A gripper for holding shaft-type parts by a robotic arm

Abstract

This utility model relates to a gripper for a robotic arm that holds shaft-type parts. It includes a robotic arm and a gripper, with a metal shell fixedly mounted on the gripper. An electromagnet is fixedly mounted inside the metal shell. The metal shell is integrally formed from an arc-shaped plate and a frame. The electromagnet is conformally shaped and arc-shaped. The bottom end of the metal shell is configured as an ear plate located at the bottom of the arc-shaped plate. A positioning block is detachably mounted on the ear plate. Because the shaft is a cylindrical structure, by configuring the bottom end of the shell as an arc-shaped plate, the electromagnet can better adhere to and attract the shaft when energized. Since the shaft is fixed by magnetic attraction, the robotic arm does not need to be fully moved to the desired position. However, because magnetic attraction can lead to low positional accuracy of the shaft within the arc-shaped plate of the metal shell, the ear plate and positioning block work together to restrict the position of the shaft, achieving precise gripping without requiring structural changes to the fixture.

Description

Technical Field

[0001] This utility model relates to the field of shaft parts processing technology, and in particular to a gripper for a shaft parts clamping robotic arm. Background Technology

[0002] Shaft parts require various grooves to be cut into them during use to prevent a relative speed difference between the parts mounted on the shaft and the shaft during high-speed rotation after assembly. All components will deform under the pull of centrifugal force during ultra-high-speed rotation, so keyed shafts are needed to further prevent relative speed differences after deformation. Therefore, it is very important to industrialize and refine the keyway machining of shafts. Precise positioning and automatic loading and unloading can improve production efficiency.

[0003] Currently, Chinese patent CN222643904U discloses a loading and unloading device for spline shaft processing, including a robotic arm and a loading device. The robotic arm is located on one side of the loading device, which includes a first storage cabinet and a second storage cabinet. Both the first and second storage cabinets have discharge holes at their tops. Each of the first and second storage cabinets contains an automatic feeder, which includes a rotating shaft, a conveyor belt, and a servo motor. The surface of the conveyor belt has multiple evenly spaced receiving slots. The servo motor is located at the top of the first storage cabinet. The rotating shaft is connected to the output shaft of the servo motor via a coupling. Both ends of the rotating shaft are fitted with discs, each disc having multiple evenly spaced receiving holes axially. The receiving holes on the discs allow shaft parts transported by the conveyor belt to be attracted onto the rotating shaft with the assistance of an electromagnet. The receiving slots on the conveyor belt prevent the shaft parts from rolling during transport, enabling automatic loading of the parts.

[0004] The above-mentioned existing technical solutions have the following drawbacks: because a clamping method is used, certain structural changes are required to the fixture that holds the rotating shaft; otherwise, the bearing is prone to falling off during the transfer process of the robotic arm. Utility Model Content

[0005] The purpose of this invention is to provide a gripper for a robotic arm that holds shaft-type parts, in order to solve the problems existing in the prior art.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0007] A gripper for holding shaft-type parts by a robotic arm includes a robotic arm and a gripper. A metal shell is fixedly installed on the gripper, and an electromagnet is fixedly installed inside the metal shell. The metal shell is integrally formed from an arc-shaped plate and a frame. The electromagnet is shaped like an arc. The bottom end of the metal shell is set as an ear plate located at the bottom of the arc-shaped plate, and a positioning block is detachably installed on the ear plate.

[0008] By adopting the above technical solution, since the rotating shaft is a cylindrical whole, by setting the bottom end of the outer shell as an arc plate structure, the electromagnet can better adhere to and attract the rotating shaft when energized. Because the rotating shaft is fixed by magnetic attraction, the robotic arm does not need to move completely to the position. It can be moved to the approximate position and then energized to magnetically attract the rotating shaft. At the same time, because the magnetic attraction method will result in low positional accuracy of the rotating shaft within the arc plate of the metal outer shell, the position of the rotating shaft is restricted by the cooperation of the ear plate and the positioning block to achieve precise clamping without the need to make structural changes to the fixture.

[0009] In a further embodiment, the positioning block is a rectangular block, and the periphery of the positioning block is provided with a blunted acute-angle structure.

[0010] By adopting the above technical solution, the axial length of the arc plate needs to be less than the length of the clamping shaft when in use. Therefore, one end of the shaft will protrude. This end is used for clamping by the pneumatic three-jaw chuck. During the clamping process, the protruding end of the shaft is first placed in the clamping area of ​​the three-jaw chuck, and then the three-jaw chuck is driven to clamp. At the same time, the robotic arm is driven to make the ear plate and the positioning block press against the other end of the shaft. At this time, the electromagnet needs to be de-energized because the shaft has a stepped surface, so that the stepped surface of the shaft is pressed against the end face of the jaws of the three-jaw chuck.

[0011] In a further embodiment, the electromagnet includes a spliced ​​iron core and a winding, the winding being wound around the spliced ​​iron core, the spliced ​​iron core being composed of multiple rectangular thin plates stacked together, each rectangular thin plate being a frame structure, and the cross-section of the rectangular thin plate in the width direction being arc-shaped.

[0012] By adopting the above technical solution, when manufacturing spliced ​​iron cores, it is necessary to first stamp out a rectangular frame on the strip, then bend the stamped sheet to make it fit the surface of the arc plate, and finally wind it. This setting is to make the adsorption force more uniform when the arc plate adsorbs the rotating shaft.

[0013] In a further embodiment, the top periphery of the metal shell is provided with an extension edge, and through holes are uniformly opened circumferentially on the extension edge. The gripper is provided with threaded holes corresponding one-to-one with the through holes.

[0014] By adopting the above technical solution, the metal shell can be fixedly installed with the gripper.

[0015] In a further embodiment, an infrared switch is provided at the bottom of the ear plate.

[0016] By adopting the above technical solution, the height of the infrared switch can be adjusted. The setting of the infrared switch enables the device to detect the bottom end of the adsorption shaft, preventing one end of the shaft from coming loose during adsorption. In this case, the infrared switch would be blocked, triggering an alarm and alerting the staff. Therefore, the detection direction of the infrared switch, or the direction of the infrared beam, is parallel to the axis of the curved plate.

[0017] In summary, this utility model has the following beneficial effects:

[0018] 1. By setting the bottom of the outer shell as an arc-shaped plate, the electromagnet can better adhere to and attract the rotating shaft when energized. Because the rotating shaft is fixed by magnetic attraction, the robotic arm does not need to move completely to the position. It can be moved to the approximate position and then energized to magnetically attract the rotating shaft. At the same time, because the magnetic attraction method can lead to low positional accuracy of the rotating shaft within the arc-shaped plate of the metal outer shell, the position of the rotating shaft is restricted by the cooperation of the ear plate and the positioning block to achieve precise gripping without the need to make structural changes to the fixture.

[0019] 2. When manufacturing the spliced ​​iron core, a rectangular frame is first stamped out on the strip, and then the stamped sheet is bent to fit the surface of the arc plate. Finally, the winding is wound. This setting is to make the adsorption force more uniform when the arc plate adsorbs the rotating shaft. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the internal structure of the metal casing used to illustrate this utility model.

[0022] In the diagram, 1 is the metal casing; 11 is the curved plate; 12 is the frame; 2 is the electromagnet; 3 is the ear plate; and 4 is the positioning block. Detailed Implementation

[0023] The present invention will be further described in detail below with reference to the accompanying drawings.

[0024] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction toward or away from the geometry of a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.

[0025] Example 1:

[0026] like Figures 1-2 As shown, a gripper for holding shaft-type parts by a robotic arm includes a robotic arm and a gripper. A metal shell 1 is fixedly mounted on the gripper, and an electromagnet 2 is fixedly mounted inside the metal shell 1. The metal shell 1 is integrally formed from an arc-shaped plate 11 and a frame 12. The electromagnet 2 is irregularly shaped and arc-shaped. Ear plates 3 are fixedly mounted on the bottom left side of the metal shell 1, and positioning blocks 4 are detachably mounted on the ear plates 3. The positioning blocks 4 are rectangular blocks with a blunted acute-angle structure around their perimeter. The electromagnet 2 includes a spliced ​​iron core and windings. The windings are wound around the spliced ​​iron core, which is composed of multiple stacked rectangular thin plates. Each rectangular thin plate is a frame structure, and the cross-section of the width direction of the rectangular thin plate is arc-shaped. The manufacturing of the spliced ​​iron core requires stamping rectangular plates from a strip first. The frame is then bent to fit the surface of the curved plate, and finally the winding is wound. This is to make the adsorption force more uniform when the curved plate adsorbs the rotating shaft. The top periphery of the metal shell 1 is provided with an extension edge, and through holes are evenly opened on the extension edge. The gripper is provided with threaded holes corresponding to the through holes. The bottom of the ear plate 3 is provided with an infrared switch. The height of the infrared switch can be adjusted. The infrared switch enables the device to detect the bottom end of the adsorbed rotating shaft, so as to prevent the shaft from coming loose during adsorption. At this time, the infrared switch will be blocked, thus triggering an alarm and alerting the staff. Therefore, the detection direction of the infrared switch, or the direction of the infrared beam, is parallel to the axis of the curved plate.

[0027] Specific implementation process: Because the rotating shaft is a cylindrical whole, by setting the bottom end of the outer shell as an arc plate structure, the electromagnet can better adhere to and attract the rotating shaft when energized. Since the rotating shaft is fixed by magnetic attraction, the robotic arm does not need to move completely to the position. It can be moved to the approximate position and then energized to magnetically attract the rotating shaft. At the same time, because the magnetic attraction method will result in low positional accuracy of the rotating shaft within the arc plate of the metal outer shell, the position of the rotating shaft is restricted by the cooperation of the ear plate and the positioning block to achieve precise clamping without changing the structure of the fixture.

[0028] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.

[0029] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A gripper for a robotic arm that holds shaft-type parts, characterized in that: The device includes a robotic arm and a gripper. A metal shell (1) is fixedly installed on the gripper. An electromagnet (2) is fixedly installed inside the metal shell (1). The metal shell (1) is integrally formed from an arc plate (11) and a frame (12). The electromagnet (2) is shaped like an arc. Ear plates (3) are fixedly installed on the left side of the bottom end of the metal shell (1). Positioning blocks (4) are detachably installed on the ear plates (3).

2. The gripper of a robotic arm for holding shaft-type parts according to claim 1, characterized in that: The positioning block (4) is a rectangular block, and the periphery of the positioning block is provided with an acute-angled chamfered structure.

3. The gripper of a robotic arm for holding shaft-type parts according to claim 1, characterized in that: The electromagnet (2) includes a spliced ​​iron core and a winding. The winding is wound around the spliced ​​iron core. The spliced ​​iron core is composed of multiple rectangular thin plates stacked together. Each rectangular thin plate is a frame structure, and the cross-section of the rectangular thin plate in the width direction is arc-shaped.

4. The gripper of a robotic arm for holding shaft-type parts according to claim 1, characterized in that: The top periphery of the metal shell (1) is provided with an extension edge, and the extension edge is provided with through holes in the circumferential direction. The gripper is provided with threaded holes corresponding to the through holes one by one.

5. The gripper of a robotic arm for holding shaft-type parts according to claim 1, characterized in that: An infrared switch is provided at the bottom of the ear plate (3).

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