CN217669461U - Clamping jaw system and robot for floating, taking and preventing squeezing of clamping jaw - Google Patents
Clamping jaw system and robot for floating, taking and preventing squeezing of clamping jaw Download PDFInfo
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- CN217669461U CN217669461U CN202220639869.0U CN202220639869U CN217669461U CN 217669461 U CN217669461 U CN 217669461U CN 202220639869 U CN202220639869 U CN 202220639869U CN 217669461 U CN217669461 U CN 217669461U
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Abstract
The utility model discloses a be used for clamping jaw float to get put and prevent extruded clamping jaw system and robot, floating subassembly of clamping jaw and clamping jaw on fixing base and the clamping jaw grabbing subassembly of locating fixing base including fixing base, control module, proximity sensor, the clamping jaw subassembly that floats includes clamping jaw floating cylinder, the clamping jaw snatchs the subassembly and includes clamping jaw portion, the last air-vent valve that is equipped with of clamping jaw floating cylinder, when carrying out the product and get and put, through the air-vent valve of the business turn over gas port on the regulation clamping jaw floating cylinder, make clamping jaw portion snatch the ascending power of product and equal to the gravity that product and clamping jaw snatch the subassembly, if the product receives external force extrusion, and when the extrusion force is greater than the default, proximity sensor sends the extrusion alarm signal to control module. When battery module handling, the clamping jaw system is got at the clamping jaw and is put the module and float, and when bumping, can quick response and safety shutdown to protection clamping jaw system and robot, simultaneously, can prevent that the battery module from receiving the extrusion, exploding and the risk of catching fire.
Description
Technical Field
The utility model relates to a be used for clamping jaw to float to get and put and prevent extruded clamping jaw system and robot belongs to automation equipment technical field.
Background
In the production and assembly of various industries, the application of the robot tends to be normalized and standardized, and when the robot clamping jaw is used, the problems that materials are taken and placed in a collision mode and the materials are taken and placed in a rigid mode are not negligible in the safe production process and are also factors of inducing unsafe production.
In the prior art, if a robot self-detection scheme is adopted, the safety protection function under the condition that a robot body fails is ignored; if a robot self-detection scheme is adopted, the self weight of the robot clamping jaw is relatively large, the weight change of whether the robot clamping jaw carries a product module is large, the detection failure risk of the robot is increased, and the robot cannot pass CE authentication.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, and provides a clamping jaw system and a robot for floating clamping jaw picking and placing and anti-extrusion, which can solve the problem that when a battery module is transported, a clamping jaw picking and placing module of the robot floats, and a mechanical structure which can quickly respond and safely shut down when collision occurs is adopted, so that a robot body is protected, and the risks of explosion and ignition caused by extrusion of the battery module are prevented.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the utility model provides a clamping jaw system that is used for clamping jaw float to get put and prevents extrudeing, floating subassembly of clamping jaw and clamping jaw on fixing base snatch the subassembly including fixing base, control module, proximity sensor and locating the fixing base, the clamping jaw subassembly that floats includes clamping jaw floating cylinder, the clamping jaw snatchs the subassembly and includes clamping jaw portion, the last air-vent valve that is equipped with of clamping jaw floating cylinder, when carrying out the product and get and put, through the air-vent valve of the business turn over gas port on the regulation clamping jaw floating cylinder, make clamping jaw portion snatch the ascending power of product and equal to the product and the gravity that the clamping jaw snatchs the subassembly, if the product receives external force extrusion, and when the extrusion force is greater than the default, proximity sensor sends extrusion alarm signal to control module.
In some embodiments, the clamping jaw floating assembly is provided with a robot connecting piece for connecting with a robot.
In some embodiments, the jaw float assembly further comprises a jaw detection sensor for detecting a retraction distance of the jaw float cylinder.
In some embodiments, the jaw gripping assembly further comprises jaw latches provided on the jaw portions for positioning.
In some embodiments, the gripper jaw gripping assembly further comprises a pin detection sensor for detecting whether the gripper jaw pin is inserted into the positioning hole of the product.
In some embodiments, the clamping jaw floating assembly is further provided with a floating guide rail and a floating limiting block, and the floating limiting block is connected with the fixed seat.
On the other hand, the utility model also provides a robot, include be used for the clamping jaw float get put and prevent extruded clamping jaw system.
Compared with the prior art, the invention has the following beneficial effects:
the clamping jaw system and the robot for clamping jaw floating taking and anti-extrusion have the characteristics of low cost, reasonable structure, convenience in use and the like, the clamping jaw system comprises a fixed seat, a control module, a clamping jaw floating assembly and a clamping jaw grabbing assembly, the clamping jaw floating assembly is arranged on the fixed seat and comprises a clamping jaw floating cylinder and a clamping jaw detection sensor, the clamping jaw grabbing assembly comprises a clamping jaw part, a pressure regulating valve is arranged on the clamping jaw floating cylinder, when a product is taken and placed, the upward force of the product grabbed by the clamping jaw part is equal to the gravity of the product and the clamping jaw grabbing assembly by regulating the pressure regulating valve of an air inlet and outlet on the clamping jaw floating cylinder, and if the product is extruded by the clamping jaw part and the extrusion force is greater than a preset value, the clamping jaw detection sensor sends an extrusion alarm signal to the control module. When battery module handling, the clamping jaw system is got at the clamping jaw and is put the module and float, and when bumping, can quick response and safety shutdown to protection clamping jaw system and robot, simultaneously, can prevent that the battery module from receiving the extrusion, exploding and the risk of catching fire.
Drawings
Fig. 1 is a schematic structural diagram of a clamping jaw system for floating taking, placing and squeezing prevention of a clamping jaw according to an embodiment of the present invention;
FIG. 2 is another angular schematic view of FIG. 1;
in the figure: 1. a fixed seat; 2. a control module; 21. a valve island; 22. a proximity sensor; 3. a jaw float assembly; 31. a clamping jaw floating cylinder; 32. a floating joint; 33. a floating guide rail; 34. a floating limiting block; 35. a jaw detection sensor; 4. a jaw gripping assembly; 41. a jaw portion; 42. a jaw latch; 43. a bolt detection sensor; 5. robot connecting piece.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; 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 meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The first embodiment is as follows:
the utility model provides a be used for floating of clamping jaw to get put and prevent extruded clamping jaw system, including fixing base 1, control module 2, proximity sensor 22, clamping jaw unsteady subassembly 3 and clamping jaw snatch subassembly 4.
The clamping jaw floating assembly 3 and the clamping jaw grabbing assembly 4 are arranged on the fixed seat 1.
The clamping jaw floating assembly 3 comprises a clamping jaw floating cylinder 31 and a clamping jaw detection sensor 35, a robot connecting piece 5 is arranged on the clamping jaw floating assembly 3, and the robot connecting piece 5 is used for being connected with a robot.
The proximity sensor 22 is used for detecting the extrusion force of the product extruded by the external force.
The clamping jaw grabbing assembly 4 comprises a clamping jaw part 41, and a pressure regulating valve is arranged on the clamping jaw floating cylinder 31.
The control module 2 is arranged on the clamping jaw floating assembly 3, the control module 2 comprises a valve island 21, and the control module 2 realizes signal transmission with a proximity sensor 22 through the valve island 21.
The clamping jaw floating assembly 3 further comprises a clamping jaw detection sensor 35, and the clamping jaw detection sensor 35 is used for detecting the contraction distance of the clamping jaw floating cylinder 31.
The clamping jaw grabbing component 4 further comprises a clamping jaw bolt 42 arranged on the clamping jaw part 41 and used for positioning, the clamping jaw grabbing component 4 further comprises a bolt detection sensor 43, and the bolt detection sensor 43 is used for detecting whether the clamping jaw bolt 42 is inserted into a positioning hole of a product or not.
The clamping jaw floating assembly 3 is further provided with a floating guide rail 33, a floating joint 32 and a floating limiting block 34, and the floating limiting block 34 and the floating joint 32 are connected with the fixed seat 1 respectively.
When taking and placing products, the upward force of the clamping jaw part 41 for grabbing the products is equal to the gravity of the products and the clamping jaw grabbing assembly 4 by adjusting the pressure regulating valve of the air inlet and the air outlet on the clamping jaw floating cylinder 31, and if the products are extruded by external force and the extrusion force is greater than the preset value, the proximity sensor 22 sends an extrusion alarm signal to the control module 2.
The clamping jaw system has the advantages of strong compactness, practical function, stable structure and the like, and can ensure the production safety in the production process so that the product can meet the requirements of foreign project CE certification.
When battery module handling, the clamping jaw system gets at the clamping jaw and puts that the module floats, and when bumping, can quick response and safety shutdown to protection clamping jaw system and robot can prevent simultaneously that the battery module from receiving the extrusion, exploding and the risk of catching fire.
The second embodiment:
the utility model also provides a robot, the robot adopt in embodiment one be used for the clamping jaw float get put and prevent extruded clamping jaw system.
The technical personnel in the field can be with robot and robot connecting piece 5 fixed connection, get the operation through the operation of robot drive clamping jaw system completion clamping jaw.
Those skilled in the art will understand that the working principle of the present invention is:
in the operation process of the robot, the clamping jaw floating cylinder 31 extends out by using normal air pressure Apa, so that the clamping jaw mechanism is ensured not to jump in the operation process.
When clamping jaw system moves to getting module position top, control module 2 control clamping jaw floating cylinder 31 uses little atmospheric pressure Bpa withdrawal, just in time balance robot clamping jaw self weight, control module 2 is through the signal that proximity sensor 22 obtained, snatch subassembly 4 to the clamping jaw and carry out the vision guide, so that the clamping jaw snatchs subassembly 4 and moves down, and simultaneously, control module 2 carries out the bolt location through bolt detection sensor 43 to clamping jaw bolt 42, so that clamping jaw portion 41 floats from top to bottom and gets the module, at this moment, clamping jaw floating cylinder 31 withdrawal presss from both sides tight module work piece.
In this case, if the external squeezing force is greater than the preset value, the jaw will float in a large size, and the proximity sensor 22 sends a squeezing alarm signal to the control module 2. When the robot moves to the position of the module, the clamping jaw floating cylinder 31 extends out by using normal air pressure in the operation process, so that the clamping jaw system is ensured not to jump in the operation process.
When the robot is putting the module position, clamping jaw floating cylinder 31 uses atmospheric pressure Cpa to retract, just in time balances robot clamping jaw self weight and product module weight, and at this moment, control module 2 snatchs subassembly 4 through the signal that proximity sensor 22 obtained, carries out the vision guide to the clamping jaw to make the clamping jaw snatch subassembly 4 move down, and float from top to bottom so that clamping jaw portion 41 puts the module, thereby makes clamping jaw floating cylinder 31 stretch out and break away from the module work piece.
In this case, if the squeezing force of the external force is greater than the preset value, the jaw may float in a large size, and the proximity sensor 22 sends a squeezing alarm signal to the control module 2. It should be understood by those skilled in the art that the preset value is a small pressing force, and the value of the pressing force can be set according to the requirement, and the invention is not limited herein.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (7)
1. The utility model provides a clamping jaw system that is used for clamping jaw to float to get put and prevent extrudeing, a serial communication port, including fixing base, control module, proximity sensor and locate the floating subassembly of clamping jaw and the clamping jaw on the fixing base and snatch the subassembly, the floating subassembly of clamping jaw includes clamping jaw portion of floating, the clamping jaw is equipped with the air-vent valve on the floating cylinder of clamping jaw, when carrying out the product and get and put, through the air-vent valve of the business turn over gas port on the floating cylinder of regulation clamping jaw, makes clamping jaw portion snatch the ascending power of product and equals the product and the clamping jaw and snatchs the gravity of subassembly, if the product receives external force extrusion, and when the extrusion force is greater than the default, proximity sensor sends the extrusion alarm signal to control module.
2. The clamping jaw system for clamping jaw floating taking, placing and anti-squeezing as claimed in claim 1, wherein a robot connecting piece for connecting with a robot is arranged on the clamping jaw floating assembly.
3. The clamping jaw system for clamping jaw floating taking, placing and anti-squeezing as claimed in claim 1, wherein the clamping jaw floating assembly further comprises a clamping jaw detection sensor for detecting a contraction distance of a clamping jaw floating cylinder.
4. The jaw system for floating jaw pick and place and squeeze resistance of claim 1, wherein said jaw gripper assembly further comprises a jaw latch disposed on the jaw portion for positioning.
5. The clamping jaw system for clamping jaw floating taking, placing and squeezing prevention as claimed in claim 4, wherein the clamping jaw grabbing assembly further comprises a bolt detection sensor for detecting whether a clamping jaw bolt is inserted into a positioning hole of a product.
6. The clamping jaw system for clamping jaw floating taking, placing and squeezing prevention according to claim 1, wherein a floating guide rail and a floating limiting block are further arranged on the clamping jaw floating assembly, and the floating limiting block is connected with the fixed seat.
7. A robot comprising a jaw system for floating jaw pick and place and anti-squeeze of a jaw as claimed in any one of claims 1~6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220639869.0U CN217669461U (en) | 2022-03-23 | 2022-03-23 | Clamping jaw system and robot for floating, taking and preventing squeezing of clamping jaw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220639869.0U CN217669461U (en) | 2022-03-23 | 2022-03-23 | Clamping jaw system and robot for floating, taking and preventing squeezing of clamping jaw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217669461U true CN217669461U (en) | 2022-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220639869.0U Active CN217669461U (en) | 2022-03-23 | 2022-03-23 | Clamping jaw system and robot for floating, taking and preventing squeezing of clamping jaw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217669461U (en) |
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2022
- 2022-03-23 CN CN202220639869.0U patent/CN217669461U/en active Active
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