Magnetic type mechanical hand clamp

Abstract

The utility model relates to manipulator technical field especially is a kind of magnetic type manipulator clamp, including manipulator body, manipulator body rear end is fixedly connected with clamp drive component, and one end of clamp drive component is fixedly connected with clamping component, and one end of clamping component is fixedly connected with magnetic attraction component, and clamping component includes moving plate, and moving plate one side is fixedly connected with baffle, and moving plate inboard is fixedly connected with multistage spring telescopic link, and one end of multistage spring telescopic link away from moving plate is fixedly connected with steel sheet, and moving plate front end and rear end are all fixedly connected with side seat, and magnetic attraction component includes first base plate, and first base plate inboard is rotatably connected with first shaft column by bearing, in the utility model, the device effectively solves the displacement problem when traditional permanent magnet clamp grabs ferromagnetic workpiece, improves the grabbing efficiency and stability, enhances subsequent processing accuracy, significantly improves industrial automation application performance and reliability.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a magnetic robotic arm gripper. Background Technology

[0002] Robotic grippers are end effectors used to grasp, transport, and manipulate objects. They are installed at the end of a robotic arm or robot arm and are driven by mechanical, pneumatic, electric, or hydraulic forces to firmly grasp and precisely place objects of different shapes and sizes. The design of grippers is usually customized according to specific application requirements to ensure that they can adapt to specific load, accuracy, and environmental requirements. They are widely used in industrial automation, logistics, medical, and scientific research fields and are one of the key components for realizing automated production. A magnetic gripper is an end effector that uses magnetic attraction to grasp and hold objects. It is usually installed at the end of a robotic hand or robot arm. It generates attraction force through electromagnetic or permanent magnets and is mainly used to grasp and manipulate metallic objects. This gripper is particularly suitable for handling ferromagnetic materials and can quickly and firmly attract target objects, improving grasping efficiency and stability. When gripping ferromagnetic workpieces, robotic grippers with permanent magnets do not require an electromagnetic system to generate magnetic force, thus reducing maintenance and operating costs. However, when the gripper approaches the workpiece, the magnetic attraction of the permanent magnets may cause the ferromagnetic workpiece to shift, leading to a decrease in the workpiece's positioning accuracy and affecting the accuracy of subsequent processing or assembly. Therefore, a magnetic gripper is proposed to address the above problems. Utility Model Content

[0003] The purpose of this invention is to provide a magnetic gripper for robotic arms to solve the problems mentioned in the background section.

[0004] To achieve the above objectives, this utility model provides the following technical solution: A magnetic suction robotic gripper includes a robotic gripper body. A gripper drive assembly is fixedly connected to the rear end of the robotic gripper body. A gripping assembly is fixedly connected to one end of the gripper drive assembly. A magnetic suction assembly is fixedly connected to one end of the gripping assembly. The gripping assembly includes a movable plate. A baffle is fixedly connected to one side of the movable plate. A multi-stage spring telescopic rod is fixedly connected to the inner side of the movable plate. A steel plate is fixedly connected to the end of the multi-stage spring telescopic rod away from the movable plate. Side seats are fixedly connected to both the front and rear ends of the movable plate. The magnetic suction assembly includes a first base plate. A first shaft is rotatably connected to the inner side of the first base plate via a bearing. A combination plate and a second shaft are sequentially fixedly connected to the bottom end of the first shaft. A protrusion, a storage wheel, a steel wire rope, and a torsion spring are fixedly connected to the outer side of the second shaft. The second shaft is rotatably connected to the second base plate via a bearing.

[0005] As a further optimization of this utility model, the clamping drive assembly includes a U-shaped claw, the front end of which is fixedly connected to the robot body, and the rear end of which has multiple through holes.

[0006] As a further optimization of this utility model, the following features are provided: servo-electric telescopic rods are fixedly connected to both sides of the U-shaped claw; a guide rod is slidably connected to the inner side of the through hole of the U-shaped claw; and the piston rod of the servo-electric telescopic rod slides inside the through hole of the U-shaped claw.

[0007] As a further optimization of this utility model, the guide rod is fixedly connected to the side seat, and the piston rod of the servo electric telescopic rod is fixedly connected to the moving plate.

[0008] As a further optimization of this utility model, the center of the steel plate and the center of the combined plate are on the same horizontal line, and the movable plate is fixedly connected to the wire rope.

[0009] As a further optimization of this utility model, the first substrate and the second substrate are both provided with shaft holes on their inner sides, and bearings are fixedly connected to the inner sides of the shaft holes of the first substrate and the second substrate, and the first substrate and the second substrate are both fixedly connected to the movable plate.

[0010] As a further optimization of this utility model, the protrusion and the baffle are on the same horizontal plane, the wire rope is located between the two storage wheels, and the outer side of the torsion spring is fixedly connected to the inner side of the second base plate.

[0011] Compared with the prior art, the beneficial effects of this utility model are: In this invention, the device effectively solves the problem of workpiece displacement caused by magnetic attraction when gripping ferromagnetic workpieces by setting up a clamping component and a magnetic attraction component. The clamp adopts a layered design of combined plate components, in which the copper plate layer can significantly weaken the penetration ability of the magnetic field, reduce the impact of the magnetic field on the surrounding environment, and reduce the workpiece displacement caused by magnetic attraction when the device approaches the workpiece, thereby improving the positioning accuracy of the workpiece. In addition, the steel plate is made of non-magnetic stainless steel, which not only ensures the firm adsorption of the workpiece, but also avoids the interference of magnetic attraction on the workpiece. This design not only improves the gripping efficiency and stability, but also provides higher accuracy for subsequent processing or assembly, significantly improving the application performance and reliability of the robotic gripper in industrial automation. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the fixture drive assembly of this utility model; Figure 3This is an exploded view of the clamping assembly of this utility model; Figure 4 This is a cross-sectional structural diagram of the magnetic suction component of this utility model; Figure 5 This is an exploded view of the magnetic attraction component of this utility model; Figure 6 This utility model Figure 5 A schematic diagram of the structure at point A.

[0013] In the image: 1. The robotic arm itself; 2. Fixture drive assembly; 21. U-shaped claw; 22. Servo electric telescopic rod; 23. Guide rod; 3. Clamping assembly; 31. Moving plate; 32. Baffle; 33. Multi-stage spring telescopic rod; 34. Steel plate; 35. Side seat; 4. Magnetic suction assembly; 41. First base plate; 42. First shaft post; 43. Combination plate; 44. Second shaft post; 45. Protrusion; 46. Storage wheel; 47. Steel wire rope; 48. Second base plate; 49. Torsion spring. Detailed Implementation

[0014] 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, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0015] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0016] Please see Figures 1-6 This utility model provides a technical solution: A magnetic suction robotic gripper includes a robotic gripper body 1. A gripper drive assembly 2 is fixedly connected to the rear end of the robotic gripper body 1. A gripping assembly 3 is fixedly connected to one end of the gripper drive assembly 2. A magnetic suction assembly 4 is fixedly connected to one end of the gripping assembly 3. The gripping assembly 3 includes a movable plate 31. A baffle 32 is fixedly connected to one side of the movable plate 31. A multi-stage spring telescopic rod 33 is fixedly connected to the inner side of the movable plate 31. A steel plate 34 is fixedly connected to the end of the multi-stage spring telescopic rod 33 away from the movable plate 31. Side seats 35 are fixedly connected to both the front and rear ends of the movable plate 31. The magnetic suction assembly 4 includes a first base plate 41. A first shaft post 42 is rotatably connected to the inner side of the first base plate 41 through a bearing. A combination plate 43 and a second shaft post 44 are fixedly connected to the bottom end of the first shaft post 42 in sequence. A protrusion 45, a storage wheel 46, a steel wire rope 47, and a torsion spring 49 are fixedly connected to the outer side of the second shaft post 44. The second shaft post 44 is rotatably connected to the second base plate 48 through a bearing.

[0017] As a further implementation of this solution, the clamping drive assembly 2 includes a U-shaped claw 21. The front end of the U-shaped claw 21 is fixedly connected to the robot body 1. The rear end of the U-shaped claw 21 has multiple through holes. Servo electric telescopic rods 22 are fixedly connected to both sides of the U-shaped claw 21. A guide rod 23 is slidably connected to the inside of the through holes of the U-shaped claw 21. The piston rod of the servo electric telescopic rod 22 slides inside the through holes of the U-shaped claw 21. The guide rod 23 is fixedly connected to the side seat 35. The piston rod of the servo electric telescopic rod 22 is fixedly connected to the moving plate 31. Through the above settings, a power source is provided for the clamp, forming a stable power transmission, realizing the precise displacement of the guide rod 23, thereby driving the movement of subsequent components. This design not only improves the clamping accuracy, but also enhances the stability and reliability of the clamp during the clamping process, ensuring the firmness and safety of the workpiece during the clamping process. As a further implementation of this solution, the center of the steel plate 34 and the center of the combined plate 43 are on the same horizontal line, and the moving plate 31 is fixedly connected to the wire rope 47. With the above settings, the multi-stage spring telescopic rod 33 can be squeezed to the limit after the steel plate 34 moves. At this time, the permanent magnet block of the steel plate 34 and the combined plate 43 are in contact, ensuring that the magnetic force can pass through the steel plate 34 to magnetically attract the workpiece. As a further implementation of this solution, the inner sides of the first substrate 41 and the second substrate 48 are both provided with shaft holes. Bearings are fixedly connected to the inner sides of the shaft holes of the first substrate 41 and the second substrate 48. The first substrate 41 and the second substrate 48 are both fixedly connected to the moving plate 31. The protrusion 45 and the baffle 32 are on the same horizontal plane. The steel wire rope 47 is located between the two collecting wheels 46. The outer side of the torsion spring 49 is fixedly connected to the inner side of the second substrate 48. Through the above arrangement, the torsion of the torsion spring 49 drives the second shaft column 44 to rotate, thereby realizing the winding of the steel wire rope 47. Through the cooperation of the protrusion 45 and the baffle 32, the rotation angle of the combined plate 43 can be controlled, so that one side of the permanent magnet block of the combined plate 43 is aligned with the steel plate 34, thereby firmly adsorbing the target object and improving the gripping efficiency and stability.

[0018] Workflow: When gripping a workpiece with ferromagnetic material, the position of the gripper drive assembly 2 is controlled by the robot body 1, so that the two magnetic suction assemblies 4 are located at both ends of the workpiece. The two servo electric telescopic rods 22 are activated, driving the moving plate 31 to move towards the workpiece. The moving plate 31 moves the guide rod 23 via the side seat 35. The guide rod 23 slides inside the U-shaped claw 21, improving the stability of the moving plate 31 during movement. When both steel plates 34 are in contact with the workpiece, they are subjected to a reaction force. The steel plate 34 moves and compresses multiple multi-stage spring telescopic rods 33. The elastic extension of the multi-stage spring telescopic rods 33, in conjunction with the steel plate 34, provides a buffering effect when fixing the workpiece. When the steel plate 34 moves towards the moving plate 31, the elastic torque of the torsion spring 49 drives the second shaft 44 and the convex... Block 45, receiving wheel 46, combination plate 43 and first shaft column 42 rotate. When receiving wheel 46 rotates, it winds up steel wire rope 47. When protrusion 45 touches baffle 32, combination plate 43 rotates 180 degrees and stops rotating. At this time, the magnetic side of combination plate 43 faces steel plate 34. Combination plate 43 is divided into two layers, one is a copper plate and the other is a permanent magnet block, which can effectively weaken the penetration ability of magnetic field and reduce the impact of magnetic field on the surrounding environment. In addition, when combination plate 43 is not flipped, the spacing between steel plate 34 and combination plate 43 is set, which significantly reduces the impact of displacement of workpiece caused by magnetic attraction after the device approaches the workpiece. The material of steel plate 34 is non-magnetic stainless steel. The magnetic force of permanent magnet block of combination plate 43 can penetrate steel plate 34 to magnetically attract workpiece, thereby firmly adsorbing target object and improving gripping efficiency and stability. After the workpiece is lowered, the multi-stage spring telescopic rod 33 pushes the steel plate 34 to gradually return to its original position. The steel plate 34 pulls the wire rope 47. The sum of the elastic forces of the multiple multi-stage spring telescopic rods 33 is four times the sum of the elastic forces of the two torsion springs 49. The wire rope 47 pulls the second shaft column 44 to rotate, so that the copper plate side of the combined plate 43 faces the steel plate 34, which facilitates the clamping of the workpiece again.

[0019] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A magnetic gripper for robotic arms, comprising a robotic arm body (1), characterized in that: The rear end of the robotic arm body (1) is fixedly connected to a clamping drive assembly (2), one end of the clamping drive assembly (2) is fixedly connected to a gripping assembly (3), and one end of the gripping assembly (3) is fixedly connected to a magnetic suction assembly (4). The clamping assembly (3) includes a movable plate (31), a baffle (32) is fixedly connected to one side of the movable plate (31), a multi-stage spring telescopic rod (33) is fixedly connected to the inner side of the movable plate (31), a steel plate (34) is fixedly connected to the end of the multi-stage spring telescopic rod (33) away from the movable plate (31), and side seats (35) are fixedly connected to both the front and rear ends of the movable plate (31). The magnetic suction assembly (4) includes a first base plate (41), a first shaft post (42) is rotatably connected to the inner side of the first base plate (41) via a bearing, a combination plate (43) and a second shaft post (44) are fixedly connected to the bottom end of the first shaft post (42) in sequence, a protrusion (45), a storage wheel (46), a steel wire rope (47) and a torsion spring (49) are fixedly connected to the outer side of the second shaft post (44), and the second shaft post (44) is rotatably connected to the second base plate (48) via a bearing.

2. The magnetic suction robotic gripper according to claim 1, characterized in that: The clamp drive assembly (2) includes a U-shaped claw (21), the front end of which is fixedly connected to the robot body (1), and the rear end of which has multiple through holes.

3. The magnetic suction robotic gripper according to claim 2, characterized in that: The U-shaped claw (21) is fixedly connected to servo electric telescopic rods (22) on both the left and right sides. A guide rod (23) is slidably connected to the inside of the through hole of the U-shaped claw (21). The piston rod of the servo electric telescopic rod (22) slides inside the through hole of the U-shaped claw (21).

4. A magnetic suction robotic gripper according to claim 3, characterized in that: The guide rod (23) is fixedly connected to the side seat (35), and the piston rod of the servo electric telescopic rod (22) is fixedly connected to the moving plate (31).

5. A magnetic suction robotic gripper according to claim 1, characterized in that: The center of the steel plate (34) and the center of the combined plate (43) are on the same horizontal line, and the movable plate (31) is fixedly connected to the wire rope (47).

6. A magnetic suction robotic gripper according to claim 1, characterized in that: The first substrate (41) and the second substrate (48) are both provided with shaft holes. Bearings are fixedly connected to the inner side of the shaft hole of the first substrate (41) and the inner side of the shaft hole of the second substrate (48). The first substrate (41) and the second substrate (48) are both fixedly connected to the movable plate (31).

7. A magnetic suction robotic gripper according to claim 1, characterized in that: The protrusion (45) and the baffle (32) are on the same horizontal plane, the wire rope (47) is located between the two storage wheels (46), and the outer side of the torsion spring (49) is fixedly connected to the inner side of the second base plate (48).

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