CN211250022U - Two-dimensional walking magnetic control gripper - Google Patents
Two-dimensional walking magnetic control gripper Download PDFInfo
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- CN211250022U CN211250022U CN201921481452.0U CN201921481452U CN211250022U CN 211250022 U CN211250022 U CN 211250022U CN 201921481452 U CN201921481452 U CN 201921481452U CN 211250022 U CN211250022 U CN 211250022U
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- magnetic control
- gripper
- walking
- ball screw
- moving assembly
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Abstract
The utility model provides a two-dimensional walking magnetic control tongs, include: the gripper transverse moving assembly comprises a guide rail, and a walking trolley is arranged on the guide rail; the gripper longitudinal moving assembly is fixedly arranged on the walking trolley; the magnetic control hand grip is detachably connected with the hand grip longitudinal moving assembly, and the magnetic control hand grip is driven by the hand grip longitudinal moving assembly to move in the axial direction of the hand grip longitudinal moving assembly; the walking trolley moves on the guide rail to drive the magnetic control gripper to move to different positions. The two-dimensional walking magnetic control gripper can make the process of gripping the workpiece more stable and reliable; the interchangeable grip makes the device more versatile. Saves a large amount of labor force and improves the production efficiency of workpiece processing.
Description
Technical Field
The utility model relates to a grabbing device field specifically, relates to two-dimentional walking magnetic control tongs.
Background
The workpiece grabbing is an important operation in industrial production, along with the development of industrial automation, the manipulator for grabbing various workpieces is delivered, the efficiency of lifting, conveying and clamping of work and parts under the automatic, semi-automatic and manual working states is effectively improved, the automation degree is higher and higher, the functional requirement on automatic grabbing is higher and higher, the requirements on safety and stability of automatic grabbing are higher and higher, and a general automatic grabbing mechanism cannot meet the requirements. However, for large plate members, because of their smooth surfaces and thin thickness, the existing manipulators are not easy to grasp, and also difficult to accurately grasp irregular workpieces, such as the "gripper" disclosed in the patent publication No. CN 108147144A. In view of the above, there is a need for an improvement in the prior art to meet the current requirements for use of a gripping mechanism.
SUMMERY OF THE UTILITY MODEL
Aiming at the defects in the prior art, the utility model aims at providing a two-dimensional walking magnetic control gripper.
According to the utility model provides a pair of two-dimentional walking magnetic control tongs, include:
the gripper transverse moving assembly comprises a guide rail, and a walking trolley is arranged on the guide rail;
the gripper longitudinal moving assembly is fixedly arranged on the walking trolley;
the magnetic control hand grip is detachably connected with the hand grip longitudinal moving assembly, and the magnetic control hand grip is driven by the hand grip longitudinal moving assembly to move in the axial direction of the hand grip longitudinal moving assembly;
the walking trolley moves on the guide rail to drive the magnetic control gripper to move to different positions.
Preferably, the walking trolley comprises a trolley driving motor which is in driving connection with wheels of the walking trolley and drives the walking trolley to move on the guide rail.
Preferably, the gripper longitudinal moving assembly comprises:
the ball screw nut is fixedly connected to the walking trolley;
the ball screw is in threaded connection with the ball screw nut, and the magnetic control gripper is connected to the bottom of the ball screw;
and the stepping motor is in driving connection with the top of the ball screw.
Preferably, a first sensor and a second sensor are mounted on the ball screw, and the first sensor and the second sensor are electrically connected with the stepping motor and are respectively located above and below the guide rail.
Preferably, the magnetically controlled gripper comprises: the electromagnetic device is detachably connected to the bottom of the ball screw, and the gripper portion is in driving connection with the electromagnetic device.
Preferably, the hand grip includes: three-jaw magnetic control tongs, clamp type magnetic control tongs or flat plate type magnetic control tongs.
Preferably, the electromagnetic device is electrically connected to an external power source through a cable.
Preferably, the gripper part is driven by an air cylinder to grip or release.
Preferably, the magnetic control gripper further comprises a plurality of working tables, the working tables are arranged below the motion path of the magnetic control gripper, and the walking trolley drives the magnetic control gripper to move to the positions above the different working tables.
The invention provides a two-dimensional walking magnetic control gripper, which comprises:
the gripper transverse moving assembly comprises a guide rail, and a walking trolley is arranged on the guide rail;
the gripper longitudinal moving assembly is fixedly arranged on the walking trolley;
the magnetic control hand grip is detachably connected with the hand grip longitudinal moving assembly, and the magnetic control hand grip is driven by the hand grip longitudinal moving assembly to move in the axial direction of the hand grip longitudinal moving assembly;
the walking trolley moves on the guide rail to drive the magnetic control gripper to move to different positions;
the walking trolley comprises a trolley driving motor which is in driving connection with wheels of the walking trolley and drives the walking trolley to move on the guide rail;
the tongs longitudinal movement subassembly includes:
the ball screw nut is fixedly connected to the walking trolley;
the ball screw is in threaded connection with the ball screw nut, and the magnetic control gripper is connected to the bottom of the ball screw;
the stepping motor is connected to the top of the ball screw in a driving way;
the ball screw is provided with a first sensor and a second sensor, and the first sensor and the second sensor are electrically connected with the stepping motor and are respectively positioned above and below the guide rail;
the magnetic control tongs comprise: the electromagnetic device is detachably connected to the bottom of the ball screw, and the gripper part is in driving connection with the electromagnetic device;
the hand grip includes: a three-jaw magnetic control gripper, a clamp type magnetic control gripper or a flat plate type magnetic control gripper;
the electromagnetic device is electrically connected with an external power supply through a cable;
the gripper part is driven by the cylinder to grip or release;
the two-dimensional walking magnetic control gripper further comprises a plurality of working tables, the working tables are arranged below the motion path of the magnetic control gripper, and the walking trolley drives the magnetic control gripper to move to different working tables.
Compared with the prior art, the utility model discloses following beneficial effect has:
the two-dimensional walking magnetic control gripper can make the process of gripping the workpiece more stable and reliable; the interchangeable grip makes the device more versatile. Saves a large amount of labor force and improves the production efficiency of workpiece processing.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of the present invention.
Detailed Description
The present invention will be described in detail with reference to the following embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.
As shown in fig. 1, according to the utility model provides a pair of two-dimentional walking magnetic control tongs, include:
the gripper transverse moving assembly comprises a guide rail 6, and a traveling trolley 4 is arranged on the guide rail 6;
the gripper longitudinal moving assembly is fixedly arranged on the walking trolley;
the magnetic control gripper is detachably connected with the gripper longitudinal moving assembly, and the magnetic control gripper is driven by the gripper longitudinal moving assembly to move in the axial direction of the gripper longitudinal moving assembly;
wherein, the walking trolley 4 moves on the guide rail 6 to drive the magnetic control gripper to move to different positions.
Specifically, the traveling trolley 4 comprises a trolley driving motor 5 which is in driving connection with wheels of the traveling trolley 4 and drives the traveling trolley 4 to move on a guide rail 6.
The tongs longitudinal movement subassembly includes:
the ball screw nut 2 is fixedly connected to the walking trolley 4;
the ball screw 14 is screwed on the ball screw nut 2, and the magnetic control gripper is connected to the bottom of the ball screw 14;
the stepping motor 3 is connected to the top of the ball screw 14 in a driving manner, and drives the ball screw 14 to move up or down through forward rotation and reverse rotation.
The ball screw 14 is provided with a first sensor 1 and a second sensor 15, and the first sensor 1 and the second sensor 15 are electrically connected with the stepping motor 3 and are respectively positioned above and below the guide rail 6. When the first sensor 1 contacts the guide rail 6 in the process of moving the ball screw 14 downwards, the first sensor 1 sends a signal to the stepping motor 3 so as to stop the stepping motor 3; similarly, when the second sensor 15 contacts the guide rail 6 during the upward movement of the ball screw 14, the second sensor 15 sends a signal to the stepping motor 3 to stop the stepping motor 3.
The magnetic control tongs include: the electromagnetic device 16 is detachably connected to the bottom of the ball screw 14, and the gripper is in driving connection with the electromagnetic device 16. The tongs portion includes: a three-jaw magnetic control gripper 10, a pincer type magnetic control gripper 12 or a flat plate type magnetic control gripper 11. The electromagnetic device 16 is electrically connected with an external power supply through a cable 13, and can generate magnetic force in a power-on state to adsorb a gripped workpiece, so that gripping is firm. The gripper portion is driven by the cylinder to grip or release, so that gripping and releasing are realized. The three-jaw magnetic control gripper 10 can grip irregular workpieces, the clamp type magnetic control gripper 12 can grip blocky workpieces, and the flat plate type magnetic control gripper 11 can grip large sheet workpieces.
A plurality of working tables (7, 8 and 9) are arranged below the motion path of the magnetic control gripper, and the walking trolley 4 can drive the magnetic control gripper to move to the upper parts of different working tables so as to transmit the workpiece to the corresponding working tables for processing.
The working principle of the utility model is as follows:
(1) the driving motor drives the walking trolley moving on the guide rail to a position right above the first workbench, the stepping motor works to drive the ball screw to rotate reversely, the magnetic control gripper descends, and the gripper is in an open state at the moment;
(2) when a first sensor on the ball screw meets a stop block arranged on the guide rail, the magnetic control gripper stops descending, the magnetic control gripper reaches a proper working position at the moment, the electromagnetic device is electrified to generate attraction force to attract a workpiece, and the air cylinder works to enable the magnetic control gripper to grasp the workpiece;
(3) after a workpiece is gripped, the stepping motor works to drive the ball screw to rotate in the forward direction, the magnetic control gripper moves upwards, and when a second sensor on the ball screw meets a stop block arranged on the guide rail, the magnetic control gripper stops moving upwards;
(4) when the magnetic control gripper stops moving upwards, the driving motor drives the walking trolley to reach the position right above the second workbench, the stepping motor works to drive the ball screw to rotate reversely, and the magnetic control gripper moves downwards;
(5) when a first sensor on the ball screw meets a stop block arranged on the guide rail, the magnetic control gripper stops moving downwards, the magnetic control gripper reaches a proper working position 3-5 mm away from the second workbench, the electromagnetic device is powered off, the cylinder works to enable the magnetic control gripper to loosen a workpiece, the workpiece falls to the center of the second workbench, and the next step of working procedures are carried out, and the process is circulated.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A two-dimensional walking magnetic control gripper is characterized by comprising:
the gripper transverse moving assembly comprises a guide rail, and a walking trolley is arranged on the guide rail;
the gripper longitudinal moving assembly is fixedly arranged on the walking trolley;
the magnetic control hand grip is detachably connected with the hand grip longitudinal moving assembly, and the magnetic control hand grip is driven by the hand grip longitudinal moving assembly to move in the axial direction of the hand grip longitudinal moving assembly;
the walking trolley moves on the guide rail to drive the magnetic control gripper to move to different positions.
2. The two-dimensional traveling magnetic control gripper as claimed in claim 1, wherein the traveling carriage includes a carriage drive motor drivingly connected to wheels of the traveling carriage for driving the traveling carriage to move on the guide rails.
3. The two-dimensional walking magnetically controlled gripper of claim 1, wherein said gripper longitudinal movement assembly comprises:
the ball screw nut is fixedly connected to the walking trolley;
the ball screw is in threaded connection with the ball screw nut, and the magnetic control gripper is connected to the bottom of the ball screw;
and the stepping motor is in driving connection with the top of the ball screw.
4. The two-dimensional walking magnetic control gripper as claimed in claim 3, wherein a first sensor and a second sensor are mounted on the ball screw, electrically connected to the stepping motor and located above and below the guide rail, respectively.
5. The two-dimensional walking magnetic control grip of claim 3, wherein the magnetic control grip comprises: the electromagnetic device is detachably connected to the bottom of the ball screw, and the gripper portion is in driving connection with the electromagnetic device.
6. The two-dimensional walking magnetic control gripper of claim 5, wherein the gripper portion comprises: three-jaw magnetic control tongs, clamp type magnetic control tongs or flat plate type magnetic control tongs.
7. The two-dimensional walking magnetic control grip of claim 5, wherein the electromagnetic device is electrically connected to an external power source through a cable.
8. The two-dimensional walking magnetic control gripper according to claim 5, wherein the gripper portion is driven to grip or release by a cylinder.
9. The two-dimensional walking magnetic control gripper according to claim 1, further comprising a plurality of work tables disposed below the movement path of the magnetic control gripper, wherein the walking trolley drives the magnetic control gripper to move above different work tables.
10. A two-dimensional walking magnetic control gripper is characterized by comprising:
the gripper transverse moving assembly comprises a guide rail, and a walking trolley is arranged on the guide rail;
the gripper longitudinal moving assembly is fixedly arranged on the walking trolley;
the magnetic control hand grip is detachably connected with the hand grip longitudinal moving assembly, and the magnetic control hand grip is driven by the hand grip longitudinal moving assembly to move in the axial direction of the hand grip longitudinal moving assembly;
the walking trolley moves on the guide rail to drive the magnetic control gripper to move to different positions;
the walking trolley comprises a trolley driving motor which is in driving connection with wheels of the walking trolley and drives the walking trolley to move on the guide rail;
the tongs longitudinal movement subassembly includes:
the ball screw nut is fixedly connected to the walking trolley;
the ball screw is in threaded connection with the ball screw nut, and the magnetic control gripper is connected to the bottom of the ball screw;
the stepping motor is connected to the top of the ball screw in a driving way;
the ball screw is provided with a first sensor and a second sensor, and the first sensor and the second sensor are electrically connected with the stepping motor and are respectively positioned above and below the guide rail;
the magnetic control tongs comprise: the electromagnetic device is detachably connected to the bottom of the ball screw, and the gripper part is in driving connection with the electromagnetic device;
the hand grip includes: a three-jaw magnetic control gripper, a clamp type magnetic control gripper or a flat plate type magnetic control gripper;
the electromagnetic device is electrically connected with an external power supply through a cable;
the gripper part is driven by the cylinder to grip or release;
the two-dimensional walking magnetic control gripper further comprises a plurality of working tables, the working tables are arranged below the motion path of the magnetic control gripper, and the walking trolley drives the magnetic control gripper to move to different working tables.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921481452.0U CN211250022U (en) | 2019-09-06 | 2019-09-06 | Two-dimensional walking magnetic control gripper |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921481452.0U CN211250022U (en) | 2019-09-06 | 2019-09-06 | Two-dimensional walking magnetic control gripper |
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| CN211250022U true CN211250022U (en) | 2020-08-14 |
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| CN201921481452.0U Active CN211250022U (en) | 2019-09-06 | 2019-09-06 | Two-dimensional walking magnetic control gripper |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561384A (en) * | 2019-09-06 | 2019-12-13 | 宁波大学 | Two-dimensional walking magnetic control gripper |
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2019
- 2019-09-06 CN CN201921481452.0U patent/CN211250022U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561384A (en) * | 2019-09-06 | 2019-12-13 | 宁波大学 | Two-dimensional walking magnetic control gripper |
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