CN215967688U - Robot clamping jaw control system with accurate measurement function - Google Patents

Abstract

The utility model provides a robot clamping jaw control system with an accurate measurement function, aiming at the technical problems in the prior art, and the robot clamping jaw control system comprises a robot clamping jaw, a clamping jaw control module, a size detection module, a robot control module and a controller; the size detection module is arranged on the robot clamping jaw and connected with a signal input end of the controller, and the robot control module and the robot clamping jaw are respectively connected with a signal output end of the controller. The risk of producing batched waste products can be avoided, the working beat of feeding and discharging on the machine tool is obviously promoted, the production efficiency is promoted, the production and manufacturing cost of the assembly line with the online detection function is reduced, the integration level is promoted, the installation and debugging difficulty of the production line can be reduced, and the installation and debugging time is shortened.

Description

Robot clamping jaw control system with accurate measurement function

Technical Field

The utility model relates to the field of robot clamping jaws, in particular to a robot clamping jaw control system with an accurate measurement function.

Background

The robot can execute various actions according to the programming of various purposes, so the robot has wide application, can be used for welding, cutting, grinding, spraying, loading and unloading of a machine tool and the like, and still needs some proper tail end execution mechanisms when executing various different works, for example, when loading and unloading and taking a workpiece by the robot, a corresponding clamping jaw is needed to grasp the workpiece and convey the workpiece to a specified position; although the clamping jaws on the market are various, the clamping jaws basically only have a grabbing function, and only grab workpieces without other functions.

However, in general, on a production line of a numerically controlled lathe, semi-finished products and finished products of the products need to be monitored to prevent scrapped workpieces from occurring in batches due to failure in time, so that a measurement program sometimes needs to be added to detect the sizes of the semi-finished products and the finished products in an automatic feeding and discharging process of feeding and discharging on the lathe.

However, since the machining processes of the numerical control machine tool are often very sensitive to the working time, since a production line has thousands of products in one day of work, as long as one more measuring process is added for each workpiece for several seconds, the time for the measuring process per day may be increased for several thousands of seconds, which seriously affects the working efficiency and the product yield.

Moreover, because the current online detection means generally needs to be a professional precision detection workbench, the cost of the robot loading and unloading workbench is greatly increased by the large and tens of thousands of yuan of manufacturing cost of the detection workbench, and some robot users who do not need particularly precise online detection or are sensitive to cost are forbidden.

Meanwhile, the clamping system and the online detection system of the traditional clamping jaw work independently and are basically unrelated, so that the clamping system and the online detection system need to be debugged independently during installation and debugging, and the debugging workload and the time cost are increased.

SUMMERY OF THE UTILITY MODEL

Aiming at the technical problems in the prior art, the utility model provides the robot clamping jaw with the accurate measurement function, which can avoid the risk of generating batch waste products, obviously improve the working rhythm of feeding and discharging on a machine tool, improve the production efficiency, reduce the production and manufacturing cost of a production line with an online detection function, improve the integration level, reduce the installation and debugging difficulty of the production line and shorten the installation and debugging time.

The technical scheme for solving the technical problems is as follows: a robot clamping jaw with an accurate measurement function comprises a robot clamping jaw, a clamping jaw control module, a size detection module, a robot control module and a controller; the size detection module is arranged on the robot clamping jaw and connected with a signal input end of the controller, and the robot control module and the robot clamping jaw are respectively connected with a signal output end of the controller.

Preferably, the controller is connected with an alarm, and when the size detection module detects that the size of the workpiece is not matched with a set value or the error exceeds the set value, an alarm signal is output through the alarm.

Preferably, the size detection module comprises a measurement sensor and a data conversion module, a signal output end of the measurement sensor is connected with a signal input end of the data conversion module, and a signal output end of the data conversion module is connected with a signal input end of the controller.

Preferably, the measuring sensor is a displacement sensor.

Preferably, the robot clamping jaw comprises a fixed support, an air cylinder and a movable support, the fixed support is in an I shape, a connecting part is fixed at the upper end of the fixed support and is used for being connected with a robot, the fixed support comprises an upper transverse plate, a vertical plate and a lower bottom plate, the two vertical plates are arranged between the upper transverse plate and the lower bottom plate at a transverse interval, the number of the air cylinders is two, the two air cylinders are respectively fixed at two outer sides of the vertical plate, a piston rod of the air cylinder is connected with the lower end of the movable support, so that a clamping space of a workpiece is formed between the lower bottom plate and the lower end of the movable support, the movable support is sleeved on the vertical plate and slides along the vertical direction of the vertical plate, the number of the size detection modules is two, the two size detection modules are respectively arranged on the lower bottom plate, and the upper end of the movable support is positioned above the size detection module, the size detection module is used for detecting the distance between the lower bottom plate and the upper end of the movable support.

The utility model has the beneficial effects that: the robot clamping jaw with the accurate measurement function can avoid the risk of generating batch waste products, obviously improves the working rhythm of feeding and discharging of a machine tool, improves the production efficiency, reduces the production and manufacturing cost of a production line with an online detection function, improves the integration level, reduces the installation and debugging difficulty of the production line, and shortens the installation and debugging time.

Drawings

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

Fig. 2 is a schematic structural diagram of the present invention.

The device comprises a connecting part 1, an upper transverse plate 2, a cylinder 3, a piston rod 4, a lower bottom plate 5, a vertical plate 6, a movable support 7 and a size detection module 8.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

As shown in fig. 1 and 2, the present embodiment discloses a robot gripping jaw with precise measurement function, which includes a robot gripping jaw, a gripping jaw control module, a size detection module, a robot control module, and a controller; the size detection module is arranged on the robot clamping jaw and connected with a signal input end of the controller, and the robot control module and the robot clamping jaw are respectively connected with a signal output end of the controller.

It is understood that, in the present embodiment, the size detection module is used for measuring the size of the workpiece and transmitting the measurement result to the controller, the robot clamping jaw is used for clamping and carrying workpieces, the clamping jaw control module is used for controlling the action and the state of the robot clamping jaw, the robot control module is used for controlling the action and the state of the whole robot, specifically, in this embodiment, the size detection module detects whether the workpiece to be detected reaches a specified size, if so, the normal operation of the whole production line is maintained, otherwise, the controller outputs the signals to a clamping jaw control module of the robot to drive the clamping jaws of the robot to transport unqualified workpieces to a designated position, meanwhile, the control signal is output to the robot control module to stop the operation of the robot control module, so that unqualified workpieces are prevented from being further generated continuously, and the effect of stopping damage in time is achieved.

In another embodiment, the controller drives the jaw control module to output to furl the robot jaws to complete clamping and carrying actions when the workpiece is detected to meet the standard, and controls the robot jaws not to act if the workpiece is detected to not meet the standard.

Preferably, the controller is connected with an alarm, and when the size detection module detects that the size of the workpiece is not matched with a set value or the error exceeds the set value, an alarm signal is output through the alarm.

It can be understood that when the unqualified workpiece is detected, the alarm device outputs an alarm signal to prompt an operator and synchronously complete other setting actions.

Preferably, the size detection module comprises a measurement sensor and a data conversion module, a signal output end of the measurement sensor is connected with a signal input end of the data conversion module, and a signal output end of the data conversion module is connected with a signal input end of the controller.

It can be understood that the size detection module outputs an analog signal or a digital signal, and the analog signal or the digital signal is converted by the data conversion module and then output to the controller so as to be convenient for identification and reading, and the operation efficiency of the controller is further improved.

Preferably, the measuring sensor is a displacement sensor.

It can be understood that the size measuring module can adopt a high-precision measuring device such as a displacement sensor electronic ruler. The present embodiment only defines or exemplifies one of the above listed measuring devices, and in the practical implementation, the combination and selection can be performed by various measuring devices.

Preferably, the robot clamping jaw comprises a fixed support, two cylinders 3 and two movable supports 7, the fixed support is in an I shape, connecting parts 1 are fixed at the upper end of the fixed support, the connecting parts 1 are used for being connected with a robot, the fixed support comprises an upper transverse plate 2, two vertical plates 6 and a lower bottom plate 5, the two vertical plates 6 are transversely arranged between the upper transverse plate 2 and the lower bottom plate 5 at intervals, the two cylinders 3 are respectively fixed at two outer sides of the vertical plates 6, a piston rod 4 of each cylinder 3 is connected with the lower end of each movable support 7, so that a clamping space of a workpiece is formed between the lower bottom plate 5 and the lower end of each movable support 7, the movable supports 7 are sleeved on the vertical plates 6 and slide along the vertical directions of the vertical plates 6, the size detection modules 8 are respectively arranged on the lower bottom plate 5, the upper end of the movable support 7 is positioned above the size detection module 8, and the size detection module 8 is used for detecting the distance between the lower bottom plate 5 and the upper end of the movable support 7.

It can be understood that, in the present embodiment, the size detection module 8 is disposed above the lower bottom plate 5 and at a position between the two vertical plates 6, so that the lower end thereof is fixed, and the upper end thereof is shielded by the upper end of the movable bracket 7, and when detecting, the linear distance between the lower bottom plate 5 and the upper end of the movable bracket 7 can be detected. Therefore, in this embodiment, the movable bracket 7 is similar to a zigzag or S-shaped structure, the lower end of the movable bracket 7 is located at the upper end of the lower bottom plate 5 and is spaced apart by a certain distance, the spaced distance is used for clamping a workpiece, the lower end of the movable bracket 7 is fixed on the piston rod 4 of the cylinder 3, and the distance between the movable bracket 7 and the lower bottom plate 5 is changed by the movement of the cylinder 3.

The movable support 7 is sleeved or clamped on the vertical plate 6, and in general terms, the movable support 7 is movably connected with the vertical plate 6. So that the cylinder 3 drives the whole movable support 7 to reciprocate relative to the vertical plate 6 and the lower bottom plate 5 to clamp and measure the workpiece.

In another embodiment, the number of the air cylinders, the vertical plate, the size measuring module and the movable support can be multiple, specifically four, so that the robot clamping jaw can clamp and measure in four directions.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the utility model have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined by the claims and their equivalents.

Claims (5)

1. A robot clamping jaw control system with an accurate measurement function is characterized by comprising a robot clamping jaw, a clamping jaw control module, a size detection module, a robot control module and a controller; the size detection module is arranged on the robot clamping jaw and connected with a signal input end of the controller, and the robot control module and the robot clamping jaw are respectively connected with a signal output end of the controller.

2. The robot clamping jaw control system with the accurate measurement function according to claim 1, wherein the controller is connected with an alarm, and when the size detection module detects that the size of the workpiece is not matched with the set value or the error exceeds the set value, an alarm signal is output through the alarm.

3. A robot clamping jaw control system with accurate measurement function according to claim 1, characterized in that, the size detection module comprises a measurement sensor and a data conversion module, the signal output end of the measurement sensor is connected with the signal input end of the data conversion module, and the signal output end of the data conversion module is connected with the signal input end of the controller.

4. A robotic jaw control system with accurate measurement according to claim 3, wherein said measurement sensor is a displacement sensor.

5. The robot gripper control system according to any one of claims 1 to 4, wherein the robot gripper comprises a fixed support, two cylinders and two movable supports, the fixed support is I-shaped, a connecting portion is fixed at the upper end of the fixed support and used for connecting with a robot, the fixed support comprises an upper transverse plate, two vertical plates and a lower bottom plate, the two vertical plates are transversely arranged between the upper transverse plate and the lower bottom plate at intervals, the two cylinders are respectively fixed at two outer sides of the vertical plates, piston rods of the cylinders are connected with the lower end of the movable support, so that a clamping space for a workpiece is formed between the lower bottom plate and the lower end of the movable support, the movable supports are sleeved on the vertical plates and slide along the vertical direction, and the size detection modules are two, the movable support is arranged on the lower bottom plate, the upper end of the movable support is positioned above the size detection module, and the size detection module is used for detecting the distance between the lower bottom plate and the upper end of the movable support.

Images