CN205835344U - There is the parts grabbing device of self-checking function - Google Patents

Abstract

The utility model discloses the parts grabbing device with self-checking function, including pedestal, also include support member, the first arm, the second arm, the 3rd arm, grabbing claw, pallet and the auxiliary arm being arranged on pedestal, described the first arm, the second arm and the 3rd arm are sequentially connected in series, and first arm one end is also arranged on the top of support member；The inside of described support member also sets up interconnective controller and capture card, and motor, camera and the 3rd arm are all connected with on the controller；Arranging slip on described grabbing claw and capture plate and chute, the crawl plate that slides can slidably reciprocate on chute, is also flexibly connected auxiliary arm in the bottom of the 3rd arm, and the extended end portion of auxiliary arm installs pallet.This utility model passes through said structure, it is possible to realizes firmly capturing and using flexibly large parts, can be automatically reminded to staff simultaneously when operation irregularity occurs in device, keep in repair in time, it is ensured that this device can quickly be resumed work.

Description

There is the parts grabbing device of self-checking function

Technical field

This utility model relates to manufacture field, is specifically related to the parts grabbing device with self-checking function.

Background technology

Industrial robot can meet the demand of current industrial cost and time high efficiency, and needs the flexibility of materials processing Ask, with its high efficiency, low cost, the advantage such as flexible, can be as the automatically processing device replacing traditional mechanical machining cell. In recent years, compared with other process equipment such as numerical control machining center, FMC, industrial robot is applied to field of machining to be had The advantages such as low cost, automaticity are high, flexible, installing space is little, are suitable for multi items, small lot, the showing of on-the-spot processing For production requirement, the complicated processing requirement such as free form surface, complex-shaped surface mould can be met.Traditional industrial machine processing, uses solid Determine machining locus, bad adaptability, become due to ambient parameter change, such as equipment fault, action cumulative errors, tool wear, solder Change, part material slight change etc., even if the accurate palikinesia of robot, still cannot avoid the generation of waste product, for high value Work pieces process once to occur that waste product then loses huge.And the parts of single model can only be entered by existing grabbing device Row captures, once parts are bigger than normal there is also the situation that gripping is unstable, the most existing grabbing device lacks fault self-checking energy Power, can not keep in repair in time if breaking down, having delayed job schedule.

Utility model content

This utility model overcomes the deficiencies in the prior art, it is provided that have the parts grabbing device of self-checking function, this dress Put and be capable of firmly capturing and using flexibly large parts, can be automatically reminded to when operation irregularity occurs in device simultaneously Staff, keeps in repair in time, it is ensured that this device can quickly be resumed work.

For solving above-mentioned technical problem, this utility model by the following technical solutions: there are the parts of self-checking function Grabbing device, including pedestal, also includes the support member being arranged on pedestal, the first arm, the second arm, the 3rd arm, grabs Taking pawl, pallet and auxiliary arm, described the first arm, the second arm and the 3rd arm are sequentially connected in series, the first arm one End is also arranged on the top of support member, is also connected with grabbing claw on one end of the 3rd arm；The inside of described support member is also Interconnective controller and capture card are set, the outer wall of support member are also installed motor, at the top of the first arm also Installing camera, motor, camera and the 3rd arm are all connected with on the controller；Slip is set on described grabbing claw and captures plate and cunning Groove, the crawl plate that slides can slidably reciprocate on chute, is also flexibly connected auxiliary arm, auxiliary arm in the bottom of the 3rd arm Extended end portion install pallet.

In use this device is placed on need capture parts product line side, camera constantly capture product line on zero Parts picture also passes information to capture card, and capture card passes information to controller again, controller according to gather information with The intrinsic components information itself arranged compares, and the then controller meeting condition starts grabbing on driven by motor the 3rd arm Take on the parts that pawl navigates to need to capture, quickly capture neck parts.Grab owing to arranging slip on grabbing claw in this process Taking plate, this slip captures plate and can slidably reciprocate in chute according to the parts width size information that controller feeds back, Adjust the gap length between grabbing claw, so as to the different size of parts of crawl of fast and stable, without there is landing, This grabbing claw uses flexibly.Also setting up alarm sliding on crawl plate, sliding when crawl plate generation of sliding extremely cannot be normal When capturing parts, alarm then can send chimes of doom, reminds staff to keep in repair the place broken down, soon in time Speed repairs this device makes it keep normal duty.And the auxiliary support arm arranged below the 3rd arm and pallet, Under the control of controller, when the parts that the information that controller passes through to collect obtains needs gripping are bigger, individually use and grab Taking pawl when capturing, catch parts with cannot consolidate, now, auxiliary support arm then can make pallet with tray motion Propping up the bottom of bigger parts, grabbing claw catches the waist of large parts, two compounding practices to realize large-scale by zero simultaneously The firm crawl of parts.

One layer of sponge it is provided with inside described pallet.The setting of the internal sponge of pallet contacts to large parts with pallet Face is with cushion effect, it is to avoid collide between parts and pallet, causes the damage of parts.

Multiple non-slipping block is also set up on the inwall of the described crawl plate that slides.There is anti-skidding fast setting, it is possible to increase and capture Friction between pawl and parts, avoids parts that landing occurs during capturing, it is to avoid parts were capturing further Journey comes to harm.

Described camera is capable of 360 ° of Arbitrary Rotations.This of camera is designed to facilitate camera to adjust angle to clap Take the photograph the parts picture of best angle.

Multiple air vent is also set up on the side of described support member.Air vent can lose controller timely and produce Heat, it is ensured that controller can long-term stable operation.

Compared with prior art, the beneficial effects of the utility model are:

1, the setting of the internal sponge of dish can give large parts and pallet contact surface with cushion effect, it is to avoid parts and torr Collide between dish, cause the damage of parts.

2, on slip crawl plate, also set up alarm, capture plate when sliding and occur slip extremely cannot normally capture zero During part, alarm then can send chimes of doom, reminds staff to keep in repair the place broken down in time, and quickly repairing should Device makes it keep normal duty.

3, the auxiliary support arm arranged below the 3rd arm and pallet, under the control of the controller, when controller passes through When the information collected obtains needing the parts of gripping bigger, when individually using grabbing claw to capture, with cannot consolidate Catching parts, now, auxiliary support arm then can make pallet prop up the bottom of bigger parts with tray motion, grab simultaneously Taking pawl catches the waist of large parts, two compounding practices to realize the firm crawl to large parts.

Accompanying drawing explanation

Fig. 1 is structural representation of the present utility model.

In figure, reference is expressed as: 1, pedestal；2, support member；3, motor；4, controller；5, the first arm； 6, the second arm；7, the 3rd arm；8, camera；9, grabbing claw；10, slide crawl plate；11, chute；12, non-slipping block；13, report to the police Device；14, pallet；15, auxiliary arm.

Detailed description of the invention

Being further elaborated this utility model below in conjunction with the accompanying drawings, embodiment of the present utility model is not limited to this.

Embodiment 1:

As it is shown in figure 1, this utility model includes pedestal 1, also include support member the 2, first arm being arranged on pedestal 1 5, the second arm the 6, the 3rd arm 7, grabbing claw 9, pallet 14 and auxiliary arm 15, first described arm the 5, second arm 6 and 3rd arm 7 is sequentially connected in series, and first arm 5 one end is also arranged on the top of support member 2, in one end of the 3rd arm 7 On be also connected with grabbing claw 9；The inside of described support member 2 also sets up interconnective controller 4 and capture card, in support member Also installing motor 3 on the outer wall of 2, also install camera 8 at the top of the first arm 5, motor 3, camera 8 and the 3rd arm 7 all connect It is connected on controller 4；Arranging slip on described grabbing claw 9 and capture plate 10 and chute 11, sliding crawl plate 10 can be at chute 11 On slidably reciprocate, be also flexibly connected auxiliary arm 15 in the bottom of the 3rd arm 7, the extended end portion of auxiliary arm 15 installs pallet 14。

Controller therein can use the controller that model is S7-300 of Siemens to realize, and is using Time this device is placed on the product line side needing to capture parts, camera constantly captures on product line parts picture and will believe Breath passes to capture card, and capture card passes information to controller again, and controller is intrinsic with what itself was arranged according to the information of collection Components information compares, and the grabbing claw met on then controller startup driven by motor the 3rd arm of condition navigates to needs On the parts captured, quickly capture neck parts.In this process owing to arranging slip crawl plate on grabbing claw, this slip captures Plate can slidably reciprocate in chute according to the parts width size information that controller feeds back, between adjusting between grabbing claw Gap size, so as to the different size of parts of crawl of fast and stable, without there is landing, this grabbing claw uses spirit Live.Alarm is also set up on crawl plate sliding, when the crawl plate that slides occurs to slide and extremely normally cannot capture parts, report Alert device then can send chimes of doom, reminds staff to keep in repair the place broken down in time, quickly repairs this device and makes It keeps normal duty.And the auxiliary support arm arranged below the 3rd arm and pallet, under the control of the controller, When the parts that the information that controller passes through to collect obtains needs gripping are bigger, when individually using grabbing claw to capture, Catching parts with cannot consolidate, now, auxiliary support arm then can make pallet prop up bigger parts with tray motion Bottom, grabbing claw catches the waist of large parts, two compounding practices to realize the firm crawl to large parts simultaneously.

Embodiment 2:

The present embodiment is preferably as follows on the basis of embodiment 1: described pallet 14 is internal is provided with one layer of sponge.Inside pallet The setting of sponge can give large parts and pallet contact surface with cushion effect, it is to avoid collides between parts and pallet, Cause the damage of parts.

Multiple non-slipping block 12 is also set up on the inwall of the described crawl plate 10 that slides.There is anti-skidding fast setting, it is possible to increase Friction between grabbing claw and parts, avoids parts that landing occurs during capturing, it is to avoid parts are being grabbed further Come to harm during taking.

Described camera 8 is capable of 360 ° of Arbitrary Rotations.This of camera be designed to facilitate camera adjust angle with Photograph the parts picture of best angle.

Multiple air vent is also set up on the side of described support member 2.Air vent can lose controller timely and produce Raw heat, it is ensured that controller can long-term stable operation.

Just this utility model can be realized as mentioned above.

Claims (5)

1. there is the parts grabbing device of self-checking function, including pedestal (1), it is characterised in that: also include being arranged on pedestal (1) On support member (2), the first arm (5), the second arm (6), the 3rd arm (7), grabbing claw (9), pallet (14) and auxiliary Arm (15), described the first arm (5), the second arm (6) and the 3rd arm (7) be sequentially connected in series, the first arm (5) End is also arranged on the top of support member (2), is also connected with grabbing claw (9) on one end of the 3rd arm (7)；Described support member (2) inside also sets up interconnective controller (4) and capture card, also installs motor on the outer wall of support member (2) (3), also installing camera (8) at the top of the first arm (5), motor (3), camera (8) and the 3rd arm (7) are both connected to control On device (4)；Arranging slip on described grabbing claw (9) and capture plate (10) and chute (11), sliding crawl plate (10) can be at chute (11) slidably reciprocate on, be also flexibly connected auxiliary arm (15), the elongated end of auxiliary arm (15) in the bottom of the 3rd arm (7) Pallet (14) is installed in portion；Alarm (13) is also set up on plate (10) sliding to capture.

The parts grabbing device with self-checking function the most according to claim 1, it is characterised in that: described pallet (14) Inside is provided with one layer of sponge.

The parts grabbing device with self-checking function the most according to claim 1, it is characterised in that: described slip captures Multiple non-slipping block (12) is also set up on the inwall of plate (10).

The parts grabbing device with self-checking function the most according to claim 1, it is characterised in that: described camera (8) It is capable of 360 ° of Arbitrary Rotations.

The parts grabbing device with self-checking function the most according to claim 1, it is characterised in that: described support member (2) multiple air vent is also set up on side.