CN211895099U

CN211895099U - Robot gripper device

Info

Publication number: CN211895099U
Application number: CN202020321962.8U
Authority: CN
Inventors: 马耀鹏; 杨永帅
Original assignee: Jiangsu Yongyang Process Equipment Co ltd; Ningbo Siasun Robot Technology Co ltd
Current assignee: Jiangsu Yongzhu Machinery Co., Ltd; NINGBO SIASUN ROBOT TECHNOLOGY Co.,Ltd.
Priority date: 2020-03-16
Filing date: 2020-03-16
Publication date: 2020-11-10
Anticipated expiration: 2030-03-16

Abstract

The utility model discloses a robot gripper device, which comprises a robot connecting plate, a mounting seat, an electric permanent magnet gripper mechanism and a position detection mechanism, wherein the robot connecting plate is fixedly arranged on the mounting seat, and the electric permanent magnet gripper mechanism is connected below the mounting seat; the electric permanent magnet gripper mechanism comprises an electric permanent magnet, a guide shaft connected with the electric permanent magnet and an elastic piece wound on the guide shaft, and the guide shaft is connected with the mounting seat; the position detection mechanism is matched with the electric permanent magnet gripper mechanism to realize the gripping of the workpiece. The device can both change the tongs magnetism to the section bar of different panel quality thickness and surface smoothness, realizes reliably snatching, has that the commonality is strong, simple structure, investment cost low, compatible wide advantage.

Description

Robot gripper device

Technical Field

The utility model relates to a robot equipment technical field specifically is to relate to a robot tongs device.

Background

Robots are used more and more widely for carrying products to be processed, stacked, unstacked and the like. The existing transfer robot has strict requirements on the thickness, strength, weight, surface unevenness and the like of steel in the use process of transferring the steel, the magnetism of a gripper of the traditional robot is unchanged, the gripper is easy to absorb a plurality of plates at one time when grabbing the plates with lighter mass and thinner thickness, the plates are easy to drop when grabbing the plates with heavier mass and thicker thickness, the plates are damaged, and the plates are easy to drop when grabbing the plates with uneven surfaces. Therefore, the design of a section with different plate quality, thickness and surface flatness can change the magnetism of the gripper, so that the robot gripper for stably and reliably gripping the plate is very important.

SUMMERY OF THE UTILITY MODEL

Aiming at the problems in the prior art, the robot gripper device is provided, the magnetism of the gripper can be changed for profiles with different plate quality, thickness and surface flatness, reliable gripping is realized, and the robot gripper device has the advantages of strong universality, simple structure, low investment cost and wide compatibility.

The specific technical scheme is as follows:

a robot gripper device comprises a robot connecting plate, a mounting seat, an electric permanent magnet gripper mechanism and a position detection mechanism, wherein the robot connecting plate is fixedly mounted on the mounting seat, and the electric permanent magnet gripper mechanism is connected below the mounting seat; the electric permanent magnet gripper mechanism comprises an electric permanent magnet, a guide shaft connected with the electric permanent magnet and an elastic piece wound on the guide shaft, and the guide shaft is connected with the mounting seat; the position detection mechanism is matched with the electric permanent magnet gripper mechanism to realize the gripping of the workpiece.

Compared with the prior art, the utility model has the advantages of as follows:

the utility model discloses owing to select for use electric permanent magnet as the tongs that snatchs the work piece, and the robot control leads to different magnetism for electric permanent magnet for this tongs compares with prior art, has following advantage: the gripper has the characteristics of compatibility with various magnetic steel products and is not influenced by the weight of the products; the second gripper can control different magnetism for thin-wall sections with different thicknesses, so as to prevent a plurality of products from being sucked simultaneously or prevent the falling and damage conditions; thirdly, the gripper has certain compatibility with the unevenness of the surface of the thin-wall plate, and the material cannot deform in the suction process; the gripper has the characteristic of power-off protection, and the condition that a workpiece gripped by the gripper of the robot drops suddenly due to sudden power failure can be avoided.

Preferably, the position detection mechanism includes a sensor and a mounting link. In one embodiment, the number of the position detection mechanisms is 2, one of the position detection mechanisms is arranged on the electro-permanent magnet and used for detecting the position and the distance between the gripper and the workpiece, and the other position detection mechanism is arranged on the mounting seat and used for detecting the position and the distance between the guide shaft and the workpiece, so that the workpiece can be gripped by the electro-permanent magnet gripper mechanism.

As an improvement of the present invention, the number of the electro-permanent magnets is 2, and the electro-permanent magnets are arranged along the length direction. By adopting the arrangement, the contact area between the gripper and the workpiece can be increased when the gripper sucks the workpiece, so that the suction reliability of the gripper is improved, and the workpiece is prevented from falling and being damaged.

Preferably, the guide shaft is connected with the mounting seat through a bearing and a lock nut.

Preferably, the elastic member is a spring.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention;

fig. 2 is a first schematic structural diagram of the gripper device according to the present invention;

fig. 3 is a second schematic structural view of the gripping device of the present invention;

fig. 4 is a side view of the gripper of the present invention.

In the attached drawings, 1, a robot connecting plate; 2. a mounting seat; 3. an electro-permanent magnet gripper mechanism; 3.1, an electro-permanent magnet; 3.2, a guide shaft; 3.3, an elastic piece; 3.4, a bearing; 3.5, locking a nut; 4. a position detection mechanism; 4.1, a sensor; 4.2, installing a connecting piece; 5. a robot.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1, a robot gripper device is shown, which includes a robot connecting plate 1, a mounting seat 2, an electric permanent magnet gripper mechanism 3 and a position detection mechanism 4, wherein a robot 5 is a master control mechanism of the device, and is fixedly mounted on the robot connecting plate 1, the robot connecting plate 1 is fixedly mounted on the mounting seat 2, the electric permanent magnet gripper mechanism 3 is connected below the mounting seat 2, and after the robot 5 controls and energizes the electric permanent magnet gripper mechanism 3, the gripper accurately grips a workpiece with the aid of the position detection mechanism 4, and the handling is completed.

Specifically, as shown in fig. 2 and 3, the electric permanent magnet gripper mechanism 3 includes an electric permanent magnet 3.1, a guide shaft 3.2 connected to the electric permanent magnet 3.1, and an elastic member 3.3 wound around the guide shaft 3.2, and the guide shaft 3.2 is connected to the mounting base 2 through a bearing 3.4 and a lock nut 3.5. In this embodiment, the elastic element 3.3 is preferably a spring, but may also be another connecting element with elastic characteristics.

The position detection mechanism 4 has two parts, one of which is arranged on the electro-permanent magnet 3.1 and is used for detecting the position and the distance between the gripper and the workpiece, and the other of which is arranged on the mounting base 2 and is used for detecting the position and the distance between the guide shaft 3.2 and the workpiece. Specifically, the position detection mechanism 4 includes a sensor 4.1 and a mounting link 4.2.

In this embodiment, two electro-permanent magnets 3.1 are arranged below the mounting base 2, as shown in fig. 4, four corners of each electro-permanent magnet 3.1 are provided with guide shafts 3.2, that is, in this embodiment, 8 guide shafts 3.2 are arranged, a spring is wound on each guide shaft 3.2, and each guide shaft 3.2 is connected with the mounting base 2 through a bearing 3.4 and a lock nut 3.5. Two electro-permanent magnets 3.1 arrange along length direction, adopt this kind of setting for the tongs can increase the area of contact with the work piece when absorbing the work piece, thereby improves the reliability that the tongs absorbed, prevents that the work piece from dropping the damage.

When the gripper device of the robot 5 works, the sensor 4.1 arranged on the electro-permanent magnet 3.1 detects a workpiece and sends a signal to the robot 5, the robot 5 operates according to a program taught in advance, meanwhile, the robot 5 commands the electro-permanent magnet 3.1 to be magnetized, the electro-permanent magnet 3.1 absorbs the workpiece, the robot 5 continues to operate according to the program to apply a downward pressure to the workpiece, the absorption surface of the electro-permanent magnet 3.1 is ensured to be attached to the workpiece, the absorption failure caused by uneven surface of the workpiece or uneven surface of the workpiece is prevented, meanwhile, in the process of pressing down, the guide shaft 3.2 moves upwards, the spring is compressed to play a role of buffering, after the sensor 4.1 arranged on the mounting seat 2 detects an approaching signal of the guide shaft 3.2, the approaching signal is fed back to the robot 5 and orders the robot 5 to stop pressing down, the workpiece is accurately grabbed, then the next program is continued to run, the carrying is completed, and the above programs are repeated.

In the process, the electro-permanent magnet 3.1 is selected as the gripper for gripping the workpiece, and the robot 5 controls the electro-permanent magnet 3.1 to have different magnetism, so that the gripper has the following advantages compared with the prior art: the gripper has the characteristics of compatibility with various magnetic steel products and is not influenced by the weight of the products; the second gripper can control different magnetism for thin-wall sections with different thicknesses, so as to prevent a plurality of products from being sucked simultaneously or prevent the falling and damage conditions; thirdly, the gripper has certain compatibility with the unevenness of the surface of the thin-wall plate, and the material cannot deform in the suction process; the fourth gripper has the power-off protection characteristic, and the condition that the workpiece gripped by the gripper 5 suddenly drops due to sudden power failure can be avoided.

In a word, the utility model provides a tongs structure has simple structure, low, the compatible characteristics such as wide of investment cost.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. The utility model provides a robot tongs device which characterized in that: the electric permanent magnet gripper comprises a robot connecting plate (1), a mounting seat (2), an electric permanent magnet gripper mechanism (3) and a position detection mechanism (4), wherein the robot connecting plate (1) is fixedly mounted on the mounting seat (2), and the electric permanent magnet gripper mechanism (3) is connected below the mounting seat (2);

the electric permanent magnet gripper mechanism (3) comprises an electric permanent magnet (3.1), a guide shaft (3.2) connected with the electric permanent magnet (3.1) and an elastic piece (3.3) wound on the guide shaft (3.2), and the guide shaft (3.2) is connected with the mounting seat (2);

and the position detection mechanism (4) is matched with the electric permanent magnet gripper mechanism (3) to realize the gripping of the workpiece.

2. A robotic gripper as claimed in claim 1, wherein: the position detection mechanism (4) comprises a sensor (4.1) and a mounting connecting piece (4.2).

3. A robotic gripper as claimed in claim 2, wherein: the number of the position detection mechanisms (4) is 2, one of the position detection mechanisms is arranged on the electro-permanent magnet (3.1), and the other position detection mechanism is arranged on the mounting base (2).

4. A robotic gripper as claimed in claim 1, wherein: the number of the electro-permanent magnets (3.1) is 2, and the electro-permanent magnets (3.1) are arranged along the length direction.

5. A robotic gripper as claimed in claim 1, wherein: the guide shaft (3.2) is connected with the mounting seat (2) through a bearing (3.4) and a locking nut (3.5).

6. A robotic gripper as claimed in claim 1, wherein: the elastic part (3.3) is a spring.