CN217123215U - Electromagnetic grabbing assembly - Google Patents
Electromagnetic grabbing assembly Download PDFInfo
- Publication number
- CN217123215U CN217123215U CN202220934911.1U CN202220934911U CN217123215U CN 217123215 U CN217123215 U CN 217123215U CN 202220934911 U CN202220934911 U CN 202220934911U CN 217123215 U CN217123215 U CN 217123215U
- Authority
- CN
- China
- Prior art keywords
- plate
- electromagnetic
- fixing plate
- mounting plate
- electromagnets
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The application discloses an electromagnetic grabbing component, which comprises a fixing plate, a clamping plate and a clamping plate, wherein the fixing plate is used as a carrier of the electromagnetic grabbing component; the mounting plate is arranged on the fixing plate; the electromagnet is arranged on the mounting plate; and the controller is arranged on one side of the fixed plate and is electrically connected with the electromagnet. When the robot is used specifically, the electromagnetic grabbing component can be driven by the robot to move, the workpiece is magnetically grabbed by the electromagnetic grabbing component and grabbed, and the robot moves, so that the workpiece with the unfinished surface can be grabbed and moved by the electromagnetic grabbing component. The workpiece carrying efficiency is improved, and the overall progress of the mechanical work process is shortened.
Description
Technical Field
The application relates to the technical field of machining, particularly relates to an electromagnetic grabbing assembly and a carrying robot.
Background
In the machining process, workpieces need to be grabbed through fixtures and other facilities, moved and placed on a machining table of a machining table to wait for machining. Snatch the mode that the work piece usually adopted manual work to place, nevertheless automatic equipment of snatching such as vacuum chuck etc. has used in the automation, better replaces the manual work to snatch, and efficiency improves.
For the workpiece of the plate, such as the workpiece 7 shown in fig. 4, which has a certain surface area, the vacuum chuck is used for grabbing, which may cause the vacuum grabbing to lose effect due to the untight surface binding surface, and the using effect is not good, thereby affecting the overall progress of the machining process.
SUMMERY OF THE UTILITY MODEL
The main objective of the present application is to provide an electromagnetic grabbing component and a transfer robot, so as to solve the current problems.
In order to achieve the above object, the present application provides the following techniques:
the present application provides in a first aspect an electromagnetic grasping assembly, including:
the fixing plate is used as a carrier of the electromagnetic grabbing component;
the mounting plate is arranged on the fixing plate;
the electromagnet is arranged on the mounting plate;
the controller is arranged on one side of the fixed plate and is electrically connected with the electromagnet;
wherein, be equipped with two at least on the mounting panel the electro-magnet, just the surface area S of mounting panel 1 With the surface area S of the fixing plate 2 The ratio of the components satisfies:
S 1 ＝kS 2 ，
k is coefficient and the value range is 0.5-1.
As an optional implementation scheme of this application, optionally, the electro-magnet is central symmetry and locates on the leading flank of mounting panel, and the quantity is three at least, three the electro-magnet is the electricity respectively and is connected the controller.
As an optional embodiment of the present application, optionally, the method further includes:
the supporting piece is arranged on the fixing plate;
the mounting plate is suspended on the fixing plate through the supporting piece and is parallel to the fixing plate;
the distance between the mounting plate and the fixing plate is 10-45 mm.
As an optional implementation scheme of the present application, optionally, a plurality of connection holes are formed on the fixing plate; the supporting pieces are at least two and are respectively fixed on the front side surface of the fixing plate 1 through one connecting hole.
As an optional embodiment of the present application, optionally, the fixing plate is rectangular; the mounting plate 2 is in a regular octagon shape;
wherein, a side of the mounting plate is parallel to a side of the fixing plate.
As an optional implementation scheme of the present application, optionally, two sets of the electromagnets are arranged on the mounting plate in a central symmetry manner, wherein one set of the electromagnets is arranged in an up-down symmetrical manner, and the other set of the electromagnets is arranged in a left-right symmetrical manner; and in the clockwise direction, the included angle between the connecting line between two adjacent electromagnets and the long edge of the fixed plate is 15-45 degrees.
As an optional embodiment of the present application, optionally, a distance between two adjacent electromagnets is not less than 30-60 mm.
The present application provides in a second aspect a transfer robot comprising:
a mechanical arm;
the electromagnetic grasping assembly described above;
the electromagnetic grabbing component is arranged at the tail end of the mechanical arm, and the workpiece is conveyed under the driving of the mechanical arm.
As an optional embodiment of the present application, optionally, the method further includes:
the robot flange plate is arranged at the tail end of the mechanical arm;
and one surface of the flange connecting plate is fixedly arranged on the robot flange plate, and the other surface of the flange connecting plate is provided with at least one electromagnetic grabbing assembly.
As an optional embodiment of the present application, optionally, the fixing plate of the electromagnetic grabbing component is vertically fixed on the flange connecting plate.
Compared with the prior art, this application can bring following technological effect:
the electromagnetic grabbing component comprises a fixing plate, a first clamping plate and a second clamping plate, wherein the fixing plate is used as a carrier of the electromagnetic grabbing component; the mounting plate is arranged on the fixing plate; the electromagnet is arranged on the mounting plate; and the controller is arranged on one side of the fixed plate and is electrically connected with the electromagnet. When the robot is used specifically, the electromagnetic grabbing component can be driven by the robot to move, the workpiece is magnetically grabbed by the electromagnetic grabbing component and grabbed, and the robot moves, so that the workpiece with the unfinished surface can be grabbed and moved by the electromagnetic grabbing component. The workpiece carrying efficiency is improved, and the overall progress of the mechanical work process is shortened.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, serve to provide a further understanding of the application and to enable other features, objects, and advantages of the application to be more apparent. The drawings and their description illustrate the embodiments of the invention and do not limit it. In the drawings:
fig. 1 is a schematic three-dimensional structure diagram of the electromagnetic grasping assembly of the present invention;
fig. 2 is a schematic layout diagram of an electromagnet according to one embodiment of the present invention;
fig. 3 is a schematic view of the end structure of the transfer robot of the present invention;
fig. 4 is a schematic structural diagram of the workpiece according to the present invention.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the present application and its embodiments, and are not used to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meaning of these terms in this application will be understood by those of ordinary skill in the art as the case may be.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Example 1
The present application provides in a first aspect an electromagnetic grasping assembly, including:
the fixing plate 1 is used as a carrier of the electromagnetic grabbing component;
the mounting plate 2 is arranged on the fixing plate 1;
the electromagnet 3 is arranged on the mounting plate 2;
the controller is arranged on one side of the fixed plate 1 and is electrically connected with the electromagnet 3;
whereinAt least two electromagnets 3 are arranged on the mounting plate 2, and the surface area S of the mounting plate 2 is 1 And the surface area S of the fixing plate 1 2 The ratio of the components satisfies:
S 1 ＝kS 2 ，
k is coefficient and the value range is 0.5-1.
The electromagnetic grabbing component provided by the embodiment is arranged and used in a unit type mode when being used specifically. The electromagnetic grasping assembly would be mounted on an automated moving mechanism for use. In the embodiment, a robot is preferably adopted as an automatic moving facility of the electromagnetic grabbing component. After the electromagnetic grabbing component is convenient to magnetically grab the workpiece 7 shown in fig. 4, the workpiece 7 is conveyed to a designated station and the like through a robot.
As shown in fig. 1, in order to facilitate modular installation, the electromagnetic grasping assembly includes a fixing plate 1 as an electromagnetic facility installation carrier. A plurality of positioning holes and mounting holes are processed on the base plate according to requirements.
The workpiece 7 is of a thin plate structure and has a certain surface area. Therefore, the electromagnet is fixedly mounted on the fixed plate 1. In order to facilitate the rapid disassembly and assembly of the electromagnet 3, the electromagnet 3 is used as a mounting carrier of the electromagnet 3 through a mounting plate 2. Wherein, the mounting panel 2 is fixed on the fixed plate 1, and the electromagnet 3 is fixed on the mounting panel 2. Work piece 7 is the sheet structure, has certain surface area, and in order to stabilize magnetism to attract work piece 7, consequently be equipped with two at least on the mounting panel 2 the electro-magnet 3, two at least need remain appropriate interval between the electro-magnet 3, be convenient for inhale fixedly snatch to two points on work piece 7 surface.
The electromagnet 3 is electrically connected with a control facility such as a controller arranged on one side of the fixed plate 1 through circuit control, and is used for starting and closing control and the like. The circuit, power supply, etc. matched with the electromagnet 3 are used as matched facilities in specific implementation, and are not limited and explained herein. The type and specification of the electromagnet 3 are not limited in this regard. In this embodiment, an automatic system for controlling the electromagnet 3 may be a control system of a robot.
The fixing mode can adopt screws or bolt components and the like for fixed connection.
Since the workpiece 7 has a thin plate structure, it has a certain surface area. In a specific application, the electromagnet 3 needs to form a magnetic attraction surface to magnetically attract and grab the surface of the workpiece 7. But not so much as to interfere with the working space of the robotic arm. Therefore, it is necessary to control the surface area S of the mounting plate 2 1 And the surface area S of the fixing plate 1 2 Ratio of (S) to (S) the surface area of the mounting plate 2 1 Must not exceed the surface area S of the fixing plate 1 2 . In this embodiment, S is preferred 1 ＝0.6S 2 . Meanwhile, the external dimensions of the mounting plate 2 need to be limited not to exceed the dimensions of the fixing plate 1.
As an optional implementation scheme of the present application, optionally, the electromagnets 3 are arranged on the front side surface of the mounting plate 2 in a central symmetry manner, and the number of the electromagnets is at least three, and the electromagnets 3 are respectively electrically connected to the controller.
The best magnetic attraction fixing mode of the electromagnet 3 to the workpiece is to magnetically attract and grab more than three points on the surface of the workpiece 7. Like this, three magnetism is inhaled the point and is constituted a magnetism and inhale the face, through the mode that the face magnetism is inhaled and is connected, can stably snatch the surface of work piece 7. Here, four electromagnets 3 are provided on the front side surface of the mounting plate 2, and are on the front side surface of the mounting plate 2 in central symmetry.
As an optional embodiment of the present application, optionally, the method further includes:
the supporting piece 4 is arranged on the fixing plate 1;
the mounting plate 2 is suspended on the fixing plate 1 through the supporting piece 4 and is parallel to the fixing plate 1;
the distance between the mounting plate 2 and the fixing plate 1 is 10-45 mm.
The mounting plate 2 may be directly fixed to the fixing plate 1. However, since the distance between the electromagnet 3 and the fixed plate is shortened, the figure of the electromagnet 3 may be hidden by the area of the fixed plate 1, which may make it difficult to observe the operation by a human. Therefore, here, the mounting plate 2 and the fixing plate 1 are spaced apart, and thus one support 4 is directly provided at the mounting plate 2 and the fixing plate 1. Wherein the structure of the support 4 may not be limited. In this embodiment, the supporting member 4 is preferably a solid structure of revolution, and has a through hole, and a bolt is sequentially passed through the mounting plate 2 and the supporting member 4 and is connected to the fixing plate 1. The mounting plate 2 is erected on the fixing plate 1 in a spaced manner, so that the mounting plate 2 is parallel to the fixing plate 1.
In this embodiment, the distance between the mounting plate 2 and the fixing plate 1 is preferably set to 30 mm.
As an optional embodiment of the present application, optionally, a plurality of connecting holes are formed on the fixing plate 1; the supporting members 4 are at least two and are respectively fixed on the front side surface of the fixing plate 1 through one of the connecting holes.
In this embodiment, two supporting members 4 are provided in bilateral symmetry. Are respectively fixed on the front side surface of the fixed plate 1 through one connecting hole.
Fig. 2 is a schematic diagram of an arrangement structure of an electromagnet 3 according to an embodiment of the present application.
As an optional embodiment of the present application, optionally, the fixing plate 1 is rectangular; the mounting plate 2 is in a regular octagon shape;
wherein, one side surface of the mounting plate 2 is parallel to one side surface of the fixing plate 1.
In the embodiment, the regular octagonal mounting plate 2 is adopted and fixed on the rectangular fixing plate 1 in a spaced manner, the regular octagonal mounting plate and the rectangular fixing plate are in regular correspondence, and one side edge or one side surface of the regular octagonal mounting plate is parallel.
As an optional implementation scheme of the present application, optionally, two sets of centrosymmetric electromagnets 3 are disposed on the mounting plate 2, wherein one set is disposed in a vertically symmetric manner, and the other set is disposed in a horizontally symmetric manner; and in the clockwise direction, the included angle between the connecting line between two adjacent electromagnets 3 and the long edge of the fixed plate 1 is 15-45 degrees.
As shown in fig. 2, in the present embodiment, four electromagnets 3 are provided. The upper and lower symmetry is equipped with a set, and bilateral symmetry is equipped with a set. Therefore, a magnetic attraction surface consisting of four magnetic attraction points can be formed, and the surface of the workpiece 7 can be stably magnetically attracted and grabbed. In order to limit the limited area of the magnetic attraction surface, an included angle between a connecting line between any two adjacent electromagnets 3 in the four points and the long edge of the fixed plate 1 is limited to 45 degrees. For example, a line (not shown) between the two electromagnets 3 on the upper and right sides forms an angle of 45 degrees with the upper side surface of the fixed plate 1, so that the four electromagnets 3 form a rectangular quadrangle.
As an alternative embodiment of the present application, optionally, the distance between two adjacent electromagnets 3 is not less than 30-60 mm.
And correspondingly limiting the size of the magnetic attraction surface according to the size of the workpiece. By defining a side length. In this embodiment, the distance between two adjacent electromagnets 3 is preferably 450 mm. Can be adjusted according to the size of the workpiece 7.
Example 2
Based on embodiment 1 provides an electromagnetism snatchs subassembly, this embodiment adopts the robot to carry out the work piece transport, snatchs the subassembly with the electromagnetism and installs at the robot arm end of robot, drives through the robot, and realizes that the work piece snatchs, transports.
The present application provides in a second aspect a transfer robot comprising:
a mechanical arm;
the electromagnetic grasping assembly provided in the first aspect;
the electromagnetic grabbing component is arranged at the tail end of the mechanical arm, and the workpiece is conveyed under the driving of the mechanical arm.
When the electromagnetic grabbing component is installed specifically, the electromagnetic grabbing component is installed at the tail end of the mechanical arm. The mechanical arm can move according to a preset carrying route, and drives the workpiece 7 grabbed by the electromagnetic grabbing component to move.
As an optional embodiment of the present application, optionally, the method further includes:
the robot flange plate 6 is arranged at the tail end of the mechanical arm;
and one surface of the flange connecting plate 5 is fixedly arranged on the robot flange plate 6, and the other surface of the flange connecting plate is provided with at least one electromagnetic grabbing component.
As an alternative embodiment of the present application, optionally, the fixing plate 1 of the electromagnetic grabbing component is vertically fixed on the flange connecting plate 5.
As shown in fig. 3, the end of the robot arm is connected through the robot flange plate 6 and the electromagnetic grasping assembly.
The electromagnetic grabbing component can be in a unit/module and is installed on a robot arm for use. Therefore, at least one electromagnetic gripper assembly can be fixedly mounted on the mounting surface of the flange connection plate 5. In this embodiment, one side of the flange connecting plate 5 is fixedly arranged on the robot flange plate 6, and the other side is provided with four electromagnetic grabbing components. The four fixing plates 1 of the electromagnetic grabbing assembly are respectively and vertically fixed on the side surface of the flange connecting plate 5. And the four fixing plates 1 are vertical two by two to form a cuboid structure. Like this for can construct four stations on the arm, during the use, can carry the station by a station, another station snatchs the work piece that finishes of processing, and the effect of every station can be adjusted by oneself.
The tail end of the mechanical arm can be rotated, and the station is driven to rotate by a servo motor at the tail end of the mechanical arm, so that workpieces to be carried or workpieces which are processed can be carried by different stations.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. An electromagnetic grasping assembly, comprising:
a fixed plate (1) as a carrier of the electromagnetic grasping assembly;
the mounting plate (2) is arranged on the fixing plate (1);
the electromagnet (3) is arranged on the mounting plate (2);
the controller is arranged on one side of the fixed plate (1) and is electrically connected with the electromagnet (3);
wherein the mounting plate (2) is provided with at least two electromagnets (3), and the surface area S of the mounting plate (2) 1 With the surface area S of the fixing plate (1) 2 The ratio of the components satisfies:
S 1 ＝ k S 2 ，
k is coefficient and the value range is 0.5-1.
2. The electromagnetic grabbing assembly of claim 1, wherein the electromagnets (3) are arranged on the front side surface of the mounting plate (2) in a central symmetry manner, the number of the electromagnets is at least three, and the three electromagnets (3) are respectively and electrically connected with the controller.
3. The electromagnetic grasping assembly according to claim 1, further comprising:
the supporting piece (4) is arranged on the fixing plate (1);
the mounting plate (2) is suspended on the fixing plate (1) through the supporting piece (4) and is parallel to the fixing plate (1);
the distance between the mounting plate (2) and the fixing plate (1) is 10-45 mm.
4. The electromagnetic grabbing assembly of claim 3, wherein the fixing plate (1) is provided with a plurality of connecting holes;
the supporting pieces (4) are at least two and are respectively fixed on the front side surface of the fixing plate (1) through one connecting hole.
5. The electromagnetic grasping assembly according to claim 1,
the fixing plate (1) is rectangular;
the mounting plate (2) is in a regular octagon shape;
wherein one side surface of the mounting plate (2) is parallel to one side surface of the fixing plate (1).
6. The electromagnetic grabbing assembly of claim 5, wherein the mounting plate (2) is provided with two groups of the electromagnets (3) in central symmetry, one group is arranged in an up-down symmetrical manner, and the other group is arranged in a left-right symmetrical manner; and in the clockwise direction, the included angle between the connecting line between two adjacent electromagnets (3) and the long edge of the fixed plate (1) is 15-45 degrees.
7. The electromagnetic grasping assembly according to claim 6, wherein the spacing between two adjacent electromagnets (3) is not less than 30-60 mm.
8. A transfer robot, characterized by comprising:
a mechanical arm;
the electromagnetic grasping assembly of any one of claims 1 to 7;
the electromagnetic grabbing component is arranged at the tail end of the mechanical arm, and the workpiece is conveyed under the driving of the mechanical arm.
9. The transfer robot of claim 8, further comprising:
the robot flange plate (6) is arranged at the tail end of the mechanical arm;
and one surface of the flange connecting plate (5) is fixedly arranged on the robot flange plate (6), and the other surface of the flange connecting plate is provided with at least one electromagnetic grabbing component.
10. The transfer robot as claimed in claim 9, wherein the fixed plate (1) of the electromagnetic gripper assembly is vertically fixed to the flange plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220934911.1U CN217123215U (en) | 2022-04-21 | 2022-04-21 | Electromagnetic grabbing assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220934911.1U CN217123215U (en) | 2022-04-21 | 2022-04-21 | Electromagnetic grabbing assembly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217123215U true CN217123215U (en) | 2022-08-05 |
Family
ID=82649285
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220934911.1U Active CN217123215U (en) | 2022-04-21 | 2022-04-21 | Electromagnetic grabbing assembly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217123215U (en) |
-
2022
- 2022-04-21 CN CN202220934911.1U patent/CN217123215U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8931999B2 (en) | Device and method for unstacking plate-shaped parts | |
| CN109478579B (en) | Method for printing on photovoltaic cells and automatic production device | |
| CN103236219B (en) | Linear multi-unit MPS automated logistics system | |
| CN110104429A (en) | A kind of intelligence mounting device and intelligent attaching method | |
| CN213971278U (en) | Manipulator device of synchronous transport of multistation | |
| CN217123215U (en) | Electromagnetic grabbing assembly | |
| CN208577150U (en) | A kind of mechanical arm automatic charging device | |
| CN208099741U (en) | Automatic assembling gripper | |
| TW202011627A (en) | Method and automatic production plant for printing on photovoltaic cells | |
| CN214445323U (en) | Panel processing equipment capable of feeding and discharging without stopping | |
| CN113072297A (en) | Automatic workpiece rotating frame equipment | |
| US20020192067A1 (en) | High-precision transfer apparatus for depositing a part on an immobilised pallet | |
| CN111546524A (en) | Full-automatic feeding and discharging intelligent CNC machining equipment | |
| CN110571469A (en) | Battery cell manufacturing equipment | |
| CN217648700U (en) | Material taking and replacing manipulator and machine tool with same | |
| CN216633009U (en) | Automatic feeding device and laser welding equipment | |
| CN217394069U (en) | Material loading device and full-automatic laser processing equipment | |
| CN218087840U (en) | Magnetic type flexible clamp and transfer robot | |
| CN210296531U (en) | Battery cell manufacturing equipment | |
| CN218533671U (en) | Full-automatic intelligent processing system of work piece | |
| CN220438489U (en) | PCB non-contact test equipment | |
| JP2022092346A (en) | Film deposition system, control method of film deposition system, and production method of article | |
| CN218891890U (en) | Visual robot clamp | |
| CN218311480U (en) | Automatic change marking machine equipment | |
| CN105668231A (en) | Intelligent magnetic motion transfer device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |