WO2021138859A1

WO2021138859A1 - Versatile manipulator using variable-frequency electromagnetic control technology

Info

Publication number: WO2021138859A1
Application number: PCT/CN2020/071039
Authority: WO
Inventors: 耿军
Original assignee: 深圳市爱的声音响科技有限公司
Priority date: 2020-01-09
Filing date: 2020-01-09
Publication date: 2021-07-15

Abstract

A versatile manipulator using variable-frequency electromagnetic control technology, comprising a claw arm mounting sleeve (1), the claw arm mounting sleeve (1) being provided therein with three or more grabbing claws (2). Each grabbing claw (2) is respectively movably connected to the inner wall of the claw arm mounting sleeve (1) by means of a rotary shaft (21), a power arm of each grabbing claw (2) is provided within the claw arm mounting sleeve (1), and a claw reset spring (22) is further provided between each grabbing claw (2) and the claw arm mounting sleeve (1). An electromagnetic coil (3) is fixedly mounted outside the claw arm mounting sleeve (1) and is used for magnetizing the claw arm mounting sleeve (1) and then making the power arm of each grabbing claw (2) move around with the corresponding rotary shaft (21) as a fulcrum under a magnetic force. The manipulator has a small volume, a simple structure and is flexible in use, and can effectively solve the current problem that special insertion members cannot be clamped in the production of PCBs of electronic products.

Description

A multi-purpose manipulator with frequency conversion electromagnetic control technology

Technical field

The invention relates to a manipulator used for grabbing materials in automatic equipment.

Background technique

The manipulator used to grab materials in the existing automatic equipment is generally controlled by air cylinders or electromagnets to open or close. The force of clamping materials is not easy to control. Moreover, it is only suitable for two clamping arms to open and close to clamp materials. The stability of the holding material is poor in the process of moving, and the special-shaped parts cannot be clamped.

technical problem

In summary, the purpose of the present invention is that the strength of the existing manipulator gripping materials is not easy to control, and the stability of the gripping materials is poor, and the technology is insufficient to clamp the special-shaped parts. Therefore, a frequency conversion electromagnetic control technology is proposed. Multi-purpose manipulator.

Technical solutions

The technical solutions adopted to solve the technical problems proposed by the present invention are:

A multi-purpose manipulator with frequency conversion electromagnetic control technology, characterized in that the manipulator includes a claw arm mounting sleeve (1), and the claw arm mounting sleeve (1) is provided with more than three grasping claws (2), each grasping The claws (2) are operatively connected to the inner wall of the claw arm mounting sleeve (1) through a rotating shaft (21). The grab arms of each grab claw (2) extend out of the claw arm installation sleeve (1), and each grab The power arm of the claw (2) is placed in the claw arm installation sleeve (1), and a grab arm for driving the grab claw (2) is also provided between each grab claw (2) and the claw arm installation sleeve (1) The opened claw return spring (22); after the claw arm mounting sleeve (1) is also fixedly installed on the outside of the magnetized claw arm mounting sleeve (1), the gripping claws (2) are made under magnetic force. The power arm uses the corresponding rotating shaft (21) as a fulcrum to move the electromagnetic coil (3) around.

The technical solutions that further limit the present invention include:

The claw arm mounting sleeve (1) includes a middle frame (11) and a face cover (12); the middle frame (11) is fixed to the face cover (12), and the inner wall of the middle frame (11) passes through the shaft seat (111). ) Is installed in cooperation with the said rotating shaft (21), the tail end of the power arm of each grabbing claw (2) is placed in the cavity of the face cover (12); the middle frame (11) is made of non-magnetic material, The cover (12) is made of magnetic material.

The side wall of the claw arm mounting sleeve (1) is provided with clamping limit screws (23) corresponding to the power arms of each grabbing claw (2).

The tail end of the power arm of each grab claw (2) is provided with a claw cap (24).

The bottom of the middle frame (11) is provided with a bottom cover (4), and the bottom cover (4) is provided with a push button limit slot (41) corresponding to each grabbing claw (2). The slot (41) is provided with an opening limit push button (42) used to limit the opening angle of the grasping claw (2), and a push button (42) is provided between each opening limit push button (42) and the middle frame (11). Button positioning spring (43).

The inner surface of the grab arm of each grab claw (2) is provided with non-slip silica gel (25).

The claw return spring (22) is a torsion spring sleeved on the rotating shaft (21), one end of the torsion spring is fixed on the grasping claw (2), and the other end elastically acts on the rotating shaft seat (111).

A magnetic bar (121) is arranged on the top of the face cover (12), and the electromagnetic coil (3) is sleeved on the magnetic bar (121).

Eight grasping claws (2) are arranged in the claw arm mounting sleeve (1), and the eight grasping claws (2) are evenly distributed in the claw arm mounting sleeve (1).

The rotating shaft seat (111) and the corresponding rotating shaft (21) are matched and installed through the slot.

Beneficial effect

The beneficial effects of the present invention are: the electromagnetic coil of the present invention can cooperate with the frequency conversion electromagnetic control, and simultaneously control the multiple gripping claws in the claw arm mounting sleeve through the magnetic force. The volume is small and the use is flexible, and can effectively solve the current PCB production of electronic products. Compared with the existing special special-shaped plug-in machine, it has a simple structure, low cost, simple programming and convenient use. It can be widely used in applications that require repeated grabbing actions, without picking materials, flexible application, simple assembly, and has extremely high economic value and social benefits.

Description of the drawings

Figure 1 is a three-dimensional schematic diagram of the present invention in a clamped state;

Figure 2 is a schematic diagram of the three-dimensional structure of the present invention in an open state;

Figure 3 is a schematic diagram of an exploded structure of the present invention;

Figure 4 is a schematic diagram of the exploded structure of the present invention without the cover and the electromagnetic coil;

Fig. 5 is a schematic structural diagram from another angle of Fig. 4;

Figure 6 is a schematic view of the bottom structure of the present invention;

Figure 7 is a schematic diagram of the AA cross-sectional structure in Figure 6;

8 is a schematic cross-sectional view of the structure of the middle frame of the present invention.

The best mode of the present invention

The structure of the present invention will be further described below in conjunction with the accompanying drawings and preferred specific embodiments of the present invention.

Referring to Figures 1 to 8, a multi-purpose manipulator with frequency conversion electromagnetic control technology of the present invention includes a claw arm mounting sleeve 1. The claw arm mounting sleeve 1 is provided with more than three grasping claws 2. This embodiment There are eight grasping claws 2 in the middle claw arm mounting sleeve 1, and the eight grasping claws 2 are evenly distributed in the claw arm mounting sleeve 1; each grabbing claw 2 passes through a rotating shaft 21 and the inner wall of the claw arm mounting sleeve 1 respectively. Connected, the grabbing arms of each grabbing claw 2 extend out of the claw arm mounting sleeve 1, the power arm of each grabbing claw 2 is placed in the claw arm mounting sleeve 1, and each grabbing claw 2 and the claw arm mounting sleeve 1 are There is also a claw return spring 22 that drives the grab arm of the grab claw 2 to open; after the claw arm mounting sleeve 1 is also fixedly installed on the outside of the claw arm mounting sleeve 1 for magnetizing the claw arm The power arm of the grasping pawl 2 uses the corresponding rotating shaft 21 as a fulcrum to move the electromagnetic coil 3 around.

When the electromagnetic coil 3 is energized, the power arm of each grabbing claw 2 is attracted by electromagnetic action and moves in the direction of the claw arm mounting sleeve 1, while the grabbing arm of each grabbing claw 2 is gathered toward the center to collect materials, especially suitable for For the gripping of special-shaped parts, because the shape of the special-shaped parts is not uniform, it is troublesome to design and make fixed and compatible claws, and it is not universal; instead, the magnetic attraction is adopted, and the magnetic force of the electromagnetic coil is adjusted, so that each grasping claw 2 can be in different positions , So as to adapt to different shapes and structures, and realize multi-purpose special-shaped parts grabbing. After the electromagnetic coil 3 is de-energized, the grasping claws 2 are reset and opened on the claw return spring 22.

The claw arm mounting sleeve 1 can adopt an integral structure. In order to facilitate the assembly of the grasping claw 2 and better drive the grasping claw 2 under electromagnetic action, the preferred solution of the claw arm mounting sleeve 1 includes a middle frame 11 and a face cover 12 two parts; the middle frame 11 and the face cover 12 are connected and fixed by a flange structure, the inner wall of the middle frame 11 is installed in cooperation with the shaft 21 through a shaft seat 111, and the tail end of the power arm of each grab claw 2 is placed on the surface Inside the cavity of the cover 12; the middle frame 11 is made of non-magnetic material, and the face cover 12 is made of magnetic material.

In order to clamp and position each grabbing claw 2, a clamping limit screw 23 corresponding to the power arm of each grabbing claw 2 is provided on the side wall of the claw arm mounting sleeve 1, and the clamping limit is adjusted by adjusting the clamping limit. The screw 23 is screwed into the depth to limit the gap between the gripping claw 2 close to the inner wall of the face cover 12 under electromagnetic action.

Similarly, in order to open and position each grasping claw 2, the bottom of the middle frame 11 is provided with a bottom cover 4, and the bottom cover 4 is provided with a push button limit groove 41 corresponding to each grasping claw 2. The button limit groove 41 is provided with an opening limit push button 42 for limiting the opening angle of the grasping claw 2, and a push button positioning spring 43 is provided between each opening limit push button 42 and the middle frame 11. By pushing the clamp opening limit push button 42 to move in the push button limit slot 41, the opening angle of the grasping claw 2 can be limited. The push button positioning spring 43 elastically acts on the clamp opening limit push button 42 to prevent automatic movement.

In order to reduce the noise caused by each grabbing claw 2 colliding with the clamping limit screw 23 when the electromagnetic coil 3 is energized, the tail end of the power arm of each grabbing claw 2 is provided with a claw cap 24, and the claw cap 24 is made of a flexible material. If noise is not considered, the claw cap 24 can also be replaced by an armature to facilitate electromagnetic attraction.

In order to better grip the material and avoid loosening and slipping, the inner surface of the grab arm of each grab 2 is provided with non-slip silicone 25.

In order to facilitate installation, the claw return spring 22 may be a torsion spring sleeved on the rotating shaft 21. One end of the torsion spring is fixed on the grasping claw 2 and the other end elastically acts on the rotating shaft seat 111. The rotating shaft seat 111 and the corresponding rotating shaft 21 are installed in cooperation with each other through a slot.

In order to facilitate the better transmission of the magnetic force of the electromagnetic coil 3 to the surface cover 12 so as to apply stronger magnetic force to the grasping pawl 2, a magnetic conductive rod 121 is provided on the top of the surface cover 12, and the electromagnetic coil 3 is sleeved on the conductive surface. On the magnetic bar 121.

Claims

A multi-purpose manipulator with frequency conversion electromagnetic control technology, characterized in that the manipulator includes a claw arm mounting sleeve (1), and the claw arm mounting sleeve (1) is provided with more than three grasping claws (2), each grasping The claws (2) are operatively connected to the inner wall of the claw arm mounting sleeve (1) through a rotating shaft (21). The grab arms of each grab claw (2) extend out of the claw arm installation sleeve (1), and each grab The power arm of the claw (2) is placed in the claw arm installation sleeve (1), and a grab arm for driving the grab claw (2) is also provided between each grab claw (2) and the claw arm installation sleeve (1) The opened claw return spring (22); after the claw arm mounting sleeve (1) is also fixedly installed on the outside of the magnetized claw arm mounting sleeve (1), the gripping claws (2) are made under magnetic force. The power arm uses the corresponding rotating shaft (21) as a fulcrum to move the electromagnetic coil (3) around.
The multi-purpose manipulator with variable frequency electromagnetic control technology according to claim 1, characterized in that: the claw arm mounting sleeve (1) includes a middle frame (11) and a face cover (12); the middle frame (11) ) Is connected and fixed with the face cover (12), the inner wall of the middle frame (11) is installed in cooperation with the said shaft (21) through the shaft seat (111), and the tail end of the power arm of each grabbing claw (2) is placed on the face In the cavity of the cover (12); the middle frame (11) is made of non-magnetic materials, and the face cover (12) is made of magnetic materials.
The multi-purpose manipulator with variable frequency electromagnetic control technology according to claim 1, characterized in that: the side wall of the claw arm mounting sleeve (1) is provided with a power arm corresponding to each grab claw (2). The corresponding clamping limit screw (23).
The multi-purpose manipulator with frequency conversion electromagnetic control technology according to claim 1 or 3, characterized in that: the end of the power arm of each grabbing claw (2) is provided with a claw cap (24).
The multi-purpose manipulator with variable frequency electromagnetic control technology according to claim 2, characterized in that: the bottom of the middle frame (11) is provided with a bottom cover (4), and the bottom cover (4) is provided with The push button limit groove (41) corresponding to the grabbing claw (2), the push button limit groove (41) is provided with an opening limit push button (42) for limiting the opening angle of the grabbing claw (2) , A push button positioning spring (43) is arranged between each clamp opening limit push button (42) and the middle frame (11).
The multi-purpose manipulator with frequency conversion electromagnetic control technology according to claim 1, characterized in that: the inner surface of the grasping arm of each grasping claw (2) is provided with non-slip silica gel (25).
The multi-purpose manipulator with variable frequency electromagnetic control technology according to claim 2, characterized in that: the claw return spring (22) is a torsion spring sleeved on the rotating shaft (21), one end of the torsion spring is fixed on the gripper On the claw (2), the other end elastically acts on the shaft seat (111).
The multi-purpose manipulator with variable frequency electromagnetic control technology according to claim 2, characterized in that: the top of the face cover (12) is provided with a magnetic bar (121), and the electromagnetic coil (3) is sleeved on the magnetic On the stick (121).
The multi-purpose manipulator with variable frequency electromagnetic control technology according to claim 1, characterized in that: the claw arm mounting sleeve (1) is provided with eight grasping claws (2), and the eight grasping claws (2) are evenly distributed in the Inside the claw arm installation sleeve (1).
The multi-purpose manipulator with variable frequency electromagnetic control technology according to claim 2, characterized in that: the rotating shaft seat (111) and the corresponding rotating shaft (21) are installed in cooperation with each other through a slot.