CN220145334U - Detection type clamp mechanism - Google Patents
Detection type clamp mechanism Download PDFInfo
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- CN220145334U CN220145334U CN202321498314.XU CN202321498314U CN220145334U CN 220145334 U CN220145334 U CN 220145334U CN 202321498314 U CN202321498314 U CN 202321498314U CN 220145334 U CN220145334 U CN 220145334U
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- sucker
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- mounting
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- 238000001514 detection method Methods 0.000 title claims abstract description 24
- 241000252254 Catostomidae Species 0.000 claims abstract description 3
- 238000009434 installation Methods 0.000 claims description 21
- 238000007689 inspection Methods 0.000 claims 5
- 230000000694 effects Effects 0.000 abstract description 4
- 230000001960 triggered effect Effects 0.000 description 15
- 238000000034 method Methods 0.000 description 5
- 238000005457 optimization Methods 0.000 description 5
- 239000012636 effector Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
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Abstract
The utility model relates to the technical field of clamp equipment and discloses a detection type clamp mechanism which comprises a mounting main body, wherein a plurality of groups of sucker frames and detection devices are arranged on the mounting main body, the sucker frames are uniformly arranged at the bottom of the mounting main body, a plurality of groups of suckers are uniformly arranged on the sucker frames, the detection devices comprise a plurality of groups of travel switches and a plurality of groups of photoelectric switches, the travel switches are connected with the mounting main body through mounting frames, and the photoelectric switches are connected with the mounting main body through mounting plates. The utility model can detect whether the clamp fully adsorbs and clamps the workpiece, and can detect the size and the model of the workpiece, thereby facilitating the subsequent classification and effectively improving the use effect of the clamp.
Description
Technical Field
The utility model relates to the technical field of clamp equipment, in particular to a detection type clamp mechanism.
Background
The fixture is a tool for fixing a processing object, is often used as an end effector on a carrying robot capable of carrying out automatic carrying operation, and is used for moving a workpiece from one processing position to another processing position, so that heavy manual labor of workers is greatly reduced. At present, most of jigs of a carrying robot adopt sucker jigs, for example, chinese patent application No. 201920490297.2 discloses a sucker type robot jig applied to furniture board carrying, which comprises a robot connecting piece, a connecting rod, a first supporting rod, a second supporting rod, a third supporting rod, a fourth supporting rod, a first sucker, a second sucker, a third sucker, a fourth sucker, a fifth sucker and a sixth sucker.
The prior art has at least the following problems: firstly, due to long service time, the sucker is aged or damaged, the robot always has the condition that the part is not sucked up, or the robot has sucked up the part at a certain time, but due to the fact that the suction is not tight and the action speed of the robot is high, the part easily falls down or is thrown down due to inertia, but the robot does not detect, and continues the program action, so that the damage to peripheral equipment or the danger to personnel are easily caused; and secondly, workpieces with different sizes cannot be effectively distinguished.
Disclosure of Invention
Aiming at the defects of the prior art, the utility model develops a detection type clamp mechanism, which can detect whether the clamp fully adsorbs and clamps the workpiece, and can detect the size and the model of the workpiece, thereby facilitating the subsequent classification and effectively improving the use effect of the clamp.
The technical scheme for solving the technical problems is as follows: the utility model provides a examine know type anchor clamps mechanism, includes the installation main part, is equipped with a plurality of groups sucking disc frame and detection device in the installation main part, and the sucking disc frame evenly sets up in the bottom of installation main part, evenly is equipped with a plurality of groups sucking disc on the sucking disc frame, and detection device includes a plurality of groups travel switch and a plurality of group photoelectric switch, and travel switch passes through the mounting bracket to be connected with the installation main part, and photoelectric switch passes through the mounting panel to be connected with the installation main part.
As optimization, the sucker frames are provided with two groups, the two groups of sucker frames are symmetrically arranged at the bottom of the installation main body, and the suckers are symmetrically arranged on the sucker frames relative to the installation main body. By arranging two groups of sucker frames, the two sides of a workpiece can be stably adsorbed; through the symmetry setting sucking disc, can adsorb the work piece of snatching steadily.
As an optimization, the detection device is arranged between the two groups of sucker frames. Through setting up detection device between two sets of sucking disc frames, can guarantee travel switch and photoelectric switch detection work piece.
As an optimization, the travel switch is provided with two groups, which are respectively arranged at two sides of the installation main body. Through set up a set of travel switch respectively in the both sides of installation main part, can detect whether the work piece is adsorbed completely, if only a set of travel switch triggers, indicate that the work piece is not adsorbed completely, has broken down.
As an optimization, the photoelectric switches are provided with three groups, are uniformly arranged on the mounting plate, and a group of photoelectric switches far away from the mounting main body corresponds to a group of sucking discs far away from the mounting main body. Through setting up three photoelectric switch, can detect and discern the work piece of big, well, little three kinds of sizes, make things convenient for the robot to classify the work piece of different size models, place in the subregion when the transport.
Preferably, the top of the mounting body is provided with a connector. Through setting up the connecting piece, can be connected with transfer robot to adsorb under robot's control and snatch the work piece.
As optimization, at least one group of fixed beams are arranged at the top of the sucker frames, and all the sucker frames are connected with each other through the fixed beams. Through setting up the fixed beam, can stabilize the sucking disc frame when adsorbing snatchs the work piece, improve sucking disc frame structural strength.
Compared with the prior art, the utility model has the following beneficial effects:
by arranging the mounting main body, the suction cup frame and the detection device can be carried; by arranging the sucker, the workpiece can be sucked and grabbed, and the robot can conveniently carry the workpiece; by setting the travel switch, whether the sucker adsorbs and grasps a workpiece before carrying or not can be detected, whether the workpiece is completely put down after carrying or not is detected, if the travel switch is triggered, the sucker is indicated to be contacted with the workpiece, a vacuum generator connected with the sucker starts working, the sucker adsorbs and grasps the workpiece, a robot starts normal carrying, if the travel switch is not triggered, the sucker is indicated to be not contacted with the workpiece, the vacuum generator does not start working, the sucker still adsorbs and grasps, the robot needs to continuously press down the position until the travel switch is triggered by contacting the workpiece, if the travel switch is disconnected in the carrying process, the robot can pause the action and output an alarm, the operator is notified to process, and when the travel switch is disconnected, the workpiece is indicated to be separated from the sucker, the robot can reset and carry again, if the travel switch is kept triggered, the workpiece is indicated to be not separated from the sucker, the robot pauses to reset, and the robot outputs an alarm after time delay, and the operator is notified to process; by arranging the photoelectric switch, workpieces with different sizes can be detected, the sizes and types of the workpieces can be judged according to the number of groups triggered by the photoelectric switch, and the workpieces with different sizes and types can be conveniently classified and placed in a partition mode when the robot is carried; the utility model can detect whether the clamp fully adsorbs and clamps the workpiece, and can detect the size and the model of the workpiece, thereby facilitating the subsequent classification and effectively improving the use effect of the clamp.
Drawings
Fig. 1 is a perspective view of an embodiment of the present utility model.
Fig. 2 is a top view of an embodiment of the present utility model.
1, a mounting body; 2. a suction cup holder; 3. a suction cup; 4. a travel switch; 5. a mounting frame; 6. an optoelectronic switch; 7. a mounting plate; 8. a connecting piece; 9. and fixing the beam.
Detailed Description
In order to clearly illustrate the technical features of the present solution, the present utility model will be described in detail below with reference to the following detailed description and the accompanying drawings.
Example 1
Fig. 1 to 2 are schematic diagrams of an embodiment of the present utility model, as shown in fig. 1 and 2, a detection type fixture mechanism includes a mounting main body 1, a plurality of groups of suction cup frames 2 and a detection device are provided on the mounting main body 1, the suction cup frames 2 are uniformly provided at the bottom of the mounting main body 1, a plurality of groups of suction cups 3 are linearly and uniformly provided on the suction cup frames 2, the detection device includes a plurality of groups of travel switches 4 and a plurality of groups of photoelectric switches 6, the travel switches 4 are connected with the mounting main body 1 through a mounting frame 5, the positions of contacts of the travel switches 4 are lower than the lower surfaces of the suction cups 3, the photoelectric switches 6 are connected with the mounting main body 1 through a mounting plate 7, the plurality of groups of photoelectric switches 6 are linearly and uniformly provided on the mounting plate 7, and the mounting plate 7 and the suction cup frames 2 are parallel to each other.
By providing the mounting body 1, the suction cup holder 2 and the detection device can be mounted; by arranging the sucker 3, the workpiece can be sucked and grabbed, and the robot can conveniently carry; by arranging the travel switch 4, whether the sucker 3 is used for sucking and gripping a workpiece before carrying or not can be detected, whether the workpiece is completely put down after carrying or not is detected, if the workpiece is sucked and gripped, the travel switch 4 is triggered, so that the robot can carry normally, if the workpiece is not sucked and gripped, the travel switch 4 cannot be triggered, the robot pauses carrying, and outputs an alarm after time delay, an operator is notified to carry out treatment, if the workpiece is dropped in the carrying process, the travel switch 4 is disconnected, the robot pauses action and outputs an alarm, the operator is notified to carry out treatment, and when the carrying is finished, if the workpiece is separated from the sucker 3, the travel switch 4 is disconnected, the robot is reset to carry again, if the workpiece is not separated from the sucker 3, the travel switch 4 is kept triggered, the robot pauses resetting, and the robot outputs an alarm after time delay, and notifies the operator to carry out treatment; through setting up photoelectric switch 6, can detect the work piece of different size models, according to photoelectric switch 6 triggered group number, can judge the size model of work piece, make things convenient for the robot to classify the work piece of different size models, the subregion is placed when the transport.
The sucker frame 2 is provided with two groups, and two groups of sucker frames 2 symmetry set up in the bottom of installing main part 1, and sucking disc 3 is with installing main part 1 symmetry setting on sucker frame 2. By arranging two groups of sucker frames 2, the two sides of a workpiece can be stably adsorbed; through symmetry setting up sucking disc 3, can adsorb the work piece of snatching steadily.
The detection device is arranged between the two groups of sucker frames 2. By arranging the detection device between the two groups of suction cup holders 2, it is possible to ensure that the travel switch 4 and the photoelectric switch 6 detect the workpiece.
The travel switch 4 is provided with two groups, which are provided on both sides of the installation body 1, respectively. By arranging a set of travel switches 4 on both sides of the installation main body 1, whether the workpiece is completely adsorbed or not can be detected, and if only one set of travel switches 4 is triggered, the fact that the workpiece is not completely adsorbed and a fault occurs is indicated.
The photoelectric switches 6 are provided with three groups, are uniformly arranged on the mounting plate 7, and a group of photoelectric switches 6 far away from the mounting main body 1 correspond to a group of sucking discs 3 far away from the mounting main body 1 in position. Through setting up three photoelectric switch 6, can detect and discern the work piece of big, well, little three kinds of sizes, make things convenient for the robot to classify the work piece of different size models, subregion to place when the transport.
The top of installation main part 1 is equipped with connecting piece 8, and connecting piece 8 is the flange. Through setting up connecting piece 8, can be connected with transfer robot to adsorb under robot's control and snatch the work piece.
At least one group of fixing beams 9 are arranged on the top of the sucker frames 2, and the sucker frames 2 are connected with each other through the fixing beams 9. Through setting up fixed beam 9, can stabilize sucking disc frame 2 when adsorbing the work piece of snatching, improve sucking disc frame 2 structural strength.
When the device is used, the device is mounted at the end effector of the transfer robot through the connecting piece 8, the transfer robot moves the sucker frame 2 to a station, each photoelectric switch 6 detects a workpiece, and the transfer robot can determine the size and the model of the workpiece according to the number of groups triggered by the photoelectric switches 6 because each photoelectric switch 6 is linearly distributed, so that a target station is determined; the carrying robot presses down the sucker frame 2, if the travel switch 4 is triggered, the sucker 3 is indicated to be in contact with the workpiece, the carrying robot stops pressing down, a vacuum generator connected with each sucker 3 through an air pipe starts to work, the sucker 3 adsorbs and grabs the workpiece, and then the robot carries normally; if the travel switch 4 is not triggered, the sucker 3 is not contacted with the workpiece, and the transfer robot continues to press down until the travel switch 4 is triggered; if the travel switch 4 is disconnected in the carrying process, the situation of falling parts is indicated, the robot can pause the action and output an alarm, and an operator is informed to carry out treatment; after the robot is carried to a target station, the vacuum generator enables the sucker 3 to release the workpiece, if the travel switch 4 is disconnected, the workpiece is successfully released, the robot can reset and carry again, if the travel switch 4 is kept triggered, the workpiece is not successfully released, the robot pauses to reset, and after the time, the robot outputs an alarm to inform an operator of processing; the utility model can detect whether the clamp fully adsorbs and grasps the workpiece and successfully adsorbs and grasps the workpiece, and can detect the size and the model of the workpiece, thereby facilitating the subsequent classification and effectively improving the use effect of the clamp.
The description of the orientation or relative positional relationship of the structures in the present utility model, such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the structures referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present utility model.
Claims (7)
1. The utility model provides a detection type fixture mechanism, includes installation main part (1), characterized by: be equipped with a plurality of groups sucking disc frame (2) and detection device on installation main part (1), sucking disc frame (2) evenly set up in the bottom of installation main part (1), evenly are equipped with a plurality of groups sucking disc (3) on sucking disc frame (2), detection device includes a plurality of group travel switch (4) and a plurality of group photoelectric switch (6), travel switch (4) are connected with installation main part (1) through mounting bracket (5), photoelectric switch (6) are connected with installation main part (1) through mounting panel (7).
2. The inspection jig mechanism according to claim 1, wherein: the sucker frames (2) are provided with two groups, the two groups of sucker frames (2) are symmetrically arranged at the bottom of the installation main body (1), and the sucker (3) is symmetrically arranged on the sucker frames (2) relative to the installation main body (1).
3. The inspection jig mechanism according to claim 2, wherein: the detection device is arranged between the two groups of sucker frames (2).
4. A detection type clamp mechanism according to claim 3, wherein: the travel switch (4) is provided with two groups which are respectively arranged at two sides of the installation main body (1).
5. The inspection jig mechanism according to claim 4, wherein: the photoelectric switches (6) are provided with three groups, are uniformly arranged on the mounting plate (7), and the positions of the group of photoelectric switches (6) far away from the mounting main body (1) and the group of suckers (3) far away from the mounting main body (1) correspond to each other.
6. The inspection jig mechanism according to any one of claims 1 to 5, wherein: the top of the installation main body (1) is provided with a connecting piece (8).
7. The inspection jig mechanism according to claim 6, wherein: at least one group of fixed beams (9) are arranged at the top of the sucker frames (2), and the sucker frames (2) are connected with each other through the fixed beams (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321498314.XU CN220145334U (en) | 2023-06-12 | 2023-06-12 | Detection type clamp mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321498314.XU CN220145334U (en) | 2023-06-12 | 2023-06-12 | Detection type clamp mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220145334U true CN220145334U (en) | 2023-12-08 |
Family
ID=89013354
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321498314.XU Active CN220145334U (en) | 2023-06-12 | 2023-06-12 | Detection type clamp mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220145334U (en) |
-
2023
- 2023-06-12 CN CN202321498314.XU patent/CN220145334U/en active Active
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