Electromagnetic gripper of industrial robot

Abstract

The utility model discloses an industrial robot electromagnetic gripper which comprises a supporting frame, a gripper box and a driving part. The gripper box is arranged at the bottom of the supporting frame. The gripper box comprises a sliding block arranged in the gripper box in a sliding mode, a rotating shaft arranged in the sliding block in a rotating mode, a rotating disc arranged at one end of the rotating shaft and gripping heads arranged on the rotating disc, and the driving part is arranged in the gripper box. The driving part comprises adjusting teeth rotationally arranged in the gripper box, cross blocks arranged on the two sides of the adjusting teeth, driven teeth connected with the adjusting teeth in a meshed mode, driving teeth connected with the driven teeth in a meshed mode and a motor arranged on one side of the gripper box, and the cross blocks are connected with the rotating shaft in a sliding mode. According to the electromagnetic gripper, the adjusting part is arranged, the motor can drive the adjusting teeth to rotate, so that the cross block can drive the rotating shaft to rotate when rotating, the gripping heads on the rotating disc can rotate, and the electromagnetic gripper can replace gripping heads of different sizes.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to an electromagnetic gripper for an industrial robot. Background Art

[0002] In the automation process, the workpiece needs to be processed many times. The process from one process to the next is mostly grasping operation, which is simple and repetitive. In order to liberate manpower and improve safety, robots are often used to replace manual labor. They can grasp, move objects or operate tools according to fixed procedures. Existing robots are mostly set as mechanisms that use electromagnetic grippers at the end to grasp workpieces. Electromagnetic grippers are mechanical grippers that rely on electromagnets to control the opening and closing of the grippers.

[0003] During the use of the electromagnetic gripper, in order to adapt to different clamped objects, grippers of different sizes need to be replaced. When replacing the gripper, the electromagnetic gripper needs to be shut down before the gripper can be replaced. Utility Model Content

[0004] The purpose of the utility model is to provide an electromagnetic gripper for an industrial robot to solve the problem that during the use of the electromagnetic gripper proposed in the above background technology, in order to adapt to different clamped objects, grippers of different sizes need to be replaced, and the electromagnetic gripper needs to be shut down before replacing the gripper.

[0005] To achieve the above purpose, the utility model provides the following technical solutions: an industrial robot electromagnetic gripper, including a support frame, a gripper box and a drive unit:

[0006] The gripper box is arranged at the bottom of the support frame, the gripper box includes a slider slidably arranged inside the gripper box, a rotating shaft rotatably arranged inside the slider, a rotating disk arranged at one end of the rotating shaft and a gripper arranged on the rotating disk, the driving part is arranged inside the gripper box, the driving part includes an adjusting tooth rotatably arranged inside the gripper box, a cross block arranged on both sides of the adjusting tooth, a driven tooth meshing with the adjusting tooth, a driving tooth meshing with the driven tooth and a motor arranged on one side of the gripper box, the cross block is slidably connected to the rotating shaft, and the motor drives the adjusting tooth to rotate to drive the rotating shaft connected to the cross block to rotate so that the gripper arranged around the rotating disk rotates to the bottom of the gripper box.

[0007] By adopting the above technical solution, the adjusting teeth can be driven to rotate by the motor, so that when the cross block rotates, it can drive the rotating shaft to rotate, so that the gripper on the rotating disk can rotate, so that the electromagnetic gripper can replace grippers of different sizes.

[0008] Preferably, the gripper box comprises a slider, a rotating shaft and a slot provided inside the rotating shaft, and the cross block is embedded in the slot and slidably connected thereto.

[0009] By adopting the above technical solution, the adjusting tooth can drive the rotating shaft to rotate through the cross block when rotating, and the sliding block can also slide horizontally along the cross block.

[0010] Preferably, a magnetic part is arranged inside the support frame, and the magnetic part includes a driving shaft slidably connected to the support frame, a metal disk arranged on the top of the driving shaft, an electromagnet arranged on the top of the support frame, and a spring nested outside the driving shaft.

[0011] By adopting the above technical solution, the electromagnet can be energized to adsorb the metal disk and move it upward, thereby driving the driving shaft to move upward.

[0012] Preferably, the magnetic part comprises a driving shaft and a driving block arranged at the bottom of the driving shaft, and the driving block is slidably arranged inside the gripper box.

[0013] By adopting the above technical solution, the driving shaft can drive the driving block to move upward during the upward movement.

[0014] Preferably, a slide groove is provided inside the driving block, two sliding blocks are provided, sliding columns are provided inside the two sliding blocks, and the sliding columns are embedded in the slide groove and are slidably connected with the driving block.

[0015] By adopting the above technical solution, the driving block can drive the slider to move horizontally during the process of moving up and down.

[0016] Preferably, mounting grooves are provided around the rotating disk, and the grabbing heads are provided with different sizes. The grabbing heads are embedded in the mounting grooves and are slidably connected with the rotating disk, and the grabbing heads are fixed to the side of the rotating disk by bolts.

[0017] By adopting the above technical solution, gripping heads of different sizes can be installed by sliding, and the gripping heads can be fixed on the rotating disk by inserting bolts.

[0018] Preferably, the driving part includes an adjusting tooth, a cross block, a driven tooth, a driving tooth and a motor, the output end of the motor is connected to the driving tooth, and the motor drives the driving tooth to rotate to drive the driven tooth to rotate, and drives the cross blocks arranged on both sides of the adjusting tooth to rotate.

[0019] By adopting the above technical solution, the cross blocks on both sides of the adjusting teeth can be driven by the motor to rotate inside the gripper box.

[0020] Compared with the prior art, the beneficial effect of the utility model is that by providing an adjustment part, the adjustment teeth can be driven to rotate by a motor, so that when the cross block rotates, it can drive the rotating shaft to rotate, so that the gripper on the rotating disk can rotate, so that the electromagnetic gripper can replace grippers of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the overall structure of the head for this application;

[0022] Figure 2 This is a schematic diagram of the overall gripper clamping structure of this application;

[0023] Figure 3 This is a schematic diagram of the cross-sectional structure of the overall gripping head of this application;

[0024] Figure 4 This is a schematic diagram of the overall gripper clamping cross-section structure of this application;

[0025] Figure 5 This is a schematic diagram of the cross-sectional structure of the slider of this application;

[0026] Figure 6 This is a schematic diagram of the connection structure between the rotating disk and the grab head of this application.

[0027] In the figure: 1. support frame; 2. gripper box; 201. slider; 202. slide column; 203. rotating shaft; 204. slot; 205. rotating disk; 206. gripper; 3. magnetic part; 301. driving shaft; 302. driving block; 303. metal disk; 304. electromagnet; 305. spring; 4. driving part; 401. adjusting tooth; 402. cross block; 403. driven tooth; 404. driving tooth; 405. motor. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] Embodiment 1

[0030] See also Figure 1 , Figure 2 and Figure 3 The utility model provides a technical solution: an industrial robot electromagnetic gripper, comprising a support frame 1, a gripper box 2 and a driving part 4:

[0031] The support frame 1 is a metal frame structure. A gripper box 2 is arranged at the bottom of the support frame 1. A slide groove is opened inside the gripper box 2. Two left and right sliders 201 are arranged horizontally in the slide groove. The two sliders 201 are slidably connected to the gripper box 2. A rotating shaft 203 is rotatably arranged inside the slider 201. A rotating disk 205 is arranged at one end of the rotating shaft 203. Four grippers 206 are arranged around the rotating disk 205. The driving unit 4 is arranged inside the gripper box 2. The driving unit 4 includes an adjusting tooth 401 rotatably arranged inside the gripper box 2. The adjusting tooth 401 is arranged to rotate inside the gripper box 2. A cross block 402 is provided on each side of the segment tooth 401. The cross block 402 is slidably connected to the rotating shaft 203, and a driven tooth 403 is meshed with the adjusting tooth 401, and a driving tooth 404 is meshed with the driven tooth 403. One end of the driving tooth 404 is connected to the motor 405. The motor 405 drives the adjusting tooth 401 to rotate to drive the rotating shaft 203 connected to the cross block 402 to rotate so that the gripping heads 206 arranged around the rotating disk 205 rotate to the bottom of the gripper box 2, so that the electromagnetic gripper can replace gripping heads 206 of different sizes.

[0032] Embodiment 2

[0033] See also Figure 3 , Figure 5 and Figure 6 The utility model provides a technical solution: an industrial robot electromagnetic gripper, including a slider 201, a rotating shaft 203 and a rotating disk 205:

[0034] A cross-shaped slot 204 is provided on one side of the rotating shaft 203, and a cross block 402 is embedded in the slot 204 and slidably connected thereto, so that the adjusting tooth 401 can drive the rotating shaft 203 to rotate through the cross block 402 when rotating, and the slider 201 can also slide horizontally along the cross block 402. Installation slots are provided around the rotating disk 205, and the grabbing head 206 is set with different sizes. The grabbing head 206 is embedded in the installation slot and slidably connected to the rotating disk 205. The grabbing head 206 is fixed to the side of the rotating disk 205 by bolts. The grabbing heads 206 of different sizes can be installed by sliding, and the grabbing heads 206 are fixed to the rotating disk 205 by inserting bolts.

[0035] Embodiment 3

[0036] See also Figure 2 , Figure 3 and Figure 4 The utility model provides a technical solution: an industrial robot electromagnetic gripper, comprising a support frame 1, a gripper box 2 and a magnetic part 3:

[0037] The support frame 1 is provided with a magnetic part 3 inside, and the magnetic part 3 includes a driving shaft 301 slidably connected with the support frame 1, a metal plate 303 is provided on the top of the driving shaft 301, and an electromagnet 304 is provided on the top of the support frame 1, and the electromagnet 304 is located directly above the metal plate 303. A spring 305 is nested outside the driving shaft 301, and the spring 305 pushes the driving shaft 301 to have a thrust to move downward, and the electromagnet 304 is energized to adsorb the metal plate 303 to move upward, and drives the driving shaft 301 to move upward, and a spring 305 is provided inside the gripper box 2. There is a slide groove, and the driving block 302 is located in the slide groove and is slidably connected to the gripper box 2. The top of the driving block 302 is connected to the driving shaft 301, so that the driving shaft 301 can drive the driving block 302 to move upward during the upward movement. A slide groove is opened inside the driving block 302, and two sliders 201 are provided. The two sliders 201 are provided with sliding columns 202 inside. The sliding columns 202 are embedded in the slide groove and are slidably connected to the driving block 302. The driving block 302 can drive the slider 201 to move horizontally during the up and down movement, thereby completing the clamping operation.

[0038] Embodiment 4

[0039] See also Figure 3 , Figure 4 and Figure 5 The utility model provides a technical solution: an industrial robot electromagnetic gripper, including a slider 201, a rotating shaft 203 and a rotating disk 205:

[0040] The output end of the motor 405 is connected to the driving tooth 404. The motor 405 drives the driving tooth 404 to rotate to drive the driven tooth 403 to rotate, and drives the cross blocks 402 arranged on both sides of the adjusting tooth 401 to rotate. The motor 405 can drive the cross blocks 402 on both sides of the adjusting tooth 401 to rotate inside the gripper box 2.

[0041] Working principle: First, when the gripper is used to grab an object, the electromagnet 304 is energized to attract the metal plate 303 to move upward, and drives the drive shaft 301 to move upward. A slide groove is provided inside the gripper box 2, and the drive block 302 is located in the slide groove and is slidably connected to the gripper box 2, so that the upward drive shaft 301 drives the drive block 302 to move upward inside the gripper box 2, and then the upward drive block 302 can drive the slider 201 located in the gripper box 2 to slide outward at the same time, so that the two gripping heads 206 move away from each other, and then the gripping heads 206 are moved to the two sides of the object to be clamped, and the electromagnet is The iron 304 is powered off, so that the driving shaft 301 drives the driving block 302 to move downward under the push of the spring 305, thereby driving the two sliders 201 to slide inward, allowing the gripping head 206 to complete the clamping operation, and the driving tooth 404 is driven to rotate by the motor 405, so that the driving tooth 404 drives the driven tooth 403 engaged with it to rotate, and the driven tooth 403 drives the adjusting tooth 401 to rotate, so that when the cross block 402 rotates, it can drive the rotating shaft 203 to rotate, so that the gripping head 206 on the rotating disk 205 can rotate, so that the electromagnetic gripper can replace gripping heads 206 of different sizes.

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An industrial robot electromagnetic gripper, characterized in that: include: Support frame (1); A gripper box (2), the gripper box (2) being arranged at the bottom of the support frame (1), the gripper box (2) comprising a slider (201) slidably arranged inside the gripper box (2), a rotating shaft (203) rotatably arranged inside the slider (201), a rotating disk (205) arranged at one end of the rotating shaft (203), and a gripper (206) arranged on the rotating disk (205); A driving unit (4) is arranged inside the gripper box (2), and comprises an adjusting tooth (401) rotatably arranged inside the gripper box (2), a cross block (402) arranged on both sides of the adjusting tooth (401), a driven tooth (403) meshingly connected to the adjusting tooth (401), a driving tooth (404) meshingly connected to the driven tooth (403), and a motor (405) arranged on one side of the gripper box (2), wherein the cross block (402) is slidably connected to the rotating shaft (203), and the motor (405) drives the adjusting tooth (401) to rotate so as to drive the rotating shaft (203) connected to the cross block (402) to rotate so as to allow the gripping head (206) arranged around the rotating disk (205) to rotate to the bottom of the gripper box (2).

2. The electromagnetic gripper of an industrial robot according to claim 1, characterized in that: The gripper box (2) comprises a slider (201), a rotating shaft (203) and a slot (204) provided inside the rotating shaft (203); the cross block (402) is embedded in the slot (204) and slidably connected thereto.

3. The electromagnetic gripper of an industrial robot according to claim 1, characterized in that: A magnetic part (3) is arranged inside the support frame (1), and the magnetic part (3) comprises a driving shaft (301) slidably connected to the support frame (1), a metal plate (303) arranged on the top of the driving shaft (301), an electromagnet (304) arranged on the top of the support frame (1), and a spring (305) nested outside the driving shaft (301).

4. The electromagnetic gripper of an industrial robot according to claim 3, characterized in that: The magnetic part (3) comprises a driving shaft (301) and a driving block (302) arranged at the bottom of the driving shaft (301), and the driving block (302) is slidably arranged inside the gripper box (2).

5. The electromagnetic gripper of an industrial robot according to claim 4, characterized in that: A sliding groove is provided inside the driving block (302), two sliding blocks (201) are provided, sliding columns (202) are provided inside the two sliding blocks (201), and the sliding columns (202) are embedded in the sliding groove and are slidably connected to the driving block (302).

6. The electromagnetic gripper of an industrial robot according to claim 1, characterized in that: The rotating disk (205) is provided with mounting grooves around its periphery. The grabbing heads (206) are provided with different sizes. The grabbing heads (206) are embedded in the mounting grooves and are slidably connected to the rotating disk (205). The grabbing heads (206) are fixed to the side of the rotating disk (205) by bolts.

7. The electromagnetic gripper of an industrial robot according to claim 1, characterized in that: The driving part (4) comprises an adjusting tooth (401), a cross block (402), a driven tooth (403), a driving tooth (404) and a motor (405); an output end of the motor (405) is connected to the driving tooth (404); the motor (405) drives the driving tooth (404) to rotate so as to drive the driven tooth (403) to rotate, and drives the cross blocks (402) arranged on both sides of the adjusting tooth (401) to rotate.

Images