CN117428810A - Manipulator clamping device based on clamping detection and part transfer system - Google Patents
Manipulator clamping device based on clamping detection and part transfer system Download PDFInfo
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- CN117428810A CN117428810A CN202311594877.3A CN202311594877A CN117428810A CN 117428810 A CN117428810 A CN 117428810A CN 202311594877 A CN202311594877 A CN 202311594877A CN 117428810 A CN117428810 A CN 117428810A
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- clamping jaw
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- 238000001514 detection method Methods 0.000 title claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims abstract description 35
- 230000002950 deficient Effects 0.000 claims abstract description 31
- 239000000463 material Substances 0.000 claims description 37
- 229910001369 Brass Inorganic materials 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 239000010951 brass Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 8
- 230000009466 transformation Effects 0.000 abstract 1
- 238000003754 machining Methods 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a clamping detection-based manipulator clamping device and a part transfer system, which comprise a first clamping jaw and a second clamping jaw which are respectively connected with a driving mechanism, and are characterized by further comprising limiting blocks arranged between the first clamping jaw and the second clamping jaw, wherein the limiting blocks are used for limiting the distance between the first clamping jaw and the second clamping jaw, so that the first clamping jaw and the second clamping jaw are limited to a first working position when relatively close displacement is carried out, defective parts with specific defects can be effectively pre-screened, the manual operation intensity required by part detection is reduced, the problem that defective parts are mixed into a finished product to flow out is solved, the implementation mode is simple and convenient, the cost is low, and the manipulator is particularly suitable for transformation and upgrading of the existing part automatic transfer process.
Description
Technical Field
The invention relates to the technical field of part clamping manipulators, manipulator clamps and part defect detection, in particular to a manipulator clamping device based on clamping detection and a part transfer system.
Background
Automatic mass production machining parts, such as metal parts produced by a cold heading process, generally require that the parts be stacked into a magazine for transfer to a subsequent station or warehouse entry by material transfer and stacking after finishing the machining. In the traditional operation process, parts which have complicated appearance, high precision requirements or are easy to collide and damage are usually only manually taken and placed, and the parts are orderly stacked and prevented from being damaged. The mode can produce extremely high manpower and material resources waste to manual operation is difficult to guarantee whole-course uniformity, probably leads to damaging spare part and incorrect processing's defective products and mixes in the finished product, causes defective product outflow risk.
In order to improve the working efficiency, the prior art proposes the technical effect of using a specific mechanical system to achieve automated component transfer and stacking. For example, for machined metal parts, for mass production, specification of uniform specification profile, a manipulator with corresponding clamps may be used to grasp, secure and transfer the parts, thereby replacing manual picking and placing of the parts. The automatic conveying and stacking of the parts can be realized by using a manipulator in combination with equipment such as a standardized finished product box and a conveyor belt, so that the production efficiency can be greatly improved, the manual operation is reduced, and the production cost is reduced. Meanwhile, for parts with special structures or easy-to-collide and damaged structures, the damage risk caused by clamping the parts by the manipulator is reduced as much as possible in the prior art by improving modes such as the manipulator corresponding clamp and the like. For example, soft materials and elastic materials can be used for covering the contact surfaces of the manipulator and the parts, so that hard extrusion and friction between the manipulator and the parts are reduced, and the structural integrity of the parts is effectively protected.
Although the manipulator in the prior art can effectively improve the work efficiency of part transfer and stacking, and can avoid damaging parts by improving the clamp, the detection of the machining defects of the parts still needs manual observation and identification treatment. The typical implementation mode is that the parts are clamped by the manipulator, so that the parts are in a preset fixed position and state (such as a vertical state), whether the specified machining defects exist in the parts or not is checked by manual visual or manual operation instruments, and when the defective parts are found, the manipulator is manually controlled to transfer the defective parts to an independent storage box, so that the defective parts are prevented from being mixed into a finished product. However, the manual visual processing is difficult to ensure no error for a long time, and the detection by adopting an instrument is easily influenced by the detail characteristics of the part shielded by the manipulator, so that the detection accuracy is reduced, and in actual implementation, the finished part is still required to be manually detected for the second time to ensure the yield of the part.
Therefore, the automatic part transfer and stacking system adopting the manipulator still needs manual assistance to perform part defect inspection and manually execute corresponding bad part treatment in the prior art, so that the automatic execution level of part transfer and stacking is limited, and the part processing efficiency is affected.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides the manipulator clamping device and the part transfer system based on clamping detection, which can effectively pre-screen bad parts with specific defects, reduce the manual operation intensity required by part detection, further improve the problem that the bad parts are mixed into finished products to flow out, and have simple implementation mode and low cost, and are particularly suitable for reconstruction and upgrading of the existing part automatic transfer process.
In order to achieve the above object, the present invention adopts the technical scheme that:
the manipulator clamping device based on clamping detection comprises a first clamping jaw and a second clamping jaw which are respectively connected with a driving mechanism, and is characterized by further comprising a limiting block arranged between the first clamping jaw and the second clamping jaw;
the first clamping jaw and the second clamping jaw are opened/closed by the driving mechanism to perform relative approaching/separating displacement;
the first clamping jaw and the second clamping jaw provide distance limiting between the first clamping jaw and the second clamping jaw through the limiting block when the first clamping jaw and the second clamping jaw perform relative close displacement, so that the first clamping jaw and the second clamping jaw are limited to a first working position when the first clamping jaw and the second clamping jaw perform relative close displacement;
and the distance between the clamping sections of the first clamping jaw and the second clamping jaw at the first working position corresponds to a preset detection value of the clamping position of the target part.
Further, the limiting block is detachably and fixedly connected to the first clamping jaw, and the limiting block synchronously performs relative approaching/separating displacement with the first clamping jaw.
Further, a contact detection sheet is further arranged on one side, corresponding to the second clamping jaw, of the limiting block;
a detection contact matched with the contact detection piece is further arranged on one side of the second clamping jaw, corresponding to the limiting block;
when the first clamping jaw and the second clamping jaw are positioned at a first working position, the contact detection sheet correspondingly contacts the detection contact, and the detection contact outputs a first contact signal after being conducted by the contact detection sheet.
Further, when the first clamping jaw and the second clamping jaw execute relative close displacement, judging whether a first contact signal is received or not;
stopping executing the relative close displacement and keeping the first clamping jaw and the second clamping jaw at the first working position when the first contact signal is received;
when the first contact signal is not received, further judging whether the relative approaching displacement time exceeds a preset threshold value;
when judging that the time for executing the relatively close displacement does not exceed the preset threshold value, continuing to execute the relatively close displacement;
and stopping executing the relative close displacement and executing the relative far displacement to enable the first clamping jaw and the second clamping jaw to be relatively far away when judging that the time for executing the relative close displacement exceeds the preset threshold value.
Further, the driving mechanism includes a finger cylinder.
Further, the clamping sections of the first clamping jaw and the second clamping jaw are made of brass or alloy materials with hardness smaller than that of the target part.
The invention also relates to a component transfer system, which is characterized by comprising the step of performing component transfer operation by using the manipulator clamping device.
Further, the part transfer system further comprises a first conveyer belt, a defective product material box and a finished product material box which are sequentially arranged;
the starting end of the first conveyor belt receives a target part, the ending end of the first conveyor belt is correspondingly matched with the defective product material box, and the target part is transferred to the defective product material box and the finished product material box;
the manipulator clamping device clamps the target part from the first conveyor belt, moves to the upper part of the finished product material box through the upper part of the defective material box, and stacks the target part in the finished product material box.
Further, the component transfer system further comprises a second conveyor belt;
the second conveying belt is connected with the defective product material box and transmits target parts in the defective product material box to the starting end of the first conveying belt.
The beneficial effects of the invention are as follows:
the manipulator clamping device and the part transfer system based on clamping detection can effectively pre-screen bad parts with specific defects, reduce the manual operation intensity required by part detection, further improve the problem that the bad parts are mixed into finished products to flow out, and are simple and convenient in implementation mode, low in cost and particularly suitable for reconstruction and upgrading of the existing part automatic transfer process.
Drawings
Fig. 1 is a schematic structural diagram of a manipulator clamping device based on clamping detection according to a first embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a manipulator clamping device based on clamping detection according to a second embodiment of the present invention.
Fig. 3 is a schematic structural view of a preferred embodiment of the component delivery system of the present invention.
Description of the drawings: the device comprises a 1-manipulator clamping device, a 11-driving mechanism, a 12-first clamping jaw, a 13-second clamping jaw, a 131-detection contact, a 14-limiting block, a 141-contact detection piece, a 2-first conveying belt, a 3-defective product material box, a 4-finished product material box, a 5-second conveying belt and a 6-target part.
Detailed Description
For a clearer understanding of the present invention, reference will be made to the following detailed description taken in conjunction with the accompanying drawings and examples.
Fig. 1 is a schematic structural diagram of a manipulator clamping device based on clamping detection according to a first embodiment of the present invention. Similar to the manipulator gripping device 1 of the prior art, the first embodiment includes a driving mechanism 11 (e.g., a finger cylinder) and first and second jaws 12 and 13 respectively connected to the driving mechanism 11, and the first and second jaws 12 and 13 are relatively moved closer to/farther from each other by opening/closing the driving mechanism 11 in use. When the first clamping jaw 12 and the second clamping jaw 13 are relatively close, the target part 6 can be clamped, so that the manipulator can fixedly drive the target part 6 to transfer; when the first clamping jaw 12 and the second clamping jaw 13 are relatively far away, the clamped target part 6 can be dropped to a designated position, and transfer and stacking of the target part 6 are completed. In contrast to the prior art, the first embodiment is further provided with a limiting block 14, where the limiting block 14 is disposed between the first clamping jaw 12 and the second clamping jaw 13, and when the first clamping jaw 12 and the second clamping jaw 13 are relatively close to each other, the limiting block 14 contacts the first clamping jaw 12 and the second clamping jaw 13 simultaneously to generate blocking to the first clamping jaw 12 and the second clamping jaw 13, so that the first clamping jaw 12 and the second clamping jaw 13 (the clamping section) stay at a preset distance limited by the limiting block 14, and a first working position (a position shown in fig. 1) with limitation is formed. In practical application, the distance between the gripping sections of the first gripping jaw 12 and the second gripping jaw 13 in the first working position corresponds to a preset detection value of the gripping position of the target part 6. For example, when a part with a thread machining feature is defective and is not threaded, its outer diameter is generally smaller than that of a part with a normal thread machining feature, so that the first working position of the manipulator clamping device 1 can be controlled by matching with the corresponding limiting block 14 so that the part with the unprocessed thread cannot be clamped, thereby realizing the technical effect of pre-detecting defective products. Preferably, the clamping sections of the first clamping jaw 12 and the second clamping jaw 13 can be made of brass or alloy with hardness smaller than that of the target part 6, or other inelastic materials with smaller hardness for manufacturing a protective layer, so as to avoid damaging the processing characteristics of parts in the clamping process. Preferably, the stop 14 is not in contact with the target part 6 when the first jaw 12 and the second jaw 13 are in the first working position.
Fig. 2 is a schematic structural diagram of a manipulator clamping device 1 according to a second embodiment of the present invention. Similar to the first embodiment shown in fig. 1, the second embodiment also includes a driving mechanism 11, a first clamping jaw 12, a second clamping jaw 13, and a limiting block 14, wherein the limiting block 14 is preferably fixedly connected to the first clamping jaw 12 in a replaceable manner, for example, by using a bolt to fixedly connect, so that the limiting block 14 follows the first clamping jaw 12 to perform displacement. Further, a contact detection piece 141 is disposed on a side of the stopper 14 corresponding to the second clamping jaw 13, and a detection contact 131 matching with the contact detection piece 141 is disposed on a side of the second clamping jaw 13 corresponding to the stopper 14. When the first clamping jaw 12 and the second clamping jaw 13 perform relative close displacement to reach the first working position (the position shown in fig. 2), the contact detection piece 141 is correspondingly contacted with the detection contact 131, and a conducting loop is formed to trigger to generate a first contact signal, and the first contact signal can be used for representing that the first clamping jaw 12 and the second clamping jaw 13 are in the first working position. In practical use, the second embodiment may be further used to detect defective parts with feature sizes greater than a preset detection size standard, where typical implementation steps include: judging whether a first contact signal is received or not when the first clamping jaw 12 and the second clamping jaw 13 perform relative close displacement; stopping performing the relative close displacement and holding the first jaw 12 and the second jaw 13 in the first working position when it is determined that the first contact signal is received; when the first contact signal is not received, further judging whether the relative approaching displacement time exceeds a preset threshold value, wherein the preset threshold value can be obtained by preferably calculating the average value of the normal working time of the manipulator clamping device 1 or determining the required time for transferring the parts clamped by the manipulator clamping device 1 to the designated position; when judging that the time for executing the relatively close displacement does not exceed the preset threshold value, continuing to execute the relatively close displacement; when it is judged that the time for performing the relatively close displacement exceeds the preset threshold, the relatively close displacement is stopped and the relatively far displacement is performed so that the first jaw 12 and the second jaw 13 are relatively far. Therefore, by applying the technical scheme of the second embodiment, the manipulator clamping device 1 can be controlled to release defective parts with larger sizes in advance, and the technical effect of pre-detecting defective products is achieved.
Fig. 3 is a schematic structural view of a preferred embodiment of a component transferring system to which the manipulator clamping device 1 is applied. In a preferred embodiment, the device comprises a first conveying belt 2, a defective product material box 3 and a finished product material box 4 which are sequentially arranged, wherein the starting end of the first conveying belt 2 receives a target part 6, the ending end of the first conveying belt 2 is correspondingly matched with the defective product material box 3, the target part 6 is transferred to the defective product material box 3 and the finished product material box 4 in the direction, the target part 6 is clamped by a manipulator clamping device 1 from the first conveying belt 2, moves to the position above the finished product material box 4 through the position above the defective product material box 3, and the target part 6 is stacked in the finished product material box 4. That is, when the manipulator clamping device 1 cannot clamp the target part 6 or the manipulator clamping device 1 releases the target part 6 in advance, the target part 6 cannot be put into the finished product material box 4 and can enter the defective material box 3, so that the pre-detection and screening work of the target part 6 is synchronously realized through the clamping and transferring process.
Preferably, the component transferring system may further include a second conveyor belt 5, configured to connect the defective material box 3 and transfer the target component 6 in the defective material box 3 to the start end of the first conveyor belt 2, so that the target component 6 entering the defective material box 3 can perform the clamping and transferring operation again, that is, the pre-detection can be performed again, so that the problem that the qualified component does not correctly enter the finished material box 4 due to accidents in the clamping process of the manipulator clamping device 1 is avoided.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present invention should be included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (9)
1. The manipulator clamping device based on clamping detection comprises a first clamping jaw and a second clamping jaw which are respectively connected with a driving mechanism, and is characterized by further comprising a limiting block arranged between the first clamping jaw and the second clamping jaw;
the first clamping jaw and the second clamping jaw are opened/closed by the driving mechanism to perform relative approaching/separating displacement;
the first clamping jaw and the second clamping jaw provide distance limiting between the first clamping jaw and the second clamping jaw through the limiting block when the first clamping jaw and the second clamping jaw perform relative close displacement, so that the first clamping jaw and the second clamping jaw are limited to a first working position when the first clamping jaw and the second clamping jaw perform relative close displacement;
and the distance between the clamping sections of the first clamping jaw and the second clamping jaw at the first working position corresponds to a preset detection value of the clamping position of the target part.
2. The robot gripping device of claim 1, wherein the stopper is detachably and fixedly connected to the first jaw, and the stopper performs a relative approaching/separating displacement to/from the second jaw in synchronization with the first jaw.
3. The manipulator clamping device according to claim 2, wherein a contact detection sheet is further arranged on one side of the limiting block corresponding to the second clamping jaw;
a detection contact matched with the contact detection piece is further arranged on one side of the second clamping jaw, corresponding to the limiting block;
when the first clamping jaw and the second clamping jaw are positioned at a first working position, the contact detection sheet correspondingly contacts the detection contact, and the detection contact outputs a first contact signal after being conducted by the contact detection sheet.
4. The robot gripping device of claim 3, wherein the first jaw and the second jaw determine if a first contact signal is received when performing a relative close displacement;
stopping executing the relative close displacement and keeping the first clamping jaw and the second clamping jaw at the first working position when the first contact signal is received;
when the first contact signal is not received, further judging whether the relative approaching displacement time exceeds a preset threshold value;
when judging that the time for executing the relatively close displacement does not exceed the preset threshold value, continuing to execute the relatively close displacement;
and stopping executing the relative close displacement and executing the relative far displacement to enable the first clamping jaw and the second clamping jaw to be relatively far away when judging that the time for executing the relative close displacement exceeds the preset threshold value.
5. The robot gripping device of claim 1, wherein the drive mechanism comprises a finger cylinder.
6. The robot gripping device of claim 1, wherein the gripping sections of the first jaw and the second jaw are brass or an alloy having a hardness less than that of the target part.
7. A component transfer system comprising performing a component transfer operation using the robot gripping device according to any one of claims 1 to 6.
8. The component delivery system of claim 7, further comprising a first conveyor belt, a reject bin, and a finished bin arranged in sequence;
the starting end of the first conveyor belt receives a target part, the ending end of the first conveyor belt is correspondingly matched with the defective product material box, and the target part is transferred to the defective product material box and the finished product material box;
the manipulator clamping device clamps the target part from the first conveyor belt, moves to the upper part of the finished product material box through the upper part of the defective material box, and stacks the target part in the finished product material box.
9. The component delivery system of claim 8, wherein the component delivery system further comprises a second conveyor belt;
the second conveying belt is connected with the defective product material box and transmits target parts in the defective product material box to the starting end of the first conveying belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311594877.3A CN117428810A (en) | 2023-11-27 | 2023-11-27 | Manipulator clamping device based on clamping detection and part transfer system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311594877.3A CN117428810A (en) | 2023-11-27 | 2023-11-27 | Manipulator clamping device based on clamping detection and part transfer system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117428810A true CN117428810A (en) | 2024-01-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311594877.3A Pending CN117428810A (en) | 2023-11-27 | 2023-11-27 | Manipulator clamping device based on clamping detection and part transfer system |
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| Country | Link |
|---|---|
| CN (1) | CN117428810A (en) |
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2023
- 2023-11-27 CN CN202311594877.3A patent/CN117428810A/en active Pending
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