CN210735533U

CN210735533U - Flexible mechanical gripper with product type detection function

Info

Publication number: CN210735533U
Application number: CN201921648384.2U
Authority: CN
Inventors: 许波; 高杰; 袁垦; 金军波
Original assignee: Zhejiang Hill Robot Co Ltd
Current assignee: Zhejiang Hill Robot Co Ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-06-12
Anticipated expiration: 2029-09-29

Abstract

The utility model discloses a take flexible mechanical tongs of product kind detection relates to mechanical tongs field. In the existing automatic production process of disc parts, different processing programs need to be called according to different products. The utility model discloses a mounting substrate, actuating mechanism and the clamp finger that encircles the equipartition, one of them clamp finger is located mounting substrate under, mounting substrate's lower terminal surface is connected with the sensor support, the bottom of sensor support is connected with the detection sensor who is used for detecting different specification kind work pieces, the clamp finger top surface under the mounting substrate is equipped with the sensor detection board, the elastic element who detects the sensor pushes up with the sensor detection board contact mutually, detect on the sensor is connected to the controller, the controller is connected with actuating mechanism. The control machine can distinguish the product types by comparing the data with the stored data and automatically call the corresponding programs by detecting that the compression displacement of the elastic element on the sensor is different and the data fed back to the control machine is different.

Description

Flexible mechanical gripper with product type detection function

Technical Field

The utility model relates to a machinery tongs field especially relates to a take flexible mechanical tongs that product kind detected.

Background

At present, in the automatic production process of the existing disc parts, because the machine tool clamp with the self characteristics of the disc parts can share various products, different processing programs can be called according to different products to complete processing production, and the difficulty lies in how to identify whether the types of the processed products are correct, a flexible gripper for identifying the types of workpieces is needed in the automatic production process, and the flexible mechanical gripper with the product type detection does not appear in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model discloses the technical problem that solve and the technical task that provides are perfect and improve prior art scheme, provide a take flexible mechanical gripper that product kind detected to the realization realizes detecting different specification kind products as the purpose. Therefore, the utility model adopts the following technical scheme.

The utility model provides a take flexible mechanical tongs of product kind detection, includes mounting substrate, locates the actuating mechanism that is used for the work piece product to snatch under the mounting substrate and locates a plurality of clamp fingers that encircle the equipartition of actuating mechanism below, one of them clamp finger is located mounting substrate under, mounting substrate's lower terminal surface be connected with the sensor support, the bottom of sensor support is connected with the detection sensor who is used for detecting different specification kind of work pieces, the top surface of clamp finger under the mounting substrate be equipped with the sensor pick-up plate, the elastic element of detection sensor and sensor pick-up plate contact mutually top, on the control machine of detection sensor connection to manipulator, the control machine and the actuating mechanism of manipulator are connected. When the mechanical gripper grips disc workpieces of different types and specifications, due to different diameters of the workpieces, the relative movement amount of the gripper during gripping is different, so that the compression displacement of the elastic element on the detection sensor is different, and the data fed back to the control machine is different, so that the control machine can distinguish and detect the types of products by comparing the data with the stored data.

As a preferable technical means: the U-shaped sensor support is characterized in that the sensor support is a U-shaped support, two sides of the upper end of the sensor support are provided with outward flanges, screw mounting holes are formed in the flanges, and the flanges are connected and fixed with a mounting base plate through screws. The support has simple structure, light weight and convenient installation, and can realize firm fixation.

As a preferable technical means: the sensor detection plate comprises a horizontal plate and a vertical plate, wherein the horizontal plate is fixedly connected to the top surface of the clamping finger and extends out of the clamping finger in the direction of the outer side of the clamping finger, the vertical plate is integrated with the horizontal plate and located on the outer side of the clamping finger, and the elastic element extends out of the clamping finger in the direction of the outer side of the clamping finger and is in contact with the vertical plate to be propped against the. The structure can effectively realize that the sensor detection plate gives different pressures to the elastic element when moving, and realizes different compression displacements of the elastic element.

As a preferable technical means: the sensor is a displacement sensor or a pressure sensor. The two sensors can conveniently realize the induction of different compression displacement amounts and effectively realize the detection of different displacement amounts.

As a preferable technical means: the clamp finger comprises a clamp finger base plate provided with a chute and a gamma-type adjusting plate positioned below the clamp finger base plate, a nut sliding block which can only slide along the chute is arranged in the chute, the gamma-type adjusting plate and the nut sliding block are connected and fixed through a bolt from bottom to top, the side surface of the gamma-type adjusting plate is provided with 1 vertical scale mark line, and the side surface of the clamp finger base plate, which is at the same side with the gamma-type adjusting plate, is provided with a plurality of vertical specification scale lines for adjusting different types of sizes and specifications. The clamping adjustment of the disc parts of different types and specifications can be effectively realized, and the disc parts of different specifications can be adapted without replacing clamping fingers.

As a preferable technical means: the opposite surfaces of the clamping finger substrate and the gamma-type adjusting plate are straight rack-shaped matching surfaces, and the direction of a tooth groove of the straight rack-shaped matching surfaces is perpendicular to the moving direction of the nut sliding block. The tooth-shaped matching surface can effectively realize the positioning effect, the accuracy of scale positioning when the bolt is screwed up is improved, the adjusting plate is prevented from deviating when the bolt is used after being fixed, the digital size moving adjustment is realized when the adjusting plate moves due to the tooth-shaped surface, and the scale marks can be quickly and accurately aligned.

As a preferable technical means: the sliding groove is a T-shaped sliding groove, and the nut sliding block is matched with the T-shaped sliding groove. T type spout and T type slider processing are convenient, and the cooperation structure uses generally, can effectively prevent the vertical breaking away from of nut slider.

As a preferable technical means: the nut sliding block is provided with 2 threaded holes arranged along the sliding groove direction, and the number of the bolts is 2 and is matched with the 2 threaded holes of the nut sliding block; the screw tail of the bolt is positioned in a sunk hole of the gamma-type adjusting plate, and the bolt is an inner hexagon bolt. The fixing structure is connected through double bolts, so that the device is more stable and reliable; the length of the bolt can be effectively reduced through the arrangement of the counter bores, the cost is reduced, and the interference between the bolt and a workpiece on the adjusting plate can be effectively avoided.

As a preferable technical means: the section of the rack on the shape matching surface of the straight rack is triangular or rectangular. The processing is simple.

As a preferable technical means: the width of the gamma-type adjusting plate is the same as that of the clamp finger substrate. The alignment observation during the scale adjustment is convenient.

Has the advantages that:

1. the sensor is adopted to judge and detect the workpiece in real time, so that the structure is simple, the cost is low, the flexible and accurate grabbing of the disc parts corresponding to different models and sizes is realized, and the flexible automatic processing production of various models of products is realized.

2. Aiming at disc parts of different types and specifications, the gripper fingers can be quickly and accurately adjusted in size, the gripper fingers do not need to be replaced, and the disc part gripper is simple in overall structure, easy to operate and high in precision.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is an enlarged schematic view of a portion a in fig. 1 according to the present invention.

Fig. 3 is a schematic view of the structure of the clamping finger of the present invention.

Fig. 4 is a schematic diagram of the finger clamping blasting of the present invention.

Fig. 5 is a schematic diagram of the finger clamping blasting of the present invention.

In the figure: 1-a mounting substrate; 2-a drive mechanism; 3-clamping fingers; 4-a sensor holder; 5-a detection sensor; 6-sensor detection board; 301-a finger-clamping substrate; 302- "+" type regulation board; 303-a chute; 304-gauge mark; 305-scale mark lines; 306-spur rack shaped mating surfaces; 307-bolt; 308-nut slide block; 401-flanging; 402-screw mounting holes.

Detailed Description

The technical solution of the present invention will be further described in detail with reference to the accompanying drawings.

As shown in fig. 1-5, a flexible mechanical gripper with product type detection function comprises a mounting substrate 1, a driving mechanism 2 arranged below the mounting substrate 1 and used for workpiece product gripping, and 3 clamping fingers 3 arranged below the driving mechanism 2 and uniformly distributed around the mounting substrate, wherein one clamping finger 3 is arranged right below the mounting substrate 1, the lower end surface of the mounting substrate 1 is connected with a sensor support 4, the bottom of the sensor support 4 is connected with a displacement detection sensor 5 used for detecting workpieces of different specifications and types, the top surface of the clamping finger 3 right below the mounting substrate 1 is provided with a sensor detection plate 6, an elastic element of the displacement detection sensor 5 is in contact with the sensor detection plate 6 and is abutted against the displacement detection sensor 5, the displacement detection sensor 5 is connected to a controller of a manipulator, and the controller of the manipulator is connected with the driving mechanism 2.

In order to reduce the cost, the sensor support 4 is a U-shaped support, two sides of the upper end of the sensor support 4 are provided with outward flanges 401, and the flanges are provided with screw mounting holes 402 and are fixedly connected with the mounting base plate 1 through screws. The support has the advantages of simple structure, light weight, convenient installation, firm fixation and effective cost reduction.

In order to realize pressure detection, the sensor detection plate 6 comprises a horizontal plate and a vertical plate, wherein the horizontal plate is fixedly connected to the top surface of the clamping finger 3 and extends out towards the outer side of the clamping finger 3, the vertical plate is integrated with the horizontal plate and is positioned at the outer side of the clamping finger 3, and the elastic element extends out towards the outer side of the clamping finger 3 and is contacted with the vertical plate to abut against the vertical plate. The structure can effectively realize that the sensor detection plate 6 gives different pressures to the elastic element when moving, and realizes different compression displacements of the elastic element.

In order to realize size adjustment of the clamp finger 3 aiming at different types of disc workpieces, the clamp finger 3 comprises a clamp finger base plate 301 provided with a chute 303 and a gamma adjusting plate 302 positioned below the clamp finger base plate 301, a nut sliding block 308 which can only slide along the chute 303 is arranged in the chute 303, the gamma adjusting plate 302 and the nut sliding block 308 are connected and fixed through a bolt 307 from bottom to top, the side surface of the gamma adjusting plate 302 is provided with 1 vertical scale mark line 305, and the side surface of the clamp finger base plate 301 on the same side with the gamma adjusting plate 302 is provided with 3 vertical specification scale lines 304 for size adjustment of different types. The clamping adjustment of the disc parts with different types and specifications can be effectively realized, and the disc parts with different specifications can be adapted without replacing the clamping fingers 3.

In order to align the graduation mark more quickly and precisely, the opposite surfaces of the clamp finger base plate 301 and the "+" type adjusting plate 302 are spur rack-shaped mating surfaces 306, and the direction of the tooth grooves of the spur rack-shaped mating surfaces 306 is perpendicular to the moving direction of the nut slider 308. The tooth-shaped matching surface can effectively realize the positioning effect, the accuracy of scale positioning when the bolt 307 is screwed up is improved, the adjusting plate is prevented from deviating when the bolt 307 is used after being fixed, the digital size moving adjustment is realized when the adjusting plate moves due to the tooth-shaped surface, and the scale marks can be quickly and accurately aligned.

In order to realize the vertical anti-disengaging structure of the nut sliding block 308, the sliding groove 303 is a T-shaped sliding groove 303, and the nut sliding block 308 is matched with the T-shaped sliding groove 303. T type spout 303 and T type slider processing are convenient, and the cooperation structure uses generally, can effectively prevent nut slider 308's vertical breaking away from.

In order to make the fixing structure more stable and reliable, the nut sliding block 308 is provided with 2 threaded holes arranged along the direction of the sliding groove 303, and the number of the bolts 307 is 2, and the bolts are matched with the 2 threaded holes of the nut sliding block 308. The fixing structure is connected through the double bolts 307, so that the structure is more stable and reliable.

For ease of processing, the rack cross-sectional shape of the spur rack shaped mating surface 306 is triangular. The processing is simple, in the example, the rectangular tooth section is adopted, and the processing is also convenient.

To reduce the length of the bolt 307, the tail of the bolt 307 is positioned in a counterbore of the "+" type adjustment plate 302, and the bolt 307 is a hexagon socket head cap bolt 307. The length of the bolt 307 can be effectively reduced, the cost is reduced, and the interference between the bolt 307 and a workpiece on the adjusting plate can be effectively avoided.

To facilitate alignment viewing of the scale, the gamma adjusting plate 302 has the same width as the clip finger substrate 301. The alignment observation during the scale adjustment is convenient.

When the mechanical gripper grips disc workpieces of different types and specifications, due to different diameters of the workpieces, the relative position between the gripper and the detection sensor 5 is changed when the workpieces are gripped, so that the compression displacement of elastic elements on the detection sensor 5 is different, the displacement data fed back to the control machine by the detection sensor 5 is different, the control machine can distinguish and detect the product types by comparing the different displacement data with the stored data, judge whether the types of the processed products are consistent with the existing processing process program, and start the processing program of the machine tool if the types of the processed products are consistent with the existing processing process program to process and produce the workpieces.

When the size of the clamp finger 3 is adjusted, the bolt 307 is loosened, the gamma adjusting plate 302 is lifted by hand and pushed to move along the direction of the chute 303, when the scale mark line 305 is aligned with the specification scale line 304 which needs to be adjusted in place, the adjusting plate is lowered and the bolt 307 is screwed, the adjusting plate is fixed, the quick and accurate size adjustment can be realized, and the clamp finger 3 does not need to be replaced.

In this example, the controller is a PLC, a single chip microcomputer, or an industrial PC, and the driving mechanism 2 is a cylinder, a hydraulic cylinder, or a motor.

The above flexible mechanical gripper with product type detection shown in fig. 1-5 is a specific embodiment of the present invention, and embodies the substantial features and improvements of the present invention, and can modify the same in terms of shape, structure, etc. according to the practical needs of use, all within the scope of protection of the present solution.

Claims

1. The utility model provides a take flexible mechanical tongs of product kind detection, includes mounting substrate (1), locates actuating mechanism (2) that are used for the work piece product to snatch under mounting substrate (1) and locates a plurality of clamp fingers (3) that encircle the equipartition of actuating mechanism (2) below, its characterized in that: one of the clamping fingers (3) is located under the mounting substrate (1), the lower end face of the mounting substrate (1) is connected with a sensor support (4), the bottom of the sensor support (4) is connected with a detection sensor (5) used for detecting workpieces of different specifications and types, the top face of the clamping finger (3) under the mounting substrate (1) is provided with a sensor detection plate (6), an elastic element of the detection sensor (5) is in contact with the sensor detection plate (6) to be propped against, the detection sensor (5) is connected to a control machine of the manipulator, and the control machine of the manipulator is connected with the driving mechanism (2).

2. The flexible mechanical gripper with product type detection of claim 1, wherein: sensor support (4) be "U" type support, sensor support (4) upper end both sides are equipped with outside turn-ups (401), are equipped with screw mounting hole (402) on the turn-ups, are connected fixedly through screw and mounting substrate (1).

3. The flexible mechanical gripper with product type detection of claim 2, wherein: the sensor detection plate (6) comprises a horizontal plate and a vertical plate, wherein the horizontal plate is fixedly connected with the top surface of the clamping finger (3) and extends out towards the outer side direction of the clamping finger (3), the vertical plate is integrated with the horizontal plate and located on the outer side of the clamping finger (3), and the elastic element extends out towards the outer side direction of the clamping finger (3) and is contacted with the vertical plate to be propped.

4. The flexible mechanical gripper with product type detection as claimed in claim 3, wherein: the sensor is a displacement sensor or a pressure sensor.

5. The flexible mechanical gripper with product type detection of claim 1, wherein: the clamp finger (3) comprises a clamp finger base plate (301) provided with a sliding groove (303) and a gamma-type adjusting plate (302) located below the clamp finger base plate (301), a nut sliding block (308) which can only slide along the sliding groove (303) is arranged in the sliding groove (303), the gamma-type adjusting plate (302) and the nut sliding block (308) are fixedly connected through a bolt (307) from bottom to top, 1 vertical scale mark line (305) is arranged on the side surface of the gamma-type adjusting plate (302), and a plurality of vertical specification scale marks (304) used for adjusting different types of sizes and specifications are arranged on the side surface of the clamp finger base plate (301) on the same side with the gamma-type adjusting plate (302).

6. The flexible mechanical gripper with product type detection of claim 5, wherein: the opposite surfaces of the clamp finger base plate (301) and the gamma-type adjusting plate (302) are straight rack-shaped matching surfaces (306), and the direction of a tooth groove of each straight rack-shaped matching surface (306) is perpendicular to the moving direction of the nut sliding block (308).

7. The flexible mechanical gripper with product type detection as claimed in claim 6, wherein: the sliding groove (303) is a T-shaped sliding groove (303), and the nut sliding block (308) is matched with the T-shaped sliding groove (303).

8. The flexible mechanical gripper with product type detection as claimed in claim 7, wherein: the nut sliding block (308) is provided with 2 threaded holes arrayed along the direction of the sliding groove (303), and the number of the bolts (307) is 2 and is matched with the 2 threaded holes of the nut sliding block (308); the screw tail of the bolt (307) is positioned in a counter bore of the gamma-type adjusting plate (302), and the bolt (307) is a hexagon socket head cap screw (307).

9. The flexible mechanical gripper with product type detection of claim 8, wherein: the cross section of the rack of the straight rack shape matching surface (306) is triangular or rectangular.

10. The flexible mechanical gripper with product type detection of claim 9, wherein: the width of the gamma-type regulation plate (302) is the same as that of the clamp finger substrate (301).