Electromagnetic adsorption type embedded claw hand

Abstract

The invention discloses an electromagnetic adsorption type embedded claw and belongs to the field of manipulators. Comprising an electromagnet fixing seat, a mounting flange is fixedly connected to the bottom of the electromagnet fixing seat, a switch sensing switch is fixedly connected to the outer side wall of the electromagnet fixing seat, and a proximity switch is fixedly connected to the position, below the mounting flange, of the bottom of the switch sensing switch; a plurality of oil-free shaft sleeves are embedded in the electromagnet fixing seat, guide rods are slidably connected to the interiors of the oil-free shaft sleeves, the top ends of the plurality of guide rods are jointly and fixedly connected with a push plate, and the bottom ends of the two guide rods located in front of the outer side of the electromagnet fixing seat are jointly and fixedly connected with a switch seat. The outer side wall of the guide rod is sleeved with a spring. Compared with a traditional clamping mode, the device can control adsorption and loosening of the insert by magnetizing and demagnetizing through combination of AlNiCo and neodymium iron boron.

Description

Technical Field

[0001] The invention relates to the field of mechanical arms, and in particular to an electromagnetic adsorption type inlay claw arm. Background Art

[0002] In the die-casting industry, before die-casting of engine cylinder blocks and other die-casting parts, it is necessary to accurately place the cylinder liner and other embedded parts into the mold; currently, die-casting factories with a high degree of automation in the industry generally use industrial robots with clamping embedding claws to push the cylinder liner into the specified position of the mold. However, when the mold structure is complex and the embedding position cannot provide space for the clamping claw to reach in, this method cannot be used to complete the embedding;

[0003] In view of the above problems, the present invention provides a new electromagnetic adsorption inlay claw hand, which can achieve the following functions: Compared with the traditional clamping method, the device can control the adsorption and release of the inlay through the combination of AlNiCo and NdFeB for charging and demagnetization, and is equipped with an automatic ejection function, and the size of the ejection force can be controlled by designing and selecting springs with different elastic coefficients. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a method for controlling the adsorption and release of an inlay by performing demagnetization through a combination of AlNiCo and NdFeB. Another purpose of the present invention is to provide an automatic ejection function, in which the ejection force can be controlled by designing and selecting springs with different elastic coefficients.

[0005] Technical solution: An electromagnetic adsorption type inlay claw comprises an electromagnet fixing seat, the bottom of the electromagnet fixing seat is fixedly connected to a mounting flange, the outer wall of the electromagnet fixing seat is fixedly connected to a switch sensing switch, the bottom of the switch sensing switch is located below the mounting flange and is fixedly connected to a proximity switch, a plurality of oil-free sleeves are embedded and installed inside the electromagnet fixing seat, a guide rod is slidably connected inside the oil-free sleeves, the top ends of the plurality of guide rods are fixedly connected to a push plate, the bottom ends of the two guide rods located on the outer front of the electromagnet fixing seat are fixedly connected to a switch seat, the upper surface of the electromagnet fixing seat is located on the inner side of the push plate and is fixedly connected to two electromagnet bodies, and the outer wall of the electromagnet fixing seat is provided with an elastic pushing mechanism.

[0006] Furthermore, the suction force of the electromagnet body is 60kg.

[0007] Furthermore, the elastic pushing mechanism includes a swivel ring, two swivel rings are fixedly connected to both sides of the electromagnet fixing seat, the inner sides of the two swivel rings opposite to each other are connected to a hollow cylinder through a rotating shaft, and the interior of the hollow cylinder is slidably connected to a plurality of vertical support rods, the bottom ends of the vertical support rods penetrate to the top of the hollow cylinder and are sleeved with abutment plates, the outer side walls of the vertical support rods are sleeved with spring 1, the two ends of the spring 1 are respectively in contact with the abutment plates and the opposite sides of the hollow cylinder, the inner side of the abutment plates is integrally formed with a through-type escape groove, and the top of the vertical support rod is fixedly connected with a blocking block.

[0008] Furthermore, the trigger sensing distance between the switch seat and the switch sensing switch is 1.5 mm.

[0009] Furthermore, the model of the electromagnet body is EMG-30.

[0010] Furthermore, the model of the oil-free bushing is MDZB8-12.

[0011] Furthermore, the front surface and the rear surface of the electromagnet fixing seat are symmetrically fixedly connected with a fixing block, the outer side wall of the fixing block is slidably connected with a mounting head, a plurality of springs are fixedly connected between the mounting head and the fixing block, a gear is connected between the two mounting heads opposite to each other via a rotating shaft for common rotation, the outer side wall of the hollow cylinder is fixedly connected with a gear ring, a knob is fixedly connected at the bottom center of the hollow cylinder, and the outer side walls of the two gears and the outer side walls of the two gear rings are jointly connected with a toothed belt for transmission.

[0012] Furthermore, the material of the electromagnet fixing seat, the guide rod, the mounting flange, the switch seat, and the switch sensing switch are all Q235B.

[0013] Furthermore, the push plate is made of A5052.

[0014] Beneficial effects: Compared with the traditional clamping method, this device can control the adsorption and release of the inlay by demagnetizing and demagnetizing the combination of AlNiCo and NdFeB;

[0015] Equipped with automatic ejection function, the ejection force can be controlled by designing and selecting springs with different elastic coefficients;

[0016] The structure is simple, light and small, which makes it suitable for scenes with complex mold structure and higher requirements for inlay.

[0017] Equipped with a grasping position sensor, which can judge whether the embedded part is grasped in place;

[0018] This device can control the adsorption and release of the embedded parts by charging and demagnetizing the combination of AlNiCo and NdFeB without consuming electricity all the time;

[0019] It can be applied to scenes with complex mold structure and higher requirements for inlay;

[0020] The elastic coefficients of the multiple springs 1 on the same elastic pushing mechanism are different. By rotating the hollow cylinder, the springs 1 with different elastic coefficients push the abutment sheet against the push plate, so that the device can control the magnitude of the pushing force.

[0021] At the same time, by pushing the abutment sheet downward, and then rotating the abutment sheet so that the blocking block and the escape groove are in the same vertical line, the abutment sheet can be slid out of the outer wall of the vertical support rod, so as to facilitate the disassembly and replacement of the spring 1;

[0022] Through the transmission of gears and gear rings, the rotation of the two hollow cylinders can be controlled simultaneously by a handheld knob, so that the elastic pushing mechanism on both sides of the electromagnet fixing seat can be adjusted, and the springs with different elastic coefficients can be controlled to abut between the electromagnet fixing seat and the push plate, making the adjustment method simpler. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0024] Figure 2 It is a side view schematic diagram of the structure of the present invention after removing the elastic pushing mechanism, the fixing block, the mounting head, the gear and the toothed belt;

[0025] Figure 3 It is a schematic diagram of the top view of the structure of the electromagnet fixing seat of the present invention;

[0026] Figure 4 It is a schematic diagram of the top view of the push plate of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the elastic driving mechanism of the present invention;

[0028] Figure 6 is a schematic cross-sectional structural diagram of the elastic pushing mechanism of the present invention;

[0029] Figure 7 It is a top view schematic diagram of the connection structure of the cross section of the fixing block and the mounting head of the present invention.

[0030] In the figure: 1. electromagnet fixing seat; 2. push plate; 3. guide rod; 4. mounting flange; 5. switch seat; 6. switch induction switch; 7. electromagnet body; 8. oil-free bushing; 9. elastic push mechanism; 10. proximity switch; 11. fixing block; 12. mounting head; 13. spring 2; 14. gear; 15. toothed belt; 16. gear ring; 17. knob; 901. swivel; 902. hollow cylinder; 903. vertical support rod; 904. abutment plate; 905. spring 1; 906. escape groove; 907. blocking block. DETAILED DESCRIPTION

[0031] In order to make the technical solution of the present invention clearer, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0032] Example

[0033] like Figure 1-7 As shown, an electromagnetic adsorption type inlay claw hand is provided, including an electromagnet fixing seat 1, a mounting flange 4 is fixedly connected to the bottom of the electromagnet fixing seat 1, a switch sensing switch 6 is fixedly connected to the outer wall of the electromagnet fixing seat 1, the bottom of the switch sensing switch 6 is located below the mounting flange 4 and is fixedly connected to a proximity switch 10, a plurality of oil-free sleeves 8 are embedded and installed inside the electromagnet fixing seat 1, a guide rod 3 is slidably connected inside the oil-free sleeve 8, the top ends of the plurality of guide rods 3 are fixedly connected to a push plate 2, the bottom ends of the two guide rods 3 located at the outer front of the electromagnet fixing seat 1 are fixedly connected to a switch seat 5, the upper surface of the electromagnet fixing seat 1 is located on the inner side of the push plate 2 and is fixedly connected to two electromagnet bodies 7, and an elastic pushing mechanism 9 is provided on the outer wall of the electromagnet fixing seat 1;

[0034] The suction force of the electromagnet body 7 is 60kg, and the trigger sensing distance between the switch seat 5 and the switch sensing switch 6 is 1.5mm;

[0035] The model of the electromagnet body 7 is EMG-30, and the model of the oil-free bushing 8 is MDZB8-12;

[0036] The materials of the electromagnet fixing seat 1, the guide rod 3, the mounting flange 4, the switch seat 5, and the switch induction switch 6 are all Q235B, and the material of the push plate 2 is A5052;

[0037] In the demagnetized state, the magnetic field lines of the AlNiCo magnet pass through the NdFeB and form a closed loop through the electromagnetic gripper housing;

[0038] In order to activate the system, a current pulse is applied to the excitation coil to generate a sufficiently large magnetic field to reverse the polarity of the AlNiCo magnet. At this time, the polarities of the two permanent magnets, AlNiCo and NdFeB, repel each other, and the magnetic lines of force overflow to form a closed loop with the outer shell and the grasped workpiece, thereby achieving the purpose of grasping the material;

[0039] The elastic pushing mechanism 9 includes a rotating ring 901, and two rotating rings 901 are fixedly connected to both sides of the electromagnet fixing seat 1. The inner sides of the two rotating rings 901 opposite to each other are connected to a hollow cylinder 902 through a rotating shaft for common rotation. The interior of the hollow cylinder 902 is slidably connected to a plurality of vertical support rods 903. The bottom ends of the vertical support rods 903 penetrate to the top of the hollow cylinder 902 and are sleeved with abutment sheets 904. The outer wall of the vertical support rod 903 is sleeved with a spring 905. The two ends of the spring 905 are respectively in contact with the abutment sheets 904 and the opposite sides of the hollow cylinder 902. The inner side of the abutment sheet 904 is integrally formed with a through-type escape groove 906. The top of the vertical support rod 904 is fixedly connected with a blocking block 907.

[0040] The multiple springs 1 905 on the same elastic pushing mechanism 9 have different elastic coefficients. By rotating the hollow cylinder 902, the springs 1 905 with different elastic coefficients push the abutment sheet 904 against the push plate 2, so that the device can control the magnitude of the pushing force.

[0041] At the same time, by pushing the abutment sheet 904 downward, and then rotating the abutment sheet 904 so that the blocking block 907 and the escape groove 906 are in the same vertical line, the abutment sheet 904 can be slid out of the outer wall of the vertical support rod 903, so as to facilitate the disassembly and replacement of the spring 1 905;

[0042] The front and rear surfaces of the electromagnet fixing seat 1 are symmetrically fixedly connected with a fixing block 11, the outer wall of the fixing block 11 is slidably connected with a mounting head 12, a plurality of springs 13 are fixedly connected between the mounting head 12 and the fixing block 11, a gear 14 is connected to the two mounting heads 12 opposite to each other via a rotating shaft for common rotation, a gear ring 16 is fixedly connected to the outer wall of the hollow cylinder 902, a knob 17 is fixedly connected at the bottom center of the hollow cylinder 902, and a toothed belt 15 is commonly connected to the outer walls of the two gears 14 and the outer walls of the two gear rings 16 for common transmission;

[0043] Through the transmission of the gear 14 and the gear ring 16, the two hollow cylinders 902 can be controlled to rotate at the same time by the handheld knob 17, so that the elastic pushing mechanism 9 on both sides of the electromagnet fixing seat 1 can be adjusted, and the spring 905 with different elastic coefficients can be controlled to abut between the electromagnet fixing seat 1 and the push plate 2, making the adjustment method simpler.

[0044] The above-mentioned embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. An electromagnetic adsorption type inlay claw, comprising an electromagnet fixing seat (1), characterized in that: The bottom of the electromagnet fixing seat (1) is fixedly connected to a mounting flange (4), the outer wall of the electromagnet fixing seat (1) is fixedly connected to a switch sensing switch (6), the bottom of the switch sensing switch (6) is located below the mounting flange (4) and is fixedly connected to a proximity switch (10), a plurality of oil-free sleeves (8) are embedded and installed inside the electromagnet fixing seat (1), the inside of the oil-free sleeve (8) is slidably connected to a guide rod (3), the top ends of the plurality of guide rods (3) are fixedly connected to a push plate (2), the bottom ends of the two guide rods (3) located at the outer front of the electromagnet fixing seat (1) are fixedly connected to a switch seat (5), the upper surface of the electromagnet fixing seat (1) is located on the inner side of the push plate (2) and is fixedly connected to two electromagnet bodies (7), and the outer wall of the electromagnet fixing seat (1) is provided with two elastic pushing mechanisms (9).

2. The electromagnetic adsorption type inlay claw according to claim 1, characterized in that: The suction force of the electromagnet body (7) is 60kg.

3. The electromagnetic adsorption type inlay claw according to claim 1, characterized in that: The elastic pushing mechanism (9) comprises a rotating ring (901), two rotating rings (901) are fixedly connected to both sides of the electromagnet fixing seat (1), the inner sides of the two rotating rings (901) opposite to each other are connected to a hollow cylinder (902) through a rotating shaft for common rotation, the interior of the hollow cylinder (902) is slidably connected to a plurality of vertical support rods (903), the bottom ends of the vertical support rods (903) penetrate to the top of the hollow cylinder (902) and are sleeved with abutment sheets (904), the outer side walls of the vertical support rods (903) are sleeved with springs 1 (905), the two ends of the springs 1 (905) are respectively in contact with the abutment sheets (904) and the opposite sides of the hollow cylinder (902), the inner side of the abutment sheets (904) is integrally formed with a through-type escape groove (906), and the top of the vertical support rods (904) is fixedly connected with a blocking block (907).

4. The electromagnetic adsorption type inlay claw according to claim 1, characterized in that: The trigger sensing distance between the switch seat (5) and the switch sensing switch (6) is 1.5 mm.

5. The electromagnetic adsorption type inlay claw according to claim 1, characterized in that: The model of the electromagnet body (7) is EMG-30.

6. The electromagnetic adsorption type inlay claw according to claim 1, characterized in that: The model of the oil-free shaft sleeve (8) is MDZB8-12.

7. The electromagnetic adsorption type inlay claw according to claim 3, characterized in that: The front and rear surfaces of the electromagnet fixing seat (1) are symmetrically fixedly connected with a fixing block (11); the outer wall of the fixing block (11) is slidably connected with a mounting head (12); a plurality of springs (13) are fixedly connected between the mounting head (12) and the fixing block (11); a gear (14) is rotatably connected between two mounting heads (12) that are opposite to each other up and down via a rotating shaft; the outer wall of the hollow cylinder (902) is fixedly connected with a toothed ring (16); a knob (17) is fixedly connected at the bottom center of the hollow cylinder (902); and the outer walls of the two gears (14) and the outer walls of the two toothed rings (16) are jointly connected with a toothed belt (15).

8. The electromagnetic adsorption type inlay claw according to claim 1, characterized in that: The material of the electromagnet fixing seat (1), the guide rod (3), the mounting flange (4), the switch seat (5), and the switch induction switch (6) are all Q235B.

9. The electromagnetic adsorption type inlay claw according to claim 1, characterized in that: The material of the push plate (2) is A5052.

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