A device capable of automatically switching between flexibility and rigidity

Abstract

The utility model relates to rigid and soft switching device technical field, concretely relates to a device of automatic switching flexible and rigid, including taking mechanism, taking mechanism one side with first flange one side surface connection, the first flange disc is away from taking mechanism one side surface and is connected with the second flange disc through spring, the second flange disc is away from the first flange disc one side surface and is connected with multiaxis pneumatic cylinder, and the movable end of multiaxis pneumatic cylinder is connected with the electromagnet set between the first flange disc and the second flange disc, multiaxis pneumatic cylinder is used for controlling electromagnet to be close to or away from the first flange disc, after electromagnet and first flange disc magnetism connection, the first flange disc and the second flange disc are rigidly connected through electromagnet and multiaxis pneumatic cylinder, after electromagnet is away from the first flange disc, the first flange disc and the second flange disc are flexibly connected through spring, and after the product is grabbed, can be through electromagnet or suction cup and multiaxis pneumatic cylinder cooperation to make the first flange disc and the second flange disc become rigid connection, and it is convenient to move the product.

Description

Technical Field

[0001] This utility model relates to the technical field of rigid-flexible switching devices, specifically to a device that can automatically switch between flexible and rigidity. Background Technology

[0002] Currently, robotic arms are widely used in automated production processes. However, since the picking and unloading mechanisms are basically rigid structures, the mechanical precision required for associated equipment is extremely high. This increases both equipment costs and the difficulty and time required for debugging.

[0003] Because robotic arms are essentially rigid structures, they require high precision during use. Therefore, if the positioning and gripping of products is inaccurate, the positioning and gripping need to be repeated. Failure to position and grip is a waste of a lot of time and affects production efficiency. Therefore, inventing a structure that can freely and automatically switch between rigidity and flexibility has become an urgent problem to be solved. Utility Model Content

[0004] To address the problems existing in the prior art, the purpose of this utility model is to provide a device that can automatically switch between flexibility and rigidity, in order to solve the problem that existing robotic arms have high precision requirements when in use. Therefore, if the positioning and gripping of products is inaccurate, it is necessary to reposition and grip, which wastes a lot of time and affects production efficiency.

[0005] A device capable of automatically switching between flexible and rigid modes includes a material handling mechanism. One side of the material handling mechanism is connected to one side of a first flange. The side of the first flange opposite to the material handling mechanism is connected to a second flange via a spring. A multi-axis cylinder is connected to the side of the second flange opposite to the first flange. The movable end of the multi-axis cylinder is connected to an electromagnet disposed between the first flange and the second flange. The multi-axis cylinder is used to control the electromagnet to move closer to or further away from the first flange. After the electromagnet is magnetically connected to the first flange, the first flange and the second flange are rigidly connected through the electromagnet and the multi-axis cylinder. After the electromagnet moves away from the first flange, the first flange and the second flange are flexibly connected through a spring.

[0006] Furthermore, it includes a third flange, which is located on the side of the second flange opposite to the first flange, and the second flange and the third flange are connected by a connecting rod.

[0007] Furthermore, a multi-axis cylinder fixing plate is connected to each side of the multi-axis cylinder, and the multi-axis cylinder is connected to the second flange through the multi-axis cylinder fixing plate.

[0008] Furthermore, the movable end of the multi-axis cylinder is connected to a fixed plate disposed between the first flange and the second flange, and the movable end of the multi-axis cylinder is connected to the electromagnet through the fixed plate.

[0009] A device capable of automatically switching between flexible and rigid modes includes a material handling mechanism. One side of the material handling mechanism is connected to one side of a first flange. The side of the first flange opposite to the material handling mechanism is connected to a second flange via a spring. A multi-axis cylinder is connected to the side of the second flange opposite to the first flange. The movable end of the multi-axis cylinder is connected to a suction cup disposed between the first flange and the second flange. The multi-axis cylinder is used to control the suction cup to move closer to or away from the first flange. After the suction cup picks up the first flange, the first flange and the second flange are rigidly connected through the suction cup and the multi-axis cylinder. After the suction cup moves away from the first flange, the first flange and the second flange are flexibly connected through a spring.

[0010] Furthermore, it includes a third flange, which is located on the side of the second flange opposite to the first flange, and the second flange and the third flange are connected by a connecting rod.

[0011] Furthermore, a multi-axis cylinder fixing plate is connected to each side of the multi-axis cylinder, and the multi-axis cylinder is connected to the second flange through the multi-axis cylinder fixing plate.

[0012] Furthermore, the movable end of the multi-axis cylinder is connected to a fixed plate disposed between the first flange and the second flange, and the movable end of the multi-axis cylinder is connected to the suction cup through the fixed plate.

[0013] Beneficial effects: The material handling structure is existing technology; the first and second flanges were originally in flexible contact, and the material handling mechanism connected to the first flange can adjust its direction and position within a certain range. This reduces the problem of excessively high precision requirements caused by the rigid structure of the robotic arm in existing technologies, avoids the problem of product re-grabbing due to inaccurate positioning, and greatly improves the product transfer efficiency. After the product is grasped, the first and second flanges can be rigidly connected by an electromagnet or suction cup in conjunction with a multi-axis cylinder, facilitating product movement. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the specification will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this utility model. For those skilled in the art, other drawings can be obtained based on these drawings.

[0015] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present utility model. Figure 1 ; Figure 2 This is a schematic diagram of the overall structure of Embodiment 1 of the present utility model. Figure 2 ; Figure 3 This is a schematic diagram of the overall structure of Embodiment 1 of the present utility model. Figure 3 ; Figure 4 This is a schematic diagram of the overall structure of Embodiment 2 of this utility model.

[0016] In the diagram: 1. Material handling mechanism; 2. First flange; 3. Spring; 4. Second flange; 5. Fixed connecting rod; 6. Third flange; 7. Electromagnet; 8. Multi-axis cylinder fixing plate; 9. Fixing plate; 10. Multi-axis cylinder; 11. Suction cup. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, not all embodiments. For ease of explanation, the terms "vertical", "horizontal", "left", "right", "upper", "lower", "inner", "outer", "bottom", etc., used in this specification indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0018] It should be noted that the embodiments and features involved in the embodiments of this utility model can be combined with each other without conflict. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model. Example

[0019] like Figures 1-3 The device shown is capable of automatically switching between flexible and rigid modes, including a material handling mechanism 1. One side of the material handling mechanism 1 is connected to one side of a first flange 2. The side of the first flange 2 away from the material handling mechanism 1 is connected to a second flange 4 via a spring 3. The side of the second flange 4 away from the first flange 2 is connected to a multi-axis cylinder 10. The movable end of the multi-axis cylinder 10 is connected to an electromagnet 7 disposed between the first flange 2 and the second flange 4. The multi-axis cylinder 10 is used to control the electromagnet 7 to move closer to or further away from the first flange 2. After the electromagnet 7 is magnetically connected to the first flange 2, the first flange 2 and the second flange 4 are rigidly connected through the electromagnet 7 and the multi-axis cylinder 10. After the electromagnet 7 moves away from the first flange 2, the first flange 2 and the second flange 4 are flexibly connected through the spring 3.

[0020] In this embodiment, the material handling structure is existing technology. The first flange 2 and the second flange 4 are originally in flexible contact. The material handling mechanism 1 connected to the first flange 2 can adjust its direction and position within a certain range, reducing the high precision requirements caused by the rigid structure of the robotic arm in existing technologies. This avoids the problem of re-grabbing the product due to inaccurate positioning, greatly improving the product transfer efficiency. After the product is grasped, the first flange 2 and the second flange 4 can be rigidly connected through the cooperation of the electromagnet 7 and the multi-axis cylinder 10, facilitating product movement. The number of springs 3 is at least 3, preferably 4.

[0021] It also includes a third flange 6, which is located on the side of the second flange 4 away from the first flange 2, and the second flange 4 and the third flange 6 are connected by a connecting rod.

[0022] In this embodiment, the number of connecting rods is at least 3, preferably 4; the third flange 6 is used to connect the device with other equipment or components, facilitating further installation and use of the product.

[0023] Multi-axis cylinder 10 is connected to two sides of multi-axis cylinder fixing plate 8 respectively, and multi-axis cylinder 10 is connected to second flange 4 through multi-axis cylinder fixing plate 8.

[0024] In this embodiment, multi-axis cylinder fixing plates 8 are symmetrically arranged on both sides of the multi-axis cylinder 10 to fix the multi-axis cylinder 10, making the device structure more stable and better able to control the position change of the electromagnet 7.

[0025] The movable end of the multi-axis cylinder 10 is connected to the fixed plate 9 located between the first flange 2 and the second flange 4, and the movable end of the multi-axis cylinder 10 is connected to the electromagnet 7 through the fixed plate 9.

[0026] In this embodiment, the fixing plate 9 is provided to facilitate the fixing of the electromagnet 7, and to facilitate the subsequent movement of the electromagnet 7 and the attraction of the electromagnet 7 to the first flange 2.

[0027] Working principle: When the picking mechanism 1 grabs a product, the electromagnet 7 moves away from the first flange 2. The first flange 2 and the second flange 4 are flexibly connected by the spring 3, facilitating the grabbing of the product by the picking mechanism 1. When the grabbing is successful, the multi-axis cylinder 10 pushes the electromagnet 7 to move towards the first flange 2. The electromagnet 7 picks up the first flange 2. The first flange 2 and the second flange 4 are rigidly connected by the electromagnet 7 and the multi-axis cylinder 10, fixing the relative position of the first flange 2 and the second flange 4 to facilitate the movement of the material. After the material moves to the designated position, the picking mechanism 1 returns to its original position, and the first flange 2 and the second flange 4 return to their original flexible connection. Then the above process is repeated. Example

[0028] like Figure 4 As shown, the only difference between this embodiment and embodiment 1 is that a suction cup 11 is connected to the fixing plate 9 instead of an electromagnet 7. The suction cup 11 is located on the side of the fixing plate 9 near the first flange 2. The suction cup 11 is connected to a vacuum pump or other equipment in the existing equipment so that the suction cup 11 can hold the first flange 2.

[0029] In this embodiment, the electromagnet 7 is replaced by a suction cup 11. The strength of the rigid connection when the first suction cup 2 and the second suction cup 4 are rigidly connected can be increased or decreased by controlling the number of suction cups 11 and the suction force of the suction cups 11.

[0030] Working principle: When the picking mechanism 1 grabs a product, the suction cup 11 moves away from the first flange 2. The first flange 2 and the second flange 4 are flexibly connected by the spring 3, which facilitates the picking mechanism 1 to grab the product. When the grab is successful, the multi-axis cylinder 10 pushes the suction cup 11 to move towards the first flange 2. The suction cup 11 picks up the first flange 2. The first flange 2 and the second flange 4 are rigidly connected to the multi-axis cylinder 10 through the suction cup 7, which fixes the relative position of the first flange 2 and the second flange 4 to facilitate the movement of the material. After the material moves to the designated position, the picking mechanism 1 returns to its original position, and the first flange 2 and the second flange 4 return to their original flexible connection. Then the above process is repeated.

[0031] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the present invention. Clearly, those skilled in the art can make various alterations and modifications to the present invention without departing from its spirit and scope. Thus, if such modifications and modifications fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include such modifications and modifications.

Claims

1. A device capable of automatically switching between flexible and rigid modes, characterized in that, It includes a material handling mechanism, one side of which is connected to one side of the first flange. The side of the first flange away from the material handling mechanism is connected to the second flange by a spring. The side of the second flange away from the first flange is connected to a multi-axis cylinder. The movable end of the multi-axis cylinder is connected to an electromagnet located between the first flange and the second flange. The multi-axis cylinder is used to control the electromagnet to move closer to or further away from the first flange. After the electromagnet is magnetically connected to the first flange, the first flange and the second flange are rigidly connected through the electromagnet and the multi-axis cylinder. After the electromagnet moves away from the first flange, the first flange and the second flange are flexibly connected through a spring.

2. The device capable of automatically switching between flexible and rigid modes according to claim 1, characterized in that, It includes a third flange, which is located on the side of the second flange opposite to the first flange, and the second flange and the third flange are connected by a connecting rod.

3. The device capable of automatically switching between flexible and rigid modes according to claim 2, characterized in that, The multi-axis cylinder is connected to a multi-axis cylinder fixing plate on both sides, and the multi-axis cylinder is connected to the second flange through the multi-axis cylinder fixing plate.

4. The device capable of automatically switching between flexible and rigid modes according to claim 1, characterized in that, The movable end of the multi-axis cylinder is connected to a fixed plate disposed between the first flange and the second flange, and the movable end of the multi-axis cylinder is connected to the electromagnet through the fixed plate.

5. A device capable of automatically switching between flexible and rigid modes, characterized in that, It includes a material handling mechanism, one side of which is connected to one side of the first flange. The side of the first flange opposite to the material handling mechanism is connected to the second flange by a spring. The side of the second flange opposite to the first flange is connected to a multi-axis cylinder. The movable end of the multi-axis cylinder is connected to a suction cup located between the first flange and the second flange. The multi-axis cylinder is used to control the suction cup to move closer to or away from the first flange. After the suction cup picks up the first flange, the first flange and the second flange are rigidly connected through the suction cup and the multi-axis cylinder. After the suction cup moves away from the first flange, the first flange and the second flange are flexibly connected through a spring.

6. The device capable of automatically switching between flexible and rigid modes according to claim 5, characterized in that, It includes a third flange, which is located on the side of the second flange opposite to the first flange, and the second flange and the third flange are connected by a connecting rod.

7. The device capable of automatically switching between flexible and rigid modes according to claim 6, characterized in that, The multi-axis cylinder is connected to a multi-axis cylinder fixing plate on both sides, and the multi-axis cylinder is connected to the second flange through the multi-axis cylinder fixing plate.

8. The device capable of automatically switching between flexible and rigid modes according to claim 5, characterized in that, The movable end of the multi-axis cylinder is connected to a fixed plate disposed between the first flange and the second flange, and the movable end of the multi-axis cylinder is connected to the suction cup through the fixed plate.

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