CN218619124U

CN218619124U - Intelligent electromagnetic clamp with grabbing and sensing functions and transfer robot

Info

Publication number: CN218619124U
Application number: CN202220960081.XU
Authority: CN
Inventors: 祝军建
Original assignee: Hangzhou Keyi Machinery Co ltd
Current assignee: Hangzhou Keyi Machinery Co ltd
Priority date: 2022-04-21
Filing date: 2022-04-21
Publication date: 2023-03-14
Anticipated expiration: 2032-04-21

Abstract

The application discloses possess intelligence electromagnetic clamp and transfer robot who snatchs response function, based on this application embodiment, when this application uses, in order to ensure the in-process of magnetism work piece is inhaled to the face of inhaling of electromagnetic component, avoid inhaling the emergence that the work piece one corner and lead to the work piece skew, adopt the response subassembly at first to contact the work piece, when the robot drives the electromagnetic component and is close the work piece gradually, the work piece oppresses the shrink of response subassembly gradually, when reaching inductive switch's trigger distance, the surface contact electromagnetic component of work piece, at this moment, inductive switch sends triggering signal to controller, start electromagnetic component through the controller and carry out magnetism to the work piece. The effect of magnetism is inhaled again in the electromagnetic component contact work piece has been realized like this, avoids inhaling in advance and inhale and lead to the work piece skew. The magnetic attraction after contact is realized through the inductive switch to grab, and the butt joint is accurate.

Description

Intelligent electromagnetic clamp with grabbing and sensing functions and transfer robot

Technical Field

The application relates to the technical field of machining, particularly, relate to an intelligent electromagnetic clamp and transfer robot that possess and snatch response function.

Background

The clamps are divided into different types, including clamps such as a vice and a three-grip chuck. However, the clamp used on the automatic machine tool is generally a self-designed clamp, especially a magnetic-type clamp, and the workpiece 7 with a thin plate structure shown in the attached drawing 7 can be fixed by magnetic attraction through the magnetic-type clamp such as an electromagnetic clamp, so that the taking and the placing are convenient.

In the process of magnetically attracting and grabbing the workpiece by the magnetic attraction piece, the workpiece is placed completely, the robot and the like are only needed to drive the clamp to move above the workpiece, the circuit control system is started after the robot is close to the workpiece, and the electromagnet is turned on, so that the workpiece is magnetically attracted.

However, in this process, there are technical problems as follows:

1. when the robot drives the clamp to move above the workpiece, the electromagnetic control system is actually opened, the electromagnet is opened at this time, the magnetic field can cause a magnetic attraction phenomenon on the workpiece in the process of moving right above the workpiece, the workpiece can be attracted in an isolated mode sometimes, so that one corner or even the whole of the workpiece can jump, the placing position of the workpiece is deviated, and subsequent positioning and processing are inconvenient; in addition, the clamp body can shield the workpiece, so that the relative position of the electromagnet and the surface of the workpiece is inconvenient to observe;

2. when the robot drives the magnetic suction type clamp to be close to the workpiece, the clamp gradually pushes against the surface of the workpiece to be in hard contact, rigid impact and strong load can be caused on the surface of the workpiece, and the surface of the workpiece can be crushed and dented.

SUMMERY OF THE UTILITY MODEL

The application provides a main aim at provides one kind and possesses intelligent electromagnetic clamp and transfer robot who snatchs response function to solve present problem.

In order to achieve the above object, the present application provides the following techniques:

this application first aspect provides an intelligence electromagnetism anchor clamps that possesses and snatch response function, includes:

the fixing plate is used as a carrier for mounting the intelligent electromagnetic clamp;

the mounting plate is used as a carrier for mounting the electromagnet;

the electromagnetic assembly is arranged on the mounting plate and used for magnetically attracting the workpiece;

the induction assembly is arranged on the fixed plate and is associated to the mounting plate on one side of the electromagnetic assembly;

when the workpiece is grabbed by the magnetic attraction, the induction component firstly contacts the workpiece and sends out an induction signal, and the electromagnetic component receives the induction signal to start and magnetically attracts the workpiece.

As an optional embodiment of the present application, optionally, the electromagnetic assembly comprises:

the electromagnet is arranged on the front side surface of the mounting plate;

the controller is arranged on one side of the fixed plate and is electrically connected with the electromagnet;

the quantity of the electromagnets is at least three, the electromagnets are arranged on the front side face of the mounting plate in a central symmetry mode, and the three electromagnets are respectively and electrically connected with the controller.

As an optional embodiment of the present application, optionally, the sensing assembly comprises:

the supporting rod is arranged on the fixing plate, and the induction assembly is vertically fixed on the fixing plate through the supporting rod;

the spring head is arranged at one end of the supporting rod, penetrates through the mounting plate and extends out, and the height of the extending part is greater than that of the electromagnet;

the inductive switch is arranged on the outer side surface of the supporting rod close to the tail part of the spring head;

and the wiring terminal is arranged at the other end of the supporting rod and is connected between the inductive switch and the controller.

As an alternative embodiment of the present application, optionally, the height difference between the top of the spring head and the top of the electromagnet is 1-3mm.

As an optional embodiment of the present application, optionally, the method further includes:

and the flexible assembly is arranged between the fixed plate and the mounting plate and used for unloading the extrusion load of the workpiece borne by the mounting plate to the fixed plate when the electromagnetic assembly is close to the workpiece and magnetically attracts the workpiece.

As an optional embodiment of the present application, optionally, the flexible member is provided with at least one pair, and the flexible member includes:

the upper end of the positioning column is fixed on the fixing plate, and the lower end of the positioning column penetrates through the mounting plate and extends out of the lower surface of the mounting plate;

the end cap is matched at the lower end of the positioning column, and a movable distance of 5-25mm is reserved between the end cap and the lower surface of the mounting plate;

the elastic assembly is arranged between the fixed plate and the mounting plate, and the mounting plate is flexibly supported on the fixed plate through the elastic assembly; the elastic assembly includes:

the supporting cover is arranged on the lower surface of the fixing plate and is provided with a movable hole corresponding to the mounting plate;

the spring is matched in the movable hole;

a spring rod fitted in the spring and elastically defined between the mounting plate and the fixing plate by the spring.

As an optional embodiment of the present application, optionally, the flexible assembly further comprises:

the at least two sleeves are arranged on the fixing plate in a centrosymmetric manner;

the positioning hole is arranged on the sleeve;

the positioning column is coaxially matched in the positioning hole;

the mounting plate is suspended on the fixing plate through the sleeve and is parallel to the fixing plate; the distance between the mounting plate and the fixing plate is 10-45mm.

As an optional embodiment of the present application, optionally, the spring rod comprises:

a guide rod fitted in the spring;

and the push block is arranged at the top of the guide rod and is propped against the lower surface of the mounting plate.

The present application provides in a second aspect a transfer robot comprising:

a mechanical arm;

the intelligent electromagnetic clamp with the grabbing induction function is characterized in that the intelligent electromagnetic clamp with the grabbing induction function is provided with a clamping device;

wherein, possess the intelligent electromagnetic clamp who snatchs the response function and locate the arm is terminal, under the arm drives, realizes the transport of work piece.

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 at least one intelligent electromagnetic clamp with the grabbing and sensing functions is arranged on the other surface of the flange connecting plate, and the fixing plate of the intelligent electromagnetic clamp with the grabbing and sensing functions is vertically and fixedly arranged on the flange connecting plate.

Compared with the prior art, this application can bring following technological effect:

based on this application embodiment, the intelligence electromagnetic clamp who possesses and snatch response function that this application provided includes: the fixing plate is used as a carrier for mounting the intelligent electromagnetic clamp; the mounting plate is used as a carrier for mounting the intelligent electromagnetic clamp; the electromagnetic assembly is arranged on the mounting plate and used for magnetically attracting the workpiece; the induction assembly is arranged on the fixed plate and is associated to the mounting plate on one side of the electromagnetic assembly; when the workpiece is grabbed by the magnetic attraction, the induction component firstly contacts the workpiece and sends out an induction signal, and the electromagnetic component receives the induction signal to start and magnetically attracts the workpiece. During the use, in order to ensure the in-process of work piece is inhaled at magnetism to the face of inhaling of electromagnetic component, avoid inhaling the work piece one corner and lead to the emergence of work piece skew, adopt the response subassembly at first to contact the work piece, when the robot drives the electromagnetic component and is close the work piece gradually, the work piece oppresses the shrink of response subassembly gradually, when reaching inductive switch's trigger distance, the surface contact electromagnetic component of work piece, this moment, inductive switch sends triggering signal to controller, start the electromagnetic component through the controller and inhale magnetism to the work piece. The effect of magnetism is inhaled again to the electromagnetic component contact work piece has been realized like this, avoids inhaling in advance magnetism and results in the work piece skew. The magnetic attraction after contact is realized through the inductive switch to grab, and the butt joint is accurate.

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 view of the clamp of the present invention;

fig. 2 is a schematic diagram of the electronic system of the present invention;

FIG. 3 is a schematic cross-sectional view of FIG. 1 according to the present invention;

fig. 4 is a schematic structural diagram of the sensing assembly of the present invention;

FIG. 5 is a schematic view of the spring rod of the present invention;

fig. 6 is a schematic structural view in embodiment 2 of the present invention;

fig. 7 is a schematic structural view of the workpiece to be grabbed.

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 obtained by a person of ordinary skill in the art based on the embodiments in the present application 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 accompanying drawings 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 the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship 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 intelligent electromagnetic clamp with the grabbing sensing function provided by the embodiment is used for setting in a unit mode when in specific use. The intelligent electromagnetic clamp will be installed on the automated moving mechanism for use. In the embodiment, a robot is preferably adopted as an automatic moving facility of the intelligent electromagnetic clamp. The intelligent electromagnetic clamp is convenient for carrying the workpiece 7 to a designated station and the like through the robot after the workpiece 7 shown in figure 7 is magnetically attracted and grabbed. The magnetic attraction mode is that the magnetic attraction face formed by a plurality of electromagnets 3 is used for magnetically attracting and grabbing the surface of the workpiece. During the use, at first acquire the work piece through response subassembly and contact electric magnet's 3 sensing signal soon, rethread controller starts electro-magnet 3, inhales to the work piece magnetism.

As shown in fig. 1, the present application provides in a first aspect an intelligent electromagnetic clamp with a grabbing sensing function, including:

the fixing plate 1 is used as a carrier for mounting the intelligent electromagnetic clamp; in order to facilitate the modularized installation, the intelligent electromagnetic clamp with the grabbing and sensing functions comprises a fixing plate 1 serving as an electromagnetic facility installation carrier. A plurality of positioning holes and mounting holes are machined on the positioning 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.

The mounting plate 2 is used as a carrier for mounting the electromagnet 3; in order to facilitate the rapid disassembly and assembly of the electromagnet 3, the mounting plate 2 is used as a mounting carrier of the electromagnet 3. 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, at least two need remain appropriate interval between the electro-magnet 3, be convenient for inhale fixedly snatch to two points on work piece 7 surface. The best magnetic attraction fixing mode of the electromagnet 3 to the workpiece is to carry out magnetic attraction grabbing on more than three points on the surface of the workpiece 7. Therefore, more than three magnetic attraction points form a magnetic attraction surface, and the surface of the workpiece 7 can be stably grabbed in a surface-to-surface magnetic attraction connection mode.

The electromagnetic assembly is arranged on the mounting plate 2 and used for magnetically attracting the workpiece; as an optional embodiment of the present application, optionally, the electromagnetic assembly comprises: the electromagnet 3 is arranged on the front side surface of the mounting plate 2; the controller is arranged on one side of the fixed plate 1 and is electrically connected with the electromagnet 3; the quantity of the electromagnets 3 is at least three, the electromagnets are arranged on the front side surface of the mounting plate 2 in a central symmetry mode, and the three electromagnets 3 are respectively and electrically connected with the controller. Here, a mounting plate 2 is fixedly mounted on the front side surface of the fixing plate 1, and four electromagnets 3 are arranged on the front side surface of the mounting plate 2 and are arranged on the front side surface of the mounting plate 2 in central symmetry.

As shown in fig. 2, the electromagnet 3 is electrically connected to a controller, such as a controller disposed on one side of the fixing plate 1, of a control facility through circuit control, and the controller performs start and stop control and the like on the electromagnet 3 according to an electric signal sent by an induction switch in the induction assembly. 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 induction assembly 13 is arranged on the fixed plate 1 and is associated to the mounting plate 2 on one side of the electromagnetic assembly; when the workpiece is grabbed by magnetic attraction, the induction component 13 firstly contacts the workpiece and sends out an induction signal, and the electromagnetic component receives the induction signal to start and magnetically attracts the workpiece.

During the use, in order to ensure the in-process of work piece is being inhaled at magnetism to the face of inhaling of electromagnetic component, avoid inhaling the work piece one corner and lead to the emergence of work piece skew, adopt response subassembly 13 at first to contact the work piece, when the robot drives the electromagnetic component and is close the work piece gradually, the work piece oppresses the shrink of response subassembly gradually, when reaching inductive switch's trigger distance, the surface contact electromagnetic component of work piece, at this moment, inductive switch sends trigger signal to controller, start the electromagnetic component through the controller and inhale magnetism to the work piece. The effect of magnetism is inhaled again in the electromagnetic component contact work piece has been realized like this, avoids inhaling in advance and inhale and lead to the work piece skew. The magnetic attraction after contact is realized through the inductive switch to grab, and the butt joint is accurate.

The structure of the sensing assembly 13 will be described in detail below.

As shown in fig. 3 and 4, the body of the sensing assembly 13 is fixedly mounted on the fixing plate 1 and vertically mounted. The elastic end is arranged on the handle, the handle can contract when being extruded, and the sensing switch arranged at the tail end of the handle can be triggered after the handle contracts.

As an optional embodiment of the present application, optionally, the sensing assembly 13 includes:

the supporting rod 15 is arranged on the fixing plate 1, and the induction component 13 is vertically fixed on the fixing plate 1 through the supporting rod 15; the outer side surface of the supporting rod 15 is provided with threads which can be screwed on the mounting hole on the fixing plate 1. The lower end of the connector is provided with a connector which is provided with a circuit wire; the upper end is screwed with a spring head 17 which can elastically stretch out and draw back.

The spring head 17 is arranged at one end of the supporting rod 15, penetrates through the mounting plate 2 and extends out, and the height of the extending part is larger than that of the electromagnet 3; the spring head 17 may be connected to the support rod 15 through a built-in spring, and the inner diameter of the spring head is larger than the outer diameter of the support rod 15, so that the support rod 15 moves downward and triggers the inductive switch 16 when the spring head 17 contracts. As the spring head 17 approaches and bears against the workpiece 7, the spring head 17 contracts and moves down the support rod 15. The inductive switch 16 is triggered to send a trigger signal and a signal to the controller via the terminal 14. The controller sends out the signal for starting the electromagnet again and carries out magnetic attraction on the workpiece 7. When the workpiece moves to the station, the power is cut off, the workpiece falls down, and the spring head 17 releases the inductive switch and resets.

The inductive switch 16 is arranged on the outer side surface of the supporting rod 15 close to the tail part of the spring head 17;

and a terminal 14 disposed at the other end of the support rod 15 and connected between the inductive switch 16 and the controller.

The inductive switch 16 and the wiring terminal 14 are arranged in a matched manner, the inductive switch 16 can be a spherical or arc switch, and is arranged on the outer side surface of the supporting rod 15 and keeps a certain distance from the spring head 17, so that the spring head 17 is convenient to contact the inductive switch 16 when contracting, and the inductive switch 16 sends a trigger signal. The terminal 14 can be screwed on the lower end of the support rod 15, and is electrically connected with the inductive switch 16 through the internal circuit of the support rod 15. The size and type of the inductive switch 16 and the terminal 14, etc., are not limited herein.

As an alternative embodiment of the present application, optionally, the height difference between the top of the spring head 17 and the top of the electromagnet 3 is 1-3mm.

In this embodiment, the height difference between the top of the spring head 17 and the top of the electromagnet 3 is preferably 1mm, so that the stroke can be saved, and the time of the magnetic attraction process can be reduced.

When the robot drives the intelligent electromagnetic clamp with the grabbing and sensing functions to move, the intelligent electromagnetic clamp with the grabbing and sensing functions can be gradually close to the workpiece 7. In the process, the electromagnet 3 exerts pressure on the surface of the workpiece 7, and the mounting plate 2 on which the electromagnet 3 is arranged is also subjected to reaction force. If the workpiece 7 is in hard contact, the intelligent electromagnetic clamp with the grabbing sensing function may impact the workpiece 7 rigidly, so that damage and indentation may be caused to the surface of the workpiece 7.

As shown in fig. 3, as an optional embodiment of the present application, optionally, the method further includes:

and the flexible assembly is arranged between the fixed plate 1 and the mounting plate 2 and used for unloading the extrusion load of the workpiece received by the mounting plate 2 to the fixed plate 1 when the electromagnetic assembly is close to the workpiece and magnetically attracts the workpiece. Set up flexible assembly between fixed plate 1 and mounting panel 2 for when possessing the intelligence electromagnetic clamp who snatchs the response function and be close to the work piece and carry out magnetism, will mounting panel 2 receives come from the extrusion load of work piece is unloaded to on the fixed plate 1. The main function of the flexible assembly is to cushion the workpiece during pressing and to unload the load applied to the mounting plate 2. The flexible assembly is centrosymmetric and is provided with at least two flexible assemblies.

the upper end of the positioning column 8 is fixed on the upper end and the lower end of the fixing plate 1, penetrates through the mounting plate 2 and extends out of the lower surface of the mounting plate 2;

the end cap 9 is matched at the lower end of the positioning column 8, and a movable distance of 5-25mm is reserved between the end cap and the lower surface of the mounting plate 2;

the elastic assembly is arranged between the fixing plate 1 and the mounting plate 2, and the mounting plate 2 is flexibly supported on the fixing plate 1 through the elastic assembly; the elastic assembly includes:

the supporting cover 10 is arranged on the lower surface of the fixing plate 1 and is provided with a movable hole corresponding to the mounting plate 2;

a spring 11 fitted in the movable hole;

a spring rod 12 fitted in the spring 11 and elastically defined between the mounting plate 2 and the fixing plate 1 by the spring 11.

The flexible member needs to be elastically confined between the fixing plate 1 and the mounting plate 2, and thus a movable moving space needs to be set between the fixing plate 1 and the mounting plate 2 so that the fixing plate 1 and the mounting plate 2 can move relatively.

As shown in fig. 3, in the present embodiment, a pair of positioning posts is provided to realize the movement of the mounting plate 2 relative to the fixing plate 1. The positioning column 8 is fixed on the lower surface of the fixing plate 1 through a bolt, the lower end of the positioning column penetrates through the mounting plate 2 and extends out of the lower surface of the mounting plate 2, the lower end of the positioning column is matched with an end cap 9, and a movable distance is reserved between the end cap 9 and the lower surface of the mounting plate 2. Thus, the mounting plate 2 can move relative to the fixing plate 1 within a moving distance through the positioning column 8. At this time, an elastic member is installed between the fixing plate 1 and the mounting plate 2, and is elastically supported between the fixing plate 1 and the mounting plate 2, so that the mounting plate 2 can be elastically pressed against the fixing plate 1, and the mounting plate 2 and the fixing plate 1 can maintain a stable distance. When the magnetic attraction surface where the electromagnet 3 is located is close to and tightly supports the workpiece 7, the mounting plate 2 gradually reduces the distance between the mounting plate and the fixing plate 1, and the elastic component is in a compressed state. When the workpiece is put down, the workpiece is restored to the original state under the action of the accumulated elastic potential energy. Preferably, the movable distance between the end cap 9 and the lower surface of the mounting plate 2 is 15mm. The requirement of the spring coefficient of the embodiment can be met.

In the embodiment, a spring and a push rod are adopted as the buffer support component. The support cover 10 is used as a support stress member of the spring, and is provided with a movable hole which is of a stepped hole structure and is provided with a shoulder for conveniently placing the spring. As shown in fig. 3, the upper portion of the support cover 10 is fixed to the lower surface of the fixing plate 1 by bolts, and its moving hole corresponds to the mounting plate 2. A spring 11 is fitted in the movable hole, and a spring rod 12 is fitted in the spring 11. The spring rod 12 has a stepped structure and is elastically defined between the mounting plate 2 and the fixing plate 1 by the spring 11.

at least two sleeves 4 which are arranged on the fixed plate 1 in a central symmetry manner;

the positioning hole is arranged on the sleeve 4;

the positioning column 8 is coaxially matched in the positioning hole;

the mounting plate 2 is suspended on the fixing plate 1 through the sleeve 4 and is parallel to the fixing plate 1; the distance between the mounting plate 2 and the fixing plate 1 is 10-45mm. The port of the sleeve 4 is matched in the through hole on the fixing plate 1, a positioning hole is arranged on the sleeve, the positioning column 8 is coaxially matched in the positioning hole, and the lower end of the positioning column 8 can extend out of the bottom of the sleeve 4 when the sleeve is in a contraction state. As long as the positioning column 8 is kept in an unstressed state, the lower part of the positioning column is matched with the positioning hole. After the sleeve 4 is installed, the mounting plate 2 is erected on the fixing plate 1 in a suspending way through the sleeve 4, and is parallel to the fixing plate 1. The distance between the mounting plate 2 and the fixing plate 1 is 25mm, and the distance also serves as a design reference dimension of the port thickness of the sleeve 4.

In order to avoid friction between the positioning posts 8 and the fixing plate 1, and positioning.

As an alternative embodiment of the present application, optionally, the spring rod 12 comprises:

a guide rod 122 fitted inside the spring 11;

and the pushing block 121 is arranged at the top of the guide rod 122 and is propped against the lower surface of the mounting plate 2.

As shown in fig. 5, the spring rod 12 has a step structure, and the lower portion thereof is a cylindrical guide rod 122, which is fitted in the spring 11; the upper part is a push block 121 which is integrally formed with the guide rod 122. The push block 121 is elastically supported by the spring 11 of the guide rod 122 and abuts against the lower surface of the mounting plate 2. Its compressed and relaxed state, which will not be described in detail herein.

Example 2

As shown in fig. 6, the present embodiment is applied to a robot as a conveying jig for a workpiece 7 based on the smart electromagnetic jig having a gripping sensing function provided in embodiment 1.

a mechanical arm;

the robot flange plate 6 is arranged at the tail end of the mechanical arm;

and a flange connecting plate 5, wherein one surface of the flange connecting plate is fixedly arranged on the robot flange plate 6, and at least one intelligent electromagnetic clamp with a grabbing and sensing function is arranged on the other surface of the flange connecting plate, and a fixing plate 1 of the intelligent electromagnetic clamp with the grabbing and sensing function is vertically and fixedly arranged on the flange connecting plate 5.

During specific installation, the intelligent electromagnetic clamp with the grabbing and sensing functions is installed at the tail end of the mechanical arm. The arm can remove according to preset transport route, drives the work piece 7 that possesses the intelligence electromagnetic clamp who snatchs the response function and snatch.

As shown in fig. 6, the end of the robot arm is connected to the intelligent electromagnetic clamp with a grabbing and sensing function through a robot flange plate 6.

The intelligent electromagnetic clamp with the grabbing sensing function can be in a unit/module form and is installed on a robot arm for use. Therefore, at least one intelligent electromagnetic clamp with a grabbing sensing function can be fixedly installed on the installation surface of the flange connection plate 5. In this embodiment, flange joint plate 5's one side set firmly in install four on the robot flange board 6, on the another side possess the intelligent electromagnetic fixture who snatchs the response function. Four fixed plates 1 of the intelligent electromagnetic clamp with the grabbing and sensing functions are respectively and vertically fixed on the side face 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 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 under the driving of 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 on 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 to the present application 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

1. The utility model provides a possess intelligence electromagnetic clamp who snatchs response function which characterized in that includes:

the fixing plate (1) is used as a carrier for mounting the intelligent electromagnetic clamp;

the mounting plate (2) is used as a carrier for mounting the electromagnet (3);

the electromagnetic assembly is arranged on the mounting plate (2) and used for magnetically attracting the workpiece;

the induction assembly (13) is arranged on the fixed plate (1) and is associated to the mounting plate (2) on one side of the electromagnetic assembly;

when the workpiece is magnetically sucked and grabbed, the induction component (13) firstly contacts the workpiece and sends an induction signal, and the electromagnetic component receives the induction signal to start and magnetically suck the workpiece.

2. The intelligent electromagnetic gripper with gripping and sensing functions as claimed in claim 1, wherein said electromagnetic assembly comprises:

the electromagnet (3) is arranged on the front side surface of the mounting plate (2);

the controller is arranged on one side of the fixed plate (1) and is electrically connected with the electromagnet (3);

the quantity of the electromagnets (3) is at least three, the electromagnets are arranged on the front side surface of the mounting plate (2) in a central symmetry mode, and the three electromagnets (3) are respectively and electrically connected with the controller.

3. The smart electromagnetic gripper with gripping and sensing function as claimed in claim 2, wherein said sensing assembly (13) comprises:

the supporting rod (15) is arranged on the fixing plate (1), and the induction component (13) is vertically fixed on the fixing plate (1) through the supporting rod (15);

the spring head (17) is arranged at one end of the supporting rod (15), penetrates through the mounting plate (2) and extends out, and the height of the extending part is greater than that of the electromagnet (3);

the inductive switch (16) is arranged on the outer side surface of the supporting rod (15) close to the tail part of the spring head (17);

and the terminal (14) is arranged at the other end of the supporting rod (15) and is connected between the inductive switch (16) and the controller.

4. The intelligent electromagnetic clamp with grabbing and sensing functions as claimed in claim 3, wherein the height difference between the top of the spring head (17) and the top of the electromagnet (3) is 1-3mm.

5. The intelligent electromagnetic gripper with gripping sensing function as claimed in claim 1, further comprising:

the flexible assembly is arranged between the fixed plate (1) and the mounting plate (2) and used for unloading the extrusion load of the workpiece, which is received by the mounting plate (2), to the fixed plate (1) when the electromagnetic assembly is close to the workpiece and is magnetically attracted.

6. The intelligent electromagnetic clamp with grabbing and sensing functions as claimed in claim 5, wherein said flexible member is provided with at least one pair, and said flexible member comprises:

the upper end of the positioning column (8) is fixed on the upper end and the lower end of the fixing plate (1) penetrates through the mounting plate (2) and extends out of the lower surface of the mounting plate (2);

the end cap (9) is matched at the lower end of the positioning column (8) and has a movable distance of 5-25mm with the lower surface of the mounting plate (2);

the elastic assembly is arranged between the fixed plate (1) and the mounting plate (2), and the mounting plate (2) is flexibly supported on the fixed plate (1) through the elastic assembly; the elastic assembly includes:

the supporting cover (10) is arranged on the lower surface of the fixing plate (1) and is provided with a movable hole corresponding to the mounting plate (2);

a spring (11) fitted in the movable hole;

a spring rod (12) fitted within the spring (11) and elastically defined between the mounting plate (2) and the fixing plate (1) by the spring (11).

7. The intelligent electromagnetic gripper with gripping sensing function as claimed in claim 6, wherein said flexible member further comprises:

the at least two sleeves (4) are arranged on the fixing plate (1) in a centrosymmetric manner;

the positioning hole is formed in the sleeve (4);

the positioning column (8) is coaxially matched in the positioning hole;

the mounting plate (2) is suspended on the fixing plate (1) through the sleeve (4) and is parallel to the fixing plate (1); the distance between the mounting plate (2) and the fixing plate (1) is 10-45mm.

8. The smart electromagnetic gripper with grabbing sense function as claimed in claim 6 wherein said spring rod (12) comprises:

a guide rod (122) fitted within the spring (11);

and the push block (121) is arranged at the top of the guide rod (122) and is propped against the lower surface of the mounting plate (2).

9. A transfer robot, characterized by comprising:

a mechanical arm;

the intelligent electromagnetic clamp with grabbing and sensing functions of any one of claims 1-8;

wherein, the intelligent electromagnetic clamp who possesses the response function of snatching locates the arm is terminal, under the arm drives, realizes the transport of work piece.

10. The transfer robot of claim 9, further comprising:

the robot flange plate (6) is arranged at the tail end of the mechanical arm;

and a flange connecting plate (5), wherein one surface of the flange connecting plate is fixedly arranged on the robot flange plate (6) and at least one intelligent electromagnetic clamp with a grabbing and sensing function is arranged on the other surface of the flange connecting plate, and a fixing plate (1) of the intelligent electromagnetic clamp with the grabbing and sensing function is vertically and fixedly arranged on the flange connecting plate (5).