Electromagnetic adsorption type inlaying claw hand

Abstract

The application discloses an electromagnetic adsorption type inlaying claw hand and belongs to the field of mechanical hands. The electromagnetic adsorption type inlaying claw hand comprises an electromagnet fixing base, a mounting flange is fixedly connected to the bottom of the electromagnet fixing base, a switch induction switch is fixedly connected to the outer side wall of the electromagnet fixing base, a proximity switch is fixedly connected to the bottom of the switch induction switch and located below the mounting flange, a plurality of oil-free shaft sleeves are embedded and mounted in the electromagnet fixing base, guide rods are slidably connected to the oil-free shaft sleeves, a push plate is fixedly connected to the top ends of the guide rods, a switch base is fixedly connected to the bottom ends of the two guide rods located in front of the outer side of the electromagnet fixing base, and springs are sleeved with the outer side walls of the guide rods. Compared with a traditional clamping mode, the device can control the adsorption and loosening of inlaying pieces through the combination of AlNiCo and NdFeB to charge and demagnetize.

Description

Technical Field

[0001] This invention relates to the field of robotic arms, and more particularly to an electromagnetic adsorption type inlay gripper. Background Technology

[0002] In the die casting industry, before die casting parts such as engine blocks are formed, inserts such as cylinder liners need to be accurately placed into the mold. Currently, die casting plants with a high degree of automation generally use industrial robots in conjunction with gripper inserters to push the cylinder liners into the designated position in the mold. However, when the mold structure is complex and the insert position does not provide enough space for the gripper inserter to reach in, this method cannot be used to complete the inserting.

[0003] To address the aforementioned problems, this invention provides a novel electromagnetic adsorption-type insert gripper that can achieve the following functions: Compared to traditional clamping methods, this device can control the adsorption and release of inserts by combining AlNiCo and neodymium iron boron for magnetization and demagnetization, and is equipped with an automatic ejection function, which can control the magnitude of the ejection force by designing and selecting springs with different elastic coefficients. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a method for controlling the adsorption and release of inserts by using a combination of AlNiCo and neodymium iron boron for magnetization and demagnetization. Another purpose of this invention is to provide an automatic ejection function, in which the magnitude of the ejection force can be controlled by designing and selecting springs with different elastic coefficients.

[0005] Technical Solution: An electromagnetic adsorption type embedded claw includes an electromagnet mounting base, a mounting flange fixedly connected to the bottom of the electromagnet mounting base, a switch-induction switch fixedly connected to the outer wall of the electromagnet mounting base, a proximity switch fixedly connected to the bottom of the switch-induction switch below the mounting flange, multiple oil-free bushings embedded inside the electromagnet mounting base, guide rods slidably connected inside the oil-free bushings, a push plate fixedly connected to the top ends of the multiple guide rods, a switch base fixedly connected to the bottom ends of two guide rods located at the front outer side of the electromagnet mounting base, two electromagnet bodies fixedly connected to the upper surface of the electromagnet mounting base inside the push plate, and an elastic pushing mechanism provided on the outer wall of the electromagnet mounting base.

[0006] Furthermore, the electromagnet itself has a suction force of 60 kg.

[0007] Furthermore, the elastic pushing mechanism includes rotating rings. Two rotating rings are fixedly connected to both sides of the electromagnet fixing base. The inner sides of the two opposing rotating rings are rotatably connected to a hollow cylinder via a rotating shaft. Multiple vertical support rods are slidably connected inside the hollow cylinder. The bottom end of each vertical support rod extends through to the top of the hollow cylinder and is fitted with an abutment piece. A spring is fitted on the outer wall of each vertical support rod. The two ends of the spring contact the abutment piece and the opposite side of the hollow cylinder, respectively. A through-type release groove is integrally formed on the inner side of the abutment piece. A blocking block is fixedly connected to the top of the vertical support rod.

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

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

[0010] Furthermore, the oilless bushing is model MDZB8-12.

[0011] Furthermore, the front and rear surfaces of the electromagnet mounting base are symmetrically fixed with fixing blocks, and the outer side walls of the fixing blocks are slidably connected with mounting heads. Multiple springs are fixedly connected between the mounting heads and the fixing blocks. Two mounting heads that are opposite each other are connected to gears through a rotating shaft. The outer side walls of the hollow cylinder are fixedly connected with toothed rings, and a knob is fixedly connected at the bottom center of the hollow cylinder. The outer side walls of the two gears and the outer side walls of the two toothed rings are connected to a toothed belt for transmission.

[0012] Furthermore, the electromagnet mounting base, the guide rod, the mounting flange, the switch base, and the switch inductive switch are all made of Q235B material.

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

[0014] Beneficial effects: Compared with traditional clamping methods, this device can control the adsorption and release of the insert by combining AlNiCo and neodymium iron boron for charging and demagnetizing.

[0015] It is equipped with an automatic ejection function, and the ejection force can be controlled by selecting springs with different elastic coefficients.

[0016] Its simple structure, lightweight and small size make it suitable for scenarios with complex mold structures and higher inlay requirements;

[0017] It is equipped with a gripping position sensor, which can determine whether the insert has been gripped in place;

[0018] This device can control the adsorption and release of the insert by charging and demagnetizing through a combination of AlNiCo and neodymium iron boron, without constantly consuming power;

[0019] It is suitable for scenarios with complex mold structures and higher inlay requirements;

[0020] Multiple springs on the same elastic pushing mechanism have different elastic coefficients. By rotating the hollow cylinder, the springs with different elastic coefficients push the abutment plate 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 piece downwards and then rotating the abutment piece so that the blocking block and the release groove are on the same vertical line, the abutment piece can be slid out from the outer wall of the vertical support rod, making it easy to disassemble and replace the spring.

[0022] Through the transmission of gears and gear rings, the rotation of two hollow cylinders can be controlled simultaneously by hand knob, thereby adjusting the elastic pushing mechanism on both sides of the electromagnet mounting base. Springs with different elastic coefficients are pressed between the electromagnet mounting base and the push plate, making the adjustment method simpler. Attached Figure Description

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

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

[0025] Figure 3 This is a top view of the electromagnet mounting base of the present invention.

[0026] Figure 4 This is a top view of the push plate structure of the present invention;

[0027] Figure 5 This is a schematic diagram of the elastic actuation mechanism of the present invention;

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

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

[0030] In the diagram: 1. Electromagnet mounting base; 2. Push plate; 3. Guide rod; 4. Mounting flange; 5. Switch base; 6. Inductive 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. Toothed ring; 17. Knob; 901. Rotary ring; 902. Hollow cylinder; 903. Vertical support rod; 904. Abutment piece; 905. Spring 1; 906. Release groove; 907. Blocking block. Detailed Implementation

[0031] To make the technical solution of the present invention clearer, the present invention will be 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 embedded claw is provided, including an electromagnet mounting base 1, a mounting flange 4 fixedly connected to the bottom of the electromagnet mounting base 1, a switch induction switch 6 fixedly connected to the outer wall of the electromagnet mounting base 1, a proximity switch 10 fixedly connected to the bottom of the switch induction switch 6 below the mounting flange 4, multiple oil-free bushings 8 embedded inside the electromagnet mounting base 1, guide rods 3 slidably connected inside the oil-free bushings 8, a push plate 2 fixedly connected to the top of the multiple guide rods 3, a switch seat 5 fixedly connected to the bottom of the two guide rods 3 located at the front outer side of the electromagnet mounting base 1, two electromagnet bodies 7 fixedly connected to the upper surface of the electromagnet mounting base 1 inside the push plate 2, and an elastic pushing mechanism 9 provided on the outer wall of the electromagnet mounting base 1;

[0034] The electromagnet body 7 has a magnetic force of 60kg, and the triggering distance between the switch base 5 and the switch induction switch 6 is 1.5mm.

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

[0036] The materials of the electromagnet fixing base 1, guide rod 3, mounting flange 4, switch base 5, and 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 neodymium iron boron and form a closed loop on their own through the outer shell of the electromagnetic gripper;

[0038] In order to activate the system, a sufficiently large instantaneous magnetic field is generated by applying a current pulse to the excitation coil to reverse the polarity of the AlNiCo magnet. At this time, the polarities of the two permanent magnets, AlNiCo and Neodymium Iron Boron, repel each other, and the magnetic lines of force overflow, forming a closed loop with the outer shell and the workpiece being gripped, thereby achieving the purpose of gripping the material.

[0039] The elastic pushing mechanism 9 includes a rotating ring 901. Two rotating rings 901 are fixedly connected to both sides of the electromagnet fixing base 1. The inner sides of the two upper and lower opposing rotating rings 901 are connected to a hollow cylinder 902 through a rotating shaft. Multiple vertical support rods 903 are slidably connected inside the hollow cylinder 902. The bottom end of the vertical support rod 903 extends through to the top of the hollow cylinder 902 and is fitted with an abutment piece 904. A spring 905 is fitted on the outer wall of the vertical support rod 903. The two ends of the spring 905 are in contact with the abutment piece 904 and the opposite side of the hollow cylinder 902, respectively. The inner side of the abutment piece 904 is integrally formed with a through-type release groove 906. A blocking block 907 is fixedly connected to the top of the vertical support rod 903.

[0040] Multiple springs 905 on the same elastic pushing mechanism 9 have different elastic coefficients. By rotating the hollow cylinder 902, the springs 905 with different elastic coefficients push the abutment plate 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 piece 904 downward and then rotating the abutment piece 904, the blocking block 907 and the release groove 906 are on the same vertical line. At this time, the abutment piece 904 can be slid out from the outer wall of the vertical support rod 903, which makes it easy to disassemble and replace the spring 905.

[0042] The front and rear surfaces of the electromagnet mounting base 1 are symmetrically fixed with fixing blocks 11. The outer side wall of the fixing block 11 is slidably connected with the mounting head 12. Multiple springs 13 are fixedly connected between the mounting head 12 and the fixing block 11. The two mounting heads 12, which are opposite each other, are connected to a gear 14 through a rotating shaft. The outer side wall of the hollow cylinder 902 is fixedly connected with a toothed ring 16. The bottom center of the hollow cylinder 902 is fixedly connected with a knob 17. The outer side walls of the two gears 14 and the outer side walls of the two toothed rings 16 are connected to a toothed belt 15 for transmission.

[0043] Through the transmission of gear 14 and gear ring 16, the rotation of two hollow cylinders 902 can be controlled simultaneously by hand knob 17, thereby adjusting the elastic pushing mechanism 9 on both sides of the electromagnet fixing base 1. The springs 905 with different elastic coefficients abut against the electromagnet fixing base 1 and the push plate 2, making the adjustment method simpler.

[0044] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An electromagnetic adsorption type embedded claw, comprising an electromagnet fixing base (1), characterized in that: The electromagnet mounting base (1) is fixedly connected to the bottom of a mounting flange (4). A switch base (5) is fixedly connected to the outer side wall of the electromagnet mounting base (1). A proximity switch (10) is fixedly connected to the bottom of the switch base (5) below the mounting flange (4). Multiple oil-free bushings (8) are embedded in the interior of the electromagnet mounting base (1). Guide rods (3) are slidably connected inside the oil-free bushings (8). A push plate (2) is fixedly connected to the top of the multiple guide rods (3). A switch induction switch (6) is fixedly connected to the bottom of the two guide rods (3) located in front of the outer side of the electromagnet mounting base (1). Two electromagnet bodies (7) are fixedly connected to the upper surface of the electromagnet mounting base (1) inside the push plate (2). Two elastic pushing mechanisms (9) are provided on the outer side wall of the electromagnet mounting base (1). The elastic pushing mechanism (9) includes a rotating ring (901). Two rotating rings (901) are fixedly connected to both sides of the electromagnet fixing base (1). The inner sides of the two vertically opposite rotating rings (901) are connected to a hollow cylinder (902) through a rotating shaft. Multiple vertical support rods (903) are slidably connected inside the hollow cylinder (902). The bottom end of the vertical support rod (903) extends through to the top of the hollow cylinder (902) and is fitted with an abutment piece. (904) The outer wall of the vertical support rod (903) is fitted with a plurality of springs (905). The springs (905) have different elastic coefficients. The two ends of the springs (905) are in contact with the opposite sides of the abutment piece (904) and the hollow cylinder (902). The inner side of the abutment piece (904) is integrally formed with a through-type release groove (906). The top of the vertical support rod (903) is fixedly connected with a blocking block (907). The front and rear surfaces of the electromagnet mounting base (1) are symmetrically fixed with fixing blocks (11). The outer side wall of the fixing block (11) is slidably connected with a mounting head (12). Multiple springs (13) are fixedly connected between the mounting head (12) and the fixing block (11). The two mounting heads (12) that are opposite each other are connected by a gear (14) through a rotating shaft. The outer side 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). The outer side walls of the two gears (14) and the outer side walls of the two toothed rings (16) are connected by a toothed belt (15) for transmission.

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

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

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

5. The electromagnetic adsorption type inlay gripper according to claim 1, characterized in that: The oilless bushing (8) is model MDZB8-12.

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

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

Images