CN217097834U

CN217097834U - Robot gripping apparatus with collision detection function

Info

Publication number: CN217097834U
Application number: CN202220703455.XU
Authority: CN
Inventors: 隋明海; 王传峰; 桑英明; 倪石磊
Original assignee: Weifang Machine Tool Plant No2 Co ltd
Current assignee: Weifang Machine Tool Plant No2 Co ltd
Priority date: 2022-03-29
Filing date: 2022-03-29
Publication date: 2022-08-02
Anticipated expiration: 2032-03-29

Abstract

The utility model provides a take collision detection's robot gripping apparatus, including flexible connection device, the mechanical arm is connected at flexible connection device top, the flexible connection device bottom connects the jack catch, flexible connection device includes the seat of honour that is connected with the arm, the lower seat of being connected with the jack catch, be equipped with air spring between seat of honour and the lower seat, be equipped with the detection device that can inspect the relative displacement between jack catch and the arm on jack catch or the arm. The robot gripping apparatus is provided with the displacement sensor, when the gripping apparatus collides, the flexible connecting device is arranged between the clamping jaw of the gripping apparatus and the mechanical arm, the clamping jaw deviates, the displacement sensor transmits the signal to the controller, and the controller can forcibly stop continuing displacement, so that the damage to the clamping jaw and even the whole robot gripping apparatus is reduced.

Description

Robot gripping apparatus with collision detection function

Technical Field

The utility model relates to a robot manipulator technical field especially relates to a take robot gripping apparatus of collision detection.

Background

As is well known, robot manipulator uses more and more extensively in modern industry, traditional manipulator adopts programming control system, every action, the position all has accurate design, guaranteed the precision in the use, like welding manipulator, the position is mutually supported with the removal, has guaranteed the welding seam quality, snatch robot manipulator, snatch same article from fixed position at every turn, move to other fixed position, snatch accurately, put things in good order etc. these are directional thoughts that have utilized the robot, use the manipulator to operate fixed action.

Along with the continuous increase of industrial robot range of application, more and more environment need the manipulator to replace manual operation, need move some heavier article of quality to another station or transport on the dolly like the workshop, traditional mode or many people partake the transport, or use and hang the transport, waste time and energy, can't use present robotic arm because the product shape that needs the transport has the difference, also does not have fixed position, utilizes current robotic arm to realize.

I have designed a section and can use the manipulator that the non-fixed position snatched and carried non-fixed shape product, nevertheless because not programming realizes designing fixed line and shift position, can produce the jack catch and wait to snatch the object and take place the phenomenon of colliding with in the manual operation in-process unavoidably, be rigid connection between traditional arm and the jack catch, if collide with the damage that leads to the jack catch easily many times, in order to prevent the jack catch damage.

In addition, the traditional clamping jaws are rigidly connected with the mechanical arm, when the mass of a grabbed object is large, the clamping jaws and the mechanical arm are stressed greatly, the requirement on a connection part is extremely high, and the connection part is easy to damage.

Disclosure of Invention

The to-be-solved technical problem of the utility model is weak point to prior art exists, a take robot gripping apparatus that collision detected is provided, this robot gripping apparatus sets up displacement sensor, when the gripping apparatus produced the collision, because be equipped with flexible connecting device between the jack catch of gripping apparatus and the arm, the jack catch takes place the skew, displacement sensor gives the controller with this signal transmission, the controller can force to stop to continue the displacement, reduce the jack catch, and even the harm of whole robot gripping apparatus, because be equipped with flexible connecting device, even if after bumping, still can automatic re-setting.

The device is used between arm and jack catch, is equipped with flexonics, has effectively avoided because the jack catch that transships and waiting to snatch and collide with the jack catch damage that causes between nothing, improves jack catch life, utilizes the flexonics between jack catch and the arm, can snatch the size of article quality according to the jack catch, realizes automatically regulated, has effectively protected the connecting portion between jack catch and the arm, improves life.

The technical solution of the utility model is that, a following take robot gripping apparatus of collision detection is provided, including flexible connecting device, the mechanical arm is connected at the flexible connecting device top, the jack catch is connect to the flexible connecting device bottom, flexible connecting device includes the seat of honour of being connected with the arm, the lower seat of being connected with the jack catch, be equipped with air spring between seat of honour and the lower seat, be equipped with on jack catch or the arm and can examine the detection device that takes place relative displacement between jack catch and the arm.

Preferably, the detection device is a sensor, and the sensor is one of a displacement sensor and a laser ranging sensor.

Preferably, the detection device is fixed on the claw through a base.

Preferably, the upper part of the air spring is connected with the upper seat through a screw, and the lower part of the air spring is connected with the lower seat through a screw.

Preferably, the upper seat and the lower seat can axially rotate, and a limiting device for limiting the separation between the upper seat and the lower seat is arranged between the upper seat and the lower seat.

Preferably, the limiting device comprises a limiting cylinder body which is arranged on the upper seat and extends downwards, the bottom of the limiting cylinder body is a through hole, and the bottom of the limiting cylinder body is a taper hole.

Preferably, the lower seat is provided with a limiting guide body which can be inserted into the limiting cylinder, and the limiting guide body is provided with a conical surface matched with the conical hole.

Preferably, the limiting guide body and the lower seat are in a split structure and are connected through one or more of a screw, a pin shaft, a bolt and a connecting rod.

Preferably, a sealing cover is arranged at the end part of the upper seat top limiting cylinder body, and sealing rings are arranged at the sealing cover and the opening part of the limiting cylinder body.

Preferably, the lower seat is provided with an air inlet communicated with the interior of the air spring.

The beneficial effects of the technical scheme are as follows: the device is used between arm and jack catch, is equipped with flexonics, has effectively avoided because the jack catch that transships and waiting to snatch and collide with the jack catch damage that causes between nothing, improves jack catch life, utilizes the flexonics between jack catch and the arm, can snatch the size of article quality according to the jack catch, realizes automatically regulated, has effectively protected the connecting portion between jack catch and the arm, provides life.

Drawings

Fig. 1 is a schematic structural view of a robotic gripper with collision detection.

Fig. 2 is a schematic structural view of the flexible connecting device in fig. 1.

Fig. 3 is a cross-sectional view at a-a in fig. 2.

Detailed Description

For convenience of explanation, the robot gripper with collision detection of the present invention will be described in detail with reference to fig. 1 to 3.

A robot gripping apparatus with collision detection comprises a flexible connection device, a mechanical arm is connected to the top of the flexible connection device, a claw 10 is connected to the bottom of the flexible connection device, the flexible connection device comprises an upper seat 1 connected with the mechanical arm and a lower seat 2 connected with the claw 10, an air spring 3 is arranged between the upper seat 1 and the lower seat 2, a detection device 9 capable of detecting relative displacement between the claw 10 and the mechanical arm is arranged on the claw 10 or the mechanical arm, the detection device 9 is a sensor, the sensor is one of a displacement sensor and a laser ranging sensor, and can be selected according to actual conditions, the technical scheme selects a displacement sensor, of course, the displacement sensor also comprises multiple displacement sensors, such as the most common stay wire, one section of the displacement sensor is connected with the claw, the other end of the displacement sensor is connected with the mechanical arm or the upper seat, when collision occurs, the jack catch 10 receives resistance and stops acting, and the mechanical arm moves mechanically, so that displacement is generated between the jack catch and the mechanical arm, and the pull wire action of the pull wire sensor is driven, and therefore signals are transmitted to a single chip microcomputer or a PLC control system, the detection device 9 is fixed on the jack catch 10 through the base 11, the base 11 is provided with a through hole, and the base 11 is provided with a screw hole and is fixed through a screw.

The movement of the mechanical arm can not be controlled by software, but at present, a single chip microcomputer or a PLC (programmable logic controller) is used for programming, the servo motor is controlled to move, the known technology in the technical field of the mechanical arm of the robot at present, a displacement sensor is added in a program for controlling the mechanical arm to receive signals, the signals generated by the displacement are sent to the single chip microcomputer or the PLC, the single chip microcomputer or the PLC sends out instructions again, and a servo motor for controlling the mechanical arm to move on the mechanical arm is stopped to work, so that the aim of preventing continuous collision is fulfilled.

Although it is common knowledge and easily imaginable for those skilled in the art to control the rotation of the servo motor by receiving and sending commands through a PLC or a single chip microcomputer in software programming, there is almost no manual control operation of the manipulator, which is consistent with that described in the background art at present, the robot manipulator uses a pre-programmed program to control the motion of the manipulator at present, and no collision phenomenon occurs, so that a detection device is not needed to be added between the manipulator and the claw to stop the manipulator, but the application to the manually controlled manipulator is an innovation with practical significance.

In addition, in order to prevent the clamping jaws from colliding and damaging, a flexible connecting device is arranged to protect the clamping jaws.

The upper part of an air spring 3 of the flexible connecting device is connected with the upper seat 1 through a screw, and the lower part of the air spring 3 is connected with the lower seat 2 through a screw; the upper seat 1 and the lower seat 2 can axially rotate, and the upper seat 1 and the lower seat 2 can axially move; a limiting device for limiting the separation between the upper seat 1 and the lower seat 2 is arranged between the upper seat 1 and the lower seat 2, the upper seat is connected with a mechanical arm by using the flexible connecting device, the lower seat is connected with a clamping jaw, and the clamping jaw is flexibly connected with the mechanical arm from the traditional rigid connection, so that the service life is prolonged.

The limiting device comprises a limiting cylinder 4 which is arranged on the upper seat 1 and extends downwards, the bottom of the limiting cylinder 4 is provided with a through hole 4.1, and the bottom is provided with a taper hole 4.2; and the lower seat 2 is provided with a limiting guide body 5 which can be inserted into the limiting cylinder body 4. Spacing barrel not only will prevent breaking away from of lower seat and seat of honour, effectively provides a flexonics in addition, when meetting the circumstances such as colliding with, utilizes air spring elastic deformation to realize the jack catch position change, prevents that the jack catch from touchhing hard object and damaging. The existing guide effect of spacing guide body, spacing effect in addition, the direction utilizes its axial dimension to be less than spacing barrel size, and is rotatable and reciprocate, of course, be equipped with on the spacing guide body 5 with the conical surface of taper hole 4.2 complex, the downstream has certain position restriction.

In order to facilitate the installation of the limiting guide body into the limiting cylinder, the limiting guide body 5 and the lower seat 2 are of a split structure and are connected through one or more of a screw, a pin shaft, a bolt and a connecting rod; as shown in the figure, a long screw can be inserted from the bottom of the lower seat to directly lock the limiting guide body and the base into a whole, a connecting rod with steps and external threads can also be directly added on the base, a screw hole is processed on the limiting guide body, and the limiting guide body is screwed in a rotating manner, so that the limiting guide body and the lower seat are connected into a whole.

The tip of the upper seat 1 top limit cylinder 4 is provided with a sealing cover 6, and in order to prevent abrasion, lubricating oil is coated in the limit cylinder, and the sealing cover 6 and the opening part of the limit cylinder 4 are provided with a sealing ring 7 to prevent oil from overflowing, and the sealing cover also plays a role in limiting the upward movement distance of the limit guide body, and prevents dust from entering the sealing cover, so that impurities from rubbing the limit guide body and the limit cylinder.

And the lower seat 2 is provided with an air inlet 8 communicated with the interior of the air spring 3.

The working principle is as follows: the air spring is charged with compressed air through the air inlet hole, the compressed air pressure is regulated steplessly through the proportional pressure valve, the prior art is adopted, and how to regulate the air pressure steplessly through the proportional pressure valve is not repeated, so that the elastic force of the air spring is steplessly adjustable, the conical hole of the upper seat is matched and connected with the conical surface on the limiting guide body of the lower seat, the conical hole is tensioned through the air spring, the spring force can regulate the joint force of the conical surfaces of the upper seat and the lower seat, and the joint force is the load which can be borne by the upper seat and the lower seat.

The air spring is compressed when the load exceeds the rigid connection force, the conical surface is separated, after the conical surface is separated, the air spring has moving spaces in X, Y, Z directions, the rotation, the up-and-down movement and the like can be realized, and at the moment, the device is changed into a flexible connector.

Therefore, the device enables the claws and the mechanical arm connected with the upper seat and the lower seat to move in three-dimensional directions and to be changed into flexibility from rigidity. It is stated again that the invention is not only applicable to a manipulator and a jaw, but also to other devices requiring a flexible connection.

Meanwhile, the air pressure and the on-off of the air can be controlled to switch the device between rigidity and flexibility, so that the working requirements of different periods and different states are met.

In the above embodiments, the best mode of the present invention has been described, it is obvious that many changes can be made under the inventive concept of the present invention, and it should be noted that any changes made under the inventive concept of the present invention will fall within the protective scope of the present invention.

Claims

1. The utility model provides a take robot gripping apparatus of collision detection which characterized by: the flexible connection device comprises a flexible connection device, a mechanical arm is connected to the top of the flexible connection device, a clamping jaw (10) is connected to the bottom of the flexible connection device, the flexible connection device comprises an upper seat (1) connected with the mechanical arm and a lower seat (2) connected with the clamping jaw (10), an air spring (3) is arranged between the upper seat (1) and the lower seat (2), and a detection device (9) capable of detecting relative displacement between the clamping jaw (10) and the mechanical arm is arranged on the clamping jaw (10) or the mechanical arm.

2. The robotic gripper with collision detection according to claim 1, wherein: the detection device (9) is a sensor, and the sensor is one of a displacement sensor and a laser ranging sensor.

3. The robotic gripper with collision detection according to claim 1, wherein: the detection device (9) is fixed on the claw (10) through a base (11).

4. A robotic gripper with collision detection according to any of claims 1-3, characterized by: the upper part of the air spring (3) is connected with the upper seat (1) through a screw, and the lower part of the air spring (3) is connected with the lower seat (2) through a screw.

5. The robotic gripper with collision detection according to claim 1, wherein: but go up between seat (1) and the lower seat (2) axial rotation, be equipped with the stop device who separates between upper seat (1) and the lower seat (2) of restriction between upper seat (1) and the lower seat (2).

6. A robotic gripper with collision detection as claimed in claim 5, wherein: the limiting device comprises a limiting cylinder body (4) which is arranged on the upper seat (1) and extends downwards, a through hole (4.1) is formed in the upper portion of the limiting cylinder body (4), and a taper hole (4.2) is formed in the bottom of the limiting cylinder body.

7. The robotic gripper with collision detection according to claim 6, wherein: the lower seat (2) is provided with a limiting guide body (5) capable of being inserted into the limiting cylinder body (4), and the limiting guide body (5) is provided with a conical surface matched with the conical hole (4.2).

8. The robotic gripper with collision detection according to claim 7, wherein: the limiting guide body (5) and the lower seat (2) are of a split structure and are connected through one or more of a screw, a pin shaft, a bolt and a connecting rod.

9. The robotic gripper with collision detection according to claim 6, wherein: the end part of the upper seat (1) top limiting cylinder body (4) is provided with a sealing cover (6), and the sealing cover (6) and the opening part of the limiting cylinder body (4) are provided with a sealing ring (7).

10. The robotic gripper with collision detection according to claim 1, wherein: and the lower seat (2) is provided with an air inlet (8) communicated with the interior of the air spring (3).