Electromagnetic adsorption gripper of numerical control mill

Abstract

The utility model provides an electromagnetic adsorption gripper of a numerical control mill, which belongs to the technical field of machining and automation in the manufacturing industry and comprises a robot connecting flange, a connecting support, a transition plate and a gripper plate, the right end of the robot connecting flange is fixedly connected with the connecting support, and the transition plate is fixedly arranged at the right end of the connecting support; a transition plate, a support and a flange plate are mounted and then connected with a flange at the tail end of a robot, so that workpieces can be grabbed by a gripper to be automatically stacked on line, the problems that the gripper interferes with a tray during stacking and manual on-line and off-line stacking is needed are solved, a positioning pin is mounted between a positioning shaft and a positioning sleeve of the electromagnet tool, the positioning shaft is prevented from rotating with an electromagnet, and the positioning precision is improved. The gripper plate is of a C-shaped structure, the connecting support is of an I-shaped structure, and three sets of single-face electromagnet tools are arranged, so that a workpiece grabbed by the gripper can enter a limited space in a numerical control mill, and when the workpiece is fed and clamped, a main shaft pull rod, a clamping pressing plate and a grinding wheel in equipment can be avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of machining and automation in the manufacturing industry, in particular to an electromagnetic adsorption gripper for a numerically controlled grinding machine. Background Art

[0002] In the machining manufacturing industry, in order to improve the degree of automation of processing, the processing equipment is arranged around the manipulator to form an automated production line, thereby reducing labor intensity and improving production efficiency. In the manufacturing of automotive parts, especially the processing of disc parts, a horizontal CNC grinder is required to form a complete processing production line. The CNC grinder is the last step in product processing. After processing, the product can be placed on a pallet for automatic stacking to reduce the turnover of the product. At present, in the processing of disc parts, the horizontal CNC grinding equipment is arranged outside the automated production line, and manual production and stacking are used, which has low work efficiency. In addition, the gripper interferes with the pallet during automatic stacking, and the positioning shaft can drive the electromagnet to rotate, which is easy to break the electromagnet connection line. Therefore, a CNC grinding electromagnetic adsorption gripper is designed to solve the above problems. Utility Model Content

[0003] The utility model aims to solve the problems existing in the above-mentioned background technology and proposes an electromagnetic adsorption gripper for a numerically controlled grinding machine.

[0004] The technical problem to be solved by the utility model is to provide a CNC mill electromagnetic adsorption gripper, which overcomes the problem of interference between the gripper and the pallet during palletizing and the need for manual off-line palletizing, and has high practicality.

[0005] The technical problem to be solved by the utility model is to provide an electromagnetic adsorption gripper for a CNC mill, an electromagnetic adsorption gripper for a CNC mill, comprising a robot connecting flange, a connecting support, a transition plate and a gripper plate, the right end of the robot connecting flange is fixedly connected to the connecting support, the right end of the connecting support is fixedly provided with a transition plate, the right end of the transition plate is fixedly provided with a gripper plate, a plurality of electromagnet tooling with a buffering function is fixedly provided on the gripper plate, and an electromagnet is installed at the bottom of the electromagnet tooling.

[0006] Preferably, the gripping plate is C-shaped, and the gripping plate uses a 7075 aluminum alloy plate as a gripping support.

[0007] Preferably, the gripping plate is provided with three slots, and three electromagnet fixtures are provided and respectively installed in the slots.

[0008] Preferably, the electromagnet tooling also includes a locating pin, a linear bearing, a locating sleeve, a locating shaft, a round nut, a washer and a compression spring. The electromagnet is fixed on the locating shaft by bolts. A locating sleeve is provided through the top of the locating shaft. A compression spring is pressed into the inner top of the locating sleeve, and the bottom of the compression spring is attached to the large end surface of the locating shaft. A linear bearing is installed on the large end surface of the locating shaft. Locating pins are fixed on both sides of the locating shaft. The locating pins are inserted into the locating sleeve. A round nut is fixed above the outer surface of the locating sleeve. A washer is fixed on the top of the locating shaft by bolts.

[0009] Preferably, the diameter of the gasket is larger than the diameter of the upper opening of the positioning sleeve.

[0010] Preferably, the electromagnet includes an annular through groove, an annular embedded groove, a through ring, an inner ring and an exhaust hole. An annular through groove is provided at the bottom of the electromagnet, an annular embedded groove is provided at the top of the annular through groove, a through ring is provided in the annular through groove, an inner ring is fixed at the top of the through ring, and exhaust holes are provided on both the left and right sides of the inner ring.

[0011] Preferably, the width of the inner ring is greater than the width of the through ring, and the inner ring is airtightly connected to the annular embedding groove.

[0012] Preferably, the through ring and the inner ring are made of rubber, and when the inner ring is attached to the bottom of the annular embedding groove, the bottom horizontal height of the through ring is lower than the bottom horizontal height of the electromagnet, and when the inner ring is attached to the top of the annular embedding groove, the bottom horizontal height of the through ring is equal to the bottom horizontal height of the electromagnet.

[0013] Compared with the prior art, the utility model has at least the following beneficial effects:

[0014] 1. The utility model installs a transition plate, a support, and a flange plate, and then connects them to the end flange of the robot, so that the gripper can automatically stack the workpieces in the line, overcoming the problem of interference between the gripper and the pallet during stacking, and requiring manual stacking outside the line.

[0015] 2. The utility model electromagnet fixture installs a positioning pin between the positioning shaft and the positioning sleeve to prevent the positioning shaft from rotating with the electromagnet and avoid breaking the electromagnet connection line.

[0016] 3. The gripper plate of the utility model has a C-shaped structure, the connecting support has an "I"-shaped structure, and is equipped with 3 sets of single-sided electromagnet fixtures, so that the gripper can grab the workpiece and enter the limited space inside the CNC grinder. When clamping the upper part, the spindle pull rod, the clamping plate and the grinding wheel inside the equipment can be avoided.

[0017] 4. The utility model is provided with a compression spring. When the three groups of electromagnets installed on the positioning shaft contact the workpiece, the electromagnets can completely absorb the workpiece. Under the action of the compression spring, the electromagnet tooling floats upward, thereby avoiding hard contact between the electromagnet and the workpiece, causing the robot to misjudge overload, making the electromagnet absorb the workpiece more reliable and extending the service life of the tooling components.

[0018] 5. The utility model is provided with a through ring and an inner ring. When the electromagnet does not contact the workpiece, the through ring extends out of the annular through groove. When the electromagnet contacts the workpiece, the through ring contacts the workpiece first, thereby preventing hard contact between the electromagnet and the workpiece and ensuring the service life of the electromagnet. The electromagnet moves downward, and the inner ring moves upward along the annular embedded groove to squeeze the gas in the annular embedded groove. The gas in the annular embedded groove buffers the inner ring and reduces the contact impact force. The gas in the annular embedded groove is discharged from the exhaust hole until the inner ring is attached to the top of the annular embedded groove. The through ring is completely embedded in the annular through groove, thereby ensuring normal contact between the electromagnet and the workpiece and ensuring the stability of adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation of the utility model or the technical solution in the prior art, the following is a brief introduction to the drawings required for the specific implementation or the prior art description. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0020] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the utility model.

[0021] Figure 2 It is a three-dimensional structural schematic diagram of the electromagnet tooling of the utility model.

[0022] Figure 3 This is a schematic diagram of the cross-sectional structure of the electromagnet tooling of the utility model.

[0023] Figure 4 It is a schematic diagram of the vertical cutting structure of the electromagnet of the utility model.

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the through ring and the inner ring of the utility model.

[0025] [reference numerals]

[0026] 1. Robot connecting flange; 2. Connecting support; 3. Transition plate; 4. Gripper plate; 5. Electromagnet tooling; 501. Electromagnet; 5011. Annular through groove; 5012. Annular embedded groove; 5013. Through ring; 5014. Inner ring; 5015. Exhaust hole; 502. Locating pin; 503. Linear bearing; 504. Locating sleeve; 505. Locating shaft; 506. Round nut; 507. Washer; 508. Compression spring. DETAILED DESCRIPTION

[0027] Example:

[0028] like Figure 1-Figure 5 As shown, an embodiment of the utility model provides an electromagnetic adsorption gripper for a CNC mill, an electromagnetic adsorption gripper for a CNC mill, comprising a robot connecting flange 1, a connecting support 2, a transition plate 3 and a gripper plate 4, the right end of the robot connecting flange 1 is fixedly connected to the connecting support 2, the right end of the connecting support 2 is fixedly provided with a transition plate 3, the right end of the transition plate 3 is fixedly provided with a gripper plate 4, a plurality of electromagnet fixtures 5 with a buffering function are fixedly provided on the gripper plate 4, and an electromagnet 501 is installed at the bottom of the electromagnet fixture 5.

[0029] In this embodiment, the grip plate 4 is C-shaped, and the grip plate 4 uses a 7075 aluminum alloy plate as a grip support.

[0030] In this embodiment, the gripping plate 4 is provided with three slots, and three electromagnet fixtures 5 are provided and respectively installed in the slots.

[0031] In this embodiment, the electromagnet tooling 5 also includes a locating pin 502, a linear bearing 503, a locating sleeve 504, a locating shaft 505, a round nut 506, a washer 507 and a compression spring 508. The electromagnet 501 is fixedly arranged on the locating shaft 505 by bolts. A locating sleeve 504 is arranged on the top of the locating shaft 505. The compression spring 508 is pressed into the inner top of the locating sleeve 504, and the bottom of the compression spring 508 is attached to the upper end surface of the locating shaft 505. The upper end surface of the locating shaft 505 is installed with a linear bearing 503. The left and right sides of the locating shaft 505 are fixedly provided with locating pins 502. The locating pins 502 are inserted into the locating sleeve 504. A round nut 506 is fixedly installed above the outer surface of the locating sleeve 504. A washer 507 is fixedly arranged on the top of the locating shaft 505 by bolts.

[0032] In this embodiment, the diameter of the washer 507 is larger than the diameter of the upper opening of the positioning sleeve 504 , so as to prevent the positioning shaft 505 from moving downward and ensure the position of the positioning shaft 505 .

[0033] The device uses 7075 aluminum alloy plate as the gripper support, which is in a C-shaped structure. When the gripper grabs the workpiece for loading, it avoids the spindle pull rod of the CNC grinding machine equipment. The gripper plate has three slots for adjusting the position of the electromagnet tooling to achieve the processing of products of different specifications. The transition plate, support, flange connected to the robot, 3 sets of single-sided electromagnet tooling and electromagnet are installed on the gripper plate. The connection support is in an "I" structure, which can avoid the grinding wheel in the horizontal CNC grinding equipment. The electromagnet is installed on the positioning shaft by threaded connection. Two positioning pins are installed on the positioning shaft. A compression spring is placed inside the positioning sleeve. A linear bearing is installed on the large end face side. Then the positioning shaft equipped with the electromagnet and the positioning pin is passed through the linear bearing and the compression spring. The two positioning pins are inserted into the pin hole of the positioning sleeve to prevent the electromagnet from rotating. On the small end face of the positioning sleeve, the gasket is assembled and the positioning shaft is fixed with bolts. The electromagnet is installed on the gripper plate and has a certain amount of floating, which ensures that the electromagnet is more reliable when adsorbing the workpiece and extends the service life of the tooling parts. When the workpiece is processed and automatically stacked, the gripper electromagnet plane exceeds the robot flange plane, ensuring that the gripper does not interfere with the pallet and the products placed on the pallet when it is completely flat. This overcomes the problems of automatic loading and unloading of horizontal CNC grinders during the automated processing of disc parts, the horizontal grinder can be placed in an automated production line, and automatic stacking.

[0034] In this embodiment, the electromagnet 501 includes an annular through groove 5011, an annular embedded groove 5012, a through ring 5013, an inner ring 5014 and an exhaust hole 5015. The bottom of the electromagnet 501 is provided with an annular through groove 5011, the top of the annular through groove 5011 is penetrated by an annular embedded groove 5012, a through ring 5013 is penetrated in the annular through groove 5011, the top of the through ring 5013 is fixedly provided with an inner ring 5014, and exhaust holes 5015 are provided on both sides of the inner ring 5014.

[0035] In this embodiment, the width of the inner ring 5014 is greater than the width of the through ring 5013 , and the inner ring 5014 is connected to the annular embedding groove 5012 in an airtight manner.

[0036] In this embodiment, the through ring 5013 and the inner ring 5014 are made of rubber, and when the inner ring 5014 is attached to the bottom of the annular embedding groove 5012, the bottom horizontal height of the through ring 5013 is lower than the bottom horizontal height of the electromagnet 501, and when the inner ring 5014 is attached to the top of the annular embedding groove 5012, the bottom horizontal height of the through ring 5013 is equal to the bottom horizontal height of the electromagnet 501.

[0037] The utility model is provided with a through ring 5013 and an inner ring 5014. When the electromagnet 501 does not contact the workpiece, the through ring 5013 extends out of the annular through groove 5011. When the electromagnet 501 contacts the workpiece, the through ring 5013 contacts the workpiece first, thereby preventing hard contact between the electromagnet 501 and the workpiece, thereby ensuring the service life of the electromagnet 501. When the electromagnet 501 moves downward, the inner ring 5014 moves upward along the annular embedded groove 5012, thereby squeezing the gas in the annular embedded groove 5012. The gas in the annular embedded groove 5012 buffers the inner ring, thereby alleviating the contact impact force. The gas in the annular embedded groove 5012 is discharged from the exhaust hole 5015 until the inner ring is attached to the top of the annular embedded groove 5012. The through ring 5013 is completely embedded in the annular through groove 5011, thereby ensuring the normal contact between the electromagnet 501 and the workpiece, thereby ensuring the stability of adsorption.

[0038] Working principle:

[0039] The robot drives the electromagnetic adsorption gripper to move above the workpiece. When the three groups of electromagnets 501 installed on the positioning shaft 505 touch the workpiece, the electromagnet is guaranteed to completely adsorb the workpiece. Under the action of the compression spring 508, the electromagnet 501 floats upward, thereby avoiding hard contact between the electromagnet 501 and the workpiece, causing the robot to misjudge overload, making the electromagnet 501 more reliable when adsorbing the workpiece, extending the service life of the tooling parts. The gripper adsorbs the workpiece and enters the CNC mill. Through the C-shaped structure, it avoids the CNC mill spindle pull rod and clamping plate, and the support structure is connected to avoid the grinding wheel in the horizontal CNC mill equipment. The charging of the electromagnet 501 is controlled by the program. , release the magnet to complete the automatic loading and unloading of products on the horizontal CNC grinding equipment; when the workpiece is processed and automatically stacked, the plane of the gripper electromagnet 501 exceeds the plane of the robot flange to ensure that the gripper does not interfere with the pallet and the products placed on the pallet when it is completely flat. During the working movement, under the action of the positioning pin 502, the electromagnet will not be displaced or rotated. When changing the model, you only need to use a special wrench to loosen the round nut 506 and move the electromagnet tooling to the position of the three notches on the gripper plate 4 to meet the processing of products of different specifications and models; when disassembling, you only need to unscrew the round nut 506 to complete the tooling disassembly, which is convenient and quick.

[0040] The above are only preferred implementations of the utility model. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the concept of the utility model. These should also be regarded as the protection scope of the utility model. These will not affect the effect of the implementation of the utility model and the practicality of the patent.

Claims

1. A CNC mill electromagnetic adsorption gripper, characterized in that: The robot comprises a connecting flange (1), a connecting support (2), a transition plate (3) and a gripping plate (4); the right end of the robot connecting flange (1) is fixedly connected to the connecting support (2); the right end of the connecting support (2) is fixedly provided with a transition plate (3); the right end of the transition plate (3) is fixedly provided with a gripping plate (4); a plurality of electromagnet fixtures (5) with a buffering function are fixedly provided on the gripping plate (4); and an electromagnet (501) is installed at the bottom of the electromagnet fixture (5).

2. The electromagnetic adsorption gripper for CNC mill according to claim 1 is characterized in that: The gripping plate (4) is C-shaped, and the gripping plate (4) uses a 7075 aluminum alloy plate as a gripping support.

3. The electromagnetic adsorption gripper for CNC mill according to claim 2 is characterized in that: The gripping plate (4) is provided with three slots, and three electromagnet fixtures (5) are provided and respectively installed in the slots.

4. The electromagnetic adsorption gripper for CNC mill according to claim 3 is characterized in that: The electromagnet fixture (5) further comprises a positioning pin (502), a linear bearing (503), a positioning sleeve (504), a positioning shaft (505), a round nut (506), a washer (507) and a compression spring (508); the electromagnet (501) is fixedly arranged on the positioning shaft (505) by means of bolts; a positioning sleeve (504) is arranged on the top of the positioning shaft (505); a compression spring (508) is pressed into the inner top of the positioning sleeve (504), and the compression spring (508) is pressed into the inner top of the positioning sleeve (504); and the compression spring (508) is pressed into the inner top of the positioning sleeve (504). The bottom of the spring (508) is attached to the large end surface of the positioning shaft (505), and the large end surface of the positioning shaft (505) is installed with a linear bearing (503). The left and right sides of the positioning shaft (505) are fixedly provided with positioning pins (502), and the positioning pins (502) are inserted into the positioning sleeve (504). A round nut (506) is fixedly installed above the outer surface of the positioning sleeve (504), and a washer (507) is fixed on the top of the positioning shaft (505) by bolts.

5. The electromagnetic adsorption gripper for CNC mill according to claim 4 is characterized in that: The diameter of the gasket (507) is larger than the diameter of the upper opening of the positioning sleeve (504).

6. The electromagnetic adsorption gripper for CNC mill according to claim 5, characterized in that: The electromagnet (501) comprises an annular through groove (5011), an annular embedded groove (5012), a through ring (5013), an inner ring (5014) and an exhaust hole (5015); the bottom of the electromagnet (501) is provided with an annular through groove (5011); the top of the annular through groove (5011) is provided with an annular embedded groove (5012); the annular through groove (5011) is provided with a through ring (5013); the top of the through ring (5013) is fixedly provided with an inner ring (5014); and the left and right sides of the inner ring (5014) are provided with exhaust holes (5015).

7. The electromagnetic adsorption gripper for CNC mill according to claim 6, characterized in that: The width of the inner ring (5014) is greater than the width of the through ring (5013), and the inner ring (5014) is connected to the annular embedding groove (5012) in an airtight manner.

8. The electromagnetic adsorption gripper for CNC mill according to claim 7, characterized in that: The through-ring (5013) and the inner ring (5014) are made of rubber, and when the inner ring (5014) is attached to the bottom of the annular embedding groove (5012), the bottom level of the through-ring (5013) is lower than the bottom level of the electromagnet (501), and when the inner ring (5014) is attached to the top of the annular embedding groove (5012), the bottom level of the through-ring (5013) is equal to the bottom level of the electromagnet (501).

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