CN219902204U

CN219902204U - Mechanical arm gripper adaptive to steel pipe size

Info

Publication number: CN219902204U
Application number: CN202322539283.4U
Authority: CN
Inventors: 沈智慧
Original assignee: Beijing Zhonghai Xingda Construction Co ltd
Current assignee: Beijing Zhonghai Xingda Construction Co ltd
Priority date: 2023-09-19
Filing date: 2023-09-19
Publication date: 2023-10-27
Anticipated expiration: 2033-09-19

Abstract

The utility model provides a manipulator gripper adaptive to the size of a steel pipe, and relates to the technical field of manipulators, comprising a mounting seat, at least two clamping devices, an auxiliary supporting device and a sensor device, wherein the clamping devices are arranged in parallel with each other; the clamping device is hinged with the mounting seat; the auxiliary supporting device is arranged on the inner side of the clamping device and is fixedly connected with the mounting seat; the sensor device comprises a distance sensor, the sensor device is arranged at one end part of the mounting seat far away from the tail end of the six-axis mechanical arm, and the detection direction of the distance sensor is consistent with the grabbing direction of the clamping device. According to the utility model, through the adjustment of the auxiliary supporting device and the arrangement of the sensor device, the self-adaptive adjustment can be carried out according to the size of the steel pipe, so that the stability and the precision of grabbing the steel pipe are improved, the damage rate and the operation difficulty in the grabbing process are reduced, and the production efficiency is improved.

Description

Mechanical arm gripper adaptive to steel pipe size

Technical Field

The utility model relates to the technical field of manipulators, in particular to a manipulator gripper adaptive to the size of a steel pipe.

Background

With the continuous development of industrial production, mechanical arm grippers have been widely used in industrial automation lines for gripping and handling various workpieces. However, when gripping a workpiece of various sizes such as a steel pipe, it is often necessary to replace the gripping claws of different sizes, which not only increases the production cost but also affects the production efficiency.

In order to solve the problems, the utility model provides a manipulator gripper adaptive to the size of a steel pipe, which comprises a mounting seat, at least two clamping devices, an auxiliary supporting device and a sensor device, wherein the clamping devices are arranged in parallel. The auxiliary supporting device can be adjusted according to the size of the steel pipe, the sensor device can measure the size and the position of the steel pipe, and the clamping force and the clamping position of the clamping jaw can be controlled to be adjusted in a self-adaptive mode.

Disclosure of Invention

The utility model aims to provide a mechanical arm gripper adaptive to the size of a steel pipe so as to solve the problems. In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a mechanical arm gripper adaptive to the size of a steel pipe, which comprises a mounting seat, at least two clamping devices, an auxiliary supporting device and a sensor device, wherein the clamping devices, the auxiliary supporting device and the sensor device are arranged in parallel with each other; the clamping device is hinged with the mounting seat; the auxiliary supporting device is arranged on the inner side of the clamping device and is fixedly connected with the mounting seat; the sensor device comprises a distance sensor, the sensor device is arranged at one end part of the mounting seat, which is far away from the tail end of the six-axis mechanical arm, and the detection direction of the distance sensor is consistent with the grabbing direction of the clamping device.

Further, clamping device includes the clamping jaw that driving piece and two symmetries set up, the clamping jaw includes body and tooth of grabbing, tooth of grabbing is fixed to be set up an tip of body, first hinge hole has been seted up to the other end of body, the body passes through first hinge hole with the driving piece is articulated to be connected, the second hinge hole has still been seted up on the body, the second hinge hole sets up first hinge hole with tooth of grabbing is between, the body passes through the second hinge hole with mount pad is articulated to be connected.

Further, the second hinge hole is provided at a center position of the body.

Further, the driving piece is a double-acting air cylinder, the end part of a piston rod of the double-acting air cylinder is hinged with any one clamping jaw, and the end part, far away from the piston rod, of the double-acting air cylinder is hinged with the other clamping jaw.

Further, the auxiliary supporting device comprises a sliding rod and a supporting piece which are fixedly connected with each other, a sliding tube matched with the sliding rod is arranged on the mounting seat, and the sliding rod is in sliding connection with the sliding tube.

Further, the support member includes a cushion pad provided on an end face of the support member that contacts the gripping workpiece.

Further, the cushion pad is made of silicon rubber.

Further, an adjusting device for adjusting the relative position of the support piece and the auxiliary support device is arranged between the sliding rod and the sliding tube.

Further, the adjusting device comprises a bolt, at least two through holes matched with the bolt are formed in the sliding rod and the sliding tube, the through holes are arranged at equal intervals along the sliding direction of the sliding rod and the sliding tube, and the bolt penetrates through the corresponding through holes in the sliding rod and the sliding tube.

Further, the sensor device further comprises an angle sensor for measuring the rotation angle of the clamping device relative to the grabbing workpiece, and the angle sensor is electrically connected with a control system of the mechanical arm.

The beneficial effects of the utility model are as follows:

according to the utility model, through the adjustment of the auxiliary supporting device and the arrangement of the sensor device, the self-adaptive adjustment can be carried out according to the size of the steel pipe, so that the stability and the precision of grabbing the steel pipe are improved, the damage rate and the operation difficulty in the grabbing process are reduced, and the production efficiency is improved.

Additional features and advantages of the utility model will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the embodiments of the utility model. The objectives and other advantages of the utility model will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural view of a mechanical arm gripper adaptive to the size of a steel pipe;

FIG. 2 is a side view of a robotic arm gripper of the present utility model that adapts to the dimensions of a steel pipe;

fig. 3 is a front view of a manipulator gripper of the adaptive steel pipe size according to the present utility model.

The marks in the figure: 1. a mounting base; 11. a sliding tube; 2. a clamping device; 21. a driving member; 22. a clamping jaw; 221. a body; 222. gripping teeth; 3. an auxiliary supporting device; 31. a slide bar; 32. a support; 321. a cushion pad; 33. an adjusting device; 4. a sensor device.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present utility model, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and 3, the embodiment provides a mechanical arm gripper of a self-adaptive steel pipe size, which comprises a mounting seat 1, at least two clamping devices 2, an auxiliary supporting device 3 and a sensor device 4 which are arranged in parallel, wherein one end of the mounting seat 1 is fixedly connected with the tail end of a six-axis mechanical arm, and the mechanical arm gripper plays a role in supporting and connecting the mechanical arm and the clamping devices 2. The clamping device 2 is hinged with the mounting seat 1 and is used for clamping the steel pipe. The auxiliary supporting device 3 is arranged on the inner side of the clamping device 2, and the auxiliary supporting device 3 is fixedly connected with the mounting seat 1 and used for supporting the steel pipe in an auxiliary mode to ensure the stability of the steel pipe. The sensor device 4 comprises a distance sensor, the sensor device 4 is arranged at one end part of the mounting seat 1 far away from the tail end of the six-axis mechanical arm, the detection direction of the distance sensor is consistent with the grabbing direction of the clamping device 2 and is used for measuring the distance and the position of the clamping device 2 and controlling the rotation angle of the clamping device 2 relative to the grabbing direction so as to realize the self-adaptive clamping of the steel pipe.

Preferably, as shown in fig. 2, the clamping device 2 comprises a driving member 21 and two clamping jaws 22 symmetrically arranged, wherein the clamping jaws 22 comprise a body 221 and gripping teeth 222, the gripping teeth 222 are fixedly arranged at one end part of the body 221, and the gripping teeth 222 are used for fixing the clamped steel pipe. The other end of the body 221 is provided with a first hinge hole, and the body 221 is hinged to the driving member 21 through the first hinge hole and connected to the driving member 21 through the first hinge hole to realize the opening and closing operation of the clamping jaw 22. The body 221 is further provided with a second hinge hole, the second hinge hole is arranged between the first hinge hole and the grabbing teeth 222, and the body 221 is hinged with the mounting seat 1 through the second hinge hole. Through the design, the opening and closing actions of the clamping jaw 22 and the connection of the whole clamping device 2 and the mechanical arm are realized, so that the mechanical arm can accurately clamp steel pipes with different diameters, and the clamping precision and efficiency are improved.

Preferably, the second hinge hole is provided at the center of the body 221, which serves to make the clamping force of the clamping jaw 22 to the steel pipe more uniform. The second hinge hole is arranged at the center of the clamping jaw 22 body 221, so that clamping forces applied by the clamping jaw 22 to steel pipes with different diameters can be balanced, clamping accuracy and stability are improved, and clamping efficiency and reliability of the gripper are improved.

Preferably, the driving member 21 is a double-acting cylinder, the piston rod end of which is hinged to either jaw 22, and the end of which remote from the piston rod is hinged to the other jaw 22. This design allows the clamping jaw 22 to be clamped and released from the workpiece by a push-pull movement of the drive member 21. The pushing force and the pulling force of the double-acting air cylinder can be adjusted by controlling air pressure, so that the force of the clamping jaw 22 can be accurately controlled, steel pipes with different diameters are adapted, and the adaptability and the flexibility of the mechanical arm for grabbing the steel pipes are improved. At the same time, the use of pneumatic drives also increases the speed and response time of the jaws 22, making the gripping operation of the robotic arm more efficient.

Preferably, as shown in fig. 2, the auxiliary supporting device 3 includes a sliding rod 31 and a supporting member 32 fixedly connected to each other, the installation seat 1 is provided with a sliding tube 11 matched with the sliding rod 31, and the sliding rod 31 is slidably connected with the sliding tube 11. The slide bar 31 is interconnected with the mount 1 by the slide tube 11, and the position of the slide bar 31 can be adjusted by the slide tube 11. The supporting member 32 supports one side of the steel pipe, ensures smooth movement of the clamping device 2 when clamping the steel pipe, and reduces deformation and damage of the steel pipe. Through the adjustable of auxiliary stay device 3, can adapt to the steel pipe of different diameters for the arm tongs can the centre gripping various unidimensional steel pipe, has improved the suitability of arm tongs.

Preferably, as shown in fig. 2, the support 32 includes a cushion pad 321, and the cushion pad 321 is disposed on an end surface of the support 32 that contacts the gripping workpiece. The buffer pad 321 plays a role in buffering and protecting when the mechanical arm clamps the steel pipe, and avoids damage or damage to the surface quality of the workpiece caused by the mechanical arm being in too tight contact with the workpiece. The arrangement of the buffer pad 321 can increase the stability and reliability of the mechanical arm for clamping the steel pipe, and meanwhile, the vibration and noise in the working process can be reduced.

Preferably, the cushion 321 is made of silicone rubber. The physical and chemical properties of the silicon rubber material enable the silicon rubber material to have good wear resistance, corrosion resistance and high temperature resistance, so that the surface of a steel pipe can be better protected, and the silicon rubber material has a longer service life, so that the reliability and stability of the mechanical arm gripper are improved.

Preferably, an adjusting device 33 for adjusting the relative position of the support 32 and the auxiliary support 3 is provided between the sliding rod 31 and the sliding tube 11. In this embodiment, the adjusting device 33 includes a bolt, at least two through holes matched with the bolt are formed on the sliding rod 31 and the sliding tube 11, the through holes are arranged at equal intervals along the sliding direction of the sliding rod 31 and the sliding tube 11, and the bolt is inserted into the corresponding through holes on the sliding rod 31 and the sliding tube 11. The sliding rod 31 and the sliding tube 11 are provided with through holes for receiving bolts, and the bolts can be penetrated at different positions along the directions of the sliding rod 31 and the sliding tube 11. By moving the position of the pins, the relative position between the support 32 and the auxiliary support device 3 can be adjusted, thus achieving an adaptive clamping of the steel pipe. The adjusting device 33 has the beneficial effects that the adjusting device can adapt to steel pipes with different diameters, and the application range and the flexibility of the mechanical arm gripper are improved.

Preferably, the sensor device 4 further comprises an angle sensor for measuring the rotation angle of the gripping device 2 relative to the gripping workpiece, the angle sensor being electrically connected to the control system of the robotic arm. The angle sensor is mainly used for measuring the rotation angle of the clamping device 2 relative to the gripped workpiece, so that accurate control of the position and the direction of the workpiece is provided. In automated operations using robotic arms, the position and orientation of the workpiece is often ambiguous, and therefore precise positioning and control of the workpiece by means of angle sensors is required. The angle sensor is electrically connected with the control system of the mechanical arm, and can transmit the measured rotation angle information to the control system, so that the automatic adjustment and control of the grabbing action of the mechanical arm are realized. Through the use of the angle sensor, the self-adaptive grabbing function of the mechanical arm grippers with the self-adaptive steel pipe size can be realized, and the precision and the efficiency of mechanical arm operation are improved.

The method for using the mechanical arm gripper with the self-adaptive steel pipe size comprises the following steps:

connecting the mounting seat 1 of the manipulator arm gripper to the tail end of the six-axis manipulator arm, and fixing the six-axis manipulator arm;

the position of the auxiliary supporting device 3 and the position of the clamping jaw 22 are adjusted to be matched with the size of the steel pipe to be grabbed;

detecting the position and distance of the steel pipe by using a distance sensor, and moving the clamping jaw 22 of the mechanical arm clamping hand to a correct position;

the opening and closing of the clamping jaw 22 are controlled through the double-acting air cylinder to clamp the steel pipe;

optionally using an angle sensor to detect the angle of rotation of the jaws 22 relative to the steel pipe for more accurate control of the robotic arm gripper;

the steel pipe is moved to the desired position and then the jaws 22 are released to lower it.

In this way, the user can conveniently and adaptively grasp steel pipes of different sizes and move them to desired positions. Meanwhile, through the use of the distance sensor and the angle sensor, the operation of the manipulator gripper can be controlled more accurately, and the success rate and efficiency of gripping are improved.

The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

The foregoing is merely illustrative of the present utility model, and the present utility model is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present utility model. Therefore, the protection scope of the utility model is subject to the protection scope of the claims.

Claims

1. The utility model provides a self-adaptation steel pipe size's arm tongs which characterized in that includes:

the device comprises an installation seat (1), wherein one end part of the installation seat (1) is fixedly connected with the tail end of a six-axis mechanical arm;

at least two clamping devices (2) which are arranged in parallel, wherein the clamping devices (2) are hinged with the mounting seat (1);

the auxiliary supporting device (3) is arranged on the inner side of the clamping device (2), and the auxiliary supporting device (3) is fixedly connected with the mounting seat (1); and

the sensor device (4), the sensor device (4) includes distance sensor, the sensor device (4) set up mount pad (1) is kept away from the terminal tip of six robotic arms, distance sensor's detection direction with the snatch direction of clamping device (2) is unanimous.

2. The robotic arm gripper of adaptive steel pipe dimensions of claim 1, wherein: clamping device (2) are including driving piece (21) and two clamping jaw (22) that symmetry set up, clamping jaw (22) are including body (221) and grabbing tooth (222), grabbing tooth (222) are fixed to be set up one end of body (221), first hinge hole has been seted up to the other end of body (221), body (221) pass through first hinge hole with driving piece (21) hinge connection, second hinge hole has still been seted up on body (221), the second hinge hole sets up first hinge hole with between grabbing tooth (222), body (221) pass through second hinge hole with mount pad (1) hinge connection.

3. The robotic arm gripper of adaptive steel pipe dimensions of claim 2, wherein: the second hinge hole is provided at a center position of the body (221).

4. The robotic arm gripper of adaptive steel pipe dimensions of claim 2, wherein: the driving piece (21) is a double-acting air cylinder, the end part of a piston rod of the double-acting air cylinder is hinged with any clamping jaw (22), and the end part, far away from the piston rod, of the double-acting air cylinder is hinged with the other clamping jaw (22).

5. The robotic arm gripper of adaptive steel pipe dimensions of claim 1, wherein: the auxiliary supporting device (3) comprises a sliding rod (31) and a supporting piece (32) which are fixedly connected with each other, a sliding tube (11) matched with the sliding rod (31) is arranged on the mounting seat (1), and the sliding rod (31) is in sliding connection with the sliding tube (11).

6. The mechanical arm gripper of claim 5, wherein the mechanical arm gripper is adapted to the dimensions of the steel pipe, and is characterized by: the support (32) comprises a buffer pad (321), and the buffer pad (321) is arranged on the end face of the support (32) contacted with the grabbing workpiece.

7. The robotic arm gripper of adaptive steel pipe dimensions of claim 6, wherein: the cushion pad (321) is made of silicon rubber.

8. The mechanical arm gripper of claim 5, wherein the mechanical arm gripper is adapted to the dimensions of the steel pipe, and is characterized by: an adjusting device (33) for adjusting the relative position of the support (32) and the auxiliary support device (3) is arranged between the sliding rod (31) and the sliding tube (11).

9. The robotic arm gripper of adaptive steel pipe dimensions of claim 8, wherein: the adjusting device (33) comprises a plug pin, at least two through holes matched with the plug pin are formed in the sliding rod (31) and the sliding tube (11), the through holes are arranged at equal intervals along the sliding direction of the sliding rod (31) and the sliding tube (11), and the plug pin is arranged in the corresponding through holes in the sliding rod (31) and the sliding tube (11) in a penetrating mode.

10. The robotic arm gripper of adaptive steel pipe dimensions of claim 1, wherein: the sensor device (4) further comprises an angle sensor for measuring the rotation angle of the clamping device (2) relative to the grabbing workpiece, and the angle sensor is electrically connected with a control system of the mechanical arm.