Flexible robot electromagnetic gripper

Abstract

The utility model relates to the technical field of robots, in particular to a flexible robot electromagnetic gripper which comprises a connecting part, an installing part and an electromagnet, a flexible assembly is installed between the connecting part and the installing part, and the side, away from the connecting part, of the installing part is fixedly connected with the electromagnet. The flexible assembly comprises a universal ball seat, the side, close to the mounting part, of the universal ball seat is connected with the mounting part through a first connecting rod, a universal ball head is arranged in the universal ball seat, and the side, close to the connecting part, of the universal ball head is connected with the connecting part through a second connecting rod. When a workpiece is adsorbed, the connecting part and the mounting part are flexibly connected, and the electromagnet can rotate by a certain angle, so that the electromagnet can be adaptively attached to the surface of the workpiece, and the workpiece can be more firmly adsorbed; when the workpiece is carried, the connecting part and the mounting part can be switched to be in rigid connection, so that the electromagnet can be kept not to shake, and the electromagnetic gripper can carry the workpiece more stably.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a flexible robot electromagnetic gripper. Background Art

[0002] An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field. It has a certain degree of automation and can rely on its own power source and control ability to realize various industrial processing and manufacturing functions. In order to realize the grasping and moving of workpieces, a gripper is generally arranged at the end of the robotic arm of the industrial robot.

[0003] Currently, for the handling of some workpieces made of magnetic materials, an electromagnetic gripper is generally used for adsorption grasping. However, when the existing electromagnetic gripper adsorbs a workpiece, sometimes the angle between the adsorption surface and the surface of the workpiece is inconsistent, resulting in unstable adsorption due to improper fitting, and further leading to the risk of the workpiece not being adsorbed or falling during the handling process. Therefore, there are still drawbacks and deficiencies in the prior art. Summary of the Utility Model

[0004] The utility model provides a flexible robot electromagnetic gripper to solve the problems raised in the background art.

[0005] In order to solve the above technical problems, the technical solution adopted by the utility model is: a flexible robot electromagnetic gripper, which includes a connecting part, a mounting part, and an electromagnet. A flexible component is installed between the connecting part and the mounting part, and one side of the mounting part away from the connecting part is fixedly connected to the electromagnet; the flexible component includes a universal ball seat, one side of the universal ball seat close to the mounting part is connected to the mounting part through a first connecting rod, a universal ball head is arranged inside the universal ball seat, and one side of the universal ball head close to the connecting part is connected to the connecting part through a second connecting rod.

[0006] Preferably, there are two flexible components, which are arranged oppositely. A telescopic cylinder is connected to one side of the connecting part close to the flexible component, and the telescopic cylinder is located between the two flexible components.

[0007] Preferably, two oppositely arranged hydraulic buffers are connected to one side of the connecting part close to the flexible component.

[0008] Preferably, the second connecting rod is a telescopic rod, and a spring is arranged on the telescopic rod.

[0009] Preferably, a proximity switch is installed on the electromagnet.

[0010] Preferably, there are two electromagnets, which are arranged oppositely.

[0011] Preferably, a connecting flange is fixedly connected to one side of the connecting part away from the flexible component.

[0012] The beneficial effects of the present utility model are as follows: (1) When the present utility model adsorbs a workpiece, the connection part and the installation part are flexibly connected, and the electromagnet can rotate by a certain angle, enabling the electromagnet to adaptively adhere to the surface of the workpiece, thereby more firmly adsorbing the workpiece and reducing the risk of the workpiece falling during the handling process; (2) After lifting the workpiece, the connection part and the installation part can be switched to a rigid connection, so as to keep the electromagnet from shaking, and further facilitate the more stable handling of the workpiece by the electromagnetic gripper; (3) When the connection part and the installation part are flexibly connected, one end of the hydraulic buffer near the installation part is in a tightly pressed state with the installation part, which can prevent the electromagnet from shaking arbitrarily during movement, and further ensure the stability of the electromagnetic gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a structural schematic diagram of the present utility model;

[0014] Figure 2 is a structural schematic diagram of the present utility model in a rigid state.

[0015] In the figure: 1. Connection part, 2. Installation part, 3. Electromagnet, 4. Universal ball seat, 5. First connecting rod, 6. Universal ball head, 7. Second connecting rod, 8. Telescopic cylinder, 9. Hydraulic buffer, 10. Spring, 11. Proximity switch, 12. Connection flange. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0016] The present utility model will be further described below with reference to the accompanying drawings. The following description is based on the directions in the Figure 1 accompanying drawings.

[0017] As Figure 1-2 shown, the present utility model provides a flexible robot electromagnetic gripper, which includes a connection part 1, an installation part 2, and an electromagnet 3. A flexible component is installed between the connection part 1 and the installation part 2, and one side of the installation part 2 away from the connection part 1 is fixedly connected to the electromagnet 3; the flexible component includes a universal ball seat 4. One side of the universal ball seat 4 close to the installation part 2 is connected to the installation part 2 through a first connecting rod 5. One end of the first connecting rod 5 is detachably and fixedly connected to the installation part 2 by bolts, and the other end of the first connecting rod 5 is fixedly connected to the universal ball seat 4. A universal ball head 6 is arranged in the universal ball seat 4. One side of the universal ball head 6 close to the connection part 1 is connected to the connection part 1 through a second connecting rod 7. One end of the second connecting rod 7 is detachably and fixedly connected to the connection part 1 by bolts, and the other end of the second connecting rod 7 is fixedly connected to the universal ball head 6.

[0018] Specifically, the electromagnetic gripper is used in cooperation with a robot. That is, the side of the connecting portion 1 away from the flexible component is connected to the robotic arm of the robot, and a control system is externally connected to the robot. The control system is electrically connected to the electromagnet 3. The robot and the control system are not shown in the figure. The connection relationships among the robot, the control system, and between the control system and the electromagnet 3 are prior arts and will not be elaborated here. During use, the robotic arm first controls the electromagnet 3 to contact the surface of the workpiece, and then the control system activates the electromagnet 3. Since the mounting portion 2 and the connecting portion 1 are connected by a flexible component, the electromagnet 3 can rotate a certain angle under the action of the suction force, so that the adsorption surface of the electromagnet 3 can adaptively adhere to the surface of the workpiece, thereby more firmly adsorbing the workpiece. That is, when the present utility model adsorbs the workpiece, the connecting portion 1 and the mounting portion 2 are flexibly connected, and the electromagnet 3 can rotate a certain angle, so that the adsorption surface of the electromagnet 3 can adaptively adhere to the surface of the workpiece, thereby more firmly adsorbing the workpiece to reduce the risk of the workpiece falling during the handling process.

[0019] In some embodiments, there are two flexible components, and the two flexible components are arranged oppositely. A telescopic cylinder 8 is connected to the side of the connecting portion 1 close to the flexible component, and the telescopic cylinder 8 is located between the two flexible components. Specifically, after the electromagnetic gripper picks up the workpiece, the telescopic end of the telescopic cylinder 8 extends to abut against the mounting portion 2. At this time, the connection between the mounting portion 2 and the connecting portion 1 can be switched to a rigid connection state, so that the electromagnet 3 does not shake, thereby facilitating the more stable handling of the workpiece by the electromagnetic gripper.

[0020] In the present utility model, the connection between the connecting portion 1 and the mounting portion 2 is a flexible and rigid switchable connection relationship. When adsorbing the workpiece, the connecting portion 1 and the mounting portion 2 are flexibly connected, and the electromagnet 3 can rotate a certain angle, so that the electromagnet 3 can adaptively adhere to the surface of the workpiece, thereby more firmly adsorbing the workpiece to reduce the risk of the workpiece falling during the handling process. When the workpiece is picked up, the connection between the connecting portion 1 and the mounting portion 2 can be switched to a rigid connection, so as to keep the electromagnet 3 from shaking, and further facilitate the more stable handling of the workpiece by the electromagnetic gripper.

[0021] In some embodiments, two oppositely arranged hydraulic buffers 9 are connected to the side of the connecting portion 1 close to the flexible component, and the end of the hydraulic buffer 9 away from the connecting portion 1 abuts against the mounting portion 2. Specifically, when the connecting portion 1 and the mounting portion 2 are flexibly connected, the end of the hydraulic buffer 9 close to the mounting portion 2 is in a tightened state with the mounting portion 2, so as to prevent the electromagnet 3 from shaking arbitrarily during movement, and further ensure the stability of the electromagnetic gripper.

[0022] In some embodiments, the second connecting rod 7 is a telescopic rod, and a spring 10 is arranged on the telescopic rod. Specifically, the fixed end of the telescopic rod is detachably and fixedly connected to the connecting portion 1 through a bolt, the telescopic end of the telescopic rod is fixedly connected to the universal ball head 6, the spring 10 is sleeved on the telescopic rod, one end of the spring 10 is fixedly connected to the connecting portion 1, and the other end of the spring 10 is fixedly connected to the telescopic end of the telescopic rod. When in use, when the electromagnet 3 contacts the surface of the workpiece driven by the robotic arm, the telescopic end of the telescopic rod can be retracted and the spring 10 can be compressed. At this time, the spring 10 can play a buffering role to ensure the safety of the electromagnetic gripper during the process of gripping the workpiece.

[0023] In some embodiments, a proximity switch 11 is installed on the electromagnet 3. The proximity switch 11 is used to detect the presence or absence of the workpiece. The proximity switch 11 is electrically connected to the control system. The connection relationship between the proximity switch 11 and the control system is prior art and will not be elaborated here. Specifically, when in use, the electromagnetic gripper can be located above the conveying route of the workpiece driven by the robot. When the proximity switch 11 does not detect the workpiece, the electromagnet 3 is in an unpowered state, so as to avoid the electromagnetic gripper from accidentally adsorbing other items. When the proximity switch 11 detects the workpiece, the proximity switch 11 transmits a signal to the control system, and then the control system controls the electromagnet 3 to contact the surface of the workpiece, and then the control system activates the electromagnet 3 to facilitate the adsorption of the workpiece. By setting the proximity switch 11, it is convenient for the electromagnetic gripper to adsorb the workpiece.

[0024] In some embodiments, there are two electromagnets 3, and the two electromagnets 3 are arranged oppositely. Specifically, the two electromagnets 3 can increase the adsorption points of the electromagnetic gripper, so as to ensure that the electromagnetic gripper adsorbs the workpiece more stably.

[0025] In some embodiments, a connecting flange 12 is fixedly connected to the side of the connecting portion 1 away from the flexible component. The electromagnetic gripper and the robotic arm are detachably connected through the connecting flange 12, so as to facilitate the installation and disassembly of the electromagnetic gripper.

[0026] The above embodiments can be combined with each other.

[0027] The above embodiments do not impose any formal restrictions on the shape, material, structure, etc. of the present invention. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention all fall within the protection scope of the technical solution of the present invention.

Claims

1. A flexible robot electromagnetic gripper, comprising a connecting portion, a mounting portion, and an electromagnet, characterized in that: A flexible component is installed between the connecting portion and the mounting portion, and a side of the mounting portion away from the connecting portion is fixedly connected to the electromagnet; The flexible component includes a universal ball seat, a side of the universal ball seat close to the mounting part is connected to the mounting part through a first connecting rod, a universal ball head is arranged in the universal ball seat, and a side of the universal ball head close to the connecting part is connected to the connecting part through a second connecting rod.

2. A flexible robot electromagnetic gripper according to claim 1, characterized in that: There are two flexible components, which are arranged opposite to each other. A telescopic cylinder is connected to one side of the connecting portion close to the flexible component, and the telescopic cylinder is located between the two flexible components.

3. The flexible robot electromagnetic gripper according to claim 1, characterized in that: The connecting portion is connected to one side of the connecting portion close to the flexible component with two hydraulic buffers arranged opposite to each other.

4. The flexible robot electromagnetic gripper according to claim 1, characterized in that: The second connecting rod is a telescopic rod, and a spring is arranged on the telescopic rod.

5. The flexible robot electromagnetic gripper according to claim 1, characterized in that: A proximity switch is installed on the electromagnet.

6. The flexible robot electromagnetic gripper according to claim 1, characterized in that: There are two electromagnets, which are arranged opposite to each other.

7. The flexible robot electromagnetic gripper according to claim 1, characterized in that: A connecting flange is fixedly connected to a side of the connecting portion away from the flexible component.

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