CN214526671U - Clamping jaw mechanism and feeding system - Google Patents
Clamping jaw mechanism and feeding system Download PDFInfo
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- CN214526671U CN214526671U CN202023129267.0U CN202023129267U CN214526671U CN 214526671 U CN214526671 U CN 214526671U CN 202023129267 U CN202023129267 U CN 202023129267U CN 214526671 U CN214526671 U CN 214526671U
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Abstract
The utility model discloses a clamping jaw mechanism and feeding system, this clamping jaw mechanism are used for snatching arrange in wait to snatch the part of snatching of treating on the position point, and the state of placing of waiting to snatch the part includes: vertical state, slight skew state and severe skew state, gripper mechanism includes: a gripper; the contour camera is arranged on the gripper and used for identifying whether the part to be grabbed on the position point to be grabbed is missing or not or whether the part to be grabbed is in a severe skew state or not; and the touch mechanism is arranged on the gripper and used for identifying whether the part to be gripped is in a slight skew state. The utility model discloses can discern and wait to snatch the disappearance or the crooked state of part, waiting to snatch on the position point and wait to snatch under part disappearance, severe skew or the slightly crooked condition, clamping jaw mechanism does not snatch and convey the action, avoids the waste time, improves production efficiency, reduces the rejection rate.
Description
Technical Field
The utility model relates to an automatic pay-off field, in particular to clamping jaw mechanism and feeding system.
Background
The automatic feeding system greatly improves the industrial production efficiency and has wide application. The clamping jaw mechanism plays an important role in an automatic feeding system, and the clamping jaw mechanism is driven by a mechanical arm to grab parts and convey the parts to a target position. Wherein, before the spare part is snatched, place in the tray that is equipped with a plurality of holding grooves, place a spare part in every holding groove. However, in the actual production process, due to the fact that the tray is subjected to transportation turnover and the like, parts in a part of containing grooves of the tray are lost or inclined. Under the condition that parts in the containing groove are lost, the clamping jaw mechanism still performs grabbing and conveying actions, time is wasted, production efficiency is reduced, and the rejection rate is increased; under the condition that parts in the containing groove are inclined, the clamping jaw mechanism still performs grabbing and conveying actions, the parts are easily damaged, and the rejection rate can be increased.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve and waiting to snatch under the part disappearance or the crooked condition on waiting to snatch the position point, clamping jaw mechanism still snatchs and conveys the action, waste time, reduction in production efficiency increase the problem of rejection rate. The utility model provides a clamping jaw mechanism, recognizable disappearance or the crooked state of waiting to snatch the part, waiting to snatch under the condition that waiting to snatch part disappearance or crooked on the position point, clamping jaw mechanism does not snatch and convey the action, avoids the waste time to improve production efficiency, reduce the rejection rate.
In order to solve the technical problem, the utility model discloses a clamping jaw mechanism for snatch arrange in and wait to snatch the part of snatching waiting on the position point, the state of placing of waiting to snatch the part includes: vertical state, slight skew state and severe skew state, gripper mechanism includes: a gripper; the contour camera is arranged on the gripper and used for identifying whether the part to be grabbed on the position point to be grabbed is missing or not or whether the part to be grabbed is in a severe skew state or not; and the touch mechanism is arranged on the gripper and used for identifying whether the part to be gripped is in a slight skew state.
By adopting the technical scheme, the outline camera can identify the missing and severe skew of the part to be grabbed, so that the grabbing hand does not grab and convey the part to be grabbed when the part to be grabbed on the position point to be grabbed is missing or severely skewed; the touch mechanism can identify slight deflection of the part to be grabbed, so that the hand grab does not grab and convey the part to be grabbed when the part to be grabbed is slightly deflected. The cooperation of the profile camera and the touch mechanism enables the grippers not to grab and convey when parts to be grabbed on the position points to be grabbed are missing, severely crooked or slightly crooked, so that time waste is avoided, the production efficiency is improved, and the rejection rate is reduced.
Optionally, the height of the part to be grabbed in the slightly inclined state is larger than that of the part to be grabbed in the vertical state, and when the hand grab pre-grabs the part to be grabbed in the slightly inclined state, the top end of the part to be grabbed pushes the touch mechanism.
Optionally, the touch mechanism comprises: the shell is arranged on the gripper; the proximity sensor is arranged on the hand grip or the shell; and the moving body is arranged on the shell, is positioned below the proximity sensor and can slide in a reciprocating manner in the vertical direction relative to the shell.
Optionally, the lower end surface of the housing is opened, and the moving body includes: the touch head is arranged in the opening and can slide in the opening in a reciprocating manner along the vertical direction, and the upper part of the touch head is provided with a limiting boss which is positioned above the opening; the guide rod is arranged above the touch head.
Optionally, the touch head is detachably connected to the guide bar.
Optionally, the touch mechanism further includes an elastic member disposed between the lower end surface of the proximity sensor and the upper end surface of the touch head.
Optionally, the elastic member is a spring, and the spring is sleeved on the guide rod.
According to another embodiment of the present invention, the present invention further provides a feeding system, including the above clamping jaw mechanism.
Drawings
Figure 1 shows a schematic view of a jaw mechanism in an embodiment of the invention;
fig. 2(a) is a schematic view showing a part to be gripped in an upright state according to an embodiment of the present invention;
fig. 2(b) is a schematic view showing a part to be gripped in a slightly skewed state according to an embodiment of the present invention;
fig. 3 is a schematic mechanism diagram of the touch mechanism in the embodiment of the present invention in a state where the touch mechanism does not detect the component to be grasped;
fig. 4 shows a schematic mechanism diagram of a touch mechanism in a state of detecting a component to be grabbed in a slightly inclined state in the embodiment of the present invention.
Reference numerals:
1. a part to be grabbed; 2. a gripper; 3. a contour camera; 4. a touch mechanism; l is0The height of the part to be gripped in the vertical state; l is1The height of the part to be gripped in a slightly skewed state; 5. a housing; 6. a proximity sensor; 7. a touch head; 8. a guide bar; 9. a spring.
Detailed Description
The following description is provided for illustrative embodiments of the present invention, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to only those embodiments. On the contrary, the intention of implementing the novel features described in connection with the embodiments is to cover other alternatives or modifications which may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Furthermore, some of the specific details are omitted from the description so as not to obscure or obscure the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that in this specification, like reference numerals and letters refer to like items in the following drawings, and thus, once an item is defined in one drawing, it need not be further defined and explained in subsequent drawings.
In the description of the present embodiment, it should be noted that the terms "upper" and "lower" are used for indicating the orientation or position relationship based on the orientation or position relationship shown in the drawings or the orientation or position relationship that the utility model is usually placed when using, and are only for convenience of describing the utility model and simplifying the description, but do not indicate or imply that the device or element that is referred to must have a specific orientation, be constructed in a specific orientation and be operated, and thus, should not be construed as limiting the utility model.
In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.
As shown in fig. 1, the utility model discloses a clamping jaw mechanism for snatch and arrange in and wait to snatch part 1 that snatchs on the position point, the state of placing of waiting to snatch part 1 includes: vertical state, slight skew state and severe skew state, gripper mechanism includes: a hand grip 2; the contour camera 3 is arranged on the gripper 2 and used for identifying whether the part 1 to be grabbed on the position point to be grabbed is missing or not or whether the part 1 to be grabbed is in a severe skew state or not; and the touch mechanism 4 is arranged on the gripper 2 and used for identifying whether the part 1 to be gripped is in a slight inclined state.
Here, the position points to be gripped correspond to the holding grooves on the tray in the background art, and the parts 1 to be gripped correspond to the parts in the background art.
The recognition principle of the contour camera 3 is: the photo of the part 1 to be grabbed in the vertical state is stored in the profile camera 3 in advance, the mechanical arm drives the clamping jaw mechanism to be above the position point to be grabbed, the profile camera 3 shoots the photo of the position point to be grabbed, and the photo of the position point to be grabbed is compared with the photo of the part 1 to be grabbed in the vertical state. When the recognition result of the profile camera 3 is that the photo at the position to be grabbed is different from the photo of the part to be grabbed 1 in the vertical state, the profile camera 3 sends a signal to enable the clamping jaw mechanism not to grab and transmit, and the mechanical arm drives the clamping jaw mechanism to start a new round of recognition above the next position to be grabbed. When the recognition result of the profile camera 3 is that the photos at the position points to be grabbed are the same as the photos of the part 1 to be grabbed in the vertical state, the mechanical arm drives the clamping jaw mechanism to move downwards.
The recognition capability of the contour camera 3 is limited, and the recognition result of the contour camera 3 is that the picture at the position point to be grabbed is the same as the picture of the part to be grabbed 1 in the vertical state, and actually, the picture at the position point to be grabbed may be the same or slightly different from the picture of the part to be grabbed 1 in the vertical state. When the recognition result of the profile camera 3 is that the picture at the position point to be grasped is different from the picture of the part to be grasped 1 in the vertical state, the part to be grasped 1 at the position point to be grasped is missing or in a heavily skewed state. When the recognition result of the profile camera 3 is that the picture at the position point to be grasped is the same as the picture of the part to be grasped 1 in the upright state, the part to be grasped 1 is in a slightly skewed state or in the upright state.
Alternatively, the height of the part to be gripped 1 in a slightly skewed state is greater than the height thereof in an upright state, and when the gripper 2 pre-grips the part to be gripped 1 in a slightly skewed state, the top end of the part to be gripped 1 pushes the touch mechanism 4.
As shown in fig. 2(a) and 2(b), the height of the component 1 to be grabbed is the distance between the highest point and the lowest point of the component 1 to be grabbed in the vertical direction. The height of the part to be grabbed 1 in the vertical state is L0The height of the part 1 to be grabbed in a slightly inclined state is L1，L1Greater than L0。
When the recognition result of the profile camera 3 is that the photos of the position points to be grabbed are the same as the photos of the part 1 to be grabbed in the vertical state, the mechanical arm drives the clamping jaw mechanism to move downwards to the set height. When the clamping jaw mechanism is at the set height, if the part to be grabbed 1 is in a slight skew state, the highest point of the part to be grabbed 1 is in contact with the touch mechanism 4 and pushes the touch mechanism 4, and if the part to be grabbed 1 is in a vertical state, the highest point of the part to be grabbed 1 is in contact with the touch mechanism 4 and does not push the touch mechanism 4.
Alternatively, as shown in fig. 3 and 4, the touch mechanism 4 includes: the shell 5 is arranged on the hand grip 2; the proximity sensor 6 is arranged on the hand grip 2 or the shell 5; and a moving body provided on the housing 5, the moving body being located below the proximity sensor 6, the moving body being capable of reciprocating sliding in a vertical direction with respect to the housing 5.
The recognition principle of the touch mechanism 4 is as follows: when the clamping jaw mechanism is at a set height, if the part to be grabbed 1 is in a slight skew state, the highest point of the part to be grabbed 1 is in contact with the lowest point of the moving body and pushes the moving body to move vertically upwards, the distance between the moving body and the proximity sensor 6 is reduced, the proximity sensor 6 can identify the approach of the moving body, the proximity sensor 6 sends a signal to enable the clamping jaw mechanism not to carry out grabbing and conveying actions, the mechanical arm drives the clamping jaw mechanism to be above the next position point to be grabbed, meanwhile, the moving body resets under the action of gravity, and a new round of identification starts. When the clamping jaw mechanism is at a set height, if the component to be grabbed 1 is in a vertical state, the highest point of the component to be grabbed 1 is in contact with the lowest point of the moving body but does not push the moving body, the approach sensor 6 cannot detect the approach of the moving body, and the clamping jaw mechanism carries out grabbing and conveying actions.
Optionally, the lower end surface of the housing 5 is opened, and the moving body includes: the touch head 7 is arranged in the opening and can slide in the opening in a reciprocating manner along the vertical direction, and the upper part of the touch head 7 is provided with a limiting boss which is positioned above the opening and used for preventing the touch head 7 from falling off from the opening; and a guide rod 8 arranged above the touch head 7.
When the clamping jaw mechanism is at a set height and the part to be grabbed 1 is in a slight skew state, the highest point of the part to be grabbed 1 is in contact with the lower end of the touch head 7 and pushes the touch head 7 to vertically move upwards in the opening, the touch head 7 pushes the guide rod 8 to vertically move upwards, the distance between the guide rod 8 and the proximity sensor 6 is reduced, the proximity sensor 6 can identify the approach of the guide rod 8, the proximity sensor 6 sends a signal to enable the clamping jaw mechanism not to grab and transmit, the mechanical arm drives the clamping jaw mechanism to the next position to be grabbed, and meanwhile, the touch head 7 and the guide rod 8 reset under the action of gravity, and a new round of identification starts.
Optionally, the touch head 7 is detachably connected with the guide rod 8, so that assembly and disassembly are facilitated. Specifically, the touch head 7 has a groove opened upward, and one end of the guide rod 8 facing downward is inserted into the groove, thereby realizing a stable connection between the touch head 7 and the guide rod 8.
Optionally, the touch mechanism 4 further comprises an elastic member disposed between the lower end surface of the proximity sensor 6 and the upper end surface of the touch head 7.
When the touch mechanism 4 identifies that the part 1 to be grabbed is in a slight skew state, the proximity sensor 6 sends a signal to enable the clamping jaw mechanism not to grab and convey, the mechanical arm drives the clamping jaw mechanism to the position above the next position point to be grabbed, the touch head 7 resets under the action of elastic force, the guide rod 8 resets along with the touch head 7, and a new round of identification starts.
Optionally, the elastic member is a spring 9, and the spring 9 is sleeved on the guide rod 8.
According to the utility model discloses a further embodiment, the utility model discloses still provide a feeding system, including foretell clamping jaw mechanism, wherein, profile camera 3 and touching mechanism 4's cooperation make wait to snatch on the position point wait to snatch part 1 disappearance, severe crooked or slight crooked time, and tongs 2 all do not snatch and the conveying action, have avoided the waste time, have improved production efficiency, have reduced the rejection rate.
To sum up, the utility model discloses a clamping jaw mechanism's working process does: the mechanical arm drives the clamping jaw mechanism to be above the position point to be grabbed, the profile camera 3 shoots the position point to be grabbed, and the photo of the position point to be grabbed is compared with the photo of the part 1 to be grabbed in the vertical state. When the recognition result of the profile camera 3 is that the picture at the position to be grabbed is different from the picture of the part to be grabbed 1 in the vertical state, namely the part to be grabbed 1 at the position to be grabbed is missing or is in a severely inclined state, the profile camera 3 sends a signal to enable the clamping jaw mechanism not to grab and convey, and the mechanical arm drives the clamping jaw mechanism to move to the position above the next position to be grabbed to start a new round of recognition. When the recognition result of the profile camera 3 is that the picture of the position point to be grabbed is the same as the picture of the part to be grabbed 1 in the vertical state, namely the part to be grabbed 1 is in a slightly inclined state or in the vertical state, the mechanical arm drives the clamping jaw mechanism to move downwards to the set height. When the highest point of the part to be grabbed 1 is in contact with the lower end of the touch head 7 and pushes the touch head 7 to vertically move upwards in the opening, namely the part to be grabbed 1 is in a slightly inclined state, the touch head 7 pushes the guide rod 8 to vertically move upwards, the distance between the guide rod 8 and the proximity sensor 6 is reduced, the proximity sensor 6 recognizes the proximity of the guide rod 8 and sends a signal to enable the clamping jaw mechanism not to grab and convey, the mechanical arm drives the clamping jaw mechanism to the position above the next position to be grabbed, the touch head 7 resets under the elastic force of the spring 9, the guide rod 8 resets along with the touch head 7, and a new round of identification starts. When the highest point of the part 1 to be grabbed is in contact with the lower end of the contact head 7 but does not push the contact head 7, the clamping jaw mechanism carries out grabbing and conveying actions.
While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those skilled in the art that the foregoing is a more detailed description of the invention, and the specific embodiments thereof are not to be considered as limiting. Various changes in form and detail, including simple deductions or substitutions, may be made by those skilled in the art without departing from the spirit and scope of the invention.
Claims (8)
1. A gripper mechanism for gripping a part to be gripped placed on a point of a position to be gripped, the state of placement of the part to be gripped comprising: vertical state, slight skew state and severe skew state, its characterized in that, gripper mechanism includes:
a gripper;
the contour camera is arranged on the gripper and used for identifying whether the part to be grabbed on the position point to be grabbed is missing or not or whether the part to be grabbed is in a severe skew state or not;
and the touch mechanism is arranged on the hand grip and used for identifying whether the part to be gripped is in a slight skew state.
2. The gripper mechanism of claim 1, wherein the height of the part to be gripped is greater in a slightly skewed state than in an upright state, and wherein the tip of the part to be gripped pushes the touching mechanism when the gripper pre-grips the part to be gripped in the slightly skewed state.
3. The gripper mechanism of claim 2, wherein the touch mechanism comprises:
the shell is arranged on the hand grip;
the proximity sensor is arranged on the hand grip or the shell;
and the moving body is arranged on the shell, is positioned below the proximity sensor and can slide in a reciprocating mode in the vertical direction relative to the shell.
4. The jaw mechanism of claim 3, wherein the lower end surface of the housing is opened, and the moving body includes:
the touch head is arranged in the opening and can slide in the opening in a reciprocating manner along the vertical direction, and a limiting boss is arranged at the upper part of the touch head and positioned above the opening;
and the guide rod is arranged above the touch head.
5. The jaw mechanism of claim 4, wherein said touch head is removably coupled to said guide bar.
6. The jaw mechanism of claim 5, wherein said touch mechanism further comprises a resilient member disposed between a lower end surface of said proximity sensor and an upper end surface of said touch head.
7. The jaw mechanism of claim 6, wherein said resilient member is a spring, said spring being received on said guide bar.
8. A feeding system, characterized in that it comprises a jaw mechanism according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023129267.0U CN214526671U (en) | 2020-12-23 | 2020-12-23 | Clamping jaw mechanism and feeding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023129267.0U CN214526671U (en) | 2020-12-23 | 2020-12-23 | Clamping jaw mechanism and feeding system |
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| Publication Number | Publication Date |
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| CN214526671U true CN214526671U (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202023129267.0U Active CN214526671U (en) | 2020-12-23 | 2020-12-23 | Clamping jaw mechanism and feeding system |
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| CN (1) | CN214526671U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593953A (en) * | 2023-07-18 | 2023-08-15 | 四川华鲲振宇智能科技有限责任公司 | AI chip test management system and method |
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2020
- 2020-12-23 CN CN202023129267.0U patent/CN214526671U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116593953A (en) * | 2023-07-18 | 2023-08-15 | 四川华鲲振宇智能科技有限责任公司 | AI chip test management system and method |
| CN116593953B (en) * | 2023-07-18 | 2023-11-10 | 四川华鲲振宇智能科技有限责任公司 | AI chip test management system and method |
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