CN220316507U - Robot clamp with automatic limiting function - Google Patents

Abstract

The utility model discloses a robot clamp with an automatic limiting function, which belongs to the technical field of clamps, and comprises a connecting seat and two clamping plates which are arranged in a bilateral symmetry manner, wherein a driving mechanism for driving the two clamping plates to open and close is arranged on the connecting seat; one side of each clamping plate is connected with the driving mechanism, the opposite side of each clamping plate is provided with an anti-falling part for preventing the clamped object from falling off, and the middle parts of the opposite sides of the two clamping plates are respectively provided with a limit sensor for sensing whether the clamping plates are contacted with the clamped object. The utility model can automatically clamp and take food into the paper box under the control of the robot, has a limiting function, can avoid the food from being clamped and damaged, and solves the problem that the food is easy to be clamped and damaged when the food is packaged. In addition, the clamping force controllable robot clamp has the advantages of simple structure and low cost, and solves the problems of complex structure and high cost of the existing clamping force controllable robot clamp.

Description

Robot clamp with automatic limiting function

Technical Field

The utility model relates to the technical field of clamps, in particular to a robot clamp with an automatic limiting function.

Background

At present, intelligent robots are applied to the food packaging industry, and automatic clamping and food placing into a carton can be automatically realized by installing an automatic clamp at the tail end of the robot, so that an automatic boxing function is realized. However, the conventional automatic clamp has low flexibility, so that the clamping force on food cannot be well controlled, and the quality problems of deformation and damage of the food (such as vegetables, fruits, cakes and the like) caused by overlarge clamping force are easily caused.

The prior art CN213054863U provides an intelligent robot electric drive clamp structure, which comprises a clamp body, an electric telescopic mechanism, two clamping jaws, a quick-change device and the like. The clamp structure is mounted on a wrist of a robot through the quick-change device, and the two clamping jaws are driven to open and close through the electric telescopic mechanism, so that the function of automatically clamping objects is realized. Wherein, be provided with a plurality of claw tooth mechanisms on the clamping jaw, claw tooth mechanism is provided with pressure sensor for the response contact force carries out the atress to article from a plurality of directions through a plurality of pressure sensor and detects to judge the angle of two clamping jaw centre gripping articles, and control robot wrist adjusts, makes claw tooth mechanism's support post can balanced atress, avoids the uneven and unstable object centre gripping that leads to of clamping force. The clamp structure can monitor the clamping force due to the pressure sensor arranged in the claw tooth mechanism on the clamping jaw, so that the robot can adjust the clamping force.

However, the clamp structure disclosed in the above prior art has the following problems: (1) At least four pressure sensors need to be installed, and the cost is relatively high; (2) The mounting mode of the pressure sensor is complex, the pressure sensor is mounted in the claw tooth mechanism, and the claw tooth mechanism also comprises structures such as a sliding block, a motor, a sleeve, a sliding column, a spring, a cap, a supporting column and the like, the structure is relatively complex, and the cost is further increased; (3) In the food boxing work, the automatic clamp does not need to clamp food for a long time, but rapidly transfers the food to the paper box through the automatic clamp to realize rapid boxing, so that whether the clamping force is uniform or not is not required to be monitored from multiple directions, and then the robot wrist is controlled to adjust, that is, the support column of the claw mechanism is not required to be stressed uniformly so as to maintain the stability of the food for a long time, and therefore, the clamp structure is limited when being applied to the food boxing work and is not suitable for the food boxing work.

Disclosure of Invention

The utility model aims to solve the defects in the prior art, and provides the robot clamp with the automatic limiting function, which can automatically clamp food into a paper box under the control of a robot and has the limiting function, so that the food is prevented from being clamped and damaged, and the problem that the food is easy to clamp and damage when the food is packaged is solved. In addition, the utility model has the advantages of simple structure and low cost, and solves the problems that the existing robot clamp capable of controlling clamping force has complex structure and high cost and is not suitable for food boxing.

In order to achieve the above purpose, the technical scheme adopted by the utility model is as follows:

the utility model provides a take robot clamp of automatic limit function, includes the splint that connecting seat and two bilateral symmetry set up, install the actuating mechanism that is used for driving two splint to open and shut on the connecting seat, one side of splint links to each other with actuating mechanism, and its opposite side has the anticreep portion that prevents to be pressed from both sides article and drop, and the middle part of two opposite sides of splint all is provided with and is used for responding to whether to contact by the limit sensor of pressing from both sides article.

Preferably, the driving mechanism comprises two connecting rods, two transmission rods and a transmission block, one ends of the two connecting rods are respectively hinged with the two clamping plates, the other ends of the two connecting rods are respectively hinged with the left side and the right side of the connecting seat, one ends of the two transmission rods are respectively hinged with the two clamping plates, the other ends of the two transmission rods are respectively hinged with the left side and the right side of the transmission block, and a power device for driving the transmission block to conduct linear reciprocating motion is arranged on the connecting seat.

Preferably, a hinge seat is arranged on one side of the clamping plate far away from the anti-falling part, and the clamping plate is hinged with the corresponding connecting rod and the corresponding transmission rod through the hinge seat.

Preferably, the power device is a screw motor, the screw motor comprises a motor main body and a screw rod connected with the motor main body, a motor groove is formed in the middle of the connecting seat, the motor main body is fixedly arranged in the motor groove, the screw rod rotates to penetrate through the end face of the connecting seat, which faces one end of the transmission block, and the screw rod penetrates through the transmission block and is in threaded connection with the transmission block.

Preferably, the middle part of splint has seted up the mounting groove, limit sensor inlays and establishes in the mounting groove.

Preferably, the limit sensor is a distance measuring sensor, and the sensing surface of the limit sensor is flush with the mounting surface of the clamping plate.

Preferably, the limit sensor is a flat plate type pressure sensor.

Preferably, the side of the anti-falling part for contacting the clamped object is an inclined plane.

Preferably, the inclined plane is provided with a plurality of anti-skid stripes.

Preferably, one end of the connecting seat, which is far away from the driving mechanism, is provided with a connecting disc, and a plurality of threaded connecting holes are uniformly formed in the connecting disc.

By adopting the technical scheme, the utility model has the following beneficial effects:

1. the clamping plate is provided with the anti-falling part, and the anti-falling part can prevent the clamped object from falling off the clamp when the clamp clamps the object to move up and down. The clamp plate middle part is provided with limit sensor for the anchor clamps have automatic limit function, and the anchor clamps carry out the in-process of centre gripping article task, when anchor clamps and article contact, by limit sensor induction, limit sensor generates feedback signal and sends to robot controller, and the actuating mechanism stop motion of robot controller control anchor clamps, and then two clamp plates stop relative motion, avoid being clamped bad article (e.g. food), the easy bad problem of clamp of food when solving the food vanning.

2. In addition, the sensors are simply installed and directly installed on the clamping plates, and no complex installation structure is needed.

3. The quick boxing device is suitable for food boxing operation, the mechanical arm of the robot drives the clamp to move to the upper side of food and move downwards, the food is clamped from the left side and the right side of the food, the mechanical arm of the robot drives the clamp to move to the upper side of the paper box, and finally the two clamping plates are controlled to open so as to release the food into the paper box, so that quick boxing of the food is realized. In the process, the clamping angle of the food does not need to be adjusted, the clamping force and the stress uniformity do not need to be adjusted, and compared with the existing robot clamp capable of controlling the clamping force, the robot clamp can meet the food boxing work, and is higher in applicability.

4. According to the utility model, the transmission block is driven by the screw motor to perform linear reciprocating motion, so that the transmission rod is driven to control the two clamping plates to open and close, the transmission block has a larger stroke by adopting a screw motor driving mode, and the clamping plate has a larger opening angle by combining the plate-shaped structure of the clamping plates, so that the clamping requirements of foods with different sizes are met.

5. The anti-drop part is provided with the inclined plane, so that food can be conveniently grabbed, and the inclined plane is provided with a plurality of anti-slip stripes, so that friction force is increased, and anti-slip effect is improved.

6. The connecting seat is provided with the connecting disc, and the connecting disc is uniformly provided with the plurality of threaded connecting holes, so that the connecting disc is convenient to connect with the mechanical arm of the robot, has the advantages of convenient installation and disassembly, can be applied to different robots, and meets the use requirements of different robots.

Drawings

Fig. 1 is a schematic structural diagram of a robot fixture according to an embodiment of the present utility model;

wherein, the reference numerals in the drawings are as follows: 1-clamping plate, 2-limit sensor, 3-transmission rod, 4-transmission block, 5-connection rod, 6-connection seat, 7-lead screw motor, 8-connection disc, 9-anticreep portion, 10-articulated seat.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.

In the description of the present utility model, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of description, and do not indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in the specific direction, and thus should not be construed as limiting the present utility model; the terms "first," "second," "third," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, and furthermore, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "coupled," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally coupled, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

Example 1

Referring to fig. 1, a robot clamp with an automatic limiting function includes a connecting seat 6 and two clamping plates 1 symmetrically arranged left and right, wherein a driving mechanism for driving the two clamping plates 1 to open and close is mounted on the connecting seat 6.

One side of the clamping plate 1 is connected with a driving mechanism, and the opposite side is provided with an anti-falling part 9 for preventing the clamped objects from falling off. The anti-falling parts 9 of the two clamping plates 1 are oppositely arranged, have a limiting effect on the clamped articles, and can prevent the clamped articles from falling off the clamp when the clamp clamps the articles to move up and down. The angle between the anti-drop 9 and the body of the cleat 1 may be a right angle or an obtuse angle. In this embodiment, the one side that anticreep portion 9 is used for contacting the article that is pressed from both sides is the inclined plane, conveniently snatchs food, is provided with a plurality of anti-skidding stripes on the inclined plane, increases frictional force, improves anti-skidding effect.

The middle parts of the opposite sides of the two clamping plates 1 are respectively provided with a limit sensor 2 for sensing whether the two clamping plates contact the clamped objects. Specifically, the mounting groove has been seted up at splint 1's middle part, and limit sensor 2 inlays and establishes in the mounting groove. The setting of limit sensor 2 for the anchor clamps have automatic limit function, and when limit sensor 2 sensed anchor clamps and article (e.g. food) contact, actuating mechanism stopped the motion, avoided pressing from both sides bad article because of the clamping force is too big. In this embodiment, the limit sensor 2 is a flat plate type pressure sensor, and feeds back whether the food is in contact with the clamp or not by means of pressure detection.

Wherein, actuating mechanism includes two connecting rods 5, two transfer lines 3 and drive block 4, and the one end of two connecting rods 5 articulates with two splint 1 respectively, and the other end articulates the left and right sides at connecting seat 6 respectively, and the one end of two transfer lines 3 articulates with two splint 1 respectively, and the other end articulates the left and right sides at drive block 4 respectively. The side of the clamping plate 1 far away from the anti-falling part 9 is provided with a hinging seat 10, and is hinged with the corresponding connecting rod 5 and the transmission rod 3 through the hinging seat 10. Specifically, one end of the connecting rod 5 is hinged with the connecting seat 6 through a first rotating shaft, the other end of the connecting rod is hinged with the hinging seat 10 through a second rotating shaft, one end of the transmission rod 3 is hinged with the hinging seat 10 through a second rotating shaft, the other end of the transmission rod is hinged with the transmission block 4 through a third rotating shaft, and the first rotating shaft, the second rotating shaft and the third rotating shaft are mutually parallel and are perpendicular to the screw rod.

The connecting seat 6 is provided with a power device for driving the transmission block 4 to perform linear reciprocating motion. In this embodiment, power device is lead screw motor 7, and lead screw motor 7 includes motor main part and the lead screw that links to each other with motor main part, and the motor groove has been seted up at the middle part of connecting seat 6, and motor main part fixed mounting is in the motor groove, and the terminal surface of connecting seat towards drive block one end is worn to establish in the lead screw rotation, and drive block 4 is worn to establish to the lead screw to with drive block 4 threaded connection. When the clamp needs to be opened, the screw motor 7 rotates to drive the transmission block 4 to be away from the connecting seat 6, the transmission block 4 stretches the two clamping plates 1 through the two transmission rods 3, and when the clamp needs to be closed, the screw motor 7 rotates to drive the transmission block 4 to be close to the connecting seat 6, and the transmission block 4 stretches the two clamping plates 1 through the two transmission rods 3.

According to the utility model, the transmission block 4 is driven by the screw motor 7 to perform linear reciprocating motion, so that the transmission rod 3 is driven to control the two clamping plates 1 to open and close, the transmission block 4 has a larger stroke by adopting a mode of driving by the screw motor 7, and the clamping device is combined with the plate-shaped structure of the clamping plates 1, so that the clamping device has a larger opening angle, and the clamping requirements of foods with different sizes are met. In other embodiments, the power device may also be an electric push rod.

In addition, the one end that the connecting seat kept away from actuating mechanism is provided with connection pad 8, has evenly seted up a plurality of threaded connection hole on the connection pad 8. The setting of connection pad 8 and threaded connection hole is convenient to be connected with the arm of robot, has the advantage of easy to assemble and dismantlement, can be applied to different robots, satisfies the user demand of different robots.

When the quick box packing machine is used for food box packing, the quick box packing machine is arranged on a mechanical arm of a robot through the connecting disc 8, the limiting sensor 2 and a power device of the driving mechanism are connected to the robot controller, the mechanical arm of the robot drives the clamp to move to the upper side of food and move downwards, the two clamping plates 1 clamp the food from the left side and the right side of the food, the mechanical arm of the robot drives the clamp to move to the upper side of the paper box, finally the two clamping plates 1 are controlled to open, the food is released into the paper box, and the quick box packing of the food is realized. In the process, the clamping angle of the food does not need to be adjusted, and the clamping force and the stress uniformity do not need to be adjusted. In the process of up-down movement or horizontal movement of the clamp, the anti-falling part 9 of the clamping plate 1 is always positioned below the clamped food, so that the clamped food is prevented from falling off the clamp.

In the process that the clamp is used for clamping the article, when the clamp is in contact with the article, the clamp is sensed by the limit sensor 2, the limit sensor 2 generates a feedback signal and sends the feedback signal to the robot controller, the robot controller controls the driving mechanism of the clamp to stop moving, and then the two clamping plates 1 stop moving relatively, so that food is prevented from being clamped out, and the problem that the food is easy to clamp out when the food is packaged is solved. Compared with the existing clamping force controllable robot clamp, the clamping force controllable robot clamp only needs two limiting sensors 2, so that the number of the sensors is reduced, in addition, the sensors are easy to install and are directly installed on the clamping plate 1, and a complex installation structure is not needed. The utility model has the advantages of simple structure and low cost, can better meet the food boxing work, and has stronger applicability.

Example 2

This embodiment is different from embodiment 1 in that: the limit sensor 2 is a distance measuring sensor, and the sensing surface of the limit sensor is flush with the mounting surface of the clamping plate 1. When the distance measuring sensor measures that the distance between the food and the two clamping plates 1 is zero, the two clamping plates 1 are in contact with the food, at the moment, the screw motor 7 stops moving under the control of the robot controller, and the two clamping plates 1 stop moving, so that the food is prevented from being clamped.

The foregoing description is directed to the preferred embodiments of the present utility model, but the embodiments are not intended to limit the scope of the utility model, and all equivalent changes or modifications made under the technical spirit of the present utility model should be construed to fall within the scope of the present utility model.

Claims (9)

1. The robot clamp with the automatic limiting function comprises a connecting seat and two clamping plates which are symmetrically arranged left and right, wherein a driving mechanism for driving the two clamping plates to open and close is arranged on the connecting seat;

the driving mechanism comprises two connecting rods, two transmission rods and a transmission block, one ends of the two connecting rods are respectively hinged with the two clamping plates, the other ends of the two connecting rods are respectively hinged to the left side and the right side of the connecting seat, one ends of the two transmission rods are respectively hinged to the two clamping plates, the other ends of the two transmission rods are respectively hinged to the left side and the right side of the transmission block, and a power device for driving the transmission block to conduct linear reciprocating motion is arranged on the connecting seat.

2. The robot clamp with the automatic limiting function according to claim 1, wherein a hinge seat is arranged on one side, away from the anti-falling part, of the clamping plate, and the clamping plate is hinged with a corresponding connecting rod and a corresponding transmission rod through the hinge seat.

3. The robot clamp with the automatic limiting function according to claim 1, wherein the power device is a screw motor, the screw motor comprises a motor main body and a screw connected with the motor main body, a motor groove is formed in the middle of the connecting seat, the motor main body is fixedly installed in the motor groove, the screw rotates to penetrate through the end face, facing one end of the transmission block, of the connecting seat, and the screw penetrates through the transmission block and is in threaded connection with the transmission block.

4. The robot clamp with the automatic limiting function according to claim 1, wherein a mounting groove is formed in the middle of the clamping plate, and the limiting sensor is embedded in the mounting groove.

5. The robot clamp with automatic limiting function according to claim 4, wherein the limiting sensor is a distance measuring sensor, and the sensing surface of the distance measuring sensor is flush with the mounting surface of the clamping plate.

6. The robot clamp with an automatic limiting function according to claim 4, wherein the limiting sensor is a flat plate type pressure sensor.

7. The robot holder with automatic limiting function according to claim 1, wherein a side of the anti-drop portion for contacting the clamped object is an inclined surface.

8. The robot clamp with the automatic limiting function according to claim 7, wherein a plurality of anti-slip stripes are arranged on the inclined plane.

9. The robot clamp with the automatic limiting function according to claim 1, wherein a connecting disc is arranged at one end, far away from the driving mechanism, of the connecting seat, and a plurality of threaded connecting holes are uniformly formed in the connecting disc.