CN212445300U

CN212445300U - An electromagnetic mechanical claw

Info

Publication number: CN212445300U
Application number: CN202021592391.8U
Authority: CN
Inventors: 瞿久植; 周崇秋; 贺新升; 陈俊元
Original assignee: Zhejiang Normal University CJNU
Current assignee: Zhejiang Normal University CJNU
Priority date: 2020-08-04
Filing date: 2020-08-04
Publication date: 2021-02-02
Anticipated expiration: 2030-08-04

Abstract

The invention relates to an electromagnetic mechanical claw device. The device is mainly composed of bolts, connectors, nuts, permanent magnets, magnetic isolation sleeves, shells, hinged discs, rollers, moving discs, clamping jaws, connecting rods, push rods, springs, electromagnetic coils, power interfaces, and elastomers. composition. The shell is fixed on the connecting piece by bolts and nuts; the electromagnetic coil is evenly wound at the groove of the push rod, and its outside is covered by a magnetic isolation sleeve; the spring is installed on the push rod and fixed between the push rod and the push rod. between the bottoms of the shells; the hinged plate is fixed on the lower side of the shell through threads; the jaws are hinged on the hinged plate through rollers; the moving plate is fixed at the bottom of the push rod; the connecting heads of the connecting rods are respectively Hinged with jaws and moving plate. The electromagnetic mechanical claw of the present invention can solve the problems of complex structure and low snatch ability of the existing mechanical claw, and has the advantages of simple structure, few supporting equipment, low cost and the like.

Description

Electromagnetic type gripper

Technical Field

The invention relates to the field of mechanical claws, in particular to an electromagnetic type mechanical claw device.

Background

Gripper devices are important actuators of industrial robots. The driving mode can be divided into hydraulic, pneumatic and electric mechanical claws. The hydraulic mechanical claw has compact structure, stable action, impact resistance, vibration resistance and good explosion resistance, but the hydraulic element requires higher manufacturing precision and sealing performance, otherwise, the conditions of oil leakage and the like occur, and even the environment is polluted. The pneumatic mechanical gripper has the advantages of convenient acquisition of required air source, rapid action, simple structure, low cost and convenient maintenance, but is difficult to control the speed, the air pressure cannot be too high, and the grabbing and lifting capacity is weaker. The electric gripper has the advantages of easy acquisition of required power supply, quick response, large driving force, convenient signal detection, transmission and processing, and capability of adopting various flexible control schemes, but complex structure. In view of the above-mentioned function and the deficiency of the mechanical gripper, the present invention provides an electromagnetic mechanical gripper, which is an improvement over the conventional mechanical gripper.

Disclosure of Invention

The invention aims to provide an electromagnetic type mechanical claw, which is used for solving the problems of complex structure and low grabbing and lifting capacity of the mechanical claw.

In order to effectively solve the technical problems, the invention is realized as follows: the device consists of a bolt (1), a connecting piece (2), a nut (3), a permanent magnet (4), a magnetic isolation sleeve (5), a shell (6), a hinged disc (7), a rolling shaft (8), a moving disc (9), a clamping jaw (10), a connecting rod (11), a push rod (12), a spring (13), an electromagnetic coil (14), a power interface (15) and an elastic body (16); the shell (6) is fixed on the connecting piece (2) through the bolt (1) and the nut (2); the electromagnetic coils (14) are uniformly wound at the grooves of the push rod (12), and the outer parts of the electromagnetic coils are coated by the magnetism isolating sleeves (6); the power interface (15) is fixed on a through hole on the side surface of the shell (6); the push rod (12) is arranged in the shell (6); the spring (13) is arranged on the push rod (12) and fixed between the push rod (12) and the bottom of the shell (6); the elastic body (16) is arranged in the shell (6) and fixed at the top of the push rod (12) and the bottom of the permanent magnet (4); the permanent magnet (4) is arranged in the shell (6) and is arranged above the elastic body (16); the hinged disc (7) is fixed on the lower side of the shell (6) through threads; the clamping jaw (10) is hinged to the hinged disc (7) through a rolling shaft (8); the moving disc (9) is fixed at the bottom of the push rod (12); the connecting heads of the connecting rods (11) are respectively hinged with the clamping jaws (10) and the moving plate (9).

The shell (6) is made of a non-magnetic material; the push rod (12) is made of a magnetic conductive material.

The electromagnetic type mechanical claw has the advantages that: compared with a hydraulic mechanical claw and a pneumatic mechanical claw, the mechanical claw can operate only by a power supply, supporting facilities are few, the structure of the mechanical claw is simpler, and the cost is lower.

Drawings

Fig. 1 is an external view of an electromagnetic gripper according to the present invention.

Fig. 2 is a structural view of an electromagnetic gripper according to the present invention.

In the figure, 1, a bolt, 2, a connecting piece, 3, a nut, 4, a permanent magnet, 5, a magnetic isolation sleeve, 6, a shell, 7, a hinged disc, 8, a rolling shaft, 9, a movable disc, 10, a clamping jaw, 11, a connecting rod, 12, a push rod, 13, a spring, 14, an electromagnetic coil, 15, a power interface and 16, an elastic body.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples.

In fig. 2, the electromagnetic gripper of the present invention is mainly composed of a bolt (1), a connecting piece (2), a nut (3), a permanent magnet (4), a magnetic isolation sleeve (5), a housing (6), a hinged disk (7), a roller (8), a movable disk (9), a clamping jaw (10), a connecting rod (11), a push rod (12), a spring (13), an electromagnetic coil (14), a power interface (15), and an elastic body (16); the shell (6) is fixed on the connecting piece (2) through the bolt (1) and the nut (2); the electromagnetic coils (14) are uniformly wound at the grooves of the push rod (12), and the outer parts of the electromagnetic coils are coated by the magnetism isolating sleeves (6); the power interface (15) is fixed on a through hole on the side surface of the shell (6); the push rod (12) is arranged in the shell (6); the spring (13) is arranged on the push rod (12) and fixed between the push rod (12) and the bottom of the shell (6); the elastic body (16) is arranged in the shell (6) and fixed at the top of the push rod (12) and the bottom of the permanent magnet (4); the permanent magnet (4) is arranged in the shell (6) and is arranged above the elastic body (16); the hinged disc (7) is fixed on the lower side of the shell (6) through threads; the clamping jaw (10) is hinged to the hinged disc (7) through a rolling shaft (8); the moving disc (9) is fixed at the bottom of the push rod (12); the connecting heads of the connecting rods (11) are respectively hinged with the clamping jaws (10) and the moving plate (9).

The working principle of the specific implementation mode of the electromagnetic type mechanical claw is as follows: the magnetic field of the device is generated by the permanent magnet (4) and the electromagnetic coil (14) together, and the magnetic field intensity generated by the electromagnetic coil (14) can be controlled by changing the current of the coil, so that the grabbing force of the mechanical claw is controlled. When coil current is applied to the electromagnetic coil (14), a magnetic field direction opposite to that of the permanent magnet (4) can be generated, so that repulsive force can be generated, the push rod (12) and the movable disc (9) are driven to move downwards along the axial direction of the push rod (12), meanwhile, the spring (13) is compressed, the axial movement of the movable disc (9) drives the connecting rod (11) to rotate, the connecting rod (11) drives the clamping jaw (10) to rotate, and the grabbing action of the mechanical jaw is realized; when reverse coil current is applied to the electromagnetic coil, the magnetic field direction which is the same as that of the permanent magnet (4) can be generated, attraction force can be generated, meanwhile, the spring (13) is reset, under the combined action of the spring (13) and the attraction force, the push rod (12) and the moving disc (9) move in a reverse direction, the moving disc (9) drives the connecting rod (11) to rotate, the connecting rod (11) drives the clamping jaw (10) to rotate, and the opening action of the mechanical jaw is realized. In order to avoid the impact on the permanent magnet when the push rod (12) moves upwards, an elastic body (16) is adopted for buffering.

Claims

1. An electromagnetic type gripper is characterized in that: the device is composed of a bolt (1), a connecting piece (2), a nut (3), a permanent magnet (4), a magnetism isolating sleeve (5), a shell (6), a hinged disc (7), a rolling shaft (8), a moving disc (9), a clamping jaw (10), a connecting rod (11), a push rod (12), a spring (13), an electromagnetic coil (14), a power supply interface (15) and an elastic body (16); the shell (6) is fixed on the connecting piece (2) through a bolt (1) and a nut (3); the electromagnetic coils (14) are uniformly wound at the grooves of the push rod (12), and the outer parts of the electromagnetic coils are coated by the magnetism isolating sleeves (5); the power interface (15) is fixed on a through hole on the side surface of the shell (6); the push rod (12) is arranged in the shell (6); the spring (13) is arranged on the push rod (12) and fixed between the push rod (12) and the bottom of the shell (6); the elastic body (16) is arranged in the shell (6) and fixed at the top of the push rod (12) and the bottom of the permanent magnet (4); the permanent magnet (4) is arranged in the shell (6) and is arranged above the elastic body (16); the hinged disc (7) is fixed on the lower side of the shell (6) through threads; the clamping jaw (10) is hinged to the hinged disc (7) through a rolling shaft (8); the moving disc (9) is fixed at the bottom of the push rod (12); the connecting heads of the connecting rods (11) are respectively hinged with the clamping jaws (10) and the moving plate (9).

2. The electromagnetic gripper of claim 1, wherein: the shell (6) is made of a non-magnetic material.

3. The electromagnetic gripper of claim 1, wherein: the push rod (12) is made of a magnetic conductive material.