Magnetic grabbing device capable of switching rigidity and flexibility for robot

Abstract

The invention relates to the field of clamping devices, in particular to a magnetic grabbing device capable of switching rigidity and flexibility for a robot. The magnetic grabbing device comprises aconnecting frame, an air cylinder, a magnetic grabbing tool, a rubber damper, a positioning sleeve and a positioning pin. A first conical surface is arranged in an inner hole of the positioning sleeve. A second conical surface is arranged at the upper end of the positioning pin. The first conical surface and the second conical surface are matched. A piston rod of the air cylinder stretches out topush the magnetic grabbing tool to move downwards and stretch the rubber damper, the first conical surface and the second conical surface can make contact, and the magnetic grabbing tool is in a rigidconnection state. When the air cylinder resets, the piston rod retracts, the rubber damper rebounds, the first conical surface and the second conical surface can be separated, and the magnetic grabbing tool is in a flexible connection state. Switching of rigid connection and flexible connection between the tail end of the robot and the magnetic grabbing tool is achieved by controlling stretchingand retracting of the piston rod of the air cylinder, and the safety and reliability of the whole process of grabbing, carrying and placing ferromagnetic workpieces, especially heavy objects, throughthe magnetic grabbing tool are guaranteed.

Description

technical field [0001] The invention relates to the field of clamping devices, in particular to a rigid-flexible switchable magnetic grasping device for a robot. Background technique [0002] At present, the grasping and handling of ferromagnetic workpieces is mostly achieved by installing grippers or suction cups at the end of the robot. In the case of grasping, handling, and placement, there will be certain problems in the purely rigid or purely flexible connection between the electromagnetic chuck or the electro-permanent magnetic chuck and the end of the robot: (1) Due to the deviation of the flatness of the workpiece or the existence of the placement posture Inclined, purely rigid connection will cause the electromagnetic chuck or electropermanent magnetic chuck to not fit well with the workpiece, so if the existing air gap is too large, the magnetic suction force of the chuck will be greatly attenuated, and even the workpiece cannot be sucked; The reaction force gener...

AI Technical Summary

Problems solved by technology

[0002] At present, the grasping and handling of ferromagnetic workpieces is mostly achieved by installing grippers or suction cups at the end of the robot. In the case of grasping, handling, and placement, there will be certain problems in the purely rigid or purely flexible connection between the electromagnetic chuck or the electro-permanent magnetic chuck and the end of the robot: (1) Due to the deviation of the flatness of the workpiece or the existence of the placement posture Inclined, purely rigid connection will cause the electromagnetic chuck or electropermanent magnetic chuck to not fit well with the workpiece, so if the existing air gap is too large, the magnetic suction force of the chuck will be greatly attenuated, and even the workpiece cannot be sucked; The reaction force generated when the workpiece is placed on the fixture can also easily lead to deformation and damage of the suction cup, and even overload alarm and shutdown of the robot

(2) The electromagnetic chuck or electro-permanent magnetic chuck with pure flexible connection can better fit the surface of the workpiece when grabbing the workpiece, and can also solve the problem of the reaction force of the fixture through the large elastic deformation generated by the flexible connection when placed, but the flexibility The connected suction cup may cause problems such as workpiece instability, shaking, or even falling during workpiece handling

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