CN206011117U - A kind of with buffer can self-locking material grab clamp device - Google Patents

Abstract

This utility model be related to a kind of with buffer can self-locking material grab clamp device, including electronic jaw, spring buffer mechanism and measuring cell, electronic jaw includes installing plate, installing plate be provided with two opposite handgrips and drive two handgrips opposite/drive component that dorsad moves；The first slide block that spring buffer mechanism is included contiguous block and is slidably connected with contiguous block and is connected with installing plate, the two parallel axis of guides are connected with contiguous block, there is in the middle part of first slide block vertical lobe, on lobe is set in the middle part of two axis of guides, the spring offseted with contiguous block side wall and lobe side wall on the axis of guide, is arranged with；Measuring cell include installing be used for detecting material on a mounting board and whether clamped by electronic jaw photoelectric sensor, spacing photoswitch is carried out when closing and open to handgrip, and for recognizing the keeper being fixed on material table to obtain the vision sensor of the relative position information of the relative handgrip of material, and photoelectric sensor is located in the middle of two handgrips.

Description

A kind of with buffer can self-locking material grab clamp device

Technical field

This utility model is related to a kind of mechanical gripper, more particularly to a kind of with buffer can self-locking material grab clamp device.

Background technology

With developing rapidly for electromechanical integration technology, traditional industry gradually makes the transition to modern industry automatic mode, storehouse Storing stream robot plays important role in nowadays automatic factory, becomes the instrument that operator get profit, they Manual labor and cost, and the working performance that improve factory of high degree are not only saved.Merchandising machine people exist During automated factory actual job, the effect of end effector should not be underestimated, flexible multiple degrees of freedom operating robotic arm with exquisite End effector combine be realize material high-efficiency carry Reliable guarantee.

At present, end effector of robot is mainly most with YE and pneumatic actuator two types use.Electricity Generally using direct current generator, motor and servomotor etc. as driver element, pneumatic actuator is then adopted dynamic executor The mode that air pressure is promoted.YE as a result of Motor drive, usually through the intermediate transmission machine such as gear drive, V belt translation Suitable power and speed are exported and give end mechanical gripper by structure, therefore somewhat complicated in structure, have certain power loss, but It is that mechanism performance is reliable and stable, long working life, strong environmental adaptability.Pneumatic actuator structure is relatively easy, and energy consumption is low, rings Answer speed fast, but positioning precision and reliability are not so good as YE.And the pneumatic actuator of long-term work, pneumatic element Easily aging, there is often the generation of gas leakage situation, at this moment pneumatic actuator grab folder material easily occur because of clamping force Not enough and cause material to come off.Additionally, under the extreme cases such as high temperature severe cold, the environmental suitability of pneumatic actuator is worse.

According to this toward from the point of view of the design of end effector of robot, either YE or pneumatic actuator, are setting The realization of material gripping action is generally only taken into account during meter, and end effector is contacted with material in actual crawl material When impact and to be accurately positioned problem consideration very few, thus executor's reliability in the course of the work, stability and safety Compared with being difficult to ensure card in terms of property.Often occur that material is damaged because of the impact of end effector, cause material because gripping not firm The generation of a problem that coming off and occur to use leisure moments, leak folder.If publication date is on 09 21st, 2011, Publication No. The utility model application of CN102189542A discloses a kind of semiconductor crystal wafer conveying mechanical arm, and it can be processed for difference is straight The center alignment issues of footpath wafer, but its structure and positioning mode are complex, have in terms of the control realization of executor There is certain difficulty.Additionally, mechanical hand is not also considered with rigid contact power produced by material Contact, thus mechanical Handss have certain potential safety hazard when material is gripped.

In view of above-mentioned defect, the design people, actively in addition research and innovation, delays to founding a kind of band of new structure Rush device can self-locking material grab clamp device so as to more the value in industry.

Utility model content

Material is lost for solving executor because of impact when material is captured, because grabbing, folder is not firm to make material come off and go out The problems such as now using leisure moments, leak folder, the purpose of this utility model are to provide a kind of small volume, lightweight, simple and compact for structure and control System is convenient, positioning precision is high, have can self-locking performance and stronger environmental suitability, peace of the mechanical arm when material is captured can be ensured Full property and reliability with buffer can self-locking material grab clamp device.

Of the present utility model with buffer can self-locking material grab clamp device, including electronic jaw and be disposed thereon Spring buffer mechanism and measuring cell, wherein

- electronic the jaw includes that installing plate, the installing plate are provided with two opposite handgrips and drive and grab described in two Palmistry is to/the drive component that dorsad moves；

- spring buffer the mechanism include the contiguous block for being connected with robot arm end effector mounting flange and The first slide block for being slidably connected with contiguous block and being connected with the installing plate, is connected with two parallel guiding on the contiguous block Axle, has vertical lobe in the middle part of first slide block, on the lobe is set in the middle part of the axis of guide described in two, described leads The spring offseted with contiguous block side wall and lobe side wall is arranged with axle；

Whether-the measuring cell includes installing is used for detecting material by the light of the electronic jaw clamping on a mounting board Electric transducer, spacing photoswitch is carried out to the handgrip when closing and open, and be fixed on material table for identification On keeper to obtain the vision sensor of the relative position information of the relative handgrip of material, and photoelectric sensor is located at two handgrips Middle.

Further, the spring buffer mechanism is also included through the through hole in the lobe of first slide block, end face Contact to apply the axis of guide holding screw of variable lateral power with the axis of guide.

Further, the handgrip includes that the adaptor being connected and grip block, the opposite surface of two grip blocks are provided with Multiple raised vee-blocks for being inserted in the groove on charging tray side.

Further, the drive component includes the trapezoidal screw by bearing block on the installing plate, trapezoidal Dextrorotation trapezoidal nut and derotation trapezoidal nut is bolted with screw rod, and dextrorotation trapezoidal nut and derotation trapezoidal nut are respectively connected with second Slide block, two second slide blocks are connected with two adaptors respectively, be equipped with and can block the photoswitch to penetrating on two second slide blocks The catch of light beam, trapezoidal screw are driven by the driving element for arranging on a mounting board and are rotated.

Further, the line slideway being slidably connected with the second slide block described in two is additionally provided with the installing plate.

Further, the bearing is axially positioned on the trapezoidal screw by c-type snap ring.

Further, the driving element is included by being connected by Timing Belt and belt wheel and the trapezoidal screw Decelerator and decelerator connection servomotor and servomotor connection encoder, and with encoder, photoelectric sensor, The driver of photoswitch electrical connection.

Further, the belt wheel is axially positioned on the trapezoidal screw by E type snap rings.

Further, the reinforcing plate for improving its support strength is also associated with the installing plate.

Further, also include some shroudings that closing housing is collectively formed with the installing plate.

By such scheme, this utility model at least has advantages below：

1st, spring buffer mechanism can effectively weaken rigid shock when end effector is contacted with material, protect material from Damage；

2nd, sliding screw nut body can make end effector realize self-locking when power is off, it is ensured that material is unlikely to come off；

3rd, synchronous belt mechanism achieves the commutation of drive mechanism power transmission, and the overall structure of device can be made to become more to step up Gather, meanwhile, toothed belt transmission contributes to the vibration of reduction system, it is ensured that stationarity when device works；

4th, can prevent handgrip from causing touching for device inner body in folding because of the excess of stroke for soft spacing photoswitch Hit, affect the service life and reliability of device；

5th, be used for detecting material whether there is clamped photoelectric sensor can below real-time monitoring jaw material state, it is to avoid The occurrence of there is leakage folder；

6th, device compact overall structure, small volume, substantially reduce the overall weight of device.

Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model Art means, and being practiced according to the content of description, with preferred embodiment of the present utility model and coordinate accompanying drawing detailed below Describe in detail bright as after.

Description of the drawings

Fig. 1 is overall appearance schematic diagram of the present utility model；

Fig. 2 is overall structure exploded perspective view of the present utility model；

Fig. 3 is the schematic diagram of spring buffer gear in this utility model；

Fig. 4 is the sectional view of spring buffer gear in this utility model；

Fig. 5 is the structural representation of electronic jaw in this utility model；

Fig. 6 is the structural representation of installing plate in this utility model；

Fig. 7 is the assembling schematic diagram of bolt and nut mechanism and guiding rail mechanism in this utility model；

Fig. 8 is the sectional view of bolt and nut mechanism in this utility model；

Fig. 9 is the structural representation of handgrip in this utility model；

Figure 10 is the assembling schematic diagram of this utility model and 6DOF mechanical arm.

Specific embodiment

With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below Embodiment is used for this utility model to be described, but is not limited to scope of the present utility model.

As shown in figure 1, of the present utility model a kind of with buffer can self-locking material grab clamp device, including spring buffer machine Structure 1, electronic jaw 2 and measuring cell 3.

In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Figure 10, spring buffer mechanism 1 is by 1 contiguous block 1-1,1 the first slide block 1- 2nd, 2 axis of guide 1-3,2 holding screw 1-4,4 spring 1-5 and 4 groups of attachment screw 1-6 compositions.With buffer can self-locking Material is grabbed clamp device 100 and is fixed on 10 end mounting flange 20 of 6DOF mechanical arm by contiguous block 1-1, the first slide block 1-2 It is fixedly connected with the installing plate 2-1 of electronic jaw, there is in the middle part of the first slide block 1-2 vertical lobe, lobe to be set in two On in the middle part of axis of guide 1-3, the first slide block 1-2 can slide axially on axis of guide 1-3 relative to contiguous block 1-1.Axis of guide 1-3 Be fixed on contiguous block 1-1 by attachment screw 1-6, spring 1-5 on the axis of guide 1-3, and with contiguous block 1-1 side walls and Lobe side wall offsets, and has certain pre compressed magnitude.Clamp device is grabbed not by during external force effect, the first slide block 1-2 is located at contiguous block The centre position of 1-1, when being affected by external force, the first slide block 1-2 can occur axial slip relative to contiguous block 1-1, then External force is offseted with spring force, so as to play the effect of buffer protection.Holding screw 1-4 is arranged in the through hole of slide block 1-2 sides, End face is contacted with the axis of guide, by adjusting being screwed into depth and being applied to the variable side forces of axis of guide 1-3 for holding screw 1-4, It is sliding that maximums of the first slide block 1-2 on axis of guide 1-3 is adjusted by way of changing force of sliding friction suffered by the first slide block 1-2 Dynamic distance.

In conjunction with Fig. 1, Fig. 2 and Fig. 5, the electronic jaw 2 is by installing plate 2-1, left shrouding 2-2, right shrouding 2-3, upper envelope Plate 2-4,2 handgrip 2-5,2 slide block connector 2-6, a secondary line slideway 2-7, bolt and nut mechanism 2-8, synchronous belt mechanisms 2-9 and driving element 2-10 composition.

In conjunction with 2 and Fig. 6, installing plate 2-1 takes the shape of the letter U, and the composition parts of electronic jaw are each attached on installing plate 2-1, leads to Cross and two pieces of reinforcing plates 2-1-1 are welded on the installing plate 2-1 ends left and right sides can significantly improve its load-bearing rigidity.Additionally, peace Dress plate 2-1 and left shrouding 2-2, right shrouding 2-3, upper sealing plate 2-4 collectively form closing housing, play dust-proof effect.

In conjunction with Fig. 2, Fig. 7 and Fig. 9, handgrip 2-5 is fixed by sunk screw by grip block 2-5-1 and adaptor 2-5-2 It is formed by connecting；There are 3 raised vee-blocks on grip block 2-5-1 surfaces, can be plugged in the grooves on two sides of charging tray when grabbing folder material, Prevent material from coming off in handling process；Adaptor 2-5-2 is fixedly connected with the second slide block 2-7-1 on line slideway 2-7, the Two slide block 2-7-1 are connected with slide block connector 2-6, and then the linear slide of the second slide block 2-7-1 can change into the shifting of handgrip 2-5 Dynamic.

In conjunction with Fig. 2, Fig. 5 and Fig. 7, slide block connector 2-6 is simultaneously connected with the ladder on corresponding position bolt and nut mechanism 2-8 The second slide block 2-7-1 on shape nut and line slideway 2-7, the then motion of bolt and nut mechanism 2-8 can pass to straight line and lead Rail 2-7.Line slideway 2-7 includes 2 the second slide block 2-7-1 and 1 linear ramp 2-7-2；2 the second slide block 2-7-1 difference It is connected with the both sides handgrip 2-5 of jaw.With conventional clip claw mechanism design except that, this utility model is innovatively by straight line Guide rail mechanism is built in grabs in clamp device, thus the dust granule in peripheral environment can be prevented to be attached on guide rail, it is to avoid The generation of abrasive wear phenomenon, extends the service life of device.

In conjunction with Fig. 5, Fig. 7 and Fig. 8, bolt and nut mechanism 2-8 can ensure the self-locking in unexpected power-off of electronic jaw 2, protection Material is unlikely to come off, and is made up of dextrorotation trapezoidal nut 2-8-1, derotation trapezoidal nut 2-8-2 and trapezoidal screw 2-8-3；Left Bearing block 2-8-4, right axle bearing 2-8-5 and bearing 2-8-6 play Auxiliary support, and c-type snap ring 2-8-7 is by bearing 2-8- 6 are axially positioned on trapezoidal screw 2-8-7, can prevent bearing 2-8-6 from axial float occurring when screw mechanism is rotated；Trapezoidal spiral shell There is one section of optical axis in the middle of bar 2-8-3, the trapezoidal nut that the thread rotary orientation phase reverse pitch of optical axis both sides is equal and consistent with rotation direction is matched somebody with somebody Close；When trapezoidal screw 2-8-3 is rotated, 2 trapezoidal nuts are made opposite direction equipotential along screw axis and move relative motion, realize handgrip 2- 5 opening and closing movement.

In conjunction with Fig. 2, Fig. 5, Fig. 7 and Fig. 8, synchronous belt mechanism 2-9 includes the equal belt wheel 2-9-1 of 2 numbers of teeth and Timing Belt 2-9-2.The belt wheel being connected with trapezoidal screw 2-8-3 E type snap ring 2-9-3 axially positions, another belt wheel are solid by holding screw It is scheduled on the output shaft of decelerator 2-10-2, synchronous belt mechanism 2-9 does not play decelerating effect, only plays changing for drive mechanism power transmission To effect, the overall structure of device therefore can be made to become compacter, and V belt translation contributes to the vibration of reduction system, it is ensured that Stationarity when device works.

As shown in figure 5, driving element 2-10 includes servomotor 2-10-1, decelerator 2-10-2, encoder 2-10- 3 and driver 2-10-4.Servomotor 2-10-1 adopts DC brushless motor, with reliability is high, non-maintaining, high speed model Enclose, noiseless many advantages, such as, and easily there is step-out phenomenon, or adopts gas mostly using step motor drive in conventional design Dynamic mode, reliability be not high；Encoder 2-10-3 can obtain servomotor 2- in real time using grating encoder type incremental encoder The rotating speed and positional information of 10-1 output shafts, substantially increases device by the precise control to servomotor and executes opening and closing movement When positioning precision.

In conjunction with Fig. 1, Fig. 2, Fig. 5 and Fig. 7, the measuring cell 3 include photoelectric sensor 3-1 and vision sensor 3-2 with And soft spacing photoswitch 3-1-1 when closing for jaw, for soft spacing photoswitch 3-1-2 when opening, wherein, light Electric transducer 3-1 is clamped for detecting material whether there is.Soft spacing photoswitch 3-1-1 and 3-1-2 working method belongs to In correlation type, which will trigger when there is foreign object to shelter to irradiating light beam.Motor meeting continuous running under maloperation, if jaw is just The state for gradually closing is in, when closing stroke set in advance is exceeded, catch 3-1-4 will block photoswitch 3-1-1's To irradiating light beam, then photoswitch sends trigger immediately to driver, motor is stalled at once, it is to avoid in-house zero The generation of part collision phenomenon, improves the reliability of device；Conversely, when jaw gradually opens, if more than opening for setting Stroke, catch 3-1-5 by block photoswitch 3-1-2 to irradiating light beam, can also make motor stall.

Photoelectric sensor 3-1 is clamped for detecting material whether there is；When handgrip 2-5 correctly grabs material, photoelectric transfer Sensor 3-1 persistently can be triggered, and by detecting that the trigger goes to judge material whether there is to be grabbed folder, use leisure moments, leak so as to prevent The generation of situations such as folder.Additionally, the photoelectric sensor 3-1 measurement ranges adopted by this utility model device are adjustable, thus to many The detection of individual different material is likewise supplied with the suitability.

Vision sensor 3-2 is (typically two-dimentional to the keeper being fixed on material table by using image processing techniquess Code) image recognition is carried out, after being computed processing, relative position information of the material relative to handgrip can be obtained, it is ensured that jaw can Reach material set-point like clockwork, implement gripping action.

The above is only preferred implementation of the present utility model, is not limited to this utility model, it is noted that For those skilled in the art, on the premise of without departing from this utility model know-why, can also do Go out some improvement and modification, these improvement and modification also should be regarded as protection domain of the present utility model.

Claims (10)

1. a kind of with buffer can self-locking material grab clamp device, it is characterised in that：Including electronic jaw and it is disposed thereon Spring buffer mechanism and measuring cell, wherein

- electronic the jaw includes that installing plate, the installing plate are provided with two opposite handgrips and drive handgrip phase described in two To/the drive component that dorsad moves；

- spring buffer the mechanism include the contiguous block for being connected with robot arm end effector mounting flange and with even The first slide block that block is slidably connected and is connected with the installing plate is connect, the two parallel axis of guides, institute on the contiguous block, is connected with State On be arranged with the spring offseted with contiguous block side wall and lobe side wall；

Whether-the measuring cell includes installing is used for detecting material by the photoelectric transfer of the electronic jaw clamping on a mounting board Sensor, spacing photoswitch is carried out to the handgrip when closing and open, and be fixed on material table for identification Keeper is to obtain the vision sensor of the relative position information of the relative handgrip of material, and photoelectric sensor is located in two handgrips Between.

2. according to claim 1 with buffer can self-locking material grab clamp device, it is characterised in that：The spring buffer Mechanism also includes contacting to apply the axis of guide with the axis of guide through the through hole in the lobe of first slide block, end face The holding screw of variable lateral power.

3. according to claim 1 with buffer can self-locking material grab clamp device, it is characterised in that：The handgrip includes The adaptor being connected and grip block, the opposite surface of two grip blocks be provided with multiple projections, for being inserted into charging tray side On groove in vee-block.

4. according to claim 3 with buffer can self-locking material grab clamp device, it is characterised in that：The drive component Including the trapezoidal screw by bearing block on the installing plate, dextrorotation trapezoidal nut and derotation on trapezoidal screw, is bolted with Trapezoidal nut, dextrorotation trapezoidal nut and derotation trapezoidal nut are respectively connected with the second slide block, two second slide blocks respectively with two adaptors Connection, is equipped with the catch that can block the photoswitch to irradiating light beam on two second slide blocks, trapezoidal screw is by being arranged on Driving element on installing plate drives and rotates.

5. according to claim 4 with buffer can self-locking material grab clamp device, it is characterised in that：On the installing plate It is additionally provided with the line slideway being slidably connected with the second slide block described in two.

6. according to claim 4 with buffer can self-locking material grab clamp device, it is characterised in that：The bearing passes through C-type snap ring is axially positioned on the trapezoidal screw.

7. according to claim 4 with buffer can self-locking material grab clamp device, it is characterised in that：The driving element The servomotor that is connected including the decelerator that is connected with the trapezoidal screw by Timing Belt and belt wheel and decelerator and The encoder of servomotor connection, and the driver electrically connected with encoder, photoelectric sensor, photoswitch.

8. according to claim 7 with buffer can self-locking material grab clamp device, it is characterised in that：The belt wheel passes through E type snap rings are axially positioned on the trapezoidal screw.

9. according to any one of claim 1-8 with buffer can self-locking material grab clamp device, it is characterised in that：Described The reinforcing plate for improving its support strength is also associated with installing plate.

10. according to claim 9 with buffer can self-locking material grab clamp device, it is characterised in that：Also include and institute State some shroudings that installing plate collectively forms closing housing.