Multi-degree-of-freedom electromagnet device and plate compression molding equipment

Abstract

This invention belongs to the field of sheet metal molding technology and discloses a multi-degree-of-freedom electromagnet device and sheet metal molding equipment. The multi-degree-of-freedom electromagnet device includes a cooperating guide sleeve, an electromagnet, a supporting swing assembly, and a driving component. The supporting swing assembly is movably disposed within the guide sleeve along the Z-axis, with one end connected to the electromagnet. The supporting swing assembly allows the electromagnet to adaptively swing relative to the guide sleeve when in contact with the sheet metal, so that the top surface of the electromagnet adheres to and is attracted to the bottom surface of the sheet metal. The fixed end of the driving component is connected to the guide sleeve via an adapter plate, and the output rod of the driving component extends into the guide sleeve and is disposed at the other end of the supporting swing assembly. The driving component drives the supporting swing assembly to move along the Z-axis. This device can automatically and accurately support, attract, and position sheet metal with high positioning accuracy. It is applicable to the support and positioning of various sheet metal structures, such as flat and curved panels, and has good versatility.

Description

Technical Field

[0001] This invention relates to the field of sheet metal molding technology, and in particular to a multi-degree-of-freedom electromagnet device and sheet metal molding equipment. Background Technology

[0002] Currently, in the process of molding large sheet materials, overhead cranes or semi-gantry cranes are usually used to assist manual positioning of the sheet materials so that they can be molded. However, this positioning method is not only time-consuming and labor-intensive, resulting in low positioning efficiency, but also has the problem of low positioning accuracy, which cannot accurately guarantee the molding effect of the sheet materials. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-degree-of-freedom electromagnet device and a sheet metal molding equipment, which can automatically and accurately support, adsorb, and position sheet metal. The positioning efficiency and positioning accuracy are both high, and it can meet the requirements for supporting, adsorbing, and positioning sheet metal with various different sheet metal structures such as flat panels and curved panels. It has good applicability and versatility.

[0004] To achieve this objective, the present invention adopts the following technical solution: A multi-degree-of-freedom electromagnet device, comprising: Guide sleeve; An electromagnet, a portion of which is disposed within the guide sleeve; A support swing assembly is provided, which is movably disposed within the guide sleeve along the Z-axis. One end of the support swing assembly is connected to the electromagnet. The support swing assembly enables the electromagnet to swing adaptively relative to the guide sleeve when it contacts the plate, so that the top surface of the electromagnet is attached to and adsorbed onto the bottom surface of the plate. The driving component has a fixed end connected to the guide sleeve via an adapter plate. The output rod of the driving component extends into the guide sleeve and is located at the other end of the support swing assembly. The driving component is used to drive the support swing assembly to move up and down along the Z-axis.

[0005] Optionally, the supporting swing assembly includes: A guide piston is movably disposed within the guide sleeve along the Z-axis, and the bottom end of the guide piston is disposed at the output rod of the drive member; A guide seat, one end of which is inserted into the guide piston along the Z-axis with a gap. A first radial spherical bearing, wherein the outer ring of the first radial spherical bearing is connected to the guide seat; A connecting bolt, one end of which is inserted into the inner ring of the first radial spherical bearing, and the other end of which extends upward along the Z-axis and is threaded into the electromagnet.

[0006] Optionally, the guide seat includes: The main body is connected to the outer ring of the first radial spherical bearing within the main body. A boss is coaxially connected to the side of the main body away from the electromagnet along the Z-axis. The outer diameter of the main body is larger than the outer diameter of the boss, and the boss is inserted into the guide piston with a gap along the Z-axis.

[0007] Optionally, the support swing assembly further includes: An elastic element is sleeved on the protrusion. The elastic element is positioned and abuts against the main body and the guide piston. The elastic element enables the electromagnet to make elastic contact with the plate, and the protrusion can move relative to the guide piston along the Z-axis.

[0008] Optionally, the multi-degree-of-freedom electromagnet device further includes: A spherical bearing assembly, one end of which is connected to the guide piston and the other end of which is connected to the output rod of the drive member, wherein the drive member drives the guide piston to move along the Z-axis through the spherical bearing assembly, and the spherical bearing assembly enables the lateral force applied by the plate to the electromagnet to act on the guide piston instead of the output rod of the drive member.

[0009] Optionally, the spherical bearing assembly includes: Upper ear plate, the upper ear plate being connected to the side of the guide piston away from the electromagnet; The lower ear plate has a first ear plate inserted between the two second ear plates of the upper ear plate; A bearing component, wherein the bearing component is connected to the first lug plate and the two second lug plates; A force sensor is connected between the lower ear plate and the output rod of the drive component. The force sensor is used to detect the supporting force provided by the electromagnet to the plate.

[0010] Optionally, the bearing component includes: The second radial joint bearing has its outer ring disposed inside the first lug. A pin, which passes along the X-axis through the inner ring of the two second lugs and the second radial joint bearing.

[0011] Optionally, the multi-degree-of-freedom electromagnet device further includes: A rotation limiting assembly, one end of which is disposed on the connecting bolt and the other end is connected to the guide seat, the rotation limiting assembly being used to limit the rotation range of the electromagnet; A cable guide tube, one end of which is connected to the guide piston, and the other end of which extends downward along the Z-axis to the outside of the guide sleeve, is used to accommodate the cable.

[0012] Optionally, the rotation limiting component includes: The anti-rotation clamping plate includes a first plate and a second plate connected by bending. The first plate is correspondingly sleeved on the connecting bolt, and a locking nut is sleeved on the connecting bolt. The first plate is positioned between the electromagnet and the locking nut, and the second plate is spaced outside the guide seat. The guide seat has multiple threaded blind holes evenly spaced along its circumference on its outer peripheral surface. One of the limit bolts is threaded into one of the threaded blind holes, and the second plate is placed between two adjacent limit bolts at intervals.

[0013] A sheet metal molding equipment includes a multi-degree-of-freedom electromagnet device as described above.

[0014] The beneficial effects of this invention are: The multi-degree-of-freedom electromagnet device of this invention comprises a guide sleeve, an electromagnet, a supporting swing assembly, and a driving component that work in concert. When the electromagnet needs to closely adhere to, attract, support, and position a plate, the driving component first moves the supporting swing assembly upward along the Z-axis, causing the electromagnet to approach the plate relative to the guide sleeve. Then, when the electromagnet contacts the plate, under the contact action between the plate and the electromagnet, and the action of the supporting swing assembly, the electromagnet can adaptively swing relative to the guide sleeve during the contact process, allowing the top surface of the electromagnet to closely adhere to and attract the bottom surface of the plate. This enables automatic and accurate support, attraction, and positioning of the plate, facilitating the molding of the positioned plate. This positioning method is not only time-saving and labor-saving with high positioning efficiency, but also has high positioning accuracy, ensuring accurate molding of the plate. Furthermore, because the electromagnet can adaptively swing relative to the guide sleeve during contact with the plate, it can support, attract, and position various plate structures such as flat and curved panels, making the entire multi-degree-of-freedom electromagnet device highly applicable and versatile.

[0015] The sheet metal molding equipment of the present invention includes the aforementioned multi-degree-of-freedom electromagnet device, which can ensure the automatic and accurate support, adsorption, and positioning of the sheet metal, thereby accurately guaranteeing the molding effect of the sheet metal. Furthermore, since the multi-degree-of-freedom electromagnet device can meet the requirements of supporting, adsorption, and positioning of various sheet metal structures such as flat panels and curved panels, the applicability and versatility of the entire sheet metal molding equipment are good. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the multi-degree-of-freedom electromagnet device (the electromagnet has a certain swing angle) provided in the embodiment of the present invention. Figure 1 ; Figure 2 This is a cross-sectional view of the multi-degree-of-freedom electromagnet device (without oscillation) provided in an embodiment of the present invention. Figure 1 ; Figure 3 yes Figure 2 A magnified schematic diagram of the partial structure at point A in the middle; Figure 4 This is a cross-sectional view of the multi-degree-of-freedom electromagnet device (without oscillation) provided in an embodiment of the present invention. Figure 2 ; Figure 5 This is a schematic diagram of the structure of the multi-degree-of-freedom electromagnet device (the electromagnet has a certain swing angle, and the guide sleeve is removed) provided in the embodiment of the present invention. Figure 2 ; Figure 6 yes Figure 5 A magnified schematic diagram of the local structure at point B; Figure 7 This is a schematic diagram of the assembly structure between the guide seat, the spherical bearing assembly, and the rotation limiting assembly provided in the embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of the two multi-degree-of-freedom electromagnet devices supporting and positioning the flat plate provided in the embodiment of the present invention; Figure 9 This is a schematic diagram of the structure of the two multi-degree-of-freedom electromagnet devices supporting the positioning curved plate provided in the embodiment of the present invention.

[0017] In the picture: 10 - Multi-degree-of-freedom electromagnet device; 20 - Flat plate; 30 - Curved plate; 1-Guide sleeve; 2-Electromagnet; 21-First cable; 3-Support swing assembly; 31-Guide piston; 32-Guide seat; 321-Main body seat; 3211-Threaded blind hole; 322-Protrusion; 33-First radial joint bearing; 34-Connecting bolt; 341-Locking nut; 35-Elastic element; 4-Driver; 41-Output rod; 5-Joint bearing assembly; 51-Upper ear plate; 511-Second ear plate; 52-Lower ear plate; 521-First ear plate; 53-Bearing component; 531-Second radial joint bearing; 532-Pin; 54-Force sensor; 541-Second cable; 6-Rotation limiting assembly; 61-Anti-rotation clamp; 611-First plate; 612-Second plate; 62-Limit bolt; 7-Cable guide tube; 8-Adapter plate. Detailed Implementation

[0018] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0019] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection or an electrical connection; a direct connection or an indirect connection through an intermediate medium; or the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0020] In the description of this invention, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0021] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0022] This embodiment provides a multi-degree-of-freedom electromagnet device and a sheet metal molding equipment including the multi-degree-of-freedom electromagnet device. The multi-degree-of-freedom electromagnet device can automatically and accurately support, attract, and position the sheet metal, achieving high positioning efficiency and accuracy, thus ensuring accurate molding results. It can also support, attract, and position various sheet metal structures, such as flat and curved panels, making the multi-degree-of-freedom electromagnet device highly applicable and versatile. Furthermore, the sheet metal molding equipment can specifically include one or more multi-degree-of-freedom electromagnet devices. The specific number of multi-degree-of-freedom electromagnet devices is not limited here and needs to be determined based on the specific structure of the sheet metal and actual support and positioning requirements. The sheet metal can specifically be a large sheet metal.

[0023] Specifically, such as Figures 1 to 5 As shown, the multi-degree-of-freedom electromagnet device 10 includes a guide sleeve 1, an electromagnet 2, a support swing assembly 3, and a drive component 4. Part of the electromagnet 2 is housed within the guide sleeve 1. The support swing assembly 3 is movably disposed within the guide sleeve 1 along the Z-axis. One end of the support swing assembly 3 is connected to the electromagnet 2, allowing the electromagnet 2 to adaptively swing relative to the guide sleeve 1 when in contact with the plate, so that the top surface of the electromagnet 2 adheres to and adheres to the bottom surface of the plate. The fixed end of the drive component 4 is connected to the guide sleeve 1 via an adapter plate 8; that is, the bottom end of the guide sleeve 1 is securely connected to the adapter plate 8, and the fixed end of the drive component 4 is securely connected to the bottom end of the adapter plate 8. The output rod 41 of the drive component 4 extends into the guide sleeve 1 and is located at the other end of the support swing assembly 3. The drive component 4 drives the support swing assembly 3 to move up and down along the Z-axis, causing the support swing assembly 3 to move the electromagnet 2 upwards or downwards away from the plate along the Z-axis. Among them, the electromagnet 2 is a common electromagnet that can generate magnetic attraction when energized; the driving component 4 can be a servo electric cylinder or an electric push rod; the Z-axis is parallel to the axis of the guide sleeve 1.

[0024] Compared with the prior art, the multi-degree-of-freedom electromagnet device 10 in this embodiment changes the specific positioning structure and implementation method of the plate by setting up a cooperating guide sleeve 1, electromagnet 2, support swing assembly 3, and drive component 4. When the electromagnet 2 needs to closely adhere to and support the positioning plate: firstly, the drive component 4 drives the support swing assembly 3 to move upward along the Z-axis, so as to drive the electromagnet 2 to move closer to the plate relative to the guide sleeve 1 along the Z-axis; then, when the electromagnet 2 contacts the plate, under the contact action between the plate and the electromagnet 2, and the action of the support swing assembly 3, the electromagnet 2 can adaptively swing relative to the guide sleeve 1 during the contact process with the plate. The electromagnet 2 moves so that its top surface can be tightly attached to the bottom surface of the plate, thus enabling automatic and accurate support, adsorption, and positioning of the plate, facilitating the molding of the positioned plate. This positioning method not only saves time and effort and has high positioning efficiency, but also has high positioning accuracy, thus ensuring the molding effect of the plate. Furthermore, since the electromagnet 2 can adaptively swing relative to the guide sleeve 1 during contact with the plate, it can support, adsorb, and position plates with various plate structures such as flat plates and curved plates, thus making the entire multi-degree-of-freedom electromagnet device 10 more applicable and versatile.

[0025] The following is a detailed description of the support swing assembly 3: Specifically, such as Figures 1 to 5 As shown, the supporting swing assembly 3 includes a guide piston 31, a guide seat 32, a first radial spherical bearing 33, and a connecting bolt 34; wherein, the guide piston 31 is movably disposed in the guide sleeve 1 along the Z-axis, and the bottom end of the guide piston 31 is disposed in the output rod 41 of the drive member 4; one end of the guide seat 32 is inserted into the guide piston 31 with a gap along the Z-axis; the outer ring of the first radial spherical bearing 33 is connected to the guide seat 32; one end of the connecting bolt 34 is inserted into the inner ring of the first radial spherical bearing 33, and the other end of the connecting bolt 34 extends upward along the Z-axis and is threadedly connected to the electromagnet 2.

[0026] By setting up a guide piston 31, guide seat 32, first radial joint bearing 33, and connecting bolt 34 that cooperate with each other, a spherical sliding pair is formed between the inner ring (fixed to the connecting bolt 34) and the outer ring (fixed to the guide seat 32) of the first radial joint bearing 33 when the connection between the guide piston 31 and the electromagnet 2 is achieved. This spherical sliding pair allows the connecting bolt 34 to move freely relative to the guide seat 32 within a certain angle, so that the freely moving electromagnet 2 can adapt to the shape of the bottom surface of the plate, thereby ensuring that the top surface of the electromagnet 2 is tightly attached to the bottom surface of the plate. This ensures that the contact and adsorption area between the electromagnet 2 and the plate is large enough to make the magnetic adsorption effect of the electromagnet 2 on the plate more stable and reliable.

[0027] Furthermore, such as Figures 2 to 4 As shown, the guide seat 32 includes a main body 321 and a boss 322; the outer ring of the first radial spherical bearing 33 is connected inside the main body 321; the boss 322 is coaxially connected to the side of the main body 321 away from the electromagnet 2 along the Z-axis, and the outer diameter of the main body 321 is larger than the outer diameter of the boss 322 to form a guide seat 32 with a T-shaped structure; and the boss 322 is inserted into the guide piston 31 with a gap along the Z-axis, that is, the boss 322 can move up and down within a small range along the Z-axis within the guide piston 31. Specifically, the main body 321 and the boss 322 can be an integral structure.

[0028] Specifically, such as Figures 2 to 4 As shown, the supporting swing assembly 3 also includes an elastic element 35, which is sleeved on the boss 322. The elastic element 35 is positioned and abuts against the main body 321 and the guide piston 31. The elastic element 35 allows the electromagnet 2 to elastically contact the plate, and the boss 322 can move relative to the guide piston 31 along the Z-axis. Specifically, when the electromagnet 2 just contacts the plate, the plate can compress the elastic element 35 through the electromagnet 2 and the main body 321. Then, the elastic element 35 can elastically push against the electromagnet 2 under its own elastic force, providing a buffer for the electromagnet 2, so that the electromagnet 2 elastically abuts against the plate, thereby effectively reducing the impact force of the plate on the electromagnet 2 and improving the life of the electromagnet 2 and the plate. During this elastic abutment process, the boss 322 can adapt to the movement of the elastic element 35 to synchronously move slightly along the Z-axis within the guide piston 31, so as to ensure the smoothness and reliability of the movement of the elastic element 35. In this embodiment, the elastic element 35 can specifically be a disc spring.

[0029] The following is a detailed description of the spherical bearing assembly 5: Specifically, such as Figures 2 to 7As shown, the multi-degree-of-freedom electromagnet device 10 also includes a spherical bearing assembly 5. One end of the spherical bearing assembly 5 is connected to the guide piston 31, and the other end of the spherical bearing assembly 5 is connected to the output rod 41 of the drive member 4. The drive member 4 drives the guide piston 31 and the guide seat 32 to move along the Z-axis in the guide sleeve 1 through the spherical bearing assembly 5. The spherical bearing assembly 5 enables the lateral force applied by the plate to the electromagnet 2 to act on the guide piston 31 and not on the output rod 41 of the drive member 4. Only the axial force along the Z-axis acts on the output rod 41 of the drive member 4, so as to avoid the problem that the output rod 41 of the drive member 4 is prone to bending or even breaking under the action of lateral force, thereby better protecting the output rod 41 of the drive member 4.

[0030] Furthermore, such as Figure 2 , Figure 4 , Figure 5 and Figure 7 As shown, the spherical bearing assembly 5 includes an upper ear plate 51, a lower ear plate 52, a bearing component 53, and a force sensor 54. The upper ear plate 51 is connected to the guide piston 31 on the side away from the electromagnet 2 and is placed inside the guide piston 31. The first ear plate 521 of the lower ear plate 52 is inserted between the two second ear plates 511 of the upper ear plate 51. The bearing component 53 connects the first ear plate 521 and the two second ear plates 511 to achieve the connection between the upper ear plate 51 and the lower ear plate 52. The force sensor 54 is connected between the lower ear plate 52 and the output rod 41 of the drive component 4, and the force sensor 54 is used to detect the electromagnet 2. The supporting force provided to the plate is that, as the electromagnet 2 gradually approaches and presses against the plate under the drive of the drive component 4, when the force sensor 54 detects that the supporting force provided by the electromagnet 2 to the plate has reached the preset support value, it indicates that the electromagnet 2 has made contact with the plate. At this point, the drive component 4 stops operating, preventing the electromagnet 2 from pushing against the plate upwards. This avoids damaging the plate due to excessive supporting force provided by the electromagnet 2, thus better protecting the plate. Simultaneously, the electromagnet 2 adaptively swings until it is tightly fitted to the plate, and the electromagnet 2 uses electromagnetic force to attract the plate. The lower ear plate 52 and the force sensor 54 are connected by bolts, and the output rod 41 of the drive component 4 and the force sensor 54 are coaxially connected by a coupling.

[0031] Specifically, such as Figure 2 , Figure 4 , Figure 5 and Figure 7As shown, bearing component 53 includes a second radial spherical bearing 531 and a pin 532; wherein, the outer ring of the second radial spherical bearing 531 is disposed within the first ear plate 521; the pin 532 passes through the two second ear plates 511 and the inner ring of the second radial spherical bearing 531 along the X-axis, so that the load (lateral force and axial force) can be directionally separated through the coordinated cooperation of the upper ear plate 51, the second radial spherical bearing 531, the pin 532 and the lower ear plate 52. That is, through the mechanical path design, the lateral force is borne by the guide piston 31, while the axial force is borne by the output rod 41 of the drive component 4, thereby effectively extending the service life of the drive component 4. The X-axis is perpendicular to the Z-axis.

[0032] Specifically, a spherical sliding pair is formed between the inner ring (fixedly connected to the pin 532) and the outer ring (fixedly connected to the lower ear plate 52) of the second radial spherical bearing 531. This spherical sliding pair allows the pin 532 and the upper ear plate 51 to swing freely relative to the lower ear plate 52 within a certain angle. The upper ear plate 51, connected to the guide piston 31, is used to bear lateral force, while the lower ear plate 52, connected to the output rod 41 of the drive member 4, is used to bear axial force, and the pin 532 is used to transmit axial force. This ensures that the lateral force is preferentially borne by the guide piston 31 through the coordinated cooperation of the upper ear plate 51, the second radial spherical bearing 531, the pin 532, and the lower ear plate 52, thus avoiding the output rod 41 of the drive member 4 from bearing the lateral force bending moment. This allows the axial force to be directly introduced into the output rod 41 of the drive member 4, thereby achieving directional separation of loads (lateral force and axial force).

[0033] The rotation limiting component 6 is described in detail below: Specifically, such as Figures 4 to 7 As shown, the multi-degree-of-freedom electromagnet device 10 also includes a rotation limiting component 6. One end of the rotation limiting component 6 is located on the connecting bolt 34, and the other end of the rotation limiting component 6 is connected to the main body seat 321 of the guide seat 32. The rotation limiting component 6 is used to limit the rotation range of the electromagnet 2.

[0034] In other words, the rotation limiting component 6 is mainly used to prevent the electromagnet 2 from rotating within a large range around the Z-axis. On the one hand, it can prevent the first cable 21 of the electromagnet 2 from getting tangled and knotted due to large-range rotation, thus effectively protecting the associated structure (first cable 21) of the electromagnet 2. On the other hand, it can prevent the electromagnet 2 from misaligning with the plate due to large-range rotation, thus effectively ensuring the accurate adsorption effect between the electromagnet 2 and the plate. Furthermore, the rotation limiting component 6 can also allow the electromagnet 2 to rotate within a small range around the Z-axis, so as to avoid stress concentration caused by rigid constraint on the electromagnet 2 (the electromagnet 2 cannot rotate around the Z-axis at all), and can help extend the service life of the electromagnet 2.

[0035] Furthermore, such as Figures 4 to 7 As shown, the rotation limiting assembly 6 includes an anti-rotation clamping plate 61 and a limiting bolt 62; wherein, the anti-rotation clamping plate 61 includes a first plate 611 and a second plate 612 connected by bending, the first plate 611 is correspondingly sleeved on the connecting bolt 34, and a locking nut 341 is sleeved on the connecting bolt 34, the locking nut 341 is located on the top surface of the main body 321, the first plate 611 is positioned between the electromagnet 2 and the locking nut 341, and the second plate 612 is spaced apart outside the main body 321 of the guide seat 32; in the guide The outer circumferential surface of the main body 321 of the base 32 is provided with a plurality of threaded blind holes 3211 evenly spaced along its circumference. A limiting bolt 62 is threaded into one of the threaded blind holes 3211. The second plate 612 is spaced between two adjacent limiting bolts 62 so that the rotation range of the electromagnet 2 around the Z-axis can be limited by the two adjacent limiting bolts 62, so as to ensure that the electromagnet 2 can only rotate within a small range around the Z-axis between the two adjacent limiting bolts 62, and will not rotate within a large range. In this embodiment, the first plate 611 and the second plate 612 can be a single integrated structure.

[0036] like Figure 6 and Figure 7 As shown, by placing the second plate 612 between two adjacent limiting bolts 62 and threading the limiting bolts 62 into any other threaded blind hole 3211, the distance between the two adjacent limiting bolts 62 can be adjusted, thereby adjusting the specific rotation range of the electromagnet 2 around the Z-axis. Furthermore, by placing the locking nut 341 on the top surface of the main body 321, placing the first plate 611 between the electromagnet 2 and the locking nut 341, and placing the second plate 612 outside the main body 321, the entire anti-rotation plate 61 will not interfere with or affect the adaptive oscillation of the connecting bolt 34 and the electromagnet 2 on it.

[0037] The following is a detailed description of conduit 7: Specifically, such as Figure 1 , Figure 4 and Figure 5As shown, the multi-degree-of-freedom electromagnet device 10 also includes a cable guide tube 7. One end of the cable guide tube 7 is connected to the guide piston 31, and the other end of the cable guide tube 7 extends downward along the Z-axis to the outside of the guide sleeve 1. The cable guide tube 7 is used to accommodate the cables (the first cable 21 of the electromagnet 2 and the second cable 541 of the force sensor 54) to prevent the first cable 21 and the second cable 541 from becoming tangled and knotted, thereby effectively protecting the first cable 21 of the electromagnet 2 and the second cable 541 of the force sensor 54. Furthermore, during the entire operation, due to the electromagnet 2 Both the electromagnet 2 and the force sensor 54 move synchronously up and down along the Z-axis. Therefore, by connecting one end of the cable guide tube 7 to the guide piston 31, the cable guide tube 7 can move synchronously up and down along the Z-axis with the guide piston 31. This ensures that the cable guide tube 7 moves synchronously with the first cable 21 and the second cable 541, thus avoiding cable pulling problems caused by the cable guide tube 7 remaining stationary while the first cable 21 and the second cable 541 move. This further protects the first cable 21 of the electromagnet 2 and the second cable 541 of the force sensor 54. The figure only provides a simplified illustration of the first cable 21 and the second cable 541.

[0038] The specific working process of the multi-degree-of-freedom electromagnet device 10 in this embodiment is as follows: like Figure 8 As shown, when the board material is a flat board material of size 20: First, the drive unit 4 drives the guide piston 31 to move upward along the Z-axis, so as to synchronously drive the guide seat 32 and the electromagnet 2 to move upward to gradually approach and press against the flat plate 20. When the force sensor 54 detects that the support force provided by the electromagnet 2 to the flat plate 20 reaches the preset support value, the drive unit 4 stops operating, and the electromagnet 2 no longer pushes against the flat plate 20. At the same time, the electromagnet 2 automatically swings appropriately under the contact action with the flat plate 20 until the top surface of the electromagnet 2 is tightly attached to the bottom surface of the flat plate 20. At this time, the electromagnet 2 is energized again to magnetically attract the flat plate 20. Thus, the flat plate 20 is stably supported, tightly attracted, and accurately positioned by the multi-degree-of-freedom electromagnet device 10. In this embodiment, the flat plate 20 is stably supported, tightly attracted, and accurately positioned by two multi-degree-of-freedom electromagnet devices 10.

[0039] Among them, since there is an adsorption magnetic force (positive pressure) between the electromagnet 2 and the flat plate 20, when the electromagnet 2 and the entire multi-degree-of-freedom electromagnet device 10 translate, the adsorption friction between the electromagnet 2 and the flat plate 20 can drive the flat plate 20 to move synchronously with the electromagnet 2; so as to realize the position adjustment of the flat plate 20 through the multi-degree-of-freedom electromagnet device 10.

[0040] like Figure 9As shown, when the board material is a curved board material 30: First, the drive unit 4 drives the guide piston 31 to move upward along the Z-axis, so as to synchronously drive the guide seat 32 and the electromagnet 2 to move upward to gradually approach and press against the curved plate 30. When the force sensor 54 detects that the support force provided by the electromagnet 2 to the curved plate 30 reaches the preset support value, the drive unit 4 stops operating, and the electromagnet 2 no longer pushes against the curved plate 30. At the same time, the electromagnet 2 automatically swings appropriately under the contact action with the curved plate 30 to adapt to the curved contour of the curved plate 30 until the top surface of the electromagnet 2 is tightly attached to the bottom surface of the curved plate 30. At this time, the electromagnet 2 is energized again to magnetically attract the curved plate 30. Thus, the multi-degree-of-freedom electromagnet device 10 achieves stable support, tight attraction, and accurate positioning of the curved plate 30. In this embodiment, a total of two multi-degree-of-freedom electromagnet devices 10 are used to achieve stable support, tight attraction, and accurate positioning of the curved plate 30.

[0041] Among them, since there is an adsorption magnetic force (positive pressure) between the electromagnet 2 and the curved plate 30, when the electromagnet 2 and the entire multi-degree-of-freedom electromagnet device 10 translate, the adsorption friction between the electromagnet 2 and the curved plate 30 can drive the curved plate 30 to move synchronously with the electromagnet 2; so as to realize the position adjustment of the curved plate 30 through the multi-degree-of-freedom electromagnet device 10.

[0042] In addition, during the actual adsorption and positioning of the curved plate 30, due to the curvature of the curved plate 30, the two multi-degree-of-freedom electromagnet devices 10 will form a V-shaped support structure together. This V-shaped support structure can better ensure the stability of the support and adsorption of the curved plate 30.

[0043] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A multi-degree-of-freedom electromagnet device, characterized in that, include: Guide sleeve (1); Electromagnet (2), a portion of which is disposed within the guide sleeve (1); A support swing assembly (3) is movably disposed within the guide sleeve (1) along the Z-axis. One end of the support swing assembly (3) is connected to the electromagnet (2). The support swing assembly (3) enables the electromagnet (2) to swing adaptively relative to the guide sleeve (1) when it contacts the plate, so that the top surface of the electromagnet (2) adheres to and is attracted to the bottom surface of the plate. The fixed end of the driving component (4) is connected to the guide sleeve (1) through the adapter plate (8). The output rod (41) of the driving component (4) extends into the guide sleeve (1) and is located at the other end of the support swing assembly (3). The driving component (4) is used to drive the support swing assembly (3) to move up and down along the Z-axis.

2. The multi-degree-of-freedom electromagnet device according to claim 1, characterized in that, The supporting swing assembly (3) includes: Guide piston (31), the guide piston (31) is movably disposed in the guide sleeve (1) along the Z-axis, and the bottom end of the guide piston (31) is disposed on the output rod (41) of the drive member (4). Guide seat (32), one end of which is inserted into the guide piston (31) along the Z-axis gap; The outer ring of the first radial spherical bearing (33) is connected to the guide seat (32); A connecting bolt (34) is inserted into the inner ring of the first radial joint bearing (33) at one end, and the other end of the connecting bolt (34) extends upward along the Z-axis and is threaded into the electromagnet (2).

3. The multi-degree-of-freedom electromagnet device according to claim 2, characterized in that, The guide seat (32) includes: The outer ring of the first radial joint bearing (33) is connected to the main body (321); The boss (322) is coaxially connected to the side of the main body (321) away from the electromagnet (2) along the Z-axis. The outer diameter of the main body (321) is larger than the outer diameter of the boss (322), and the boss (322) is inserted into the guide piston (31) with a gap along the Z-axis.

4. The multi-degree-of-freedom electromagnet device according to claim 3, characterized in that, The supporting swing assembly (3) also includes: An elastic element (35) is sleeved on the protrusion (322). The elastic element (35) is limited and abuts against the main body (321) and the guide piston (31). The elastic element (35) enables the electromagnet (2) to elastically contact the plate, and the protrusion (322) can move relative to the guide piston (31) along the Z-axis.

5. The multi-degree-of-freedom electromagnet device according to any one of claims 2-4, characterized in that, The multi-degree-of-freedom electromagnet device also includes: A spherical bearing assembly (5) is provided, one end of which is connected to the guide piston (31), and the other end of which is connected to the output rod (41) of the drive member (4). The drive member (4) drives the guide piston (31) to move along the Z-axis through the spherical bearing assembly (5). The spherical bearing assembly (5) enables the lateral force applied by the plate to the electromagnet (2) to act on the guide piston (31) and not on the output rod (41) of the drive member (4).

6. The multi-degree-of-freedom electromagnet device according to claim 5, characterized in that, The spherical bearing assembly (5) includes: Upper ear plate (51), the upper ear plate (51) is connected to the side of the guide piston (31) away from the electromagnet (2); The lower ear plate (52) has a first ear plate (521) inserted between the two second ear plates (511) of the upper ear plate (51); Bearing component (53), the bearing component (53) is connected to the first ear plate (521) and the two second ear plates (511); Force sensor (54) is connected between the lower ear plate (52) and the output rod (41) of the drive member (4). The force sensor (54) is used to detect the supporting force provided by the electromagnet (2) to the plate.

7. The multi-degree-of-freedom electromagnet device according to claim 6, characterized in that, The bearing component (53) includes: The outer ring of the second radial joint bearing (531) is disposed inside the first ear plate (521); A pin (532) passes along the X-axis through the inner rings of the two second ear plates (511) and the second radial joint bearing (531).

8. The multi-degree-of-freedom electromagnet device according to any one of claims 2-4, characterized in that, The multi-degree-of-freedom electromagnet device also includes: A rotation limiting component (6) is provided at one end of the connecting bolt (34) and at the other end of the guide seat (32). The rotation limiting component (6) is used to limit the rotation range of the electromagnet (2). The cable guide tube (7) has one end connected to the guide piston (31) and the other end extending downward along the Z-axis to the outside of the guide sleeve (1). The cable guide tube (7) is used to accommodate the cable.

9. The multi-degree-of-freedom electromagnet device according to claim 8, characterized in that, The rotation limiting component (6) includes: The anti-rotation plate (61) includes a first plate (611) and a second plate (612) connected by bending. The first plate (611) is correspondingly sleeved on the connecting bolt (34). A locking nut (341) is sleeved on the connecting bolt (34). The first plate (611) is positioned between the electromagnet (2) and the locking nut (341). The second plate (612) is spaced outside the guide seat (32). The guide seat (32) has a plurality of threaded blind holes (3211) evenly spaced along its circumference on the outer peripheral surface of the limiting bolt (62). One of the limiting bolts (62) is threaded into one of the threaded blind holes (3211). The second plate (612) is placed between two adjacent limiting bolts (62).

10. A sheet metal molding equipment, characterized in that, Includes the multi-degree-of-freedom electromagnet device as described in any one of claims 1-9.

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