Electric permanent magnet gripper device for carrying flexible cobalt plate

Abstract

The invention relates to a flexible cobalt plate carrying electric permanent magnet gripper device which comprises motor fixing trusses, a Z-axis mechanical arm, X-axis linear motors, Y-axis linear motors and electric permanent magnet chucks. The motor fixing trusses are installed on the ground, and the Y-axis linear motors are installed on the motor fixing trusses on the left side and the right side; the X-axis linear motors are transversely installed on the Y-axis linear motors on the left side and the right side, the Z-axis mechanical arm is connected with the X-axis linear motors through a fixed connecting plate, and the electric permanent magnetic chuck is fixedly installed on a fixed plate at the front end of the Z-axis mechanical arm. By the adoption of the flexible cobalt plate carrying electric permanent magnet gripper device, the electromagnetic heads can be directionally stretched out and drawn back through the guide rods under the action of different forces by means of the longitudinal guide and reset mechanism in the telescopic electric permanent magnet, and the positions of the electric permanent magnet heads are kept fixed through the longitudinal flexible positioning mechanism, and the electric permanent magnet heads are tightly attached to the cobalt plate. The electric permanent magnetic heads carry out multi-point positioning on the cobalt plate, and each electric permanent magnetic head generates magnetic force through the electromagnetic control device, so that the cobalt plate is quickly and stably grabbed.

Description

Technical Field

[0001] The present invention relates to the field of aerospace equipment, in particular to the field of cobalt plate transportation, and specifically refers to a flexible cobalt plate transportation electro-permanent magnetic gripper device. Background Art

[0002] The existing technology for transporting cobalt plates mainly uses slings and manual handling, which has high safety risks, low efficiency and high cost.

[0003] Compared with traditional handling methods, using permanent magnetic grippers to transport cobalt plates has very obvious advantages.

[0004] 1) Construction and component connection: An electro-permanent magnetic gripper typically consists of key components such as an electromagnet, permanent magnetic material, and a control device. The combination of the electromagnet and permanent magnetic material enables the gripper to generate a strong magnetic force to attract the cobalt plate when powered on. When the power is off, the properties of the permanent magnetic material maintain the magnetic force, preventing the cobalt plate from falling. Precise mechanical structures and electrical connections between these components ensure stable and reliable signal transmission and magnetic force control.

[0005] 2) Signal transmission and control: The control device of the electro-permanent magnetic gripper receives external commands to control the power on and off of the electromagnet, thereby grasping and releasing the cobalt plate. During signal transmission, the control device monitors the gripper's status and magnetic force in real time, ensuring safety and accuracy during handling. The control device also features fault detection and alarm functions, providing timely alerts when an anomaly occurs, preventing accidents.

[0006] 3) Analysis of the advantages of existing technologies: a. High safety: The permanent magnetic gripper can still maintain magnetic force when the power is off, ensuring that the cobalt plate will not fall off accidentally due to power failure, greatly improving the safety during the handling process.

[0007] b. High energy efficiency: Compared with traditional electromagnetic spreaders, the electro-permanent magnetic gripper consumes almost no electricity when in standby or normal handling operations, and only consumes a small amount of electricity during excitation and demagnetization, thus achieving significant energy savings.

[0008] c. Precise control: Through precise control devices, the electro-permanent magnetic gripper can accurately adjust the magnetic force to achieve precise grasping and release of the cobalt plate, avoiding damage or falling of the cobalt plate due to grasping deviation.

[0009] d. Strong adaptability: The permanent magnetic gripper can be used to handle cobalt plates of different specifications and shapes without changing the gripper or adjusting equipment parameters, which improves handling efficiency and flexibility. Summary of the Invention

[0010] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a flexible cobalt plate handling electro-permanent magnetic gripper device which has simple structure, accurate positioning and a wide range of applications.

[0011] In order to achieve the above-mentioned purpose, the flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention is as follows: The flexible cobalt plate handling electro-permanent magnetic gripper device has the following main features: the device includes a motor fixing truss, a Z-axis robotic arm, an X-axis linear motor, a Y-axis linear motor and an electro-permanent magnetic suction cup, the motor fixing truss is installed on the ground, the Y-axis linear motor is installed on the left and right motor fixing trusses, the X-axis linear motor is installed horizontally on the left and right Y-axis linear motors, the Z-axis robotic arm is connected to the X-axis linear motor via a fixed connecting plate, and the electro-permanent magnetic suction cup is fixedly installed on the fixed plate at the front end of the Z-axis robotic arm.

[0012] Preferably, the electro-permanent magnetic chuck includes six flexible and retractable electro-permanent magnetic heads, and the six flexible and retractable electro-permanent magnetic heads are evenly spaced in a circular plane.

[0013] Preferably, the flexible telescopic electro-permanent magnetic head includes a locking nut, a connecting guide rod, a gasket, a guide bushing, a compression spring, a fixed plate, an electro-permanent magnetic head and a mounting base plate, the guide bushing is mounted on the mounting base plate, the connecting guide rod passes through the guide bushing, the connecting guide rod is fixed to the guide bushing by a locking nut and a gasket, the fixed plate is connected to the connecting guide rod by screws, the electro-permanent magnetic head is fixed on the fixed plate, and the compression spring passes through the connecting guide rod and is fixed between the guide bushing and the fixed plate.

[0014] Preferably, the device further comprises a laser ranging sensor, and the laser ranging sensor is mounted on a mounting base plate of the electro-permanent magnetic chuck.

[0015] Preferably, the device further comprises an electromagnetic control device, wherein the electromagnetic control device is installed in an electrical control box, and the electrical control box is placed near the motor fixing truss.

[0016] Preferably, the device further comprises a cobalt plate placing and conveying platform, and the cobalt plate placing and conveying platform is placed below the X-axis linear motor and the Y-axis linear motor.

[0017] Preferably, after the laser ranging sensor detects the initial picking position of the cobalt plate, the Z-axis robotic arm moves downward, and after the electro-permanent magnetic head contacts the cobalt plate, the Z-axis robotic arm continues to move downward, and the compression spring is compressed; after the laser ranging sensor detects the final picking position of the cobalt plate, the electromagnetic control device supplies power to the electro-permanent magnetic chuck, the electro-permanent magnetic head generates magnetic attraction to absorb the cobalt plate, the Z-axis robotic arm moves upward, and the compression spring resets; the electro-permanent magnetic chuck that absorbs the cobalt plate transports the cobalt plate to the specified position under the movement of the X-axis linear motor and the Y-axis linear motor.

[0018] The flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention is adopted. The longitudinal guide and reset mechanism in the telescopic electro-permanent magnet can make the electromagnetic head directionally extend and retract through the guide rod under the action of different forces, and the longitudinal flexible positioning mechanism can keep the position of each electro-permanent magnetic head fixed and tightly fitted to the cobalt plate. The electro-permanent magnetic head performs multi-point positioning of the cobalt plate, and each electro-permanent magnetic head generates magnetic force through the electromagnetic control device to achieve fast and stable grasping of the cobalt plate. The electro-permanent magnetic gripper robot arm is equipped with a servo Z-axis to achieve the lifting and lowering of the grasped cobalt plate. The electromagnetic gripper robot arm is fixed on the X-direction linear motor, and the X-direction linear motor with the electromagnetic gripper robot arm is fixed on the Y-direction linear motor of the equipment. The above linear motors in the X and Y directions are used to move the cobalt plate to the specified position. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a front view of the overall structure of the flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention.

[0020] Figure 2 This is a top view of the overall structure of the flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention.

[0021] Figure 3 This is a diagram showing the installation position of the flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention.

[0022] Figure 4 This is a bottom view of the electro-permanent magnetic gripper device for transporting flexible cobalt plates of the present invention.

[0023] Figure 5 This is a schematic diagram of the working state of the flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention.

[0024] Figure 6 This is a structural schematic diagram of the telescopic electro-permanent magnetic head of the electro-permanent magnetic gripper device for transporting flexible cobalt plates of the present invention.

[0025] Reference numerals: 10 Motor fixing truss 11 Z-axis robotic arm 12 X-axis linear motors 13 Y-axis linear motor 14 Cobalt plate placement conveyor 15. Electromagnetic control device 16 Laser ranging sensor 20 Electro-permanent magnetic chuck 21 Flexible retractable electro-permanent magnetic head 22 Lock nut 23 gasket 24 Guide bushing 25 Connecting guide rod 26 Compression spring 27 Fixed plate 28 Electropermanent magnetic head 29 Mounting Base Plate 30 Cobalt Plate DETAILED DESCRIPTION

[0026] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0027] The flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention includes a motor fixing truss 10, a Z-axis robotic arm 11, an X-axis linear motor 12, a Y-axis linear motor 13 and an electro-permanent magnetic suction cup 20. The motor fixing truss 10 is installed on the ground, the Y-axis linear motor 13 is installed on the left and right motor fixing trusses 10, the X-axis linear motor 12 is installed horizontally on the left and right Y-axis linear motors 13, the Z-axis robotic arm 11 is connected to the X-axis linear motor 12 through a fixed connecting plate, and the electro-permanent magnetic suction cup 20 is fixedly installed on the fixed plate at the front end of the Z-axis robotic arm 11.

[0028] As a preferred embodiment of the present invention, the electro-permanent magnetic chuck 20 includes six flexible and retractable electro-permanent magnetic heads 21 , and the six flexible and retractable electro-permanent magnetic heads 21 are evenly spaced apart in a circular plane.

[0029] As a preferred embodiment of the present invention, the flexible telescopic electro-permanent magnetic head 21 includes a locking nut 22, a connecting guide rod 25, a gasket 23, a guide bushing 24, a compression spring 26, a fixed plate 27, an electro-permanent magnetic head 28 and a mounting base plate 29. The guide bushing 24 is mounted on the mounting base plate 29. The connecting guide rod 25 passes through the guide bushing 24 and is fixed to the guide bushing 24 by the locking nut 22 and the gasket 23. The fixed plate 27 is connected to the connecting guide rod 25 by screws. The electro-permanent magnetic head 28 is fixed on the fixed plate 27. The compression spring 26 passes through the connecting guide rod 25 and is fixed between the guide bushing 24 and the fixed plate 27.

[0030] As a preferred embodiment of the present invention, the device further includes a laser distance measuring sensor 16 , which is mounted on a mounting substrate of the electro-permanent magnetic chuck 20 .

[0031] As a preferred embodiment of the present invention, the device further comprises an electromagnetic control device 15 , which is installed in an electrical control box. The electrical control box is placed near the motor fixing truss 10 .

[0032] As a preferred embodiment of the present invention, the device further includes a cobalt plate placement and conveying platform 14, and the cobalt plate placement and conveying platform 14 is placed below the X-axis linear motor and the Y-axis linear motor.

[0033] As a preferred embodiment of the present invention, after the laser ranging sensor 16 detects the initial picking position of the cobalt plate, the Z-axis robotic arm 11 moves downward, and after the electropermanent magnetic head 28 contacts the cobalt plate, the Z-axis robotic arm 11 continues to move downward, and the compression spring 26 is compressed; after the laser ranging sensor 16 detects the final picking position of the cobalt plate, the electromagnetic control device 15 supplies power to the electropermanent magnetic suction cup 20, the electropermanent magnetic head 28 generates a magnetic attraction force to absorb the cobalt plate, the Z-axis robotic arm 11 moves upward, and the compression spring 26 is reset; the electropermanent magnetic suction cup 20 that absorbs the cobalt plate transports the cobalt plate to the designated position under the movement of the X-axis linear motor 12 and the Y-axis linear motor 13.

[0034] In a specific embodiment of the present invention, a flexible electro-permanent magnetic gripper device for handling cobalt plates is provided to quickly and smoothly grasp the cobalt plates. The device's mechanical arm can move quickly and flexibly in the X, Y, and Z directions to improve construction efficiency and achieve rapid handling of the cobalt plates.

[0035] In terms of device, the electro-permanent magnetic gripper may include the following main parts: 1. Clamping mechanism: This is installed on a multi-axis robotic arm and is used to transport the cobalt plate. The clamping mechanism uses an electro-permanent magnet as an adsorption element. The technical solution adopted by the present invention to solve the above-mentioned problem is achieved by controlling the on and off power of the electromagnet as follows: The present invention discloses a flexible electropermanent magnetic gripper for handling cobalt plates. The gripper is mounted at the front end of a mechanical arm connected to the X-axis linear motor of the equipment. The gripper comprises an electropermanent magnetic chuck and an electromagnetic control device. The electromagnetic control device is integrated into the equipment control cabinet and connected to the gripper via a cable. The electromagnetic chuck consists of six electropermanent magnetic heads evenly spaced within its circular plane. Each retractable electropermanent magnetic head has a longitudinal guide and reset mechanism, as well as a longitudinal positioning mechanism.

[0036] The retractable EPM head includes a longitudinal guide and reset mechanism consisting of an EPM head module, a fixed plate, a locking nut, a connecting guide rod, a gasket, a guide bushing, and a compression spring. The EPM head module is connected to the EPM gripper's fixed baseplate via the fixed plate and connecting guide rod. The EPM head module's fixed block secures the EPM head module at its lower end. One end of the connecting guide rod is fixed to the EPM head fixed block, while the other end passes through a bearing bushing and is secured to the EPM gripper's fixed baseplate via a locking nut and gasket.

[0037] A laser rangefinder is mounted on the fixed base of the electro-permanent magnetic gripper to detect whether the cobalt plate is in the correct position. This information is fed back to the device control unit. Once the device controls the position based on this feedback, the electro-permanent magnetic gripper begins to pick up and place the cobalt plate.

[0038] Reference Figures 1 to 6 The present invention provides a flexible cobalt plate handling electro-permanent magnetic gripper, which is fixedly mounted on the front end of a Z-axis robotic arm 11, and the Z-axis robotic arm 11 is connected to an X-axis linear motor 12 through a fixed connecting plate.

[0039] The electro-permanent magnetic gripper comprises an electro-permanent magnetic chuck 20 and an electromagnetic control device 15. The electro-permanent magnetic chuck 20 is fixedly mounted on a fixed plate at the front end of the Z-axis manipulator 11. The electromagnetic control device 15 is housed in an electrical control box. The Z-axis manipulator 11 is connected to the X-axis linear motor 12 via a fixed connecting plate, allowing the gripped cobalt plate to move in the X-direction.

[0040] The electro-permanent magnetic chuck 20 consists of six flexible, retractable electro-permanent magnetic heads 21 evenly spaced within its circular plane. Each head 21 includes a longitudinal guide and reset mechanism. The X-axis linear motor 12 is fixed to the Y-axis linear motor 13, enabling the cobalt plate held by the electro-permanent magnetic chuck 20 to be moved to a desired position along the Y-axis linear motor.

[0041] Reference Figures 4 to 6The flexible and retractable electropermanent magnetic head 21 includes a locking nut 22, a connecting rod 25, a washer 23, a guide bushing 24, a compression spring 26, and a fixing plate 27. The guide bushing 24 is mounted on a mounting base 29, and the electropermanent magnetic head 28 is fixed to the fixing plate 27. The fixing plate 27 is screwed to the connecting rod 25. The connecting rod 25 passes through the guide bushing 24 and is secured by the locking nut 22 and washer 23. The two ends of the compression spring 26 act on the fixing plate 27 and the guide bushing 24, respectively. When the laser ranging sensor 16 detects the initial pickup position of the cobalt plate, the Z-axis robot 11 moves downward. When the electro-permanent magnetic head 28 contacts the cobalt plate, the Z-axis robot 11 continues its downward movement, compressing the compression spring 26 (Note: The compression spring 26 passes through the connecting guide rod 25 and is fixed between the guide bushing 24 and the fixed plate 27). When the compression spring 26 is compressed to a certain distance, when the laser ranging sensor 16 detects the final pickup position of the cobalt plate, the electromagnetic control device 15 energizes the electro-permanent magnetic chuck 20, generating a magnetic attraction force to attract the cobalt plate. The Z-axis robot 11 moves upward, and the compression spring 26 returns to its original position. The electro-permanent magnetic chuck 20, which attracts the cobalt plate, is then moved to the designated position by the X-axis linear motor 12 and the Y-axis linear motor 13. The diameter of the connecting guide rod 25 is 1 mm smaller than the inner diameter of the guide bushing 24, ensuring that the six electro-permanent magnetic heads 28 have slight floating motion and can fully contact the cobalt plate. The above mechanism can realize the longitudinal guidance and resetting of the flexible and retractable electropermanent magnetic head 21 .

[0042] The present invention utilizes a longitudinal guidance and reset mechanism for the flexible, retractable electro-permanent magnetic heads 21, enabling directional expansion and contraction under varying forces via connecting guide rods 25. A laser rangefinder 16 ensures precise pick-and-place height, while a longitudinal positioning mechanism ensures the longitudinal position of each electro-permanent magnetic head 28 maintains a close fit with the cobalt plate. The electro-permanent magnetic heads 28 generate electromagnetic force through an electromagnetic control device 15. Six electro-permanent magnetic heads 28 are evenly distributed across the surface of the cobalt plate, enabling the electro-permanent magnetic chuck 20 to quickly and smoothly grasp the cobalt plate.

[0043] The device further comprises a cobalt plate placing and conveying platform 14, and the cobalt plate placing and conveying platform 14 is placed below the X-axis linear motor and the Y-axis linear motor.

[0044] The production process of the flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention is as follows: (1) Design the electro-permanent magnetic chuck 20 in accordance with the size of the cobalt plate, the size of the flexible and retractable electro-permanent magnetic head 21, and the uniformly distributed arrangement size of the electro-permanent magnetic head 28.

[0045] (2) Design an electromagnetic control device 15 that is consistent with the electro-permanent magnetic chuck 20.

[0046] (3) Design the size and stroke of the Z-axis robot arm to match the electro-permanent magnetic chuck 20 for sucking the cobalt plate.

[0047] (4) Design the size and stroke of the X-axis linear motor 12 and the Y-axis linear motor 13 to match the moving cobalt plate of the permanent magnetic chuck 20.

[0048] (5) The design, arrangement and distribution of the permanent magnetic chuck 20 must meet the requirements of being able to fit closely to the cobalt plate and having uniform force on the cobalt plate.

[0049] (6) The magnetic force of the electro-permanent magnetic head 28 must be designed to meet the weight requirements of the cobalt plate.

[0050] (7) The electro-permanent magnetic head 28 should be made of an electro-permanent magnetic material that meets the design requirements, so as to achieve the high safety and high energy efficiency requirements of the electro-permanent magnetic chuck 20.

[0051] (8) According to the design requirements, a laser ranging sensor 16 is provided to ensure the accurate position of the cobalt plate, thereby controlling the size of the compression spring force when taking and placing the cobalt plate.

[0052] The specific implementation scheme of this embodiment can be found in the relevant descriptions in the above embodiments and will not be repeated here.

[0053] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0054] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" is at least two.

[0055] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "examples," "specific examples," or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0056] The flexible cobalt plate handling electro-permanent magnetic gripper device of the present invention is adopted. The longitudinal guide and reset mechanism in the telescopic electro-permanent magnet can make the electromagnetic head directionally extend and retract through the guide rod under the action of different forces, and the longitudinal flexible positioning mechanism can keep the position of each electro-permanent magnetic head fixed and tightly fitted to the cobalt plate. The electro-permanent magnetic head performs multi-point positioning of the cobalt plate, and each electro-permanent magnetic head generates magnetic force through the electromagnetic control device to achieve fast and stable grasping of the cobalt plate. The electro-permanent magnetic gripper robot arm is equipped with a servo Z-axis to achieve the lifting and lowering of the grasped cobalt plate. The electromagnetic gripper robot arm is fixed on the X-direction linear motor, and the X-direction linear motor with the electromagnetic gripper robot arm is fixed on the Y-direction linear motor of the equipment. The above linear motors in the X and Y directions are used to move the cobalt plate to the specified position.

[0057] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it will be apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Accordingly, the specification and drawings are to be regarded as illustrative rather than restrictive.

Claims

1. A flexible cobalt plate handling electro-permanent magnetic gripper device, characterized in that: The device includes a motor fixing truss, a Z-axis robotic arm, an X-axis linear motor, a Y-axis linear motor and an electro-permanent magnetic chuck. The motor fixing truss is installed on the ground, the Y-axis linear motor is installed on the left and right motor fixing trusses, the X-axis linear motor is installed horizontally on the left and right Y-axis linear motors, the Z-axis robotic arm is connected to the X-axis linear motor through a fixed connecting plate, and the electro-permanent magnetic chuck is fixedly installed on the fixed plate at the front end of the Z-axis robotic arm.

2. The flexible cobalt plate handling electro-permanent magnetic gripper device according to claim 1 is characterized in that: The electro-permanent magnetic chuck comprises six flexible and retractable electro-permanent magnetic heads, which are evenly spaced apart in a circular plane.

3. The flexible cobalt plate handling electro-permanent magnetic gripper device according to claim 2 is characterized in that: The flexible telescopic electro-permanent magnetic head includes a locking nut, a connecting guide rod, a gasket, a guide bushing, a compression spring, a fixed plate, an electro-permanent magnetic head and a mounting base plate. The guide bushing is mounted on the mounting base plate. The connecting guide rod passes through the guide bushing. The connecting guide rod is fixed to the guide bushing by a locking nut and a gasket. The fixed plate is connected to the connecting guide rod by screws. The electro-permanent magnetic head is fixed on the fixed plate. The compression spring passes through the connecting guide rod and is fixed between the guide bushing and the fixed plate.

4. The flexible cobalt plate handling electro-permanent magnetic gripper device according to claim 2, characterized in that: The device further comprises a laser distance measuring sensor, which is mounted on a mounting base plate of the electro-permanent magnetic chuck.

5. The flexible cobalt plate handling electro-permanent magnetic gripper device according to claim 1 is characterized in that: The device further comprises an electromagnetic control device, which is installed in an electrical control box, and the electrical control box is placed near the motor fixing truss.

6. The flexible cobalt plate handling electro-permanent magnetic gripper device according to claim 1 is characterized in that: The device also includes a cobalt plate placing and conveying platform, which is placed below the X-axis linear motor and the Y-axis linear motor.

7. The flexible cobalt plate handling electro-permanent magnetic gripper device according to claim 4 is characterized in that: After the laser ranging sensor detects the initial picking position of the cobalt plate, the Z-axis robotic arm moves downward. After the electro-permanent magnetic head contacts the cobalt plate, the Z-axis robotic arm continues to move downward, and the compression spring is compressed. After the laser ranging sensor detects the final picking position of the cobalt plate, the electromagnetic control device supplies power to the electro-permanent magnetic chuck, the electro-permanent magnetic head generates magnetic attraction to absorb the cobalt plate, the Z-axis robotic arm moves upward, and the compression spring resets. The electro-permanent magnetic chuck that absorbs the cobalt plate transports the cobalt plate to a designated position under the movement of the X-axis linear motor and the Y-axis linear motor.

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