CN101653938A - Detectable gripper, detectable manipulator and detection method thereof - Google Patents

Detectable gripper, detectable manipulator and detection method thereof Download PDF

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Publication number
CN101653938A
CN101653938A CN 200810141988 CN200810141988A CN101653938A CN 101653938 A CN101653938 A CN 101653938A CN 200810141988 CN200810141988 CN 200810141988 CN 200810141988 A CN200810141988 A CN 200810141988A CN 101653938 A CN101653938 A CN 101653938A
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CN
China
Prior art keywords
piston
magnetic switch
gripper
cylinder
signal
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CN 200810141988
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Chinese (zh)
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CN101653938B (en
Inventor
张润彬
王俊魁
陈中彦
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比亚迪股份有限公司
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Priority to CN 200810141988 priority Critical patent/CN101653938B/en
Publication of CN101653938A publication Critical patent/CN101653938A/en
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Publication of CN101653938B publication Critical patent/CN101653938B/en

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Abstract

The invention provides a detectable gripper, which comprises a piston, a cylinder, a pull rod and a claw part, wherein the piston is arranged in the cylinder and is provided with a magnet; the pistonis connected with the claw part through the pull rod and achieves the pick-and-place actions of the claw part through the pull rod; two sides of the cylinder are provided with a first magnetic switchand a second magnetic switch respectively; and different gripping positions of the gripper are detected by detecting the position of the piston. The invention also provides a detectable manipulator comprising a plurality of the detectable grippers and a detection method of the detectable gripper and the manipulator, which not only achieve the accurate detections of a to-be-gripped position, a gripped position and a missed gripping position through the detection positions of the two magnetic switches and the combination of different times, and particularly achieve the accurate detection of thepick-and-place of soft and small articles, thus a device can be operated safely and stably.

Description

A kind ofly detect gripper, can detect manipulator and detection method thereof

Technical field

The present invention relates to a kind ofly detect gripper, can detect manipulator and detection method thereof, particularly a kind of detected gripper that detects the clamping success or not, can detect manipulator and detection method thereof.

Background technology

The existing mechanical pawl has cylinder, piston, push rod, claw etc., and promote piston and push rod by countercylinder pressurization and drive claw and grab and close and open, thus the action that realizes grasping object and decontrol object.But sometimes, when picking up, gripper do not need moving article, thereby perhaps not folder surely object is stayed put or mobile initial position and final position between, cause object to be stayed among the equipment, can cause damage to operating plant equipment, as in the injection moulding field, the object of staying in the equipment can cause huge damage to the mould of costliness.

It is to adopt infrared ray that mould is monitored that a kind of solution is arranged at present, but because the responsive situation that causes often occurring wrong report of infrared ray; Be exactly to adopt camera to take pictures to compare in addition, but this mode cost is higher, and error is also still bigger by image processing software.

There are three kinds of operating positions because gripper is general, treat gripping object position, gripping object position and folder empty position.In order to protect the running of equipment, can also adopt electromagnetic switch by detecting position of piston and then judging whether gripper puts in place.As shown in Figure 1, piston 04 is controlled by 02 pair of gripper 07 of push rod in the prior art, on the piston 04 magnetic is housed, and piston is divided into two regional X and Y, and X is the surveyed area of magnetic switch 05, and Y is non-surveyed area.During work, piston 04 drives 07 clamping of gripper end by connecting rod 02, gripper all can be clamped object under the normal condition, because object all has certain thickness, only in the scope of Y, move by the suitable piston that is provided with, in case gripper is not clamped object, the piston 04 that then has magnetic enters the surveyed area X scope of magnetic switch 05, and magnetic switch 05 produces signal and exports to gripper control circuit CPU judgement gripping failure and warning.The defective that single magnetic switch exists: one, can only detect two zones; Two, precision is not enough; When the object that needs gripping is less or softer, can cause not reporting to the police or false alarm of gripper control system; Three, single magnetic switch surveyed area is difficult for adjusting.

Summary of the invention

The present invention is directed to and existing can detect gripper and can only detect two operating positions, and the problem of the error in judgement that under the less and softer situation of workpiece, causes, provide a kind of gripper and surveyed area that can detect three operating positions easily to adjust.

One embodiment of the present of invention provide a kind of gripper that detects, comprise piston, cylinder, push rod, claw, wherein piston is arranged in the cylinder, piston is provided with magnetic, piston links to each other by push rod with claw, and described piston is characterized in that also comprising by the pick-and-place action of push rod control claw, be arranged on first magnetic switch and second magnetic switch on the cylinder, described two magnetic switch are divided into first surveyed area, second surveyed area and the 3rd surveyed area with cylinder.

Another embodiment of the present invention also provides a kind of gripper that detects, comprise piston, cylinder, push rod, claw, wherein piston is arranged in the cylinder, piston is provided with magnetic, piston links to each other by push rod with claw, described piston is by the pick-and-place action of push rod control claw, also comprise first magnetic switch and second magnetic switch that are arranged on the cylinder, and signal processing apparatus and signal judgment means, described signal processing apparatus and magnetic switch are electrically connected, described signal judgment means and signal processing apparatus are electrically connected, and described two magnetic switch are divided into first surveyed area with cylinder, second surveyed area and the 3rd surveyed area.

Embodiments of the invention also provide a kind of manipulator that detects, comprise second order signal processing apparatus and some grippers that detects, the wherein said gripper that detects comprises piston, cylinder, push rod, claw, wherein piston is arranged in the cylinder, piston is provided with magnetic, piston links to each other by push rod with claw, described piston is by the pick-and-place action of push rod control claw, the described gripper that detects also comprises first magnetic switch and second magnetic switch that is arranged on the cylinder, and signal processing apparatus and signal judgment means; Described magnetic switch and signal processing apparatus are electrically connected, described signal processing apparatus and second order signal processing apparatus are electrically connected, described second order signal processing apparatus and signal judgment means are electrically connected, and described two magnetic switch are divided into first surveyed area, second surveyed area and the 3rd surveyed area with cylinder.

The present invention also provides a kind of detection method that detects gripper and/or manipulator, it is characterized in that setting a sequential, corresponding very first time when can detect gripper and/or can detect the manipulator standby, gripping object and folder be corresponding second time in the time of empty, and the described very first time and second time replace repeatedly; A detection signal also is provided, described detection signal is in the very first time and second time all can send to gripper and/or the manipulator circuit is handled to judge whether output, when manipulator be in the very first time but not output detection signal then judge normally, when manipulator was in for second time and output detection signal is then judged normally, when manipulator be in second time and not output detection signal then judge undesired.

Provided by the inventionly a kind ofly detect gripper by adopting, can detect manipulator and detection method thereof, gripper can be detected and three zones can be detected, realized the accurate detection when the object gripping, particularly realized to softer, than the accurate detection of the pick-and-place of small articles, reduce the wrong report of gripper control system and do not report phenomenon, thereby make device security stable operation; Can detect manipulator and also realize the detection control of a plurality of grippers, realize that particularly a plurality of grippers grasp softer accurate detection during than small articles, and surveyed area easily adjusts, greatly improved operating efficiency.

Description of drawings

Fig. 1 can detect the structural representation of gripper for prior art

Fig. 2 can detect the structural representation of gripper for the embodiment of the invention

Fig. 3 treats the gripping view for first embodiment of the invention can detect gripper

Fig. 4 can detect gripper gripping view for first embodiment of the invention

Fig. 5 can detect not gripping view of gripper for first embodiment of the invention

Fig. 6 can detect the gripper circuit diagram for first embodiment of the invention

Fig. 7 can detect the manipulator circuit diagram for second embodiment of the invention

Fig. 8 can detect the arm-and-hand system structural representation for first embodiment of the invention

Fig. 9 can detect the arm-and-hand system structural representation for second embodiment of the invention

Figure 10 can detect gripper, manipulator detection method SECO schematic diagram for the present invention

The specific embodiment

Explain the specific embodiment of the present invention below with reference to the accompanying drawings.

As Fig. 2, shown in Figure 3, embodiments of the invention provide a kind of gripper that detects, this gripper comprises claw 1, push rod 2, piston 3, the first magnetic switch K1, the second magnetic switch K2, cylinder 6, pawl end 7, also has magnetic 8, wherein said claw 1 is connected with piston 3 by push rod 2, piston 3 is arranged in the cylinder 6, described cylinder both sides are respectively arranged with first magnetic switch 4 and second magnetic switch 5, two magnetic switch are divided into three surveyed areas with cylinder, the first surveyed area A is for treating the gripping position, the second surveyed area B is gripping position, and the 3rd surveyed area C is the folder empty position.Can be as shown in Figure 2 only cover A and C zone respectively, the B zone does not cover, but the surveyed area of the preferred described first magnetic switch K1 and the second magnetic switch K2 overlaps, and that is to say at two magnetic switch of the second surveyed area B all has detection signal.The size of the object of neglecting required gripping greatly of the described second surveyed area B is adjusted, and the surveyed area that described two magnetic switch are covered not should be the effect that overlaps so that only play a magnetic switch fully.Described magnetic can be the magnet ring that is attached on the piston, also piston can be magnetized, and piston itself is preferably magnet ring also as a magnetic at this moment.Described gripper can be the pawl formula, also can be pneumatic-finger.

Describe in conjunction with Fig. 3,4 and 5 pairs of actions that can detect gripper, Fig. 3 treats the gripping state for this gripper, and this moment, piston 3 was in the a-quadrant, and the first magnetic switch K1 can detect piston, and the second magnetic switch K2 does not then have detection signal; Fig. 4 is this gripper gripping state, and piston 3 is by two pawl end 7 clampings of connecting rod 2 drive claws 1 at this moment, because the restriction of object, two pawl ends 7 can't close up fully, so piston 3 rests on the B zone, two magnetic switch can detect piston 3; Be this gripper folder dummy status as Fig. 5, owing to there is not the restriction of object, two pawl ends 7 close up, and piston 3 enters the C zone, has only the second magnetic switch K2 to detect piston 3.

Be illustrated in figure 6 as the further circuit arrangement of first embodiment of the invention; described two magnetic switch are electrically connected with signal processing apparatus 100; described signal processing apparatus 100 comprises an AND circuit U2D; described first magnetic switch K1 output series connection Light-Emitting Diode LED1, resistance R 3, resistance R 21 and link to each other with 13 pin of door U2D; the described second magnetic switch K2 output links to each other with 12 pin by series LED 2, resistance R 4, resistance 22; for holding circuit; by R19 ground connection, between R4 and R22, pass through R20 ground connection between R3 and the R21.The described gripper that detects also comprises signal judgment means 200, and described signal judgment means 200 links to each other with signal processing apparatus 100 outputs.Protective resistance R1 is connected with the base stage of transistor Q2, the emitter grounding of Q2, and the colelctor electrode of Q2 is connected with relay K 17 coils, and relay coil is with diode D1 and be connected 24V voltage.K17 is a normally opened relay switch, switch sections one termination detection signal, and the other end meets gripper control appliance CPU, and when relay gets electric the time, normally opened contact is closed, detection signal input CPU.

Second embodiment of the invention provides a kind of manipulator that detects, form by some grippers that detect as Fig. 7 and this manipulator shown in Figure 9, also comprise second order signal processing apparatus 300, described second order signal processing apparatus input and first can detect gripper signal processing apparatus 101 outputs and link to each other.Has the detected manipulator that several can detect gripper below.In present embodiment, first can detect gripper signal processing apparatus 101 and be AND circuit U2A as shown in Figure 7, second order signal processing apparatus 300 is NAND gate circuit U1,3 pin of described AND circuit U2A are connected with 5 pin of NAND gate circuit U1, and by protection capacitor C 10 ground connection; Described some other gripper circuit that detect connect similar.The described manipulator that detects also comprises signal judgment means 201, described second order signal processing apparatus 300 outputs are connected with signal judgment means 201 inputs, 8 pin that are U1 are connected with the Q1 base stage by resistance R 1, the Q1 base stage also connects 24V voltage by resistance R 2, Q1 grounded collector, the Q1 emitter-base bandgap grading is connected with diode D1 one end, another termination of diode D1 24V voltage, D1 is also in parallel with relay K 17, and K17 is used to control detection signal and whether imports mechanical hand control equipment CPU.

Preferably, the described manipulator that detects also comprises function selector circuit, and as shown in Figure 7, described function selector circuit is composed in series a termination 5V voltage, a termination signal processing apparatus output 3 pin by functional switch s4, s5 etc. with current-limiting resistance R38, R43.Each can detect gripper and all be connected to a functional select switch, as s4, s5 etc., and when corresponding gripper is not worked, when just not needing this test section to play a role, can closed function corresponding switch.

Third embodiment of the invention provides a kind of detection method that detects gripper and manipulator, set the very first time and second time, gripper can be detected and arm-and-hand system judges whether output detection signal according to practical operation situation, CPU detects this signal, when being in the very first time and detecting, manipulator then judges normally less than detection signal, then judge normally when manipulator was in for second time and detects detection signal, then report to the police when manipulator was in for second time and does not detect detection signal.It is to be noted that the odd even of time is not to a restriction of the present invention, the very first time and second time, just to the mark of two staggered times, SECO realized that effect of the present invention is all in protection scope of the present invention so long as utilization interlocks.

Below in conjunction with first embodiment single detection method that detects gripper is described, in conjunction with Fig. 3 to 6 and shown in Figure 8, described gripper promotes piston 3 generation displacements by the air pressure that independent source of the gas or gripper control system source of the gas air feed change in the cylinder 6, and piston 3 drives the pick-and-place that mechanical claw 1 is realized object by push rod 2.When just having been started working, manipulator is set at the very first time, gripper is in holding state when being in the very first time, piston 3 is in the a-quadrant, this moment, the second magnetic switch K2 detected the Magnetic Induction body, K2 conducting output signal, the first magnetic switch K1 no signal, the 11 pin output low levels of U2D, Q2 disconnects by K17, and detection signal can not be input to CPU, and CPU normally moved according to the very first time and detection signal judgment device.Two kinds of situations are arranged when being in for second time, if gripper does not catch object or object in service to come off, then the gripper end is closed fully, and piston enters the C zone, the K1 output signal, the output of K2 no signal, this moment the U2D output low level, Q2 disconnects by the K17 normally opened contact, CPU can not obtain detection signal, be the second time judgment device fault in the time of thus, report to the police and shut down; If gripper is caught object, this moment K1 and K2 output signal all, U2D export high level, the Q2 conducting, relay is held open, and CPU obtains detection signal, owing to being that the second time judgment device is normally moved the alarm free signal.

Can detect the manipulator detection method according to Fig. 3 to 5 and Fig. 7,9 descriptions below.When being treated gripping, manipulator is set at the very first time, this moment, each gripper was in holding state, and piston is in the A district, and the closed K1 of K2 opens, each gripper output output low level, signal is to each pin of U1, and U1 output 8 pin output this moment high level makes the Q1 cutoff relay K17 must not through R1, the normally opened contact of K17 disconnects, CPU can not receive detection signal, owing to be the very first time, CPU judges that can detect manipulator continues operation automatically.When entering for second time, if one of them or several gripper are not clamped object, the piston of this one or several gripper enters the C zone, K1 opens the K2 closure, the output output low level of these grippers, the 8 pin output high level of NAND gate circuit U1, Q1 ends, detection signal can not be input to CPU, owing to be second time, the CPU failure judgement is reported to the police and shut down; If this moment, gripper was all clamped object, promptly all pistons are in the B district, then all gripper outputs are all exported high level, the 8 pin output low levels of NAND gate circuit U1, the Q1 turn-on relay is held open, detection signal is input to CPU, owing to be that second time CPU judgement is no problem, control appliance continuation operation enters next the detection and circulates.

The above is embodiments of the invention only, is not to be used to limit protection scope of the present invention.Within the spirit and principles in the present invention all, any modification of being done, be equal to and replace and improvement etc., all should be included within protection scope of the present invention.

Claims (10)

1, a kind of gripper that detects, comprise piston, cylinder, push rod, claw, wherein piston is arranged in the cylinder, piston is provided with magnetic, piston links to each other by push rod with claw, and described piston is characterized in that also comprising by the pick-and-place action of push rod control claw, be arranged on first magnetic switch and second magnetic switch on the cylinder, described two magnetic switch are divided into first surveyed area, second surveyed area and the 3rd surveyed area with cylinder.
2, according to claim 1, it is characterized in that described first magnetic switch and second magnetic switch position that is provided with on cylinder makes that two magnetic switch all had signal when piston was in second surveyed area.
3, according to claim 1, it is characterized in that also comprising signal processing apparatus and signal judgment means, described signal processing apparatus and magnetic switch are electrically connected, described signal judgment means and electromagnetic switch are electrically connected, and the Signal Processing that described signal judgment means provides magnetic switch according to signal processing apparatus is output signal as a result.
4, a kind of gripper that detects, comprise piston, cylinder, push rod, claw, wherein piston is arranged in the cylinder, piston is provided with magnetic, piston links to each other by push rod with claw, described piston is by the pick-and-place action of push rod control claw, it is characterized in that also comprising, be arranged on first magnetic switch and second magnetic switch on the cylinder, and signal processing apparatus and signal judgment means, described signal processing apparatus and magnetic switch are electrically connected, and described signal judgment means and signal processing apparatus are electrically connected, and described two magnetic switch are divided into first surveyed area with cylinder, second surveyed area and the 3rd surveyed area.
5, as described in the claim 4, it is characterized in that described first magnetic switch and second magnetic switch position that is provided with on cylinder makes that two magnetic switch all had signal when piston was in second surveyed area.
6, a kind of manipulator that detects, it is characterized in that also comprising second order signal processing apparatus and some grippers that detects, the described gripper that detects comprises piston, cylinder, push rod, claw, wherein piston is arranged in the cylinder, piston is provided with magnetic, piston links to each other by push rod with claw, described piston is by the pick-and-place action of push rod control claw, the described gripper that detects also comprises first magnetic switch and second magnetic switch that is arranged on the cylinder, and signal processing apparatus and signal judgment means, described magnetic switch and signal processing apparatus are electrically connected, described signal processing apparatus and second order signal processing apparatus are electrically connected, described second order signal processing apparatus and signal judgment means are electrically connected, and described two magnetic switch are divided into first surveyed area with cylinder, second surveyed area and the 3rd surveyed area.
7, as described in the claim 6, it is characterized in that described first magnetic switch and second magnetic switch position that is provided with on cylinder makes that two magnetic switch all had signal when piston was in second surveyed area.
8, as described in claim 6, can detect manipulator, it is characterized in that the described manipulator that detects also comprises function switch circuit.
9, as described in each, it is characterized in that described magnetic is a magnet ring as claim 1 to 8.
10, a kind of detection method that detects gripper and/or can detect manipulator, it is characterized in that setting a sequential, corresponding very first time when can detect gripper and/or can detect the manipulator standby, gripping object and folder be corresponding second time in the time of empty, and the described very first time and second time replace repeatedly; A detection signal also is provided, described detection signal is in the very first time and second time all can send to gripper and/or the manipulator circuit is handled to judge whether output, when manipulator be in the very first time but not output detection signal then judge normally, when manipulator was in for second time and output detection signal is then judged normally, when manipulator be in second time and not output detection signal then judge undesired.
CN 200810141988 2008-08-22 2008-08-22 Detectable gripper, detectable manipulator and detection method thereof CN101653938B (en)

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CN 200810141988 CN101653938B (en) 2008-08-22 2008-08-22 Detectable gripper, detectable manipulator and detection method thereof

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CN101653938A true CN101653938A (en) 2010-02-24
CN101653938B CN101653938B (en) 2012-12-12

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104493824A (en) * 2014-11-27 2015-04-08 上海烟草集团有限责任公司 Pack detection and pick-up point adjustment system and method
CN104985602A (en) * 2015-07-01 2015-10-21 谢娟 Clamping and buckling type mechanical grasping hand

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3004988C2 (en) * 1980-02-11 1987-10-01 Gildemeister Ag, 4800 Bielefeld, De
US4723503A (en) * 1986-06-20 1988-02-09 Yuda Lawrence F Robotic control apparatus
US5201838A (en) * 1989-09-05 1993-04-13 Philippe Roudaut Position indicator for a piston controlled robot part
US5611256A (en) * 1995-12-05 1997-03-18 Chung; Chang S. Differential pressure detecting system
JP4122490B2 (en) * 1999-10-04 2008-07-23 Smc株式会社 Combined type air chuck with position detection mechanism

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104493824A (en) * 2014-11-27 2015-04-08 上海烟草集团有限责任公司 Pack detection and pick-up point adjustment system and method
CN104493824B (en) * 2014-11-27 2016-08-24 上海烟草集团有限责任公司 Tobacco bale detection and the method adjusting gripping point
CN104985602A (en) * 2015-07-01 2015-10-21 谢娟 Clamping and buckling type mechanical grasping hand

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Effective date of registration: 20171208

Address after: 516083 Longhai No. two, Dayawan West District, Huizhou, Guangdong province (No. 2 workshop)

Patentee after: Huizhou Zhen Fu Machinery Electronic Technology Co., Ltd.

Address before: Longgang District of Shenzhen City, Guangdong province 518118 Ping Wang Ping Road No. 3001

Patentee before: Biyadi Co., Ltd.