Mechanical arm magnetic attraction grabbing clamp

Abstract

The utility model discloses a mechanical arm magnetic attraction grabbing clamp which comprises a base, a magnetic attraction assembly and a magnetic attraction assembly. The multi-degree-of-freedom mechanical arm is mounted on the top surface of the base; the mounting plate is mounted at the end part of the multi-degree-of-freedom mechanical arm through an angle adjusting assembly; the number of the mounting frames is two, and the two mounting frames are symmetrically mounted on the mounting plate; the pneumatic adsorption assembly comprises an installation ring, the installation ring is vertically and slidably arranged on the installation frame in a sleeving mode, an annular gas channel is formed in the installation ring, a plurality of negative pressure suction cups are installed at the bottom of the installation ring in the circumferential direction at equal intervals, and the negative pressure suction cups are connected with the annular gas channel through connecting pipes; an elastic compression assembly is arranged between the mounting ring and the mounting frame; and the magnetic attraction assembly is mounted in the middle of the mounting frame. Through cooperation of pneumatic clamping and magnetic attraction clamping, intervention of an electromagnet on parts after power failure can be avoided, and the accuracy of direct blanking is guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to manipulator technical field, in particular to a kind of mechanical arm magnetic suction grab. BACKGROUND

[0002] As an important infrastructure for electric vehicle energy supply, the production process of charging pile is crucial to ensure the reliability and safety of charging facilities. In this production process, the handling robot plays a crucial role as an important part of automated production equipment.

[0003] During the assembly process of the charging pile, various parts such as the shell, circuit board, etc. need to be handled. The handling robot can accurately grasp and place these parts, improving production efficiency. Handling robots usually use advanced visual positioning technology and sensor technology to achieve high-precision positioning and grasping, ensuring accurate placement and assembly of parts.

[0004] In the prior art, magnetic clamps are proposed to facilitate the handling of plate parts. However, the end part currently used is an electromagnet, which is controlled by on-off power to control the electromagnet's adsorption handling. However, whether it is a direct current electromagnet or an alternating current electromagnet, the magnetic property will not disappear instantly after power-off, which will cause the residual magnetic force of the robot to move the parts, making it impossible to accurately place the parts at the desired location. Therefore, the utility model provides a mechanical arm magnetic suction grab. UTILITY MODEL CONTENT

[0005] The utility model aims to provide a mechanical arm magnetic suction grab to solve the problems existing in the prior art.

[0006] To achieve the above-mentioned purpose, the utility model provides the following scheme: the utility model provides a mechanical arm magnetic suction grab, comprising:

[0007] A base is provided with a positioning assembly;

[0008] A multi-degree-of-freedom robot is installed on the top surface of the base;

[0009] An installation plate is installed on the end of the multi-degree-of-freedom robot through an angle adjusting assembly;

[0010] Two sets of mounting brackets are symmetrically installed on the installation plate;

[0011] A pneumatic adsorption assembly, the pneumatic adsorption assembly includes a mounting ring, the mounting ring is vertically and slidingly sleeved on the mounting frame, a ring-shaped gas passage is formed in the mounting ring, a plurality of negative pressure suction cups are mounted on the bottom of the mounting ring at equal intervals in the circumferential direction, the negative pressure suction cups are connected with the ring-shaped gas passage through connecting pipes, the ring-shaped gas passage is connected with a negative pressure pump through a pipeline, and an elastic compression assembly is arranged between the mounting ring and the mounting frame.

[0012] A magnetic attraction assembly is installed at the middle position of the mounting frame, the magnetic attraction assembly is located in the mounting ring, and the bottom surface of the magnetic attraction assembly is higher than the bottom surface of the mounting ring.

[0013] According to the mechanical arm magnetic attraction gripper provided by the utility model, the positioning assembly includes positioning seats, a plurality of groups of positioning seats are arranged at equal intervals in the circumferential direction on the bottom of the side surface of the base, and positioning bolts are mounted on the positioning seats.

[0014] According to the mechanical arm magnetic attraction gripper provided by the utility model, the angle adjusting assembly includes an angle adjusting motor, the angle adjusting motor is installed at the end of the multi-degree-of-freedom mechanical arm, and the output shaft of the angle adjusting motor is fixedly connected with the middle position of the mounting plate.

[0015] According to the mechanical arm magnetic attraction gripper provided by the utility model, the mounting frame includes a mounting shaft, a plurality of groups of positioning blocks are mounted on the side wall of the mounting shaft at equal intervals in the axial direction, the positioning blocks are of L-shaped structures, the positioning blocks are slidingly connected with the inner wall of the mounting ring, the elastic compression assembly is arranged between the mounting shaft and the mounting ring, and the magnetic attraction assembly is installed at the bottom of the mounting shaft.

[0016] According to the mechanical arm magnetic attraction gripper provided by the utility model, a plurality of groups of elastic compression assemblies are arranged on the side wall of the mounting shaft at equal intervals in the axial direction, the elastic compression assembly includes a supporting rod, one end of the supporting rod is rotatably connected to the top of the mounting ring, a vertical sliding groove is formed in the side wall of the mounting shaft, the sliding groove is arranged in parallel with the axis of the mounting shaft, the cross section of the sliding groove is T-shaped, a sliding block is slidingly connected in the sliding groove, the sliding block is matched with the shape of the sliding groove, a spring is fixedly connected between the top of the sliding groove and the sliding block, and one end of the supporting rod is hingedly connected with the sliding block.

[0017] According to the mechanical arm magnetic attraction gripper provided by the utility model, the magnetic attraction assembly includes an electromagnet and a non-magnetic connecting rod, an installation groove is formed in the bottom of the mounting shaft, the connecting rod is fixedly connected in the installation groove, the electromagnet is fixed at the bottom of the connecting rod, and the electromagnet is connected with an electric control system.

[0018] The utility model discloses the following technical effects:

[0019] The utility model discloses a work, mechanical arm magnetic attraction first through the positioning component on the base stable positioning, ensure that mechanical arm can stable work, and multiple degrees of freedom mechanical arm is according to preset path or operation instruction, through the coordinated action of its multiple joints, the mounting plate and its on pneumatic adsorption component and magnetic attraction component are moved to the vicinity of target object, before approaching target object, the angle adjusting component can adjust the inclination angle of the mounting plate and its on component according to the shape, size and position of object, to best adapt to target object, when the mounting ring and its on negative pressure suction disc approach target object, negative pressure pump starts working, and the gas in annular gas passage is extracted through pipeline, forms negative pressure, and negative pressure is transmitted to each negative pressure suction disc through connecting pipe, makes the suction disc closely adhere on object surface, thereby realizes the adsorption to object, and the elastic compression component provides certain buffer and compression force between mounting ring and mounting frame, ensures that suction disc can keep stable contact force in the adsorption process, and simultaneously reduces the adverse effect that the object surface is uneven or mechanical arm is slightly vibrated, if target object is magnetic material or contains the part that can be attracted by magnet, and multiple degrees of freedom mechanical arm continuously exerts force, and presses the mounting ring and magnetic attraction component to be in the same plane, and when releasing, the magnetic attraction component is powered off, and under the action of elastic compression component, the part is separated from the magnetic attraction component, and then the negative pressure part returns to gas, and releases the clamping of the part.

[0020] The utility model discloses a cooperation of pneumatic clamping and magnetic attraction clamping can avoid the intervention of electromagnet to the part after power off, guarantees the precision of direct blanking. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, the following will be to the drawing needed in the embodiment used briefly introduce, obviously, the drawing in the following description only some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, still can obtain other drawings according to these drawings.

[0022] Fig. 1 It is the structural schematic diagram of the utility model mechanical arm magnetic attraction grab;

[0023] Fig. 2 It is the cooperation relation schematic diagram of the utility model pneumatic adsorption component and magnetic attraction component.

[0024] Among them, 1, base;2, multiple degrees of freedom mechanical arm;3, mounting plate;4, mounting ring;5, annular gas passage;6, negative pressure suction disc;7, positioning seat;8, angle adjusting motor;9, mounting shaft;10, positioning block;11, support rod;12, sliding slot;13, sliding block;14, spring;15, electromagnet;16, connecting rod. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the present application.

[0026] In order to make the above-mentioned purposes, features and advantages of the present application more apparent, clear and understandable, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0027] With reference to Figs. 1-2 The present application provides a mechanical arm magnetic attraction clamping device, comprising:

[0028] A base 1 is provided with a positioning assembly;

[0029] A multi-degree-of-freedom mechanical arm 2 is installed on the top surface of the base 1;

[0030] An installation plate 3 is installed on the end of the multi-degree-of-freedom mechanical arm 2 through an angle adjusting assembly;

[0031] An installation frame is provided with two groups, and the two groups of installation frames are symmetrically installed on the installation plate 3;

[0032] A pneumatic adsorption assembly comprises an installation ring 4, the installation ring 4 is vertically and slidingly sleeved on the installation frame, an annular gas passage 5 is formed in the installation ring 4, a plurality of negative pressure suction cups 6 are circumferentially and equidistantly installed on the bottom of the installation ring 4, the negative pressure suction cups 6 and the annular gas passage 5 are connected through a connecting pipe, the annular gas passage 5 is connected with a negative pressure pump through a pipeline, and an elastic compression assembly is arranged between the installation ring 4 and the installation frame;

[0033] A magnetic attraction assembly is installed at the middle position of the installation frame, the magnetic attraction assembly is located in the installation ring 4, and the bottom surface of the magnetic attraction assembly is higher than the bottom surface of the installation ring 4.

[0034] The utility model discloses a work, magnetic arm magnetic attraction clamping first through the positioning assembly on the base 1 stable positioning, ensure that mechanical arm can stable work, and the multi -freedom mechanical arm 2 according to preset path or operation instruction, through the coordinated action of its multiple joints, install the plate 3 and its on pneumatic adsorption subassembly and magnetic attraction subassembly move to the vicinity of target object, before approaching target object, angle adjusting assembly can according to the shape, size and position of object, adjust the inclination angle of install the plate 3 and its on subassembly, to best adapt to target object, when install ring 4 and its on negative pressure sucking disc 6 approach target object, negative pressure pump starts working, through pipeline, the gas in annular gas passage 5 is extracted, forms negative pressure, and negative pressure is transmitted to each negative pressure sucking disc 6 through connecting pipe, makes the sucking disc closely adhere on object surface, thereby realizes the adsorption to object, and the elastic compression component provides certain buffer and compression force between install ring 4 and mounting bracket, ensures that the sucking disc can keep stable contact force in the adsorption process, reduces the adverse effect that the object surface is uneven or the mechanical arm is slightly vibrated simultaneously, if target object is magnetic material or contains the part that can be attracted by magnetism, and the multi -freedom mechanical arm 2 continuously exerts force, and extrudes install ring 4 and magnetic attraction subassembly to be in the same plane, when releasing, magnetic attraction subassembly is powered off, and under the action of elastic compression component, the part is separated from magnetic attraction subassembly, and then the negative pressure part returns to gas, and the clamping of part is loosened.

[0035] The utility model discloses through pneumatic clamping and magnetic attraction clamping cooperation can avoid the intervention of electromagnet 15 to part after power off, guarantees the precision of direct blanking.

[0036] Further optimization scheme, the positioning assembly includes the positioning seat 7, and the positioning seat 7 is peripherally arranged at the bottom of the side of the base 1 with several groups, and the positioning bolt is installed on the positioning seat 7.

[0037] Further optimization scheme, the angle adjusting assembly includes the angle adjusting motor 8, and the angle adjusting motor 8 is installed at the end of the multi -freedom mechanical arm 2, and the output shaft of the angle adjusting motor 8 is fixedly connected with the middle position of the install plate 3.

[0038] Further optimization scheme, the mounting bracket includes the mounting shaft 9, and the side wall of the mounting shaft 9 is axially arranged with several groups of positioning blocks 10 at intervals, and the positioning block 10 is of L-shaped structure, and the positioning block 10 is slidably connected between the inner wall of the mounting ring 4, and the elastic compression component is arranged between the mounting shaft 9 and the mounting ring 4, and the magnetic attraction subassembly is installed at the bottom of the mounting shaft 9.

[0039] Further optimization scheme, the elastic compression assembly is provided with a plurality of groups on the side wall of the mounting shaft 9 in axial equal interval, the elastic compression assembly includes a support rod 11, one end of the support rod 11 is rotatably connected to the top of the mounting ring 4, a sliding groove 12 is vertically formed on the side wall of the mounting shaft 9, the sliding groove 12 is arranged in parallel with the axis of the mounting shaft 9, the cross section shape of the sliding groove 12 is T-shaped, a sliding block 13 is slidably connected in the sliding groove 12, the sliding block 13 is matched with the shape of the sliding groove 12, a spring 14 is fixedly connected between the top of the sliding groove 12 and the sliding block 13, and one end of the support rod 11 is hinged with the sliding block 13.

[0040] Further optimization scheme, the magnetic attraction assembly includes an electromagnet 15 and a non-magnetic connecting rod 16, a mounting groove is formed in the bottom of the mounting shaft 9, the connecting rod 16 is fixedly connected in the mounting groove, the electromagnet 15 is fixed to the bottom of the connecting rod 16, and the electromagnet 15 is connected with an electric control system.

[0041] In the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0042] The above-described embodiments are only preferred modes of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application should fall within the protection scope of the present application.

Claims

1. A magnetic gripper for a robotic arm, characterized in that, Include: Base (1), the base (1) is installed on the positioning assembly; Multi-degree-of-freedom robot arm (2), the multi-degree-of-freedom robot arm (2) is installed on the top surface of the base (1); Mounting plate (3), the mounting plate (3) is installed on the end of the multi-degree-of-freedom robot arm (2) through the angle adjusting assembly; Mounting frame, the mounting frame is provided with two groups, two groups of mounting frames are symmetrically installed on the mounting plate (3); Pneumatic suction assembly, the mounting ring (4) is vertically and slidingly sleeved on the mounting frame, the annular gas passage (5) is formed in the mounting ring (4), a plurality of negative pressure suction cups (6) are installed on the bottom of the mounting ring (4) at equal intervals in the circumferential direction, the negative pressure suction cups (6) are connected with the annular gas passage (5) through the connecting pipe, the annular gas passage (5) is connected with the negative pressure pump through the pipeline, and the elastic compression assembly is arranged between the mounting ring (4) and the mounting frame; Magnetic attraction assembly, the magnetic attraction assembly is installed at the middle position of the mounting frame, the magnetic attraction assembly is located in the mounting ring (4), and the bottom surface of the magnetic attraction assembly is higher than the bottom surface of the mounting ring (4).

2. The magnetic gripping device of claim 1, wherein: The positioning assembly includes a positioning seat (7), a plurality of groups of positioning seats (7) are arranged on the side surface of the base (1) at equal intervals in the circumferential direction, and a positioning bolt is installed on the positioning seat (7).

3. The magnetic gripping device of claim 1, wherein: The angle adjusting assembly includes an angle adjusting motor (8), the angle adjusting motor (8) is installed at the end of the multi-degree-of-freedom robot arm (2), and the output shaft of the angle adjusting motor (8) is fixedly connected with the middle position of the mounting plate (3).

4. The magnetic gripping device of claim 1, wherein: The mounting frame includes a mounting shaft (9), a plurality of groups of positioning blocks (10) are installed on the side wall of the mounting shaft (9) at equal intervals in the axial direction, the positioning block (10) is of an L-shaped structure, the positioning block (10) is slidingly connected with the inner wall of the mounting ring (4), the elastic compression assembly is arranged between the mounting shaft (9) and the mounting ring (4), and the magnetic attraction assembly is installed at the bottom of the mounting shaft (9).

5. The magnetic gripping device of claim 4, wherein: The elastic compression assembly is arranged on the side wall of the mounting shaft (9) at equal intervals in the axial direction, the elastic compression assembly includes a supporting rod (11), one end of the supporting rod (11) is rotatably connected to the top of the mounting ring (4), a sliding groove (12) is vertically formed in the side wall of the mounting shaft (9), the sliding groove (12) is arranged in parallel with the axis of the mounting shaft (9), the cross section of the sliding groove (12) is T-shaped, a sliding block (13) is slidingly connected in the sliding groove (12), the sliding block (13) is matched with the shape of the sliding groove (12), a spring (14) is fixedly connected between the top of the sliding groove (12) and the sliding block (13), and one end of the supporting rod (11) is hinged with the sliding block (13).

6. The magnetic gripping device of claim 4, wherein: The magnetic attraction assembly comprises an electromagnet (15) and a non-magnetic connecting rod (16), the bottom of the mounting shaft (9) is provided with a mounting groove, the connecting rod (16) is fixedly connected in the mounting groove, and the electromagnet (15) is fixed at the bottom of the connecting rod (16); the electromagnet (15) is connected with an electric control system.

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