CN110561384A - Two-dimensional walking magnetic control gripper - Google Patents
Two-dimensional walking magnetic control gripper Download PDFInfo
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- CN110561384A CN110561384A CN201910844118.5A CN201910844118A CN110561384A CN 110561384 A CN110561384 A CN 110561384A CN 201910844118 A CN201910844118 A CN 201910844118A CN 110561384 A CN110561384 A CN 110561384A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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Abstract
本发明提供了一种二维行走磁控抓手，包括：抓手横向移动组件，包括导轨，所述导轨上设置有行走小车；抓手纵向移动组件，固定安装在所述行走小车上；磁控抓手，与所述抓手纵向移动组件可拆卸连接，所述磁控抓手在所述抓手纵向移动组件的驱动下在所述抓手纵向移动组件的轴向移动；其中，所述行走小车在所述导轨上移动，带动所述磁控抓手移动至不同的位置。本发明通过二维行走磁控抓手可使抓取工件的过程更加稳定、可靠；可跟换的抓手使得该装置的应用范围更加广泛。节省了大量劳动力，提高了工件加工的生产效率。
The invention provides a two-dimensional walking magnetic control gripper, comprising: a gripper lateral movement assembly, including a guide rail, and a walking trolley is arranged on the guide rail; a gripper longitudinal movement assembly, fixedly installed on the walking trolley; The magnetic control gripper is detachably connected with the gripper longitudinal movement assembly, and the magnetic control gripper is driven by the gripper longitudinal movement assembly to move in the axial direction of the gripper longitudinal movement assembly; wherein, the The walking trolley moves on the guide rail, driving the magnetic control gripper to move to different positions. The invention can make the process of grabbing workpieces more stable and reliable through the two-dimensional walking magnetic control gripper; the replaceable gripper makes the application range of the device wider. It saves a lot of labor and improves the production efficiency of workpiece processing.
Description
技术领域technical field
本发明涉及抓取装置领域，具体地，涉及二维行走磁控抓手。The invention relates to the field of grabbing devices, in particular to a two-dimensional walking magnetic control gripper.
背景技术Background technique
工件抓取是工业生产中一个重要的操作，随着工业自动化的发展，各种工件抓取用的机械手应运而生，有效的提高工作、零部件在自动化、半自动化和手动工作状态下的提升、输送、装夹的效率，但是自动化程度越来越高，对自动抓取的功能要求越来越高，对自动抓取的安全性、稳定性的要求越来越高，而一般的自动抓取机构不能满足要求。但对于大型板件，因其表面光滑、厚度很薄，现有的机械手不易抓取，同样对于不规则工件很难准确抓取工件，如公开号CN108147144A的发明专利公开的“抓手装置”。有鉴于此，需要对现有技术进行改进，以满足目前对抓取机构的使用要求。Workpiece grasping is an important operation in industrial production. With the development of industrial automation, various manipulators for workpiece grasping have emerged as the times require, which can effectively improve the work and parts in automatic, semi-automatic and manual working conditions. , conveying, and clamping efficiency, but the degree of automation is getting higher and higher, the requirements for the function of automatic grabbing are getting higher and higher, and the requirements for the safety and stability of automatic grabbing are getting higher and higher. The institution cannot meet the requirements. But for large plates, because of its smooth surface and thin thickness, existing manipulators are not easy to grasp, and it is difficult to accurately grasp workpieces for irregular workpieces, such as the "gripper device" disclosed in the invention patent of Publication No. CN108147144A. In view of this, it is necessary to improve the existing technology to meet the current requirements for the use of the grasping mechanism.
发明内容Contents of the invention
针对现有技术中的缺陷，本发明的目的是提供一种二维行走磁控抓手。Aiming at the defects in the prior art, the object of the present invention is to provide a two-dimensional walking magnetic control gripper.
根据本发明提供的一种二维行走磁控抓手，包括：A two-dimensional walking magnetic control gripper provided according to the present invention includes:
抓手横向移动组件，包括导轨，所述导轨上设置有行走小车；The gripper lateral movement assembly includes a guide rail on which a walking trolley is arranged;
抓手纵向移动组件，固定安装在所述行走小车上；The gripper longitudinal movement assembly is fixedly installed on the walking trolley;
磁控抓手，与所述抓手纵向移动组件可拆卸连接，所述磁控抓手在所述抓手纵向移动组件的驱动下在所述抓手纵向移动组件的轴向移动；A magnetron gripper is detachably connected to the gripper longitudinal movement assembly, and the magnetron gripper is driven by the gripper longitudinal movement assembly to move in the axial direction of the gripper longitudinal movement assembly;
其中，所述行走小车在所述导轨上移动，带动所述磁控抓手移动至不同的位置。Wherein, the traveling trolley moves on the guide rail, driving the magnetic control gripper to move to different positions.
优选地，所述行走小车包括小车驱动电机，与所述行走小车的车轮驱动连接，驱动所述行走小车在所述导轨上移动。Preferably, the walking trolley includes a trolley driving motor, which is drivingly connected to the wheels of the walking trolley, and drives the walking trolley to move on the guide rail.
优选地，所述抓手纵向移动组件包括：Preferably, the gripper longitudinal movement assembly includes:
滚珠丝杠螺母，固定连接在所述行走小车上；The ball screw nut is fixedly connected to the walking trolley;
滚珠丝杠，螺接在所述滚珠丝杠螺母上，所述磁控抓手连接在所述滚珠丝杠的底部；The ball screw is screwed on the ball screw nut, and the magnetic control gripper is connected to the bottom of the ball screw;
步进电机，驱动连接在所述滚珠丝杠的顶部。A stepper motor, the drive is connected on top of the ball screw.
优选地，所述滚珠丝杠上安装有第一传感器和第二传感器，所述第一传感器和所述第二传感器与所述步进电机电连接，且分别位于所述导轨的上方和下方。Preferably, a first sensor and a second sensor are mounted on the ball screw, the first sensor and the second sensor are electrically connected to the stepping motor and are respectively located above and below the guide rail.
优选地，所述磁控抓手包括：电磁装置和抓手部，所述电磁装置可拆卸连接在所述滚珠丝杠的底部，所述抓手部与所述电磁装置驱动连接。Preferably, the magnetic control gripper includes: an electromagnetic device and a gripper part, the electromagnetic device is detachably connected to the bottom of the ball screw, and the gripper part is drivingly connected to the electromagnetic device.
优选地，所述抓手部包括：三爪磁控抓手、钳式磁控抓手或平板式磁控抓手。Preferably, the gripper part includes: a three-jaw magnetron gripper, a clamp-type magnetron gripper or a flat-plate magnetron gripper.
优选地，所述电磁装置通过电缆与外部电源电连接。Preferably, the electromagnetic device is electrically connected to an external power source through a cable.
优选地，所述抓手部通过气缸驱动抓取或放开。Preferably, the gripping part is driven by an air cylinder to grab or release.
优选地，还包括多个工作台，设置于所述磁控抓手的运动路径的下方，所述行走小车带动所述磁控抓手移动至不同的工作台的上方。Preferably, it also includes a plurality of workbenches arranged below the movement path of the magnetic control gripper, and the walking trolley drives the magnetic control gripper to move to the top of different workbenches.
根据本发明提供的一种二维行走磁控抓手，包括：A two-dimensional walking magnetic control gripper provided according to the present invention includes:
抓手横向移动组件，包括导轨，所述导轨上设置有行走小车；The gripper lateral movement assembly includes a guide rail on which a walking trolley is arranged;
抓手纵向移动组件，固定安装在所述行走小车上；The gripper longitudinal movement assembly is fixedly installed on the walking trolley;
磁控抓手，与所述抓手纵向移动组件可拆卸连接，所述磁控抓手在所述抓手纵向移动组件的驱动下在所述抓手纵向移动组件的轴向移动；A magnetron gripper is detachably connected to the gripper longitudinal movement assembly, and the magnetron gripper is driven by the gripper longitudinal movement assembly to move in the axial direction of the gripper longitudinal movement assembly;
其中，所述行走小车在所述导轨上移动，带动所述磁控抓手移动至不同的位置；Wherein, the walking trolley moves on the guide rail, driving the magnetic control gripper to move to different positions;
所述行走小车包括小车驱动电机，与所述行走小车的车轮驱动连接，驱动所述行走小车在所述导轨上移动；The walking trolley includes a trolley drive motor, which is connected to the wheels of the walking trolley to drive the walking trolley to move on the guide rail;
所述抓手纵向移动组件包括：The gripper longitudinal movement assembly includes:
滚珠丝杠螺母，固定连接在所述行走小车上；The ball screw nut is fixedly connected to the walking trolley;
滚珠丝杠，螺接在所述滚珠丝杠螺母上，所述磁控抓手连接在所述滚珠丝杠的底部；The ball screw is screwed on the ball screw nut, and the magnetic control gripper is connected to the bottom of the ball screw;
步进电机，驱动连接在所述滚珠丝杠的顶部；a stepper motor, driving and connected to the top of the ball screw;
所述滚珠丝杠上安装有第一传感器和第二传感器，所述第一传感器和所述第二传感器与所述步进电机电连接，且分别位于所述导轨的上方和下方；A first sensor and a second sensor are installed on the ball screw, the first sensor and the second sensor are electrically connected to the stepper motor, and are respectively located above and below the guide rail;
所述磁控抓手包括：电磁装置和抓手部，所述电磁装置可拆卸连接在所述滚珠丝杠的底部，所述抓手部与所述电磁装置驱动连接；The magnetic control gripper includes: an electromagnetic device and a gripper part, the electromagnetic device is detachably connected to the bottom of the ball screw, and the gripper part is drivingly connected to the electromagnetic device;
所述抓手部包括：三爪磁控抓手、钳式磁控抓手或平板式磁控抓手；The gripper part includes: a three-jaw magnetron gripper, a clamp-type magnetron gripper or a flat-plate magnetron gripper;
所述电磁装置通过电缆与外部电源电连接；The electromagnetic device is electrically connected to an external power source through a cable;
所述抓手部通过气缸驱动抓取或放开；The gripper is driven by a cylinder to grasp or release;
所述二维行走磁控抓手还包括多个工作台，设置于所述磁控抓手的运动路径的下方，所述行走小车带动所述磁控抓手移动至不同的工作台。The two-dimensional walking magnetron gripper also includes a plurality of workbenches, which are arranged below the motion path of the magnetron gripper, and the walking trolley drives the magnetron gripper to move to different workbenches.
与现有技术相比，本发明具有如下的有益效果：Compared with the prior art, the present invention has the following beneficial effects:
本发明通过二维行走磁控抓手可使抓取工件的过程更加稳定、可靠；可跟换的抓手使得该装置的应用范围更加广泛。节省了大量劳动力，提高了工件加工的生产效率。The invention can make the process of grabbing workpieces more stable and reliable through the two-dimensional walking magnetic control gripper; the replaceable gripper makes the application range of the device wider. It saves a lot of labor and improves the production efficiency of workpiece processing.
附图说明Description of drawings
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：Other characteristics, objects and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:
图1为本发明的结构示意图。Fig. 1 is a structural schematic diagram of the present invention.
具体实施方式Detailed ways
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变化和改进。这些都属于本发明的保护范围。The present invention will be described in detail below in conjunction with specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all belong to the protection scope of the present invention.
如图1所示，根据本发明提供的一种二维行走磁控抓手，包括：As shown in Figure 1, a two-dimensional walking magnetic control gripper provided according to the present invention includes:
抓手横向移动组件，包括导轨6，导轨6上设置有行走小车4；The gripper lateral movement assembly includes a guide rail 6 on which a walking trolley 4 is arranged;
抓手纵向移动组件，固定安装在行走小车上；The gripper longitudinal movement component is fixedly installed on the walking trolley;
磁控抓手，与抓手纵向移动组件可拆卸连接，磁控抓手在抓手纵向移动组件的驱动下在抓手纵向移动组件的轴向移动；The magnetic control gripper is detachably connected with the gripper longitudinal movement component, and the magnetron gripper moves axially in the gripper longitudinal movement component driven by the gripper longitudinal movement component;
其中，行走小车4在导轨6上移动，带动磁控抓手移动至不同的位置。Wherein, the walking trolley 4 moves on the guide rail 6, and drives the magnetic control gripper to move to different positions.
具体的，行走小车4包括小车驱动电机5，与行走小车4的车轮驱动连接，驱动行走小车4在导轨6上移动。Specifically, the traveling trolley 4 includes a trolley drive motor 5 , which is connected to the wheels of the traveling trolley 4 to drive the traveling trolley 4 to move on the guide rail 6 .
抓手纵向移动组件包括：The gripper longitudinal movement components include:
滚珠丝杠螺母2，固定连接在行走小车4上；The ball screw nut 2 is fixedly connected to the traveling trolley 4;
滚珠丝杠14，螺接在滚珠丝杠螺母2上，磁控抓手连接在滚珠丝杠14的底部；The ball screw 14 is screwed on the ball screw nut 2, and the magnetic control gripper is connected to the bottom of the ball screw 14;
步进电机3，驱动连接在滚珠丝杠14的顶部，通过正转和反转驱动滚珠丝杠14上移或下移。The stepper motor 3 is driven and connected to the top of the ball screw 14, and drives the ball screw 14 to move up or down through forward rotation and reverse rotation.
滚珠丝杠14上安装有第一传感器1和第二传感器15，第一传感器1和第二传感器15与步进电机3电连接，且分别位于导轨6的上方和下方。在滚珠丝杠14下移过程中，第一传感器1接触到导轨6时，第一传感器1发出信号至步进电机3从而停止步进电机3；同理，在滚珠丝杠14上移过程中，第二传感器15接触到导轨6时，第二传感器15发出信号至步进电机3从而停止步进电机3。A first sensor 1 and a second sensor 15 are installed on the ball screw 14 , the first sensor 1 and the second sensor 15 are electrically connected to the stepper motor 3 and are located above and below the guide rail 6 respectively. During the downward movement of the ball screw 14, when the first sensor 1 touches the guide rail 6, the first sensor 1 sends a signal to the stepper motor 3 to stop the stepper motor 3; similarly, during the upward movement of the ball screw 14 , when the second sensor 15 touches the guide rail 6, the second sensor 15 sends a signal to the stepping motor 3 to stop the stepping motor 3.
磁控抓手包括：电磁装置16和抓手部，电磁装置16可拆卸连接在滚珠丝杠14的底部，抓手部与电磁装置16驱动连接。抓手部包括：三爪磁控抓手10、钳式磁控抓手12或平板式磁控抓手11。电磁装置16通过电缆13与外部电源电连接，在通电状态下能够产生磁力，吸附抓取的工件，使抓取牢固。抓手部通过气缸驱动抓取或放开，实现抓取和放开。三爪磁控抓手10可以抓取不规则工件，钳式磁控抓手12可以抓取块状工件，平板式磁控抓手11可以抓取大型薄板工件。The magnetic control gripper includes: an electromagnetic device 16 and a gripper part, the electromagnetic device 16 is detachably connected to the bottom of the ball screw 14 , and the gripper part is drivingly connected to the electromagnetic device 16 . The grip part includes: a three-jaw magnetic control gripper 10 , a pincer type magnetic control gripper 12 or a flat type magnetic control gripper 11 . The electromagnetic device 16 is electrically connected to the external power supply through the cable 13, and can generate magnetic force in the energized state to attract the workpiece to be grasped, so that the grasp is firm. The gripper is driven by the cylinder to grab or release, so as to realize grabbing and releasing. The three-jaw magnetic control gripper 10 can grab irregular workpieces, the pliers-type magnetron gripper 12 can grab blocky workpieces, and the flat-type magnetron gripper 11 can grab large thin-plate workpieces.
磁控抓手的运动路径的下方设置有多个工作台(7、8、9)，行走小车4可以带动磁控抓手移动至不同的工作台的上方，从而将工件传输至对应的工作台进行加工。There are multiple worktables (7, 8, 9) below the movement path of the magnetic control gripper, and the walking trolley 4 can drive the magnetic control gripper to move to the top of different workbenches, thereby transferring the workpiece to the corresponding workbench for processing.
本发明的工作原理如下：The working principle of the present invention is as follows:
(1)驱动电机驱动在导轨上运动的行走小车到第一个工作台正上方，步进电机工作驱动滚珠丝杠反向旋转，磁控抓手下行，此时抓手为张开状态；(1) The driving motor drives the walking trolley moving on the guide rail to the top of the first worktable, the stepping motor drives the ball screw to rotate in reverse, and the magnetic control gripper goes down, and the gripper is in an open state at this time;
(2)当滚珠丝杠上的第一传感器遇到安装在导轨上的挡块时，磁控抓手停止下行，此时磁控抓手到达合适工作位置，电磁装置通电产生吸引力吸引工件，气缸工作使得磁控抓手抓紧工件；(2) When the first sensor on the ball screw encounters the stopper installed on the guide rail, the magnetic control gripper stops going down, and at this time the magnetic control gripper reaches a suitable working position, and the electromagnetic device is energized to generate an attractive force to attract the workpiece. The work of the cylinder makes the magnetic control gripper grasp the workpiece;
(3)工件抓紧后，步进电机工作驱动滚珠丝杠正向旋转，磁控抓手上行，当滚珠丝杠上的第二传感器遇到安装在导轨上的挡块时，磁控抓手停止上行；(3) After the workpiece is grasped, the stepping motor works to drive the ball screw to rotate forward, and the magnetic control gripper goes up. When the second sensor on the ball screw meets the stopper installed on the guide rail, the magnetic control gripper stops. Uplink;
(4)当磁控抓手停止上行后，驱动电机驱动行走小车到达第二个工作台正上方，步进电机工作驱动滚珠丝杠反向旋转，磁控抓手下行；(4) When the magnetic control gripper stops going up, the driving motor drives the walking trolley to the top of the second workbench, the stepping motor works to drive the ball screw to rotate in reverse, and the magnetic control gripper goes down;
(5)当滚珠丝杠上的第一传感器遇到安装在导轨上的挡块时，磁控抓手停止下行，此时磁控抓手到达合适工作位置距离第二工作台3～5mm，电磁装置断电，气缸工作使得磁控抓手松开工件，工件落到第二工作台中心，进行下一步工序，如此循环。(5) When the first sensor on the ball screw encounters the stopper installed on the guide rail, the magnetic control gripper stops going down. At this time, the magnetic control gripper reaches the proper working position and is 3-5mm away from the second workbench. When the device is powered off, the cylinder works so that the magnetic control gripper releases the workpiece, and the workpiece falls to the center of the second workbench for the next step, and so on.
在本申请的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。In the description of this application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", The orientation or positional relationship indicated by "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying the referred device Or elements must have a certain orientation, be constructed and operate in a certain orientation, and thus should not be construed as limiting the application.
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变化或修改，这并不影响本发明的实质内容。在不冲突的情况下，本申请的实施例和实施例中的特征可以任意相互组合。Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.
Claims (10)
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| CN201910844118.5A CN110561384A (en) | 2019-09-06 | 2019-09-06 | Two-dimensional walking magnetic control gripper |
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Application publication date: 20191213 |