A magnetic gripper for an industrial robot

Abstract

The utility model discloses a magnetic gripper of an industrial robot, which relates to the field of robot technology and comprises a forward arm, wherein an arm force increasing mechanism is connected in the middle of the forward arm, and a mechanism for facilitating quick replacement of equipment is installed in front of the forward arm, wherein the arm force increasing mechanism comprises: a secondary trunk arm connected in the middle of the forward arm, and a fixing device for equipment binding is connected in the middle of the secondary trunk arm. The magnetic gripper of this industrial robot is connected with an adjustment device in front of the forward arm, and an insertion hole is provided on the side of the adjustment device. The linkage device is inserted into the inside of the insertion hole by means of screws, so that the adjustment device and the linkage device can be movably connected, and equipment parts such as a machine gripper are connected in front of the adjustment device. When the equipment needs to be disassembled for maintenance or replacement, the entire front machine gripper can be replaced, which can speed up the disassembly and installation time of the equipment and make the equipment easy to replace.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a magnetic suction gripper of an industrial robot. Background Art

[0002] With the continuous advancement of science and technology and the continuous development of artificial intelligence technology, robotics technology has become more and more mature and widely used in various fields. In industrial production, the robot gripper is a very important component. The robot gripper is a component in the robot used to grasp and manipulate objects, similar to human arms and palms. It can perceive and control objects through various sensors and controllers, and complete various complex operating tasks. It can escort production and improve production efficiency and quality. For this reason, a magnetic gripper for an industrial robot is proposed.

[0003] The existing referenceable Chinese utility model patent with announcement number CN218698911U discloses an industrial robot loading gripper, which includes a base, a large arm and a gripper. A protective plate is provided at the bottom of the base, the large arm is provided at the top of the base, the large arm is connected to the base through a fastener, a small arm is provided at the top of the large arm, the small arm is connected to the large arm through a fastener, and the gripper is provided at one end of the small arm, and the gripper is connected to the small arm through a fastener; the robot gripper performs an open grasping movement through a power shaft, the gripper is made of a material with magnetic force, and the gripper absorbs the workpiece; and because an anti-skid layer is provided inside the gripper, the anti-skid layer is made of a soft rubber material with large friction, which can not only increase the friction but also avoid damage to the surface of the copper plate; the robot base is made of carbon steel and the surface is painted to extend the service life of the device, and a PP thin plate is provided around the base to protect the base and the internal device of the base.

[0004] During the use of the existing magnetic grippers of industrial robots, since the robot grippers need to grasp and manipulate parts of objects when in use, some objects are heavy when grasping, resulting in the robot arm being unable to fully support the objects, resulting in the inability to accurately install the objects. In addition, the equipment needs to be repaired during use, and the equipment has many internal parts, which makes the operation more complicated. This increases the difficulty of equipment maintenance to a certain extent and needs to be improved. Therefore, those skilled in the art provide a magnetic gripper for an industrial robot to solve the problems raised in the above background technology. Utility Model Content

[0005] The utility model aims to provide a magnetic gripper for an industrial robot to solve the problems of arm force improvement and rapid equipment maintenance and replacement of the magnetic gripper arm of the existing industrial robot proposed in the above background technology.

[0006] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0007] A magnetic gripper of an industrial robot, comprising a forward arm, an arm force increasing mechanism connected in the middle of the forward arm, a mechanism for facilitating quick equipment replacement installed in front of the forward arm, the arm force increasing mechanism comprising: a secondary trunk arm connected in the middle of the forward arm, a fixing device for equipment binding connected in the middle of the secondary trunk arm, a connecting ring connected between the secondary trunk arm and the forward arm, a connecting rod connected in front of the connecting ring, a sleeve ring for equipment connection sleeved on the outside of the secondary trunk arm, a connecting column connected between the sleeve rings, a center ring installed at the midpoint of the connecting column;

[0008] The mechanism for facilitating rapid equipment replacement includes: an adjustment device installed in front of the forward arm, three sides of the adjustment device are provided with insertion holes, and the insides of the insertion holes are inserted with screws for fixing the equipment, and the screws are installed on one side of the linkage device, a device plate is fixedly installed in front of the linkage device, and a linkage rod for connecting the equipment is connected to the front midpoint of the device plate.

[0009] Preferably, a robotic arm is connected to the rear of the forward arm, and swivels are movably connected to both ends of the robotic arm, a fixing screw is installed on one side of the swivel, a connecting device is provided at the bottom of the robotic arm, and an equipment base is fixedly installed at the bottom of the connecting device, and a machine gripper is connected to the front of the linkage rod; the swivel enables flexible use of the robotic arms.

[0010] Preferably, a magnetic plate is connected between the machine grippers, and a thickened magnetic block is connected between the magnetic plates, a side device is connected to the rear end of the machine gripper, and the side device is installed in front of the equipment block, and an adjustment spring is connected between the side devices; the adjustment spring is adjusted according to the size of the machine gripper.

[0011] Preferably, the number of the secondary trunk arms is four, and the secondary trunk arms are installed between the forward arms through a connecting rod. The secondary trunk arms are connected by means of a sleeve ring, a connecting column and a center ring, and the sleeve rings are symmetrical on the left and right through the midpoint of the fixing device; the fixing device fixes the secondary trunk arms.

[0012] Preferably, the linkage device is fixedly installed on both sides of the adjustment device by means of screws and through holes, and the linkage device forms a connection relationship between the device plate and the linkage rod, and the adjustment device is fixedly installed in front of the secondary trunk arm; the adjustment device allows the front of the mechanical arm to move flexibly.

[0013] Preferably, the machine grippers form a group of two each, and the machine grippers are symmetrical through the equipment block, and the front of the machine grippers is arc-shaped; the machine grippers grab and install parts.

[0014] Preferably, the angle of the robotic arm is adjusted by the setting of a swivel, and the robotic arm forms a movable connection with the forward arm through the swivel, and the size and material of the robotic arm are consistent with the forward arm; the robotic arm transfers the objects.

[0015] Compared with the prior art, the beneficial effects of the utility model are:

[0016] 1. The magnetic gripper of this industrial robot has a secondary arm connected between the forward arms. The number of secondary arms is four, and a fixing device is connected in the middle of the secondary arm. The secondary arms are connected and reinforced by the fixing device. A sleeve ring is provided on the outside of the secondary arm. The sleeve ring connects the secondary arms of each group. The secondary arms are connected as a whole by the setting of a connecting column and a center ring. The arm strength of each group of secondary arms is between 10kg and 15kg, which can increase the overall arm strength level by 1.5 times. To a certain extent, the arm strength of the equipment is improved, which is not only convenient for the equipment to clamp and lift objects, but also can effectively prevent the secondary arms from breaking or falling off during use.

[0017] 2. The magnetic gripper of this industrial robot is connected with an adjustment device in front of the forward arm. The side of the adjustment device is provided with an insertion hole. The linkage device is inserted into the inside of the insertion hole by means of screws. The adjustment device and the linkage device can be movably connected. The front of the adjustment device is connected with equipment parts such as a machine gripper. When the equipment needs to be disassembled for maintenance or replacement, the entire front machine gripper can be replaced, which can speed up the disassembly and installation time of the equipment and make the equipment easy to replace. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of a magnetic gripper of an industrial robot in one embodiment of the utility model;

[0019] Figure 2 This is a schematic diagram of the forward arm structure of a magnetic gripper of an industrial robot in one embodiment of the utility model;

[0020] Figure 3 This is a schematic structural diagram of an adjustment device for a magnetic gripper of an industrial robot in one embodiment of the utility model;

[0021] Figure 4 The present invention is a schematic diagram of a machine gripper structure of a magnetic gripper of an industrial robot in one embodiment of the present invention.

[0022] 1. Equipment base; 2. Connecting device; 3. Mechanical arm; 4. Swivel; 5. Fixing screw; 6. Forward arm; 61. Secondary arm; 62. Fixing device; 63. Connecting ring; 64. Connecting rod; 65. Sleeve ring; 66. Connecting column; 67. Center ring; 7. Adjusting device; 71. Through hole; 72. Linkage device; 73. Screw; 74. Device plate; 75. Linkage rod; 8. Machine gripper; 81. Magnetic plate; 82. Thickened magnetic block; 83. Side device; 84. Equipment block; 85. Adjusting spring. DETAILED DESCRIPTION

[0023] 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.

[0024] Combined with Figure 1-Figure 4 In this embodiment, a magnetic gripper of an industrial robot includes a forward arm 6, an arm force increasing mechanism is connected in the middle of the forward arm 6, a mechanism for facilitating quick equipment replacement is installed in front of the forward arm 6, a mechanical arm 3 is connected to the rear of the forward arm 6, and a swivel 4 is movably connected to both ends of the mechanical arm 3, a fixing screw 5 is installed on one side of the swivel 4, a connecting device 2 is provided at the bottom of the mechanical arm 3, and an equipment base 1 is fixedly installed at the bottom of the connecting device 2, the mechanical arm 3 is adjusted in angle by the setting of the swivel 4, and the mechanical arm 3 is movably connected to the forward arm 6 through the swivel 4, and the size and material of the mechanical arm 3 are consistent with the forward arm 6.

[0025] The arm force increasing mechanism includes: a secondary trunk arm 61 connected to the middle of the forward arm 6, a fixing device 62 is connected to the middle of the secondary trunk arm 61, a connecting ring 63 is connected between the secondary trunk arm 61 and the forward arm 6, and a connecting rod 64 is connected to the front of the connecting ring 63, a sleeve ring 65 is sleeved on the outside of the secondary trunk arm 61, and connecting columns 66 are connected between the sleeve rings 65, and a center ring 67 is installed at the midpoint of the connecting column 66; the number of secondary trunk arms 61 is four, and the secondary trunk arm 61 is installed between the forward arms 6 through the connecting rod 64, the secondary trunk arm 61 is connected through the sleeve ring 65, the connecting column 66 and the center ring 67, and the sleeve ring 65 is in a left-right symmetrical relationship through the midpoint of the fixing device 62.

[0026] Specifically, the forward arm 6 is connected to the front of the robotic arm 3, and a secondary arm 61 is connected between the forward arms 6. The secondary arm 61 connects and fixes multiple groups of equipment through the middle fixing device 62 and the external sleeve ring 65 and other equipment. The arm strength value of each group of secondary arms 61 is between 10kg-15kg, and the value of a medium-sized robotic arm is between 10kg-30kg. Using multiple groups of secondary arms 61 can increase the arm strength value of the entire equipment, thereby improving the arm strength of the equipment, and the setting of multiple groups of secondary arms 61 can prevent the equipment from breaking, falling off, etc.

[0027] The mechanism for facilitating quick replacement of equipment includes: an adjusting device 7 installed in front of the forward arm 6, insertion holes 71 are provided on three sides of the adjusting device 7, and screws 73 are inserted inside the insertion holes 71, and the screws 73 are installed on one side of the linkage device 72, a device plate 74 is fixedly installed in front of the linkage device 72, and a linkage rod 75 is connected to the front midpoint of the device plate 74; the linkage device 72 is fixedly installed on both sides of the adjusting device 7 by means of the screws 73 and the insertion holes 71, and the linkage device 72 is connected to the linkage rod 75 through the device plate 74, and the adjusting device 7 is fixedly installed in front of the secondary trunk arm 61.

[0028] Specifically, an adjusting device 7 is installed in front of the forward arm 6, and insertion holes 71 are set on three sides of the adjusting device 7. The linkage device 72 is installed inside the insertion hole 71 by means of screws 73, so that the linkage device 72 and the adjusting device 7 are connected, and the linkage device 72 is connected to the machine gripper 8 through the device plate 74 and the linkage rod 75. When the equipment needs to be replaced, the screws 73 can be removed so that the entire linkage device 72 and other equipment can be removed together to facilitate equipment replacement.

[0029] A machine gripper 8 is connected to the front of the linkage rod 75, a magnetic plate 81 is connected between the machine grippers 8, and a thickened magnetic block 82 is connected between the magnetic plates 81, a side device 83 is connected to the rear end of the machine gripper 8, and the side device 83 is installed in front of the equipment block 84, and an adjustment spring 85 is connected between the side devices 83; the machine grippers 8 are grouped in pairs, and the machine grippers 8 are symmetrical on the left and right through the equipment block 84, and the front of the machine gripper 8 is arc-shaped.

[0030] Specifically, a magnetic plate 81 and a thickened magnetic block 82 are connected to the rear of the machine gripper 8. After the machine gripper 8 grabs the object, the magnetic plate 81 and the thickened magnetic block 82 at the rear can magnetically attract the object. When the equipment is being transferred, it can effectively prevent the equipment from falling off during the transfer process, thereby increasing the safety of equipment transfer to a certain extent.

[0031] Working principle: First, a connecting device 2 is installed above the equipment base 1, and the connecting device 2 is connected to the mechanical arm 3 through the setting of the swivel 4. At the same time, the mechanical arm 3 is connected to the forward arm 6 through the setting of the swivel 4, and the angle between the mechanical arm 3 and the forward arm 6 is adjusted through the swivel 4, so that the equipment has a certain flexibility when in use, and the forward arm 6 is connected to the machine gripper 8 through the adjustment device 7, and the machine gripper 8 is used to grab objects. When grabbing, the machine gripper 8 is connected to the side device 83 and the adjustment spring 85, and the adjustment spring 85 is elastically adjusted by clamping or releasing the machine gripper 8. When the machine gripper 8 grabs the machine, the rear magnetic suction plate 81 and the thickened magnetic suction block 82 can magnetically attract the object to effectively prevent the equipment from falling off during the transfer process, and a secondary trunk arm 61 is connected in the middle of the forward arm 6, and the secondary trunk arm 61 is connected to the fixing device 62 and the sleeve The secondary arms 61 are connected as a whole by connecting the ring 65 and other equipment, and the arm strength value of each group of secondary arms 61 is between 10kg and 15kg. The use of multiple groups of secondary arms 61 can increase the arm strength value of the entire equipment, thereby improving the arm strength of the equipment, making it easier for the equipment to clamp and transfer items of a certain weight. During the transfer, the setting of multiple groups of secondary arms 61 can also be used to prevent the equipment from breaking, falling off, etc., thereby increasing the safety of object transfer. Finally, when the equipment needs to be repaired after being used for a period of time, the screw 73 on one side of the linkage device 72 can be removed to separate the linkage device 72 and the adjustment device 7. At the same time, the separation of the linkage device 72 will drive the machine gripper 8 to disengage, so that a part of the entire equipment can be removed, making the equipment easy to replace and install. In this way, the entire use process of the magnetic gripper of the entire industrial robot is completed.

[0032] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art may still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A magnetic gripper of an industrial robot, comprising a forward arm (6), wherein the middle of the forward arm (6) is connected with an arm force increasing mechanism, and the front of the forward arm (6) is equipped with a mechanism for facilitating rapid equipment replacement, characterized in that: The arm force increasing mechanism comprises: a secondary trunk arm (61) connected to the middle of the forward arm (6), a fixing device (62) connected to the middle of the secondary trunk arm (61), a connecting ring (63) connected between the secondary trunk arm (61) and the forward arm (6), a connecting rod (64) connected in front of the connecting ring (63), a sleeve ring (65) sleeved on the outside of the secondary trunk arm (61), and connecting columns (66) connected between the sleeve rings (65), and a center ring (67) installed at the midpoint of the connecting column (66); The device quick-change mechanism comprises: an adjustment device (7) installed in front of the forward arm (6); insertion holes (71) are arranged on three sides of the adjustment device (7); screws (73) are inserted into the insertion holes (71); the screws (73) are installed on one side of a linkage device (72); a device plate (74) is fixedly installed in front of the linkage device (72); and a linkage rod (75) is connected to the front midpoint of the device plate (74).

2. The magnetic gripper of an industrial robot according to claim 1, characterized in that: The rear of the forward arm (6) is connected to a mechanical arm (3), and both ends of the mechanical arm (3) are movably connected to swivels (4), one side of the swivel (4) is installed with a fixing screw (5), the bottom of the mechanical arm (3) is provided with a connecting device (2), and the bottom of the connecting device (2) is fixedly installed with an equipment base (1), and the front of the linkage rod (75) is connected to a machine gripper (8).

3. The magnetic gripper of an industrial robot according to claim 2, characterized in that: A magnetic attraction plate (81) is connected between the machine grippers (8), and a thickened magnetic attraction block (82) is connected between the magnetic attraction plates (81); a side device (83) is connected to the rear end of the machine grippers (8), and the side device (83) is installed in front of the equipment block (84), and an adjustment spring (85) is connected between the side devices (83).

4. The magnetic gripper of an industrial robot according to claim 1, characterized in that: The number of the secondary trunk arms (61) is four, and the secondary trunk arms (61) are installed between the forward arms (6) through a connecting rod (64). The secondary trunk arms (61) are connected through a sleeve ring (65), a connecting column (66) and a center ring (67), and the sleeve ring (65) is in a left-right symmetrical relationship through the midpoint of the fixing device (62).

5. The magnetic gripper of an industrial robot according to claim 1, characterized in that: The linkage device (72) is fixedly mounted on both sides of the adjustment device (7) by means of screws (73) and insertion holes (71), and the linkage device (72) is connected via a device plate (74) and a linkage rod (75). The adjustment device (7) is fixedly mounted in front of the secondary arm (61).

6. The magnetic gripper of an industrial robot according to claim 3, characterized in that: The machine grippers (8) are grouped in pairs, and the machine grippers (8) are symmetrical with each other through the equipment block (84), and the front of the machine grippers (8) is arc-shaped.

7. The magnetic gripper of an industrial robot according to claim 2, characterized in that: The mechanical arm (3) can be adjusted in angle by setting a rotating ring (4), and a movable connection is formed between the mechanical arm (3) and the forward arm (6) through the rotating ring (4), and the size and material of the mechanical arm (3) are consistent with those of the forward arm (6).

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