mode who snatchs the object, improved the control of application of force when snatching simultaneously, realized feedback force application control, had better laminating by snatch the object, press from both sides to get and do not damage the object, the application of force is more even, control possess feedback, the device is simple, the convenient accuracy of arm position control, advantage such as the device focus is stable.
Description
Technical Field
The invention relates to the technical field of mechanical grabbing, in particular to a flexible magnetic net type mechanical grabbing device.
Background
In modern industrial production or daily life, in order to reduce repeated actions of manual and mechanical sorting of articles, a robot and a paw thereof are often required to complete tasks of grabbing and placing the articles to other positions. The mechanical paw is mainly divided into an arm and an end effector. The common way for the end effector to complete the grabbing action is to use a sucker for adsorption and a clamp for clamping. Wherein, the clamp is divided into a rigid mechanical claw and a flexible mechanical claw. The clamping driving method is divided into pneumatic and mechanical transmission. The rigid mechanical claw is firmly clamped, easily damages a clamped object and the surface of the clamped object, and is difficult to adapt to objects with different shapes, such as spheres, cubes, curved bodies, complex bodies and the like; the flexible mechanical claw has good flexibility and is easy to adapt to objects in various shapes, but still has the problems of not firm grabbing, small load bearing capacity and overlarge deformation and is only suitable for grabbing light objects, and meanwhile, the system of the flexible mechanical claw is required to be designed into a closed circulation structure and provided with a pressure compensator, so that the flexible mechanical claw is heavy and complicated. Meanwhile, the flexible mechanical claw is mainly driven by pneumatic power, the structure is more complex, and the energy consumed in the process of compressing gas is larger.
Disclosure of Invention
The invention provides a flexible magnetic net type mechanical grabbing device which can adapt to the shapes of objects in different shapes, can firmly grab the objects, and is simpler in structure and more convenient and faster to control.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a flexible magnetic force net formula machinery grabbing device, includes arm and clamping structure, and clamping structure sets up at the arm end, and clamping structure includes two clamping face, and the clamping face is magnet board and flexible net respectively, the edge and the location magnet piece fixed connection of flexible net.
The positioning magnet block and the magnet plate are mutually attracted and matched to tightly close the flexible net and the magnet plate.
Further, the magnet plate includes an electromagnet bottom plate, an electromagnet, and a cover plate. The electromagnet bottom plate is provided with a groove, a plurality of electromagnets are arranged in the groove, and the cover plate is arranged above the electromagnets and fixedly connected with the edge of the bottom of the electromagnets.
Furthermore, a plurality of pressure sensors are arranged on the surface of the cover plate.
Furthermore, the bottom surface of the cover plate is provided with an emulsion pad.
Further, the flexible net comprises a latex pad and a latex film. The latex pad is provided with a latticed groove, iron powder is arranged in the groove, and the latex film covers the surface of the latex pad.
Furthermore, the arm comprises two segments of bone and three joints, and the joints are arranged at the joints of the end bone segments of the bone segments.
Furthermore, the joints are driven by a motor, and the motor is arranged at the tail part of the arm.
The invention has the beneficial effects that:
the grabbing is completed by mechanical action and magnetic force, so that the grabbing is firmer, and meanwhile, the device is simpler; meanwhile, the mechanical claw is made of a material with good flexibility, high elasticity and large friction, so that the mechanical claw is ensured not to damage the appearance of an article while the gripping force is not reduced. In addition, the magnetic force of the invention forms a feedback type pressure control system through a small electromagnet and a flexible film pressure sensor. In addition, the iron powder is arranged in the flexible net, so that the grabbing device can be well attached to the surfaces of articles in various shapes, pressure is uniformly generated, and grabbing is completed. Therefore, the invention not only optimizes the contact mode of the mechanical claw and the grabbed object, but also improves the control of force application during grabbing, realizes feedback force application control, and has the advantages of better fit with the grabbed object, no damage to the object during clamping, more uniform force application, feedback control, simple device, convenient and accurate mechanical arm position control, stable gravity center of the device and the like.
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 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 that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic view of a magnetic flexible net type mechanical gripping device mechanism;
FIG. 2 is a schematic view of a magnet plate structure;
FIG. 3 is a schematic view of a flexible web construction;
FIG. 4 is a schematic structural view of the left driving gear arm;
FIG. 5 is a schematic view of the right driven gear arm;
FIG. 6 is a schematic view of the engagement of the left driving gear arm and the right driven gear arm;
fig. 7 is a schematic view of the first, second and third joints.
Wherein, 1-magnet plate, 11-latex pad, 12-cover plate, 13-flexible film pressure sensor, 14-electromagnet base plate, 15-electromagnet, 2-flexible net, 21-grid latex hollow thin pad, 22-latex film, 23-grid, 3-positioning magnet block, 4-support frame, 5-gear arm group, 51-left driving gear arm, 52-right driven gear arm, 6-motor, 7-mechanical claw support, 8-third joint, 81-third joint control motor, 82-third joint transmission shaft, 83-primary synchronous belt, 84-secondary synchronous belt, 85-tertiary synchronous belt, 86-primary double synchronous belt transmission wheel, 87-secondary double synchronous belt transmission wheel, 9-second joint control motor, 91-a second joint control motor, 92-a second joint transmission shaft, 93-a forearm group, 10-a first joint, 101-a first joint control motor, 102-a fixed shaft, 103-a first joint transmission shaft, 104-a left big arm, 105-a right big arm, 106-a crank and 107-a rocker.
Detailed Description
In order that those skilled in the art will better understand the technical solutions of the present invention, the present invention will be further described in detail with reference to the following detailed description.
An embodiment of the present invention provides a flexible magnetic force net type mechanical gripping device, as shown in fig. 1, including: the device comprises a magnet plate 1, a flexible net 2, a positioning magnet block 3, a support frame 4, a gear arm group 5, a motor 6, a mechanical claw support 7 and a three-joint belt transmission mechanical arm. The three-joint belt transmission mechanical arm is composed of a first joint 10, a second joint 9 and a third joint 8, and is shown in fig. 7.
Regarding the first joint 10, the first joint control motor 101 is coupled to the left large arm 104 through a flange, the first joint transmission shaft 103 is fixedly connected to the left large arm 104 and the right large arm 105, and the left large arm 104 drives the right large arm 105 to move through the first joint transmission shaft 103.
Regarding the second joint 9, the second joint control motor 91 is connected with the crank 106 through a flange, the crank 106 is connected with the rocker 107, the rocker 107 is fixedly connected with the second joint transmission shaft 92, and the second joint transmission shaft 92 is fixedly connected with the 32 small arm groups.
Regarding the third joint 8, the third joint control motor 81 drives the primary synchronous belt 83 to move through the synchronous belt pulley, and the primary synchronous belt 83 and the secondary synchronous belt 84 are connected to the primary duplex synchronous belt transmission wheel 86 at the same time, so as to drive the secondary synchronous belt 84 to move. The secondary synchronous belt 84 and the tertiary synchronous belt 85 are connected through a secondary duplex synchronous belt transmission wheel 87, so that the tertiary synchronous belt 85 is driven to move. The tertiary timing belt 85 is coupled to the third joint drive shaft 82 via a timing pulley.
The tail end of the third pole joint 8 is hinged with the mechanical claw support 7, the mechanical claw support 7 is provided with the motor 6, the output shaft of the motor 6 is connected with the transmission gear arm set 5, and the motion directions of the two gear arms of the gear arm set 5 are opposite. Gear arm group 5 is fixed connection magnet board 1 and support frame 4 respectively, and location magnet piece 3 is connected respectively at the both ends of support frame 4, and the edge and the location magnet piece 3 of flexible net 2 are connected to expand between location magnet piece 3.
As shown in fig. 2, the magnet plate 1 has an electromagnet base plate 14 as a carrier for fixing an electromagnet array, the electromagnet base plate 14 is rectangular with a concave middle portion, a plurality of electromagnets 15 are fixed in the concave portion, and the electromagnets 15 are small electromagnets. The cover plate 12 of an ya keli material is connected to the electromagnet bottom plate 14 outside, and a plurality of flexible film pressure sensors 13 have been fixed to the cover plate 12 outside, and flexible film pressure sensor all is located the electromagnetism directly over the ya keli apron below, pastes the ya keli cover plate 12 surface cover latex pad 11 that has flexible film pressure sensor.
The flexible web 2 is shown in fig. 3: the flexible net 2 is made of high elastic material such as latex, wherein, the mesh 20 of the mesh latex hollow thin pad 18 is filled with iron powder inside, and the outside is covered by a latex film 19. Two sides of the flexible net 2 are fixed by the positioning magnet blocks 3 and the support frames 4, but the positioning magnet blocks 3 and the support frames 4 do not completely support the flexible net 2, and the flexible net 2 is in a loose state.
The gear arm set 5 is composed of a left driving gear arm 51 and a right driven gear arm 52. As shown in fig. 4, the left driving gear arm 51 has a gear portion module of 2, a reference circle radius of 28mm, a pressure angle of 5 °, a face width of 5mm, and 20 teeth in total; the width of the outermost end face of the extending arm is 18mm, and the distance from the axis of the gear is 64 mm. The center of the part of the motor is provided with a hole with the diameter of 8mm for an output shaft to pass through, the outside of the motor is provided with four mounting holes with the diameter of 2.5mm on a circle with the diameter of 14mm, the mounting holes are connected with a flange plate by four screws, and the flange plate is connected with an output shaft of a motor 6.
As shown in FIG. 5, the right driven gear arm 52 has the same technical parameters of the gear part of the right driven gear arm 52 as the left driving gear arm 51, and the width of the outermost end surface of the extending arm of the right driven gear arm 52 is 18mm and is 69mm from the gear axis. The right driven gear arm 52 has a through hole with a diameter of 24mm at the center and is fixed on the polish rod through a bearing.
The gear portions of the left driving gear arm 51 and the right driven gear arm 52 are engaged as shown in fig. 6, and thus the rotation directions are reversed, thereby causing the magnet plate 1 and the flexible net 2 to be closed or opened.
The working process of the embodiment is as follows:
after the device is started, the motor 6 controls the left driving gear arm 51 in the gear arm group 5 to rotate counterclockwise by a certain angle, and simultaneously the right driven gear arm 52 meshed with the left driving gear arm is driven to rotate clockwise by the same angle, so that the magnet plate 1 and the flexible net 2 are opened. At this time, the electromagnet 15 in the magnet net 1 is controlled to be energized. After the first joint control motor 101, the second joint control motor 91 and the third joint control motor 81 cooperate to control the mechanical arm to move the mechanical claw to a position convenient for grabbing, the motor 6 controls the left driving gear arm 51 in the gear arm group 5 to rotate clockwise by a certain angle, and meanwhile, the right driven gear arm 52 meshed with the motor 6 is driven to rotate anticlockwise by the same angle, so that the magnet plate 1 and the flexible net 2 are closed. At the moment, the electromagnet 15 is electrified, so that the positioning magnet block 3 is tightly attached to the magnet plate 1 under the action of the magnet attraction force; the flexible net 2 is driven by the magnet block to wrap the clamped object to be close to the magnet plate 1. Meanwhile, as the iron powder is filled in the flexible net 2 and is adsorbed by magnetic force, the flexible net 2 is close to the magnet plate 1, so that the flexible net 2 is tightly attached to the surface of the clamped object, and meanwhile, the pressure perpendicular to the gravity direction is provided for the surface of the object. The surface layer of the flexible net 2 is covered by the latex film 19, the surface of the magnet plate 1 is also covered by the latex pad 11, and the coefficient of friction is large, so that the flexible net 2 can provide large friction force for the clamped object to be grabbed and not fall down. The flexible net 2 can be well adapted to objects in different shapes due to good elasticity and flexibility, and the latex pad 11 covered on the surface of the magnet plate 1 also has certain flexibility, so that the surface of the object can be protected from being damaged by clamping force. In addition, the electromagnetic attraction provided by the electromagnets 15 can be adjusted through the pressure condition fed back by the flexible film pressure sensors fixed on the inner layer of the magnet plate 1, so that the flexible net can better fit the outer surface of the clamped object, and the pressure perpendicular to the gravity direction can be better provided according to the shape and the characteristics of the clamped object.
The first joint control motor 101, the second joint control motor 91 and the third joint control motor 81 drive the robot arm to move as follows:
the first joint control motor 101 drives the left big arm 104 to rotate around the fixed shaft 102, and the left big arm 104 drives the right big arm 105 to move through the first joint transmission shaft 103, so that the first joint control motor 101 controls the mechanical arm to rotate around the fixed shaft 102.
The second joint control motor 91 drives the second joint transmission shaft 92 to rotate through the crank 106 and the rocker 107, so that the small arm set 93 fixedly connected to the second joint transmission shaft 92 is driven to rotate around the second joint transmission shaft 92.
The third joint control motor 81 drives the primary synchronous belt 83 to move through a synchronous belt pulley, and the primary synchronous belt 83 drives the secondary synchronous belt 84 to move through the primary duplex synchronous belt driving wheel 36; the secondary synchronous belt 84 drives the tertiary synchronous belt 85 to move through a secondary duplex synchronous belt driving wheel 87; the third-stage synchronous belt 85 is coupled to the third joint transmission shaft 82 through a synchronous pulley, so that the gripper fixedly connected to the third joint transmission shaft 82 is driven to rotate around the third joint transmission shaft 82.
The invention has the beneficial effects that:
the clamping mechanism of the invention finishes the grabbing action by the cooperation of electromagnetic force, wherein, one side of the mechanical claw is a magnet plate, and the magnet plate consists of a plurality of small electromagnets; the bottom layer of the flexible net on the other side is a latticed latex pad, iron powder is arranged in the flexible net, the iron powder is attracted by the magnetic force of the electromagnet under the action of the electromagnetic attraction force of the electromagnet plate to ensure that the grabbing flexibility is guaranteed, so that each point of the flexible net uniformly generates pressure perpendicular to the gravity direction on an object, and the electromagnetic force clamping device is simpler than a pneumatic device and has higher load bearing capacity;
the clamping mechanism disclosed by the invention uses latex materials at the positions contacting with articles, and has the advantages of good flexibility, high elasticity and large friction, so that the articles are prevented from being damaged by rigid clamping. The bottom layer of the flexible net is a latticed latex pad, iron powder is arranged in the flexible net, and the outer layer of the flexible net is wrapped by a latex film, so that the flexible net is good in flexibility; the magnetic plate in the clamping mechanism is also covered with the latex pad, so that the friction force when the latex is increased and the friction force when the latex is grabbed is reduced and the local pressure of the clamped object is reduced simultaneously when the latex is used for materials with good flexibility, high elasticity and large friction, and the surface is not damaged.
The electromagnetic force is more uniformly distributed on the surface of the grabbed object in a point form. The electromagnetic force is generated by a plurality of small electromagnets, iron powder uniformly distributed in the flexible net is adsorbed by the electromagnetic force, and the iron powder generates uniform pressure perpendicular to the gravity direction on the grabbed objects.
The flexible net can be well suitable for grabbing objects in different shapes. Because the soft characteristic and the high elasticity of flexible net, flexible net can laminate the surface of all kinds of shapes objects well to do not cause the damage to the surface, simultaneously because its built-in iron powder receives the effect of magnet board suction, flexible net also can exist the object surface each point uniformly and produce pressure, evenly the application of force accomplishes snatching of article.
The electromagnetic force in the invention can be adjusted by the feedback of the flexible film pressure sensor. The flexible film pressure sensor is arranged on the magnetic force plate, and the current of each electromagnet can be independently controlled through the feedback of the pressure sensor, so that the magnetic force of each small electromagnet can be controlled, and the purpose of locally enhancing the holding force of the object is achieved.
The control motors of the mechanical arms are all arranged in the rear. The control motors for controlling the three-stage rotation of the mechanical arm are all arranged at the tail of the mechanical arm at the back, so that the stability of the whole mechanism and the balance of the weight of the mechanical claw are facilitated when the mechanical arm is arranged on a motion carrier, and the deviation of the gravity center of the motion carrier is reduced.
According to the invention, the three-level rotation of the mechanical arm is controlled by the three control motors, so that the mechanical arm can be more accurately adjusted to a position suitable for the mechanical claw to work.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A flexible magnetic net type mechanical grabbing device comprises an arm and a clamping structure, wherein the clamping structure is arranged at the tail end of the arm, and the flexible magnetic net type mechanical grabbing device is characterized in that the clamping structure comprises two clamping surfaces which are respectively a magnet plate (1) and a flexible net (2), and the edge of the flexible net (2) is fixedly connected with a positioning magnet block (3);
the positioning magnet block (3) and the magnet plate (1) are mutually attracted and matched to tightly close the flexible net (2) and the magnet plate (1).
2. The flexible magnetic net-type mechanical grabbing device according to claim 1, wherein the magnet plate (1) comprises an electromagnet base plate (14), an electromagnet (15), and a cover plate (12);
the electromagnet bottom plate (14) is provided with a groove, the groove is internally provided with a plurality of electromagnets (15), and the cover plate (12) is fixedly connected with the edge of the electromagnet bottom plate (14) above the electromagnets (15).
3. The flexible magnetic net-type mechanical grabbing device of claim 2, wherein a plurality of pressure sensors are arranged on the surface of the cover plate (12).
4. Flexible magnetic net-type mechanical grabbing device according to claim 2, characterized in that the bottom surface of the cover plate (12) is provided with a latex pad (11).
5. Flexible magnetic net-type mechanical gripping device according to claim 1, characterized in that the flexible net (2) comprises a latex pad (11), a latex film (22);
the latex pad (11) is provided with a latticed groove, iron powder is arranged in the groove, and the latex film (22) covers the surface of the latex pad (11).
6. The flexible magnetic net-type mechanical grasping device according to claim 1, wherein the arm includes two segments of bone and three joints disposed at the ends of the segments at the junction of the segments.
7. The flexible magnetic net-type mechanical grasping device according to claim 6, wherein the condyle is driven by a motor provided at a tail of the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920925938.2U CN210939295U (en) | 2019-06-19 | 2019-06-19 | Flexible magnetic force net type mechanical grabbing device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920925938.2U CN210939295U (en) | 2019-06-19 | 2019-06-19 | Flexible magnetic force net type mechanical grabbing device |
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| CN210939295U true CN210939295U (en) | 2020-07-07 |
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| CN201920925938.2U Active CN210939295U (en) | 2019-06-19 | 2019-06-19 | Flexible magnetic force net type mechanical grabbing device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238869A (en) * | 2019-06-19 | 2019-09-17 | 南京航空航天大学 | A kind of flexible magnetic force magnetic net formula machinery grabbing device |
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2019
- 2019-06-19 CN CN201920925938.2U patent/CN210939295U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110238869A (en) * | 2019-06-19 | 2019-09-17 | 南京航空航天大学 | A kind of flexible magnetic force magnetic net formula machinery grabbing device |
| CN110238869B (en) * | 2019-06-19 | 2024-03-19 | 南京航空航天大学 | Flexible magnetic net type mechanical grabbing device |
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