CN211708825U - Emptying detection mechanism in gripper device - Google Patents

Abstract

The utility model provides a blowing detection mechanism among the hand claw device belongs to hand claw device technical field. The material discharging detection method solves the problems that an existing material discharging detection method is complex in structure, high in cost and low in detection efficiency. The claw device is including the cross slip table of clamp material subassembly and vertical setting, blowing detection mechanism is including being fixed in the locating plate of cross slip table lower extreme and articulated mutually and can be along pin joint downwardly swinging's support with the locating plate, the support is close to the right flank of locating plate with the pin joint of locating plate, the clamp material subassembly is fixed in the lower extreme of support, the left surface of locating plate links firmly the cooperation board that the level set up, the left side of support has linked firmly the link, be equipped with sensing element on the link, be equipped with the piece that resets that has elasticity between support and the locating plate, the support has the trend that the upswing made sensing element sense the cooperation board all the time under the spring action of the piece that. The method has the advantages of high detection efficiency, high detection speed, low cost and the like.

Description

Emptying detection mechanism in gripper device

Technical Field

The utility model belongs to the technical field of the hand claw device, relate to the hand claw device, especially relate to the blowing detection mechanism in the hand claw device.

Background

With the rapid development of modern industry, the production automation has become the mainstream trend, and the gripper device is more and more widely applied to the production line because the gripper device has high automation degree and can realize the functions of automatically clamping, conveying and discharging. However, since the paw device is controlled by the program, some errors may be inevitably occurred compared to the manual operation, which may cause accidents or cause disorder of the program.

Therefore, the Chinese patent provides a gripper device with application number 201711008922.7, which is used for clamping middle and short rod workpieces and comprises a base, an adjusting component connected with the base, a rotating component connected with the adjusting component, a material clamping component connected with the rotating component, and a detection component connected with the material clamping component, wherein the material clamping component comprises a rotating seat and a material taking piece connected with the rotating seat, the detection component comprises a proximity switch connected with the rotating seat and an induction sheet connected with the material taking piece, and the proximity switch corresponds to the induction sheet. This hand claw device can detect the material state of getting of hand claw device through setting up the determine module who comprises response piece and proximity switch, ensures that empty material centre gripping situation can not take place.

However, in the actual production process, it is found that when the machining equipment is adhered with impurities such as iron chips, the workpiece is easily placed in place, so that the phenomenon of tool collision and the like can be generated when the tool is used for machining, and the workpiece is damaged or the service life of the tool is shortened. The detection assembly in the gripper device can only detect whether the gripper device normally takes materials or not, but cannot detect whether the gripper installs the workpiece in place or not. At present, in order to detect whether the material is put in place in the gripper device, a conventional detection method is photographic detection, and a higher requirement is also placed on a photographic pixel to achieve higher detection precision, so that the required cost is very high, and comparison or judgment needs to be carried out by a computer after photographing, so that the detection speed is relatively low, and the detection efficiency is low.

Disclosure of Invention

The utility model aims at the above-mentioned problem that prior art exists, provide the blowing detection mechanism among the gripper device, solved the technical problem that the structure is complicated, with high costs and detect that speed is slow.

The purpose of the utility model can be realized by the following technical proposal:

blowing detection mechanism among the hand claw device, the hand claw device includes the cross slip table of double-layered material subassembly and vertical setting, blowing detection mechanism including being fixed in the locating plate of cross slip table lower extreme, its characterized in that, blowing detection mechanism still include with the locating plate articulated mutually and can be along pin joint downwardly swinging's support, the pin joint of support and locating plate is close to the right flank of locating plate, press from both sides the material subassembly and be fixed in the lower extreme of support, the left surface of locating plate links firmly the cooperation board that the level set up, the left side of support has linked firmly the link, be equipped with induction element on the link, be equipped with the piece that resets that has elasticity between support and the locating plate, the support has the trend that the upswing made induction element sense the cooperation board all the time under the elastic force effect that resets.

Under normal conditions, the support has the trend of upwards swinging all the time under the spring action of piece that resets for the sensing element senses the cooperation board. When the numerical control lathe works, the clamping assembly accurately clamps the workpiece through the movement of the cross sliding table, and then the workpiece is continuously conveyed to the corresponding position of the numerical control lathe equipment through the movement of the cross sliding table for processing. When the workpiece is not placed in place, acting force is exerted on the material clamping assembly at the corresponding position of the numerical control lathe device, so that the material clamping assembly moves outwards under the action of oblique extrusion force. Because the clamping assembly is fixed at the lower end of the support, and the support is hinged with the positioning plate, the acting force applied to the clamping assembly can enable the left side of the support to swing downwards around the hinged point, so that the sensing element is gradually far away from the matching plate. Therefore, the induction element can not detect the existence of the matching plate, and further sends out a signal to prompt that the workpiece is not installed in place.

The discharge detection mechanism in the gripper device can detect whether the workpiece is installed in place or not by arranging the support, the matching plate and the induction element, so that the problem of cutter collision when the cutter is used for machining the workpiece due to the fact that the workpiece is not installed in place is avoided, and the service life of the cutter is prolonged. Meanwhile, the adopted parts are fewer, so that the structure is simpler, the cost is lower, and a signal can be sent out only when the induction element cannot induce the matching plate, so that the detection speed is higher. In addition, the material discharging detection mechanism in the gripper device does not relate to structural change in the material clamping assembly, and can be commonly used with the existing material clamping assembly structure on the market, so that the gripper device has wide applicability.

In the above-mentioned material discharge detection mechanism in the gripper device, the bracket includes a support plate parallel to the positioning plate and two lugs protruding from the front and rear sides of the support plate, the two lugs are oppositely disposed and close to the right side of the support plate, a rotating shaft is inserted into the positioning plate along the front-back direction, and two ends of the rotating shaft penetrate through the positioning plate and are connected with the two lugs.

In the above-mentioned blowing detection mechanism in the gripper device, the piece that resets include the spring and the spliced pole that has the head, the spliced pole lower extreme passes locating plate and extension board in proper order, the tip links firmly the end cap under the spliced pole, the spring housing is established on the spliced pole and both ends lean on with the head of spliced pole and locating plate up end respectively about the spring.

The lower end of the connecting column penetrates through the support plate and the lower end part of the connecting column is fixedly connected with the plug, so that the elastic force of the spring acts on the connecting column upwards and drives the support plate to always have the upward swinging trend around the hinged point, and the sensing element always keeps the trend of sensing the matching plate.

In the above-mentioned blowing detection mechanism in the gripper device, as another technical scheme, the piece that resets be the extension spring, the upper end of extension spring links firmly on the locating plate, the lower extreme of extension spring links firmly on the extension board.

In the above discharging detection mechanism in the gripper device, the sensing element is a proximity switch vertically fixed on the connecting frame, and the sensing position of the proximity switch is located below the mating plate.

Under the normal state, the support swings upwards under the action of the elastic force of the reset piece so that the sensing position at the upper end of the proximity switch senses the existence of the matching plate. When the workpiece is not installed in place and the support swings downwards around the hinge point, the proximity switch is far away from the matching plate, and the sensing position at the upper end of the proximity switch cannot sense the existence of the matching plate and sends a signal.

In the material discharge detection mechanism in the gripper device, the sensing element is a microswitch fixed on the connecting frame, and when the support swings upwards around the hinge point, the microswitch is contacted with the matching plate to be triggered.

Under normal state, the support swings upwards under the action of the elastic force of the reset piece to enable the micro switch to be in contact with the matching plate, and the button on the micro switch is pressed down by the matching plate to be in a trigger state. When the workpiece is not installed in place and the support swings downwards around the hinge point, the microswitch is separated from the matching plate, and the button on the microswitch resets under the self elasticity to send out a signal.

In the blowing detection mechanism in foretell hand claw device, the material clamping component including installation piece, swing cylinder, supporting shoe and two pneumatic chucks, the installation piece is fixed in the extension board downside, is equipped with the inclined plane between the leading flank of installation piece and the downside, swing cylinder is fixed in on the inclined plane, the supporting shoe is connected on swing cylinder and is turned round by swing cylinder drive, two pneumatic chucks are fixed in respectively on the left surface and the downside of supporting shoe.

Compared with the prior art, the discharge detection mechanism in the gripper device has the advantages that through the arrangement of the support, the matching plate and the induction element, whether the workpiece is installed in place or not can be detected when the workpiece is placed in the gripper device, the problem that a cutter is collided when the cutter is used for machining the workpiece due to the fact that the workpiece is not installed in place is avoided, and the service life of the cutter is prolonged.

Meanwhile, the adopted parts are fewer, so that the structure is simpler, the cost is lower, and the detection speed and the detection efficiency are higher. In addition, the material discharging detection mechanism in the gripper device does not relate to structural change in the material clamping assembly, and can be commonly used with the existing material clamping assembly structure on the market, so that the gripper device has wide applicability.

Drawings

FIG. 1 is a schematic view of a gripper apparatus according to an embodiment.

Fig. 2 is a schematic connection diagram of the material clamping assembly and the discharging detection mechanism in the first embodiment.

Fig. 3 is a schematic view of a feeding detection mechanism in the first embodiment.

In the figure, 1, a material clamping component; 1a, mounting blocks; 1b, a swing cylinder; 1c, a supporting block; 1d, an air chuck; 2. a cross sliding table; 3. positioning a plate; 4. a support; 4a, a support plate; 4b, lugs; 5. a mating plate; 6. a connecting frame; 7. a rotating shaft; 8. a spring; 9. connecting columns; 10. a plug; 11. a proximity switch.

Detailed Description

The following are specific embodiments of the present invention and the accompanying drawings are used to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

Example one

As shown in fig. 1-3, a material placing detection mechanism in a gripper device, the gripper device includes a material clamping assembly 1 and a vertically arranged cross sliding table 2, the material placing detection mechanism includes a positioning plate 3 fixed at the lower end of the cross sliding table 2 and a bracket 4 hinged to the positioning plate 3 and capable of swinging downwards along a hinge point, the hinge point of the bracket 4 and the positioning plate 3 is close to the right side surface of the positioning plate 3, and the material clamping assembly 1 is fixed at the lower end of the bracket 4.

As shown in fig. 2, the material clamping assembly 1 includes an installation block 1a, a swing cylinder 1b, a support block 1c and two pneumatic chucks 1d, the installation block 1a is fixed on the lower side of the support plate 4a, an inclined plane is arranged between the front side surface and the lower side surface of the installation block 1a, the swing cylinder 1b is fixed on the inclined plane, the support block 1c is connected to the swing cylinder 1b and driven by the swing cylinder 1b to rotate, and the two pneumatic chucks 1d are respectively fixed on the left side surface and the lower side surface of the support block 1 c.

As shown in fig. 2 and 3, a restoring member having an elastic force is disposed between the bracket 4 and the positioning plate 3, and the bracket 4 always swings upward under the elastic force of the restoring member to make the sensing element sense the matching plate 5. The support 4 includes the extension board 4a with locating plate 3 parallel arrangement and protrusion in extension board 4a front and back two lugs 4b of side, and two lugs 4b set up relatively and are close to the right flank of extension board 4a, and the interior edge fore-and-aft direction of locating plate 3 is worn to be equipped with pivot 7, and pivot 7 both ends are worn out outside locating plate 3 and are connected with two lugs 4b, and pivot 7 and lug 4b specifically carry out the complex with the keyway mode. In this embodiment, the piece that resets includes spring 8 and spliced pole 9 that has the head, and locating plate 3 and extension board 4a are passed in proper order to spliced pole 9 lower extreme, and the tip links firmly end cap 10 under spliced pole 9, and 8 covers on spliced pole 9 and spring 8 upper and lower both ends lean on with the head of spliced pole 9 and the up end of locating plate 3 respectively.

As shown in fig. 2 and 3, a horizontally arranged matching plate 5 is fixedly connected to the left side surface of the positioning plate 3, a connecting frame 6 is fixedly connected to the left side of the support plate 4a, and an induction element is arranged on the connecting frame 6. The sensing element is a proximity switch 11 vertically fixed on the connecting frame 6, and the sensing position of the proximity switch 11 is positioned below the matching plate 5.

Under the normal state, the bracket 4 always has the tendency of swinging upwards under the action of the elastic force of the spring 8, so that the proximity switch 11 senses the matching plate 5. When the numerical control lathe works, the clamping assembly 1 accurately clamps the workpiece by the movement of the cross sliding table 2, and then the workpiece is continuously conveyed to the corresponding position of the numerical control lathe equipment for processing by the movement of the cross sliding table 2.

When the workpiece is not placed in place, the corresponding position of the numerical control lathe equipment can apply acting force on the air chuck 1d in the clamping assembly 1, so that the air chuck 1d is subjected to oblique extrusion force and moves outwards. Because the lower extreme that presss from both sides material subassembly 1 and be fixed in support 4, and support 4 is articulated mutually with locating plate 3, the effort that air chuck 1d received can make the left side of support 4 swing down round the pin joint for proximity switch 11 keeps away from gradually and cooperates board 5. Thus, the proximity switch 11 does not detect the presence of the mating plate 5, and sends a signal to indicate that the workpiece is not mounted in place.

Example two

The structure and principle of this embodiment are basically the same as those of the first embodiment, except that: in this embodiment, the piece that resets is the extension spring, and the upper end of extension spring links firmly on locating plate 3, and the lower extreme of extension spring links firmly on extension board 4 a.

EXAMPLE III

The structure and principle of this embodiment are basically the same as those of the first embodiment, except that: in this embodiment, the sensing element is a microswitch fixed on the connecting frame 6, which can be triggered by contact with the mating plate 5 when the bracket 4 swings upward around the hinge point.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

Claims (7)

1. Blowing detection mechanism in hand claw device, hand claw device include cross slip table (2) of pressing from both sides material subassembly (1) and vertical setting, blowing detection mechanism including being fixed in locating plate (3) of cross slip table (2) lower extreme, a serial communication port, blowing detection mechanism still include with locating plate (3) articulated mutually and can be along pin joint downwardly swinging's support (4), the pin joint of support (4) and locating plate (3) is close to the right flank of locating plate (3), press from both sides the lower extreme that material subassembly (1) is fixed in support (4), the left surface of locating plate (3) links firmly cooperation board (5) that the level set up, the left side of support (4) has linked firmly link (6), be equipped with sensing element on link (6), be equipped with the piece that resets between support (4) and locating plate (3) and have the piece that resets that has elasticity, support (4) have the upwards swing all the time under the elastic force effect that resets and make the trend of sensing element cooperation board (5) tend towards And (4) potential.

2. The discharge detection mechanism in the gripper device according to claim 1, wherein the bracket (4) comprises a support plate (4a) parallel to the positioning plate (3) and two lugs (4b) protruding from the front and rear sides of the support plate (4a), the two lugs (4b) are disposed opposite to each other and close to the right side of the support plate (4a), a rotating shaft (7) is disposed in the positioning plate (3) along the front-rear direction, and two ends of the rotating shaft (7) penetrate through the positioning plate (3) and are connected with the two lugs (4 b).

3. The discharge detection mechanism in the gripper device according to claim 2, wherein the reset member comprises a spring (8) and a connecting column (9) having a head, the lower end of the connecting column (9) sequentially passes through the positioning plate (3) and the support plate (4a), the lower end of the connecting column (9) is fixedly connected with a plug (10), the spring (8) is sleeved on the connecting column (9), and the upper end and the lower end of the spring (8) respectively abut against the head of the connecting column (9) and the upper end face of the positioning plate (3).

4. The discharge detection mechanism of the gripper device according to claim 2, wherein the reset member is a tension spring, the upper end of the tension spring is fixedly connected to the positioning plate (3), and the lower end of the tension spring is fixedly connected to the support plate (4 a).

5. The discharge detection mechanism of the gripper unit as claimed in claim 1, 2, 3 or 4, wherein the sensing element is a proximity switch (11) vertically fixed on the connecting frame (6), and the sensing position of the proximity switch (11) is located below the mating plate (5).

6. The discharge detection mechanism of a gripper unit as claimed in claim 1, 2, 3 or 4, wherein the sensing element is a micro switch fixed on the connecting frame (6) and capable of being triggered by the micro switch contacting with the mating plate (5) when the support (4) swings upward around the hinge point.

7. The discharge detection mechanism of the gripper device according to claim 2, wherein the material clamping assembly (1) comprises an installation block (1a), a swing cylinder (1b), a support block (1c) and two pneumatic chucks (1d), the installation block (1a) is fixed on the lower side of the support plate (4a), an inclined plane is arranged between the front side and the lower side of the installation block (1a), the swing cylinder (1b) is fixed on the inclined plane, the support block (1c) is connected to the swing cylinder (1b) and driven by the swing cylinder (1b) to rotate, and the two pneumatic chucks (1d) are respectively fixed on the left side and the lower side of the support block (1 c).

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