CN215202041U

CN215202041U - Magnetic gripping device capable of realizing rigid-flexible switching of robot

Info

Publication number: CN215202041U
Application number: CN202121622733.0U
Authority: CN
Inventors: 陈傲傲; 倪梦茹; 张宏州; 薛思凡; 刘志华
Original assignee: Nantong Institute of Technology
Current assignee: Nantong Institute of Technology
Priority date: 2021-07-16
Filing date: 2021-07-16
Publication date: 2021-12-17
Anticipated expiration: 2031-07-16

Abstract

The utility model provides a but magnetism grabbing device of robot rigid-flexible switching relates to clamping device technical field, including base, coupling mechanism, magnetism gripping apparatus, locking mechanical system one and locking mechanical system two, the base is connected with the robot, coupling mechanism includes upper bracket, pivot, mounting panel and lower carriage, the upper bracket is installed on the base, the pivot is rotated with the upper bracket and is connected, the mounting panel is fixed in the pivot, the lower carriage rotates to be connected on the mounting panel, the magnetism gripping apparatus is installed on the lower carriage, coupling mechanism wholly is the function of cross universal joint structure in order to realize the magnetism gripping apparatus to each direction adjustment, locking mechanical system one is installed on the base and links to each other in order to realize the locking of countershaft, locking mechanical system two is installed on the mounting panel and is used for locking the lower carriage, the utility model discloses can guarantee the magnetism gripping apparatus to the inclined surface work piece the effect and guarantee the security in the work piece transportation.

Description

Magnetic gripping device capable of realizing rigid-flexible switching of robot

Technical Field

The utility model relates to a clamping device technical field, concretely relates to magnetism grabbing device that robot can just gentle switch over.

Background

At present, the grabbing and carrying of ferromagnetic workpieces are mostly realized by installing a grabbing actuator such as a clamping jaw or a sucking disc at the tail end of a robot, but when the electromagnetic sucking disc or an electric permanent magnetic sucking disc is used for adsorbing the workpieces, particularly heavy objects, so as to grab, carry and place the workpieces, the pure rigid connection or the pure flexible connection between the electromagnetic sucking disc or the electric permanent magnetic sucking disc and the tail end of the robot has certain problems: (1) because the flatness of the workpiece has deviation or the placing posture has inclination, the electromagnetic chuck or the electric permanent magnetic chuck can not be well attached to the workpiece due to pure rigid connection, so that the magnetic attraction of the chuck is greatly reduced if the existing air gap is too large, and even the workpiece can not be attracted; the reaction force generated when the workpiece is placed on the clamp can also easily cause the deformation and the damage of the sucker, and even the phenomena of overload alarm, shutdown and the like of the robot occur. (2) Electromagnetic chuck or electric permanent magnetism sucking disc of pure flexonics can be better when snatching the work piece laminating work piece surface, also can solve the reaction force problem of anchor clamps through the great elastic deformation that flexonics produced when placing, but work piece unstability, rocking can appear in work piece handling in the sucking disc of flexonics, the scheduling problem drops even.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a magnetism grabbing device that robot can just softly switch to solve the problem that proposes among the above-mentioned background art.

The utility model provides a but magnetism grabbing device of robot just gentle switching, includes base, coupling mechanism, magnetism gripping apparatus, locking mechanical system one and locking mechanical system two, the base is connected with the robot, coupling mechanism includes upper bracket, pivot, mounting panel and lower carriage, the upper bracket is installed on the base, the pivot rotates with the upper bracket to be connected, the mounting panel is fixed in the pivot, the lower carriage rotates to be connected on the mounting panel, the magnetism gripping apparatus is installed on the lower carriage, coupling mechanism wholly is the function of cross universal joint structure in order to realize the adjustment of magnetism gripping apparatus to all directions, locking mechanical system one is installed on the base and links to each other in order to realize the locking to the pivot position with the pivot, locking mechanical system two is installed on the mounting panel and is used for locking the position of lower carriage.

Preferably, locking mechanical system includes electric push rod one, briquetting, support one, slider one, spring, stopper, locking bolt and disc, electric push rod one is installed on the base, the expansion end at electric push rod is connected to the briquetting, support one is installed on the base, slider one sliding connection is in the spout on support one, the stopper is installed at the spout both ends and is locked the position through the locking bolt, the disc is connected in the one end of pivot and coaxial with the pivot, the disc bilateral symmetry is provided with two slider one and the disc side is the same with the diameter of slider side, still be provided with the spring between the slider one, the gyro wheel of briquetting both ends bottom cooperatees with the inclined plane at a slider top in order to realize that the briquetting pushes down the slider inboard fold and with this locking pivot.

Preferably, the locking mechanism comprises a second electric push rod, a third electric push rod, a second sliding block and a third sliding block, the second electric push rod and the third electric push rod are installed on a vertical plate on the installation plate, the second sliding block and the third sliding block are installed on a guide rail on the installation plate in a sliding mode and are connected with the movable ends of the second electric push rod and the third electric push rod respectively, and the second sliding block and the third sliding block can be driven by the second electric push rod and the third electric push rod to press the two sides of the upper sector structure of the lower support respectively to lock the position of the lower support.

Preferably, the magnetic gripping apparatus is an electromagnetic chuck or an electric permanent magnetic chuck.

The utility model has the advantages that: the workpiece is deviated in flatness or inclined in placement posture, the electromagnetic chuck or the electric permanent magnetic chuck can be well attached to the workpiece, accordingly, the workpiece grabbing effect is guaranteed, the position of the workpiece can be locked in the subsequent workpiece carrying process, the problems of instability, shaking and the like are avoided, and the safety of the device in working is greatly improved.

Drawings

Figure 1 is a schematic structural diagram of the present invention,

FIG. 2 is a schematic structural diagram of the connecting mechanism of the present invention,

figure 3 is a schematic structural diagram of a first locking mechanism of the present invention,

FIG. 4 is a schematic structural diagram of a second locking mechanism of the present invention,

in the figure: 1-base, 2-connecting mechanism, 201-upper support, 202-rotating shaft, 203-mounting plate, 204-lower support, 205-vertical plate, 206-guide rail, 207-sector structure, 3-magnetic gripper, 4-locking mechanism I, 401-electric push rod I, 402-pressing block, 403-support I, 404-sliding block I, 405-spring, 406-limiting block, 407-locking bolt, 408-circular disc, 409-sliding groove, 410-roller, 411-inclined surface, 5-locking mechanism II, 501-electric push rod II, 502-electric push rod III, 503-sliding block II and 504-sliding block III.

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 to 4, a rigid-flexible switchable magnetic gripping device for a robot comprises a base 1, a connecting mechanism 2, a magnetic gripper 3, a first locking mechanism 4 and a second locking mechanism 5, the base 1 is connected with a robot, the connecting mechanism 2 comprises an upper bracket 201, a rotating shaft 202, a mounting plate 203 and a lower bracket 204, the upper bracket 201 is installed on the base 1, the rotating shaft 202 is rotatably connected with the upper bracket 201, the mounting plate 203 is fixed on the rotating shaft 202, the lower bracket 204 is rotatably connected on the mounting plate 203, the magnetic gripping apparatus 3 is arranged on the lower bracket 204, the whole connecting mechanism 2 is of a cross universal joint structure to realize the function of adjusting the magnetic gripping apparatus 3 in all directions, the first locking mechanism 4 is installed on the base 1 and connected with the rotating shaft 202 to lock the position of the rotating shaft 202, the second locking mechanism 5 is mounted on the mounting plate 203 for locking the position of the lower bracket 204.

In the embodiment, the locking mechanism one 4 comprises an electric push rod one 401, a pressing block 402, a bracket one 403, a sliding block one 404, a spring 405, a limiting block 406, a locking bolt 407 and a disc 408, the first electric push rod 401 is arranged on the base 1, the pressing block 402 is connected with the movable end of the electric push rod 401, the first bracket 403 is arranged on the base 1, the first slide block 404 is slidably connected in a slide groove 409 on the first bracket 403, the stopper 406 is installed at both ends of the slide groove 409 and locked in position by a locking bolt 407, the disc 408 is connected to one end of the rotating shaft 202 and is coaxial with the rotating shaft 202, two sliders I404 are symmetrically arranged on two sides of the disc 408, the diameter of the side surface of the disc 408 is the same as that of the side surface of the slider I404, a spring 405 is further arranged between the first sliding blocks 404, and rollers 410 at the bottoms of the two ends of the pressing block 402 are matched with the inclined surface 411 at the top of the first sliding blocks 404 so that the first sliding blocks 404 are folded inwards when the pressing block 402 is pressed downwards and the rotating shaft 202 is locked.

In this embodiment, a layer of material with a large friction coefficient can be detachably mounted on the inner side of the first sliding block 404 to enhance the locking effect, and when the first sliding block 404 is excessively worn, only the layer of material needs to be replaced, so that the cost is reduced.

In this embodiment, the second locking mechanism 5 includes a second electric push rod 501, a third electric push rod 502, a second slider 503 and a third slider 504, the second electric push rod 501 and the third electric push rod 502 are mounted on the vertical plate 205 on the mounting plate 203, the second slider 503 and the third slider 504 are slidably mounted on the guide rail 206 on the mounting plate 203 and are respectively connected to the movable ends of the second electric push rod 501 and the third electric push rod 502, and the second slider 503 and the third slider 504 can be driven by the second electric push rod 501 and the third electric push rod 502 to respectively press two sides of the fan-shaped structure 207 on the lower bracket 204 so as to lock the position of the lower bracket 204.

In this embodiment, all the electric push rods adopt worm and gear screws, and the self-locking performance of the worm and gear screws is utilized to ensure that the positions of the electric push rods are still unchanged after the power failure.

In this embodiment, the magnetic gripper 3 is an electromagnetic chuck or an electro-permanent magnetic chuck.

The working principle and the process are as follows: the connecting mechanism 2 similar to a universal cross-joint structure can enable the magnetic gripper 3 to be passively attached to the surface of an inclined workpiece when the workpiece is gripped, so that a good gripping effect is achieved, at the moment, the device is in a flexible state, after the workpiece is completely gripped, the first electric push rod 401 is started, the first sliding block 404 is driven to be pressed downwards by the pressing block 402, the first sliding block 404 is pressed by the pressing block 402 and then is drawn close to the disc 408, the rotating shaft 202 is locked, meanwhile, the second electric push rod 501 is retracted, the third electric push rod 502 extends out, the second sliding block 503 and the third sliding block 504 are drawn close to two sides of the fan-shaped structure 207 on the lower support 204, the lower support 204 is locked, the position of the magnetic gripper 3 is locked after the rotating shaft 202 and the lower support 204 are locked, at the moment, the device is in a rigid state, and the workpiece cannot shake and the like in the transportation process.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of the invention or which are equivalent to the scope of the invention are embraced by the invention.

Claims

1. The utility model provides a magnetism grabbing device that robot can just softly switch which characterized in that: the robot comprises a base (1), a connecting mechanism (2), a magnetic gripper (3), a locking mechanism I (4) and a locking mechanism II (5), wherein the base (1) is connected with a robot, the connecting mechanism (2) comprises an upper support (201), a rotating shaft (202), a mounting plate (203) and a lower support (204), the upper support (201) is mounted on the base (1), the rotating shaft (202) is rotatably connected with the upper support (201), the mounting plate (203) is fixed on the rotating shaft (202), the lower support (204) is rotatably connected onto the mounting plate (203), the magnetic gripper (3) is mounted on the lower support (204), the connecting mechanism (2) is integrally of a cross universal joint structure to realize the function of adjusting the magnetic gripper (3) to all directions, the locking mechanism I (4) is mounted on the base (1) and connected with the rotating shaft (202) to realize the locking of the position of the rotating shaft (202), the second locking mechanism (5) is arranged on the mounting plate (203) and used for locking the position of the lower support (204).

2. A robot rigid-flexible switchable magnetic grasping device according to claim 1, characterized in that: the locking mechanism I (4) comprises an electric push rod I (401), a pressing block (402), a support I (403), a sliding block I (404), a spring (405), a limiting block (406), a locking bolt (407) and a disc (408), wherein the electric push rod I (401) is installed on a base (1), the pressing block (402) is connected to the movable end of the electric push rod I (401), the support I (403) is installed on the base (1), the sliding block I (404) is connected in a sliding groove (409) in the support I (403) in a sliding mode, the limiting block (406) is installed at two ends of the sliding groove (409) and locked by the locking bolt (407), the disc (408) is connected to one end of the rotating shaft (202) and coaxial with the rotating shaft (202), two sliding blocks I (404) are symmetrically arranged on two sides of the disc (408), and the side face of the disc (408) is the same as the side face of the sliding block I (404), and a spring (405) is further arranged between the first sliding blocks (404), and the rollers (410) at the bottoms of the two ends of the pressing block (402) are matched with the inclined plane (411) at the top of the first sliding blocks (404) so as to realize that the first sliding blocks (404) are folded inwards when the pressing block (402) is pressed downwards and lock the rotating shaft (202).

3. A robot rigid-flexible switchable magnetic grasping device according to claim 1, characterized in that: the second locking mechanism (5) comprises a second electric push rod (501), a third electric push rod (502), a second sliding block (503) and a third sliding block (504), the second electric push rod (501) and the third electric push rod (502) are installed on a vertical plate (205) on the installation plate (203), the second sliding block (503) and the third sliding block (504) are installed on a guide rail (206) on the installation plate (203) in a sliding mode and are connected with the movable ends of the second electric push rod (501) and the third electric push rod (502) respectively, and the second sliding block (503) and the third sliding block (504) can press the two sides of the fan-shaped structure (207) on the lower support (204) respectively under the driving of the second electric push rod (501) and the third electric push rod (502) so as to lock the position of the lower support (204).

4. A robot rigid-flexible switchable magnetic grasping device according to claim 1, characterized in that: the magnetic gripping apparatus (3) is an electromagnetic chuck or an electric permanent magnetic chuck.