CN220596257U - Holding power adjusting structure - Google Patents
Holding power adjusting structure Download PDFInfo
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- CN220596257U CN220596257U CN202321750386.9U CN202321750386U CN220596257U CN 220596257 U CN220596257 U CN 220596257U CN 202321750386 U CN202321750386 U CN 202321750386U CN 220596257 U CN220596257 U CN 220596257U
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- clamping
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- 238000001514 detection method Methods 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 16
- 238000000034 method Methods 0.000 claims abstract description 13
- 230000008569 process Effects 0.000 claims abstract description 13
- 230000005484 gravity Effects 0.000 claims abstract description 6
- 238000003825 pressing Methods 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model relates to the technical field of mechanical arms, in particular to a grabbing force adjusting structure, which comprises a grabbing mechanism and a grabbing force control assembly, wherein the grabbing force control assembly comprises a control module, a weight detection assembly and a clamping force detection assembly; the weight detection assembly is used for calculating the gravity of the object before grabbing the object, and transmitting an electric signal to the control module to control the running state of the driving assembly; the clamping force detection assembly is used for sensing the clamping force between the clamping plate and the object in the process of grabbing the object and transmitting the sensing result to the control module through an electric signal so as to control the running state of the driving assembly; during sorting, the gripping force of the objects can be automatically and adaptively adjusted according to the objects with different mass sizes, so that the situation that parts are in a high-load running state for a long time is avoided, and the service life of the device is prolonged.
Description
Technical Field
The utility model relates to the technical field of mechanical arms, in particular to a holding power adjusting structure.
Background
The mechanical arm is a mechanical device for simulating the motion of a human arm, and has the function of completing various complex industrial tasks and operations, and is widely applied to the fields of production and manufacture, logistics storage and the like.
The mechanical arm is used for carrying and sorting objects in logistics storage, so that the working efficiency is improved; the mechanical arm for grabbing the object in the prior art is usually provided with a clamping mechanism for grabbing the object, the clamping mechanism comprises clamping plates, a driving motor, a screw rod, a connecting rod, a mounting frame and other structures, the driving motor drives the two clamping plates to clamp the object through the driving screw rod, and then the mechanical arm moves again, so that sorting of the object is realized.
However, the existing clamping mechanism has the following problems in the use process:
the existing mechanical arm does not have a function of adjusting the gripping force in real time; namely, the quality of different objects is different in the sorting process, and the gripping mechanism cannot realize real-time adjustment of gripping force according to the quality of the objects when gripping the objects with different quality; however, the fixed clamping force can lead the parts in the clamping mechanism to be in a high-load running state for a long time, so that the service life of the clamping mechanism is reduced; it is desirable to design a grip adjusting structure to solve the above-mentioned problems.
Disclosure of Invention
The present utility model is directed to a holding power adjusting structure, which solves the above-mentioned problems in the prior art.
The aim of the utility model can be achieved by the following technical scheme:
the grabbing force adjusting structure comprises a grabbing mechanism, wherein the grabbing mechanism comprises a mounting plate, a driving assembly is arranged between the side faces of the mounting plate, two clamping plates which are symmetrically arranged are arranged in the driving assembly in a transmission mode, and the grabbing force adjusting structure further comprises a grabbing force control assembly, wherein the grabbing force control assembly comprises a control module, a weight detection assembly and a clamping force detection assembly;
the weight detection assembly is used for calculating the gravity of the object before grabbing the object and transmitting the calculation result to the control module in an electric signal so as to control the running state of the driving assembly;
the clamping force detection assembly is used for sensing the clamping force between the clamping plate and the object in the process of grabbing the object, and transmitting the sensing result to the control module through an electric signal so as to control the running state of the driving assembly.
Further, the weight detection assembly comprises a fixed plate fixedly arranged on the top surface of the mounting plate, an electric telescopic rod is fixedly arranged on the side surface of the fixed plate, the telescopic end of the electric telescopic rod penetrates through the fixed plate, a connecting plate is fixedly arranged at the telescopic end of the electric telescopic rod, a hollow column I is fixedly arranged in the middle of the side surface of the connecting plate far away from the electric telescopic rod, a telescopic rod is fixedly arranged at the two ends of the side surface of the connecting plate far away from the electric telescopic rod, and one ends of the two telescopic rods far away from the connecting plate are fixedly connected with a push plate together;
the first pressure sensor is fixedly arranged in the hollow column I and is electrically connected with the control module, the first pressing block is further slidably arranged in the hollow column I, one end of the first pressing block, which is far away from the first pressure sensor, is fixedly connected with the first connecting rod, one end of the first connecting rod, which is far away from the first pressing block, extends to the outside of the hollow column I, and the first connecting rod is far away from the end of the first pressing block and is fixedly connected with the push plate.
Further, the clamping force detection assembly comprises a hollow column II fixedly installed on the outer side surface of the clamping plate, a second connecting rod is inserted into one end, close to the clamping plate, of the hollow column II in a sliding manner, one end, far away from the hollow column II, of the second connecting rod penetrates through the clamping plate in a sliding manner to the inner side direction of the clamping plate, and an abutting plate parallel to the clamping plate is fixedly connected to one end, located in the inner side direction of the clamping plate, of the second connecting rod;
the one end fixedly mounted who keeps away from splint in the hollow post two has the second pressure sensor with control module electric connection, and the one end fixedly connected with that the second connecting rod is located hollow post two inside is connected with the connecting block with hollow post two inner wall sliding contact, the one end fixedly connected with spring that the connecting block is close to the second pressure sensor, the one end fixedly connected with that the connecting block was kept away from to the spring is with the second briquetting of hollow post two inner wall sliding contact, one side that the second briquetting kept away from the spring and second pressure sensor movable contact.
Further, the side surface of the abutting plate, which is close to the clamping plate, is fixedly connected with a limiting rod at the position, which is close to the two ends of the abutting plate, and one end, which is far away from the abutting plate, of the limiting rod slides to penetrate through the clamping plate at the corresponding position.
Further, the driving assembly comprises mounting seats, one mounting seat is fixedly arranged at two ends of the side face of the mounting plate, a double-head screw rod is rotatably arranged between the two mounting seats, and at least one sliding rod is fixedly connected between the two mounting seats;
two sliding blocks are arranged on the periphery of the double-head screw rod in a threaded manner, the sliding blocks are connected with the sliding rods in a sliding manner, the two sliding blocks are symmetrically distributed on the middle position of the double-head screw rod, and one side, away from the mounting plate, of each sliding block is fixedly connected with one clamping plate;
and a motor electrically connected with the control module is fixedly arranged on the outer side surface of the mounting seat, and one end of the double-head screw rod, which is close to the motor, is fixedly connected with the shaft end of an output shaft of the motor.
The utility model has the beneficial effects that:
according to the utility model, the gripping force control assembly is arranged to automatically adaptively adjust the gripping force of the object according to the objects with different mass sizes in the process of sorting the object, so that the problem that in the prior art, parts in the clamping mechanism are in high-load operation for a long time due to the fixed clamping force is solved, and the service life of the device is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to those skilled in the art that other drawings can be obtained according to these drawings without inventive effort;
FIG. 1 is a schematic illustration of the operation of the present utility model;
FIG. 2 is a three-dimensional schematic of the overall structure of the present utility model;
FIG. 3 is a three-dimensional schematic of a grip control assembly of the present utility model;
FIG. 4 is a three-dimensional schematic view of the connection between the connection plate and the push plate according to the present utility model;
FIG. 5 is an enlarged view of portion A of FIG. 4;
FIG. 6 is a three-dimensional schematic view of the connection between the interference plate and the clamping plate according to the present utility model;
FIG. 7 is a three-dimensional schematic view of the internal structure of a hollow column II according to the present utility model;
wherein, the reference numerals are as follows:
the device comprises a 1-mechanical arm, a 2-conveyor belt, a 3-gripping force control assembly, a 4-gripping mechanism, a 5-object, a 6-mounting seat, a 7-mounting plate, an 8-double-head screw rod, a 9-slide bar, a 10-slide block, an 11-motor, a 12-clamping plate, a 14-electric telescopic rod, a 15-fixing plate, a 16-connecting plate, a 17-hollow column I, a 18-telescopic rod, a 19-push plate, a 20-first pressure sensor, a 21-first press block, a 22-first connecting rod, a 23-limit rod, a 24-interference plate, a 25-hollow column II, a 26-second connecting rod, a 27-connecting block, a 28-spring, a 29-second press block and a 30-second pressure sensor.
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.
Example 1:
referring to fig. 1 to 7, in an embodiment of the present utility model, a holding power adjusting structure includes a holding power adjusting mechanism 4, the holding power adjusting mechanism 4 includes a mounting plate 7, a driving assembly is disposed between sides of the mounting plate 7, two symmetrically disposed clamping plates 12 are installed in the driving assembly in a transmission manner, the holding power adjusting structure further includes a holding power control assembly 3, and the holding power control assembly 3 includes a control module, a weight detecting assembly and a clamping power detecting assembly;
the weight detection assembly is used for calculating the gravity of the object before grabbing the object and transmitting the calculation result to the control module by an electric signal so as to control the running state of the driving assembly;
the clamping force detection assembly is used for sensing the clamping force between the clamping plate 12 and the object in the process of grabbing the object, and transmitting the sensing result to the control module in an electric signal to control the operation state of the driving assembly.
As shown in fig. 2 to 4, the weight detecting assembly comprises a fixed plate 15 fixedly mounted on the top surface of the mounting plate 7, an electric telescopic rod 14 is fixedly mounted on the side surface of the fixed plate 15, the telescopic end of the electric telescopic rod 14 penetrates through the fixed plate 15, a connecting plate 16 is fixedly mounted at the telescopic end of the electric telescopic rod 14, a hollow column 17 is fixedly mounted at the middle position of the side surface of the connecting plate 16 far away from the electric telescopic rod 14, a telescopic rod 18 is fixedly mounted at the two end positions of the side surface of the connecting plate 16 far away from the electric telescopic rod 14, and one ends of the two telescopic rods 18 far away from the connecting plate 16 are fixedly connected with a push plate 19 together;
the first pressure sensor 20 electrically connected with the control module is fixedly arranged inside the hollow column I17 at one end close to the connecting plate 16, the first pressing block 21 is further slidably arranged in the hollow column I17, one end, away from the first pressure sensor 20, of the first pressing block 21 is fixedly connected with the first connecting rod 22, one end, away from the first pressing block 21, of the first connecting rod 22 extends to the outside of the hollow column I17, and one end, away from the first pressing block 21, of the first connecting rod 22 is fixedly connected with the push plate 19.
As shown in fig. 6 and 7, the clamping force detecting assembly includes a second hollow column 25 fixedly mounted on the outer side surface of the clamping plate 12, a second connecting rod 26 is slidably inserted into one end of the second hollow column 25, which is close to the clamping plate 12, one end of the second connecting rod 26, which is far away from the second hollow column 25, slidably penetrates through the clamping plate 12 to the inner side direction of the clamping plate 12, and one end of the second connecting rod 26, which is located in the inner side direction of the clamping plate 12, is fixedly connected with a collision plate 24 parallel to the clamping plate 12;
the second pressure sensor 30 electrically connected with the control module is fixedly arranged at one end, far away from the clamping plate 12, of the hollow column II 25, a connecting block 27 in sliding contact with the inner wall of the hollow column II 25 is fixedly connected to one end, far away from the clamping plate 12, of the second connecting rod 26, a spring 28 is fixedly connected to one end, close to the second pressure sensor 30, of the connecting block 27, a second pressing block 29 in sliding contact with the inner wall of the hollow column II 25 is fixedly connected to one end, far away from the connecting block 27, of the spring 28, and one side, far away from the spring 28, of the second pressing block 29 is in movable contact with the second pressure sensor 30.
As shown in fig. 2, the driving assembly comprises mounting seats 6, one mounting seat 6 is fixedly arranged at two ends of the side surface of the mounting plate 7, a double-head screw rod 8 is rotatably arranged between the two mounting seats 6, and at least one sliding rod 9 is fixedly connected between the two mounting seats 6;
two sliding blocks 10 are arranged on the periphery of the double-head screw rod 8 in a threaded manner, the sliding blocks 10 are connected with the sliding rod 9 in a sliding manner, the two sliding blocks 10 are symmetrically distributed about the middle position of the double-head screw rod 8, and one side, away from the mounting plate 7, of the sliding blocks 10 is fixedly connected with a clamping plate 12;
the motor 11 which is electrically connected with the control module is fixedly arranged on the outer side face of one mounting seat 6, and one end of the double-end screw rod 8, which is close to the motor 11, is fixedly connected with the shaft end of an output shaft of the motor 11.
The utility model is arranged at the front end of a mechanical arm 1 in a transmission way and is used for grabbing an object 5 on a conveyor belt 2;
in the process, the mechanical arm 1 moves, so that the two abutting plates 24 are positioned on two sides of the object 5, and meanwhile, the pushing plate 19 is contacted with the side surface of the object 5; the electric telescopic rod 14 extends out, the object 5 is pushed on the conveyor belt 2 for a certain distance through the push plate 19, the push plate 19 is forced to apply force to the first pressure sensor 20 through the first pressing block 21 after being stressed in the process, the first pressure sensor 20 senses the thrust a1 (the external part of the object 5 uses the same external package, the friction coefficient between the object 5 and the conveyor belt 2 is fixed, and the value of a1 depends on the gravity of the object 5), and a signal is transmitted to the control module;
the variable a1 sensed by the first pressure sensor 20 determines the magnitude of a threshold value a2 corresponding to the second pressure sensor 30 (when the force a3 sensed by the second pressure sensor 30 reaches a2, the friction force between the abutting plate 24 and the object 5 is larger than the gravity magnitude of the object 5, namely, the operation of clamping and lifting the object 5 can be performed), after the detection of the weight detection component is completed, the control module controls the motor 11 to rotate, the motor 11 drives the double-headed screw rod 8 to rotate, the two clamping plates 12 move close to each other, the two abutting plates 24 clamp and grip the object 5 on two sides of the object 5, the first pressure sensor 20 is under the pressure of the second pressing block 29 in the process, so that the magnitude of the clamping force a3 between the abutting plate 24 and the object 5 is sensed, and when the force a3 reaches a2, the control module controls the motor 11 to stop running, and then the mechanical arm 1 correspondingly moves the object 5.
According to the utility model, the gripping force of the object 5 can be automatically and adaptively adjusted according to the objects 5 with different mass sizes in the sorting process of the object 5 through the setting of the gripping force control assembly 3, so that the problem that in the prior art, parts in the clamping mechanism are in high-load operation for a long time due to the fixed clamping force is solved, and the service life of the device is prolonged.
Example 2:
on the basis of the first embodiment, the control module adopts a PLC (programmable logic controller) in the prior art, which is an electronic device for an automatic control system and can control the operation of various devices and machines through programming; in the utility model, the PLC receives the pressure signals of the first pressure sensor 20 and the second pressure sensor 30 as output signals to control the rotation direction and start and stop of the motor 11; the control program is the same as that in the existing industrial production line (the PLC monitors the pressure change on the production line through a pressure sensor and controls the steering and start-stop of the motor according to the set logic conditions), which is the prior art.
Example 3:
referring to fig. 6, based on embodiment 1, a limiting rod 23 is fixedly connected to the side of the abutting plate 24 near the clamping plate 12 at positions near both ends thereof, and one end of the limiting rod 23 far away from the abutting plate 24 slides through the clamping plate 12 at the corresponding position.
The interference plate 24 in the clamping process is provided with guiding and limiting functions through the arrangement of the limiting rod 23, so that the relative stability between the interference plate 24 and the clamping plate 12 in the moving process is improved, and the sensing accuracy of the second pressure sensor 30 is ensured.
The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims.
Claims (5)
1. The grabbing force adjusting structure comprises a grabbing mechanism (4), wherein the grabbing mechanism (4) comprises a mounting plate (7), a driving assembly is arranged between the side faces of the mounting plate (7), two clamping plates (12) which are symmetrically arranged are arranged in the driving assembly in a transmission mode, and the grabbing force adjusting structure is characterized by further comprising a grabbing force control assembly (3), and the grabbing force control assembly (3) comprises a control module, a weight detection assembly and a clamping force detection assembly;
the weight detection assembly is used for calculating the gravity of the object before grabbing the object and transmitting the calculation result to the control module in an electric signal so as to control the running state of the driving assembly;
the clamping force detection assembly is used for sensing the clamping force between the clamping plate (12) and the object in the process of grabbing the object, and transmitting the sensing result to the control module through an electric signal so as to control the running state of the driving assembly.
2. The holding power adjusting structure according to claim 1, wherein the weight detecting assembly comprises a fixed plate (15) fixedly installed on the top surface of the mounting plate (7), an electric telescopic rod (14) is fixedly installed on the side surface of the fixed plate (15), a telescopic end of the electric telescopic rod (14) penetrates through the fixed plate (15), a connecting plate (16) is fixedly installed at the telescopic end of the electric telescopic rod (14), a hollow column I (17) is fixedly installed in the middle position of the side surface of the connecting plate (16) far away from the electric telescopic rod (14), a telescopic rod (18) is fixedly installed on the side surface of the connecting plate (16) far away from the electric telescopic rod (14) at two end positions of the connecting plate, and a pushing plate (19) is fixedly connected to one end of each telescopic rod (18) far away from the connecting plate (16);
the novel intelligent control device is characterized in that a first pressure sensor (20) electrically connected with a control module is fixedly arranged inside one end of the hollow column I (17) close to the connecting plate (16), a first pressing block (21) is further slidably arranged in the hollow column I (17), one end, away from the first pressure sensor (20), of the first pressing block (21) is fixedly connected with a first connecting rod (22), one end, away from the first pressing block (21), of the first connecting rod (22) extends to the outside of the hollow column I (17), and one end, away from the first pressing block (21), of the first connecting rod (22) is fixedly connected with a push plate (19).
3. The holding power adjusting structure according to claim 1, wherein the holding power detecting assembly comprises a hollow post two (25) fixedly installed on the outer side face of the clamping plate (12), a second connecting rod (26) is inserted into one end, close to the clamping plate (12), of the hollow post two (25), one end, far away from the hollow post two (25), of the second connecting rod (26) penetrates through the clamping plate (12) in a sliding manner to the inner side direction of the clamping plate (12), and one end, located in the inner side direction of the clamping plate (12), of the second connecting rod (26) is fixedly connected with a collision plate (24) arranged in parallel with the clamping plate (12);
the one end fixed mounting who keeps away from splint (12) in hollow post two (25) has second pressure sensor (30) with control module electric connection, and second connecting rod (26) are located inside one end fixedly connected with of hollow post two (25) connecting block (27) with hollow post two (25) inner wall sliding contact, one end fixedly connected with spring (28) that connecting block (27) are close to second pressure sensor (30), one end fixedly connected with that connecting block (27) were kept away from to spring (28) and second briquetting (29) with hollow post two (25) inner wall sliding contact, one side that spring (28) were kept away from to second briquetting (29) and second pressure sensor (30) movable contact.
4. A holding power adjusting structure according to claim 3, wherein the side surface of the abutting plate (24) close to the clamping plate (12) is fixedly connected with a limiting rod (23) at positions close to two ends of the abutting plate, and one end of the limiting rod (23) far away from the abutting plate (24) slides through the clamping plate (12) at the corresponding position.
5. The holding power adjusting structure according to claim 1, wherein the driving assembly comprises mounting seats (6), one mounting seat (6) is fixedly arranged at two ends of the side surface of the mounting plate (7), a double-head screw rod (8) is rotatably arranged between the two mounting seats (6), and at least one sliding rod (9) is fixedly connected between the two mounting seats (6);
two sliding blocks (10) are arranged on the periphery of the double-head screw rod (8) in a threaded manner, the sliding blocks (10) are connected with the sliding rod (9) in a sliding manner, the two sliding blocks (10) are symmetrically distributed on the middle position of the double-head screw rod (8), and one side, far away from the mounting plate (7), of each sliding block (10) is fixedly connected with one clamping plate (12);
and a motor (11) electrically connected with the control module is fixedly arranged on the outer side surface of the mounting seat (6), and one end, close to the motor (11), of the double-end screw rod (8) is fixedly connected with the shaft end of an output shaft of the motor (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321750386.9U CN220596257U (en) | 2023-07-05 | 2023-07-05 | Holding power adjusting structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321750386.9U CN220596257U (en) | 2023-07-05 | 2023-07-05 | Holding power adjusting structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220596257U true CN220596257U (en) | 2024-03-15 |
Family
ID=90181178
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321750386.9U Active CN220596257U (en) | 2023-07-05 | 2023-07-05 | Holding power adjusting structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220596257U (en) |
-
2023
- 2023-07-05 CN CN202321750386.9U patent/CN220596257U/en active Active
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