CN220153778U - Industrial manipulator clamping force detector - Google Patents

Abstract

The utility model relates to the technical field of holding power detection, in particular to an industrial manipulator holding power detector which increases friction force, improves detection accuracy, limits holding power, reduces testing damage rate and improves practicability; the clamping mechanism comprises two movable rods and two clamping plates, wherein the clamping mechanism is arranged at the top end of the bearing seat, and also comprises two rubber plates which are respectively arranged above the centers of the clamping plates; still include standing groove and detection mechanism, detection mechanism includes two test boxes, two pulling force poles, two sets of sliders, two connecting rods, two connecting seats, two pulling force boards and pulling force mechanism, and pulling force mechanism includes a plurality of spring grooves and a plurality of pulling force springs, and the standing groove is installed to the center below of bearing seat, and detection mechanism installs on the top of bearing seat, and fixture is connected with detection mechanism.

Description

Industrial manipulator clamping force detector

Technical Field

The utility model relates to the technical field of gripping force detection, in particular to an industrial manipulator gripping force detector.

Background

The mechanical gripper is an automatic operation device which can simulate some action functions of hands and is used for grabbing and carrying workpieces or operating tools according to requirements, and can replace people to finish various operations on an industrial production line. The manipulator claw is generally matched with a manipulator to be used together to form an industrial robot system. The mechanical gripper is used as an end execution part of the robot system, and the performance of the mechanical gripper directly influences or even determines the effects of the robot system for grabbing targets and executing load operation, so that the mechanical gripper is very important for the industrial robot system. The clamping degree of the mechanical gripper to the work piece is very important to realizing the function, obtains the clamping force that has under the different states of mechanical gripper and is the prerequisite that mechanical gripper used, and prior art publication No. CN202716277U proposes a mechanical gripper clamping force on-line measuring device, including gland, display screen, weighing sensor, loop, pressure spring, guide arm and pawl, be provided with a pawl hole in the pawl, this pawl hole is the through-hole structure, weighing sensor passes through the gland to be fixed in the pawl outside of pawl, the display screen is fixed in the pawl outside of pawl, … … on with the force transmission weighing sensor of work piece, the sensor passes through the data line and links to each other with the display, can implement like this and obtain mechanical gripper clamping force, but in order to detect clamping force on line, the guide arm needs to stretch out the hand claw terminal surface through the guiding hole on the mechanical gripper, and when repetitious usage or operation are improper, can't normal pressure positive guide arm returns, and then influences the work piece snatch, and the guide arm size is less, and the gripper can't detect when snatching the position appears the deviation, leads to detecting to lower clamp efficiency.

Disclosure of Invention

In order to solve the technical problems, the utility model provides the industrial manipulator clamping force detector which increases friction force, improves detection accuracy, limits gripping force, reduces testing damage rate and improves practicability.

The utility model relates to an industrial manipulator clamping force detector which comprises a bearing seat and a clamping mechanism, wherein the clamping mechanism is arranged at the top end of the bearing seat; the device also comprises a placing groove and a detection mechanism, wherein the placing groove is arranged below the center of the bearing seat, the detection mechanism is arranged at the top end of the bearing seat, and the clamping mechanism is connected with the detection mechanism; through the inside space of placing of bearing seat and standing groove, can carry out the experiment to the strength that the holding power can drive when carrying out the holding power experiment, through place gravity thing or weight in the standing groove inside, carry out the pulling force degree experiment to holding power or arm to improve the functionality of device, detection mechanism detects the clamp power of manipulator, improves detection efficiency.

Preferably, the detection mechanism comprises two test boxes, two tension rods, two groups of sliding blocks, two connecting rods, two connecting seats, two tension plates and a tension mechanism, wherein the two test boxes are symmetrically arranged at the top ends of the bearing seats, the center of one end of each test box is provided with a tension port, the inside of each tension port is provided with a sliding groove, the tension rods are internally provided with the tension rods, the tension rods are slidably arranged in the sliding grooves through the two groups of sliding blocks, one ends of the tension rods are provided with the connecting rods, one ends of the connecting rods are connected with the tension plates through the connecting seats, the tension plates are slidably arranged in the test boxes, the other ends of the tension plates are connected with the tension mechanism, and the other ends of the tension rods are connected with the clamping mechanism; the manipulator slides in the spout through fixture pulling rod to make connecting rod pulling plate subtended removal, pulling force mechanism detects the clamping force, improves the stability when detecting, easy operation, and detection efficiency is high, improves the practicality.

Preferably, the tension mechanism comprises a plurality of spring grooves and a plurality of tension springs, wherein the spring grooves are arranged on one side of the tension plate, tension springs are arranged in the spring grooves, one end of each tension spring is connected with the tension plate, the other end of each tension spring is connected to the bottom end of the sliding block of the spring groove 3, and the tension springs are springs with accurate tension degrees; the tension spring inside the test box is utilized, the holding power degree can be replaced or adjusted while the holding power test is carried out, the spring with the accurate tension degree is utilized to limit the holding power degree, damage to the device or the mechanical arm caused by overlarge degree in the experiment is prevented, and the test safety is improved.

Preferably, the clamping mechanism comprises two movable rods and two clamping plates, one ends of the two movable rods are respectively connected with one ends of the tension rods, the clamping plates are arranged at the other ends of the movable rods, and the clamping plates are positioned at the top ends of the middle parts of the bearing seats; the manipulator clamps the clamp force board top, thereby accomplishes the clamp and gets dynamics detection through clamp force board pulling tension bar, improves the convenience when detecting, improves detection efficiency.

Preferably, the device also comprises two moving blocks, wherein the top ends of the bearing seats are symmetrically provided with moving grooves, the moving blocks are respectively and slidably arranged in the moving grooves, and the top ends of the moving blocks are respectively connected with the bottom ends of the clamping plates; the manipulator clamps the clamp force board, and the clamp force board removes on the top of bearing seat, drives the movable block and slides in the removal inslot to remove the clamp force board and carry out spacingly, prevent to press from both sides the dislocation of force board, cause equipment to damage, stability when improving the detection.

Preferably, the clamping device further comprises two rubber plates, wherein the two rubber plates are respectively arranged above the center of the clamping plate; through the rubber sheet, increase the frictional force of clamping jaw to the clamp force board, can not drop because of skidding and cause the device to damage or influence the holding power test, improve the practicality.

Compared with the prior art, the utility model has the beneficial effects that: through the inside space of placing of bearing seat and standing groove, can carry out the experiment to the strength that the holding power can drive when carrying out the holding power experiment, through place gravity thing or weight in the standing groove inside, carry out the pulling force degree experiment to holding power or arm to improve the functionality of device, detection mechanism detects the clamp power of manipulator, improves detection efficiency.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a schematic diagram of the front view of the present utility model;

FIG. 3 is a schematic view of a front cross-sectional structure of the present utility model;

FIG. 4 is a schematic top view in cross-section of the present utility model;

the reference numerals in the drawings: 1. a bearing seat; 2. a placement groove; 3. a test box; 4. a tension port; 5. a chute; 6. a tension rod; 7. a slide block; 8. a connecting rod; 9. a connecting seat; 10. a tension plate; 11. a spring groove; 12. a tension spring; 13. a movable rod; 14. a clamping plate; 15. a moving groove; 16. a moving block; 17. a rubber plate.

Detailed Description

In order that the utility model may be readily understood, a more complete description of the utility model will be rendered by reference to the appended drawings. This utility model may be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

As shown in fig. 1 to 4, the detection mechanism comprises two test boxes 3, two tension rods 6, two groups of sliding blocks 7, two connecting rods 8, two connecting seats 9, two tension plates 10 and a tension mechanism, wherein the two test boxes 3 are symmetrically arranged at the top ends of the bearing seats 1, the centers of one ends of the test boxes 3 are respectively provided with a tension opening 4, the inside of the tension opening 4 is provided with a sliding groove 5, the inside of the tension opening 4 is provided with the tension rods 6, the tension rods 6 are respectively arranged in the sliding grooves 5 in a sliding manner through the two groups of sliding blocks 7, one ends of the tension rods 6 are respectively provided with the connecting rods 8, one ends of the connecting rods 8 are respectively connected with the tension plates 10 through the connecting seats 9, the tension plates 10 are respectively arranged in the test boxes 3 in a sliding manner, the other ends of the tension plates 10 are connected with the tension mechanism, the other ends of the tension rods 6 are connected with the clamping mechanism, the tension mechanism comprises a plurality of spring grooves 11 and a plurality of tension springs 12, a plurality of spring grooves 11 are arranged on one side of the tension plate 10, tension springs 12 are arranged in the spring grooves 11, one ends of the tension springs 12 are connected with the tension plate 10, the other ends of the tension springs 12 are connected with the bottom ends of sliding blocks 7 of the spring grooves 3, the tension springs 12 are springs with accurate tension degrees, the clamping mechanism comprises two movable rods 13 and two clamping plates 14, one ends of the two movable rods 13 are respectively connected with one ends of the tension rods 6, the clamping plates 14 are respectively arranged on the other ends of the movable rods 13, the clamping plates 14 are positioned at the top ends of the middle parts of the bearing seats 1, the two rubber plates 17 are also arranged in the two moving blocks 16, the top ends of the bearing seats 1 are symmetrically provided with moving grooves 15, the moving blocks 16 are respectively and slidably arranged in the moving grooves 15, the top ends of the moving blocks 16 are respectively connected with the bottom ends of the clamping plates 14, two rubber plates 17 are respectively installed above the center of the clamping plate 14;

the manipulator pulls the pulling rod 6 through fixture to slide in spout 5, thereby make connecting rod 8 pulling plate 10 subtend removal, pulling force mechanism detects the clamping force, stability when improving the detection, and easy operation, high detection efficiency, improve the practicality, utilize the inside tension spring 12 of test box 3, can change or adjust the holding power number of degrees when carrying out the holding power test, and utilize the spring that has accurate pulling force number of degrees can also prescribe a limit to holding power number of degrees, prevent to cause the damage to device or arm because of the experiment in the number of degrees, improve experimental security, the manipulator is cliied clamping plate 14 top, thereby accomplish the detection of clamping force through clamping plate 14 pulling rod 6, improve the convenience when detecting, improve detection efficiency, the manipulator is cliied clamping plate 14, clamping plate 14 moves on the top of bearing seat 1, drive movable block 16 slides in movable groove 15, thereby carry out spacing to clamping plate 14 removal, prevent that clamping plate 14 from misplacing, cause equipment damage, stability when improving the detection, through rubber plate 17, increase the frictional force to clamping plate 14, can not cause damage to the device or improve the practicality because of slipping.

As shown in fig. 1 to 4, in the industrial manipulator clamping force detector, when the industrial manipulator clamping force detector works, the whole framework of the bearing seat 1 and the internal placement space of the placement groove 2 are utilized, the force driven by the clamping force can be tested while the clamping force test is performed, the gravity object or the weight is placed in the placement groove 2, the clamping force or the mechanical arm is subjected to the lifting force test, the mechanical gripper is clamped above the clamping force plate 14, the tension rod 6 is pulled by the clamping force plate 14, so that the clamping force of the clamping jaw is detected, the friction force of the clamping jaw to the clamping force plate 14 is increased by the rubber plate 17, the damage to the device caused by slipping and falling is prevented, or the clamping force test is influenced, the clamping force degree can be replaced or adjusted while the clamping force test is performed by using the tension spring 12 in the test box 3, the clamping force degree can be limited by using the spring with accurate tension degree, and the damage to the device or the mechanical arm caused by overlarge degrees during the test is prevented.

The main functions realized by the utility model are as follows: utilize the whole framework of bearing seat 1 and the inside space of placing of standing groove 2, can carry out the experiment to the strength that the holding power can drive when carrying out the holding power experiment, through placing gravity thing or weight in the inside of standing groove 2, carry out the pulling force experiment to holding power or arm to improve the device functionality.

The industrial manipulator clamping force detector has the advantages that the installation mode, the connection mode or the setting mode are all common mechanical modes, and the industrial manipulator clamping force detector can be implemented as long as the beneficial effects can be achieved

All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of the utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.

The foregoing is merely a preferred embodiment of the present utility model, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present utility model, and these modifications and variations should also be regarded as the scope of the utility model.

Claims (3)

1. The utility model provides an industrial manipulator presss from both sides and gets dynamics detector, includes bearing seat (1) and fixture, and fixture installs in the top of bearing seat (1); the device is characterized by further comprising a placing groove (2) and a detection mechanism, wherein the placing groove (2) is arranged below the center of the bearing seat (1), the detection mechanism is arranged at the top end of the bearing seat (1), the detection mechanism comprises two test boxes (3), two tension rods (6), two groups of sliding blocks (7), two connecting rods (8), two connecting seats (9), two tension plates (10) and a tension mechanism, the two test boxes (3) are symmetrically arranged at the top end of the bearing seat (1), the center of one end of the test box (3) is provided with a tension port (4), the inside of the tension port (4) is provided with a sliding groove (5), the inside of the tension port (4) is provided with a tension rod (6), the tension rod (6) is slidably arranged in the sliding groove (5) through two groups of sliding blocks (7), one end of the tension rod (6) is provided with a connecting rod (8), one end of the connecting rod (8) is slidably arranged inside the test boxes (3) through a connecting seat (9) and the other end of the tension plate (10) is connected with the tension mechanism (14) which is connected with the two clamping mechanisms (13) which are movably connected with the two clamping mechanisms, one end of each of the two movable rods (13) is connected with one end of the tension rod (6), the other ends of the movable rods (13) are respectively provided with a clamping plate (14), the clamping plates (14) are located at the top ends of the middle parts of the bearing seats (1), the top ends of the bearing seats (1) are symmetrically provided with moving grooves (15), the moving blocks (16) are respectively and slidably arranged in the moving grooves (15), and the top ends of the moving blocks (16) are respectively connected with the bottom ends of the clamping plates (14).

2. The industrial manipulator clamping force detector according to claim 1, wherein the tension mechanism comprises a plurality of spring grooves (11) and a plurality of tension springs (12), the spring grooves (11) are arranged on one side of the tension plate (10), the tension springs (12) are arranged in the spring grooves (11), one end of each tension spring (12) is connected with the tension plate (10), the other end of each tension spring (12) is connected to the bottom end of the corresponding sliding block (7) of the corresponding spring groove 3, and the tension springs (12) are springs with accurate tension degrees.

3. The industrial robot gripping force detector according to claim 1, further comprising two rubber plates (17), the two rubber plates (17) being respectively installed above the center of the gripping plate (14).