CN213290302U

CN213290302U - Electric permanent magnet gripping device

Info

Publication number: CN213290302U
Application number: CN202021104695.5U
Authority: CN
Inventors: 彭飞; 石求发
Original assignee: Hunan Shibite Robot Co Ltd
Current assignee: Hunan Shibite Robot Co Ltd
Priority date: 2020-06-15
Filing date: 2020-06-15
Publication date: 2021-05-28
Anticipated expiration: 2030-06-15

Abstract

The utility model discloses an electricity permanent magnetism grabbing device, include: an electric control device; the permanent magnet control device comprises an electro-permanent magnet connecting seat and a plurality of electro-permanent magnets, wherein the electro-permanent magnets are all arranged on one side surface of the electro-permanent magnet connecting seat and are electrically connected with an electric control device, the electric control device is suitable for independently controlling each electro-permanent magnet to work, and each electro-permanent magnet comprises a first magnetic pole and a second magnetic pole with the polarity opposite to that of the first magnetic pole; at least one special electro-permanent magnet in the plurality of electro-permanent magnets has a first magnetic pole with a size different from that of the rest of the electro-permanent magnets. The utility model discloses an electricity permanent magnet can realize carrying out the accuracy to the work piece of multiple different shapes and size and snatch to can improve the success rate of snatching, it is big and steady to grab power.

Description

Electric permanent magnet gripping device

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to an electric permanent magnetism grabbing device that can snatch multiple different shape size work piece is related to.

Background

In the related art, in industrial production, the grabbing device mainly grabs by an electromagnet grabbing mode. However, in this type of grasping, the unnecessary parts are easily grasped together during the grasping process, the grasping success rate is low, and the work efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, an object of the utility model is to provide an electric permanent magnetism grabbing device can be adapted to snatching of different shapes and size work piece to can improve the success rate of snatching, the power of grabbing is big and stable.

According to the utility model discloses electricity permanent magnetism grabbing device, include: an electric control device; the electric permanent magnet connecting plate is arranged on the surface of one side of the electric permanent magnet connecting plate, the electric permanent magnets are electrically connected with the electric control device, the electric control device is suitable for independently controlling each electric permanent magnet to work, and each electric permanent magnet comprises a first magnetic pole and a second magnetic pole with the polarity opposite to that of the first magnetic pole; at least one special electro-permanent magnet in the plurality of electro-permanent magnets has a first magnetic pole with a size different from that of the rest of the electro-permanent magnets.

According to the electric permanent magnet gripping device provided by the embodiment of the utility model, the electric permanent magnet connecting seat is provided with the plurality of electric permanent magnets, and the electric control device is used for independently controlling whether each electric permanent magnet has magnetism, so that workpieces in various shapes and sizes can be accurately gripped, and the gripping success rate can be improved; in addition, because at least one special electro-permanent magnet in the plurality of electro-permanent magnets has the size of the first magnetic pole different from the sizes of the first magnetic poles of the rest electro-permanent magnets, the electro-permanent magnet grabbing device can adapt to more types of workpieces, and the grabbing adaptability and the success rate of the electro-permanent magnet grabbing device are further improved.

According to some embodiments of the invention, the first and second magnetic poles of the extraordinary electro-permanent magnet are both semi-circular structures.

According to some embodiments of the invention, the size of the first magnetic pole of the extraordinary electro-permanent magnet is smaller than the size of the first magnetic pole of the rest of the electro-permanent magnets.

According to some embodiments of the invention, the first and second magnetic poles of the remaining electro-permanent magnet are rectangular structures.

According to some embodiments of the present invention, the number of the extraordinary permanent magnets is one, and is located at an intermediate position of the connection plate of the extraordinary permanent magnets.

According to some embodiments of the present invention, the first and second magnetic poles of each of the electro-permanent magnets are identical in structure and size.

According to some embodiments of the present invention, each of the end surfaces of the first magnetic pole and the second magnetic pole of the electro-permanent magnet protrude from the base thereof.

According to some embodiments of the invention, all of the electro-permanent magnets are formed in one row on the electro-permanent magnet connection plate.

According to some embodiments of the present invention, each of the electro-permanent magnets and the electro-permanent magnet plate connecting plate are provided with an elastic member therebetween.

According to some embodiments of the present invention, the electric permanent magnet gripping device further comprises: and the visual recognition device is electrically connected with the electric control device.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a bottom view of an electro-permanent magnetic gripping device according to an embodiment of the present invention;

FIG. 2 is a perspective view of the electro-permanent magnetic grasping apparatus shown in FIG. 1;

FIG. 3 is a front view of the electro-permanent magnetic gripping apparatus shown in FIG. 1;

FIG. 4 is a top view of the electro-permanent magnetic grasping apparatus shown in FIG. 1;

FIG. 5 is a side view of the electro-permanent magnetic grasping apparatus shown in FIG. 1;

fig. 6 is a schematic diagram of a semicircular structure of a special electro-permanent magnet for grabbing a circular workpiece according to the present invention.

Reference numerals:

an electro-permanent magnetic grasping device 100;

an electro-permanent magnet connecting seat 11; an electro-permanent magnet 12;

a first magnetic pole 121; a second magnetic pole 122;

an elastic member 31; a flange plate 41; a ring-shaped workpiece 5.

Detailed Description

Embodiments of the present invention are described in detail below, and the embodiments described with reference to the drawings are exemplary.

An electro-permanent magnetic gripping apparatus 100 according to an embodiment of the present invention is described below with reference to fig. 1-5.

As shown in fig. 1 to 5, an electro-permanent magnet gripping device 100 according to an embodiment of the present invention includes an electric control device, an electro-permanent magnet connecting seat 11, and a plurality of electro-permanent magnets 12.

Specifically, a plurality of the electro-permanent magnets 12 are each provided on one side surface of the electro-permanent magnet coupling base 11. In the example of fig. 1-4, an electro-permanent magnet coupler base 11 is used to mount and couple a plurality of electro-permanent magnets 12, each of the plurality of electro-permanent magnets 12 being disposed on a lower surface of the electro-permanent magnet coupler base 11. The present invention refers to "up" and "down" with respect to the orientation of the electro-permanent magnetic gripping device 100 in the use state.

The electro-permanent magnet 12 is a device that generates electromagnetism when electricity is supplied. Specifically, the electro-permanent magnet 12 generates permanent magnetism after being electrified, and can remove the permanent magnetism when being electrified again. The electro-permanent magnet 12 includes a first magnetic pole 121 and a second magnetic pole 122 with a polarity opposite to that of the first magnetic pole 121, for example, the first magnetic pole 121 is one of an N pole or an S pole, and the second magnetic pole 122 is the other of the N pole or the S pole, and the sequence of the first magnetic pole and the second magnetic pole on each electro-permanent magnet 12 is not limited in the present invention. Because the first magnetic pole 121 and the second magnetic pole 122 can simultaneously generate permanent magnetic force for adsorbing the workpiece, compared with common electromagnets, the adsorption force can be greatly improved, the gripping force is large and stable, and the workpiece with a larger structure can be adsorbed by only adopting a few or even one electro-permanent magnet 12.

The plurality of electro-permanent magnets 12 are electrically connected to an electric control device, and the electric control device is adapted to individually control each electro-permanent magnet 12 to operate, such as controlling the electro-permanent magnet to generate permanent magnetism or eliminating the permanent magnetism. For example, the electric control device may be connected in parallel with the plurality of electro-permanent magnets 12, respectively, to control whether the single electro-permanent magnet 12 is energized. It can be understood that the specific electrical connection mode of the electrical control device and the plurality of electro-permanent magnets 12 can also be specifically set according to the actual requirements, as long as the independent control on whether the single electro-permanent magnet 12 generates the adsorption force can be realized.

In addition, at least one of the plurality of electro-permanent magnets 12 is a special electro-permanent magnet 12, and the size of the first magnetic pole 121 of the special electro-permanent magnet 12 is different from the size of the first magnetic pole 121 of the other electro-permanent magnets 12. The utility model discloses can be according to the shape of work piece and the difference of size, select to adopt special electric permanent magnet 12 to adsorb, perhaps adopt one or more work in all the other electric permanent magnets 12 to adsorb, consequently can adapt to more types of work pieces, further improved this electric permanent magnet grabbing device 100 snatch adaptability and success rate.

Further, the first magnetic pole 121 and the second magnetic pole 122 of the extraordinary permanent magnet 12 are both in a semicircular structure, and a circular absorption area can be formed when the extraordinary permanent magnet 12 is operated. Because the centre of a circle adsorption zone does not have the corner of outside extension, consequently can adsorb on the action point that corresponds on the work piece by the accuracy, work accuracy and success rate are higher for other structures. Fig. 6 is a schematic diagram of the semicircular special electro-permanent magnet 12 for grabbing the circular workpiece 5 according to the present invention. As mentioned above, the present invention, by adopting the electro-permanent magnet 12 having the first magnetic pole 121 and the second magnetic pole 122, has a strong adsorption/grabbing ability, and can still effectively grab even in a region far away from the center of gravity of the workpiece.

In the embodiment shown in fig. 6, the extraordinary permanent magnet 12 only needs to act on one of the attraction points in the circumferential direction of the circular workpiece 5 to grab the workpiece, and non-target workpieces (such as scrap and the like) are not grabbed. It should be noted that, when the size of the workpiece is smaller than the structure shown in fig. 6, there is a possibility that a small-sized non-target workpiece is attracted, but the semi-circular structure of the electro-permanent magnet 12 has higher working accuracy and success rate for the electro-permanent magnet 12 of the same size. In consideration of the requirement of practical work, the manufacturing cost and the easiness of processing, it is preferable that the first magnetic pole 121 and the second magnetic pole 122 of the remaining permanent magnets have a rectangular structure. Furthermore, the first magnetic pole 121 of the particular electro-permanent magnet 12 is smaller in size than the first magnetic poles 121 of the remaining electro-permanent magnets 12, i.e. the particular electro-permanent magnet 12 is designed to grip a workpiece of smaller size, while the remaining electro-permanent magnets 12 are designed to grip a workpiece of larger size.

In one operating state, only the particular electro-permanent magnet 12 is active; in another operating condition, one or more of the remaining electro-permanent magnets 12 are active; in yet another operating state, in particular the electro-permanent magnet 12 works in conjunction with one or more of the remaining electro-permanent magnets 12. Therefore, the utility model discloses can adapt to polytype work piece, greatly improve its adaptability.

Each of the first and second

magnetic poles

121 and 122 of the electro-permanent magnet 12 itself is preferably identical in structure and size, that is, the first and second

magnetic poles

121 and 122 of the semicircular structure are preferably identical in shape for the electro-permanent magnet 12 in particular; for the rest of the electro-permanent magnets 12, the first magnetic pole 121 and the second magnetic pole 122 in the rectangular structure have the same shape, so that the balance of the adsorption force in the adsorption area is ensured.

Because the utility model discloses an electric permanent magnet 12's adsorption efficiency is very strong, and preferably all magnets only form to one row (as an optional implementation mode, also can form to the multiseriate structure) on electric permanent magnet 12 connecting plate, to different work pieces, calculate the break-make electricity state of each electric permanent magnet 12 in this row through the algorithm, can accomplish smoothly and snatch the action. The electro-permanent magnetic gripping device 100 of the embodiment has a simple structure and is convenient to manufacture while ensuring the use function.

Further, as shown in fig. 1 to 5, the number of the electro-permanent magnets 12 is only one, and the electro-permanent magnet is located at the middle position of the electro-permanent magnet connecting seat 11, so that the center of gravity of the whole electro-permanent magnet gripping device 100 can be ensured to be balanced. The end faces of the first magnetic pole 121 and the second magnetic pole 122 of each electro-permanent magnet 1211 are protruded from the base thereof to avoid interference with the workpiece.

Furthermore, an elastic member 31 is disposed between each of the permanent magnets 12 and the magnet plate connecting base 11. From this, through setting up elastic component 31, elastic component 31 can play the cushioning effect when electric permanent magnet 12 pushes down and snatchs the target work piece, avoids the hard impact of target work piece to electric permanent magnet 12 to guaranteed electric permanent magnet 12's normal use, prolonged electric permanent magnet 12's life.

In order to connect the electro-permanent magnet gripping device 100 of the aforementioned embodiment to other motion control devices (such as a robot, etc.), the electro-permanent magnet connecting base 11 is provided with a flange 4151, and the flange 4151 can be connected with the electro-permanent magnet connecting base 11 through the connecting base. The connection of the flange 4151 to an external device can expand the spatial operating range of the electro-permanent magnetic gripping apparatus 100.

According to the utility model discloses a further embodiment, electric permanent magnetism grabbing device 100 further includes: and the visual recognition device is electrically connected with the electric control device. The utility model discloses a set up the visual identification device, can be through the outline shape of visual identification device discernment target work piece to feed back to electrically controlled device with it, electrically controlled device is again according to the outline shape signal of target work piece, and control electro-permanent magnet 12 forms the suction area in order to snatch target work piece, thereby has improved the automation efficiency who snatchs the operation, makes it more intelligent.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. An electro-permanent magnetic grasping apparatus, comprising:

an electric control device;

the permanent magnet control device comprises an electric permanent magnet connecting seat and a plurality of electric permanent magnets, wherein the electric permanent magnets are all arranged on one side surface of the electric permanent magnet connecting seat and are electrically connected with an electric control device, the electric control device is suitable for independently controlling each electric permanent magnet to work, each electric permanent magnet comprises a first magnetic pole and a second magnetic pole with the polarity opposite to that of the first magnetic pole, and the first magnetic pole and the second magnetic pole of each electric permanent magnet are identical in structure and size;

at least one special electro-permanent magnet in the plurality of electro-permanent magnets has a first magnetic pole with a size different from that of the rest of the electro-permanent magnets.

2. The electro-permanent magnet gripping device of claim 1 wherein the first and second poles of the extra-permanent magnet are each semi-circular in configuration.

3. The electro-permanent magnet grasping apparatus according to claim 2, wherein the first pole of the particular electro-permanent magnet is smaller in size than the first poles of the remaining electro-permanent magnets.

4. The electro-permanent magnet gripping device of claim 1 wherein the first and second poles of the remaining electro-permanent magnets are each of a rectangular configuration.

5. The electro-permanent magnet gripping device according to claim 1, wherein the number of the special electro-permanent magnets is one, and the special electro-permanent magnets are located at the middle position of the electro-permanent magnet connecting seat.

6. The electro-permanent magnet gripping apparatus of claim 1 wherein the end faces of the first and second poles of each electro-permanent magnet project from the base thereof.

7. The electro-permanent magnet gripping apparatus of claim 1 wherein all of the electro-permanent magnets are formed in a row on the electro-permanent magnet attachment seat.

8. The electro-permanent magnet gripping apparatus according to any one of claims 1-7 wherein a resilient member is disposed between each electro-permanent magnet and the electro-permanent magnet attachment seat.

9. The electro permanent magnetic gripping apparatus according to any one of claims 1-7, further comprising:

and the visual recognition device is electrically connected with the electric control device.