A clamp mechanism with 360-degree protection

Abstract

The present invention discloses a clamp mechanism with 360-degree protection, which includes: an anti-collision module and a suction cup module, the anti-collision module includes a mounting top plate, a protective plate arranged at intervals on the bottom side of the mounting top plate, a plurality of vertically arranged spring bodies connected between the mounting top plate and the protective plate, and a protective detection component for detecting whether the protective plate is displaced relative to the mounting top plate, and the protective plate moves horizontally relative to the mounting top plate; the suction cup module is relatively fixedly arranged with the mounting top plate, and the suction cup module and the mounting top plate are both located within the range covered by the outer edge of the protective plate. When the outer edge of the protective plate touches a foreign object, the protective plate will move horizontally relative to the mounting top plate, and at this time, the protective detection component detects that the protective plate is displaced relative to the mounting top plate, then the protective detection component triggers a signal, the system alarms and stops, and a collision phenomenon is avoided, which plays a role in the safety protection of people and products and the damage to products, and makes up for the deficiency of the anti-collision function of the industrial robot.

Description

Technical Field

[0001] The invention relates to the field of clamps, and in particular to a clamp mechanism with 360-degree protection. Background Art

[0002] It is very common in the current packaging industry to use robots to realize palletizing and unloading at the back end. A clamp is generally installed on the execution end of the robot to grab the product. However, in actual use, when the robot drives the clamp to move, it will collide with the machine, which will cause damage to people and products, and irreversible damage to the equipment. In addition, when the clamp uses a suction cup to grab the product, it is difficult for the robot to control the pressure of the suction cup, which makes the product easily crushed. Summary of the invention

[0003] The object of the present invention is to provide a clamp mechanism with 360-degree protection to solve one or more technical problems existing in the prior art and at least provide a beneficial choice or create conditions.

[0004] The technical solutions adopted to solve the above technical problems are:

[0005] The present invention provides a clamp mechanism with 360-degree protection, which includes: an anti-collision module and a suction cup module, the anti-collision module includes a mounting top plate, a protection plate spaced apart at the bottom side of the mounting top plate, a plurality of vertically arranged spring bodies connected between the mounting top plate and the protection plate, and a protection detection component for detecting whether the protection plate is displaced relative to the mounting top plate, and the protection plate moves horizontally relative to the mounting top plate; the suction cup module is fixedly arranged relative to the mounting top plate, and the suction cup module and the mounting top plate are both located within the range covered by the outer edge of the protection plate.

[0006] The beneficial effects of the present invention are as follows: when in use, the top plate is installed and connected to the robot, the protection detection component is connected to the alarm system signal of the robot, and the clamp mechanism grabs the material through the suction cup module. In the process of the robot driving the entire clamp mechanism to move, when the outer edge of the protective plate touches a foreign object, the protective plate will move horizontally relative to the installation top plate. At this time, the protection detection component detects that the protective plate is displaced relative to the installation top plate, and the protection detection component triggers a signal, and the system alarms and shuts down to avoid collision, thereby playing a role in protecting the safety of people and products and damaging the products, and making up for the deficiencies of the anti-collision function of the industrial robot. The present technology connects the protective plate to the installation top plate through a plurality of spring bodies, and utilizes the characteristics of the spring body itself that it can be displaced 360 degrees horizontally and can automatically rebound, so that the protective plate can collide with the outside world in any direction and can be displaced in the opposite direction of the collision. When the displacement is in place, that is, the protection detection component triggers a signal, the system alarms and shuts down, and a plurality of spring bodies can realize horizontal displacement and rebound of the protective plate, thereby realizing 360-degree anti-collision of the angle mechanism.

[0007] As a further improvement of the above technical solution, the suction cup module includes a mounting plate fixedly connected to the mounting top plate and a plurality of suction cup bodies mounted on the mounting plate.

[0008] The suction cup module of the present invention sucks materials through a plurality of suction cup bodies to improve the stability of suction.

[0009] As a further improvement of the above technical solution, the mounting plate is arranged between the protective plate and the mounting top plate, and the mounting plate is provided with a first hollow portion for the spring body to pass through.

[0010] The mounting plate in this solution is arranged between the protective plate and the mounting top plate, so that the clamp mechanism can be more compact, and both ends of the spring body pass through the first hollow portion and then connected to the mounting top plate and the protective plate, without interfering with the deformation of the spring body.

[0011] As a further improvement of the above technical solution, the protective plate is provided with a second hollow portion for the suction cup body to pass downward, and the mounting plate is in horizontal sliding contact with the protective plate through a rolling assembly.

[0012] The present solution provides installation space for the suction cup body through the second hollow portion, and further reduces the volume of the angle mechanism. According to the rebound characteristics of the spring body, in a natural state, the spring body will provide an upward elastic force to the protective plate so that the protective plate is closer to the mounting plate. In order to achieve horizontal displacement of the protective plate equivalent to the mounting top plate, since the mounting plate and the mounting top plate are relatively fixed, the present solution sets a rolling assembly between the mounting plate and the protective plate. Under the guidance of the rolling assembly, the protective plate can be moved horizontally relative to the mounting plate, and the rolling assembly limits the protective plate to horizontal displacement.

[0013] As a further improvement of the above technical solution, the rolling assembly includes a plurality of bull's eye bearings. In this solution, the limiting protection plate is realized by a plurality of bull's eye bearings, wherein the bull's eye bearings are fixedly mounted on the mounting plate.

[0014] As a further improvement of the above technical solution, the suction cup body is laterally adjustably mounted on the mounting plate.

[0015] In order to adapt to different materials, the suction cup body in this solution can be adjustably mounted on the mounting plate.

[0016] As a further improvement of the above technical solution, the suction cup body includes a buffer telescopic rod with a built-in spring, and an adsorption plate connected to the bottom end of the buffer telescopic rod. The top end of the buffer telescopic rod is a detection end that can move upward with the adsorption plate. The suction cup module also includes an anti-pressure sensor for detecting the upward movement of the detection end.

[0017] This solution provides an anti-pressure sensor to detect the downward pressure of the suction cup when sucking materials. The suction cup adsorbs the materials through the adsorption plate. When the adsorption plate contacts the materials, the spring inside the buffer telescopic rod will be compressed, and the detection end at the upper end of the buffer telescopic rod will be pushed up. When the anti-pressure sensor detects that the detection end moves up to the set position, the anti-pressure sensor signal is triggered, the robot stops moving downward and alarms, protecting the products or workers from being crushed and avoiding major safety accidents.

[0018] As a further improvement of the above technical solution, the anti-pressure sensor is mounted on the mounting plate in an adjustable manner up and down.

[0019] This solution can adjust the amount of pressure on the buffer telescopic rod by adjusting the upper and lower heights of the anti-pressure sensor, so that the downward pressure of the suction cup body can be adjusted according to different products.

[0020] As a further improvement of the above technical solution, the protection detection component includes a plurality of protection sensors fixedly arranged relative to the mounting top plate, a plurality of detection holes are provided on the protection plate, and the protection sensors are arranged in a one-to-one correspondence with the detection holes.

[0021] The protection detection component in the present scheme is arranged relative to the detection hole through the protection sensor. When the protection plate is displaced in any horizontal direction, the protection sensor can detect the inner edge of the detection hole, thereby triggering a signal. Preferably, the detection end of the protection sensor is coaxially arranged with the detection hole and both extend vertically. The anti-collision sensitivity can be adjusted by the size of the detection hole. A small-sized detection hole can improve the anti-collision sensitivity.

[0022] As a further improvement of the above technical solution, the upper and lower ends of the spring body are connected to the mounting top plate and the protective plate through connecting flanges respectively.

[0023] In order to facilitate assembly, in this solution, both ends of the spring body are connected with connecting flanges, and are connected to corresponding plates through the connecting flanges. The spring body and the two connecting flanges can be pre-fixed together to form a modular structure to facilitate processing and production. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings and embodiments;

[0025] Figure 1 This is a structural schematic diagram of an embodiment of a clamp mechanism with 360-degree protection provided by the present invention;

[0026] Figure 2 yes Figure 1 A partial enlarged view of part A;

[0027] Figure 3This is a front view of an embodiment of the clamp mechanism with 360-degree protection provided by the present invention. DETAILED DESCRIPTION

[0028] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0029] In the description of the present invention, it should be understood that descriptions involving orientations, such as up, down, front, back, left, right, etc., and orientations or positional relationships indicated are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0030] In the description of the present invention, if there are words such as "several", it means one or more, "more" means more than two, greater than, less than, exceed, etc. are understood as not including the number, and above, below, within, etc. are understood as including the number.

[0031] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0032] Reference Figure 1 to Figure 3 The clamp mechanism with 360-degree protection of the present invention is implemented as follows:

[0033] The clamp mechanism of this embodiment includes an anti-collision module and a suction cup module.

[0034] The anti-collision module includes an installation top plate 100, a protective plate 200, a protective detection component, and a plurality of spring bodies 300. The installation top plate 100 and the protective plate 200 are arranged in parallel and spaced apart from each other. The plurality of spring bodies 300 are evenly distributed between the bottom surface of the installation top plate 100 and the top surface of the protective plate 200. The spring body 300 is vertically arranged, and the upper end of the spring body 300 is connected to the installation top plate 100, while the lower end of the spring body 300 is connected to the protective plate 200.

[0035] The protective plate 200 in this embodiment can be displaced in any horizontal direction relative to the mounting top plate 100. Specifically, the mounting top plate 100 is in horizontal sliding contact with the protective plate 200 through a rolling component. When the protective plate 200 is displaced relative to the mounting top plate 100 by a horizontal external force, the protective plate 200 will return to its original position under the elastic reset deformation of the spring body 300, and a plurality of spring bodies 300 can give the protective plate 200 a buffering function.

[0036] In this embodiment, four spring bodies 300 are provided, and the four spring bodies 300 are arranged in a rectangular shape.

[0037] The protection detection component is used to detect whether the protection plate 200 is displaced relative to the mounting top plate 100, wherein the amount of displacement is determined according to the actual required sensitivity.

[0038] The protection detection assembly of this embodiment includes a plurality of protection sensors 800 , wherein the plurality of protection sensors 800 are relatively fixed to the mounting top plate 100 , and a plurality of detection holes 220 are provided on the protection plate 200 , and the plurality of detection holes 220 correspond one-to-one to the plurality of protection sensors 800 .

[0039] The protective detection component is arranged relative to the detection hole 220 through the protective sensor 800. When the protective plate 200 is displaced in any horizontal direction, the protective sensor 800 can detect the inner edge of the detection hole 220, thereby triggering a signal. Preferably, the detection end of the protective sensor 800 is coaxially arranged with the detection hole 220, and both extend vertically. The anti-collision sensitivity can be adjusted by the size of the detection hole 220. A small-sized detection hole 220 can improve the anti-collision sensitivity.

[0040] The suction cup module is installed on the mounting top plate 100. The suction cup module of this embodiment is arranged together with the mounting top plate 100 within the range covered by the outer edge of the protective plate 200, so that the outermost four sides of the clamping mechanism are the outer edges of the protective plate 200. Horizontally, the outer edges of the protective plate 200 are in contact with foreign objects in advance.

[0041] Among them, the suction cup module of this embodiment includes a mounting plate 400 and a plurality of suction cup bodies 500. The mounting plate 400 is connected to the mounting top plate 100. In order to make the volume of the clamp mechanism compact, the mounting plate 400 is arranged between the protective plate 200 and the mounting top plate 100, and a first hollow portion 410 is arranged on the mounting plate 400. The first hollow portion 410 is mainly for the spring body 300 to pass through. Both ends of the spring body 300 pass through the first hollow portion 410 and then are connected to the mounting top plate 100 and the protective plate 200, without interfering with the deformation of the spring body 300.

[0042] A plurality of suction cup bodies 500 are evenly installed at the bottom of the mounting plate 400. The protective plate 200 is provided with a second hollow portion 210. The second hollow portion 210 is mainly for the suction cup bodies 500 to pass downward. The second hollow portion 210 provides installation space for the suction cup bodies 500, and further reduces the volume of the angle mechanism.

[0043] The rolling component of this embodiment is arranged between the mounting plate 400 and the protective plate 200. According to the rebound characteristics of the spring body 300, in a natural state, the spring body 300 will provide an upward elastic force to the protective plate 200 so that the protective plate 200 is close to the mounting plate 400. In order to realize the horizontal displacement of the protective plate 200 equivalent to the mounting top plate 100, since the mounting plate 400 and the mounting top plate 100 are relatively fixed, this scheme sets a rolling component between the mounting plate 400 and the protective plate 200. Under the guidance of the rolling component, the protective plate 200 can be moved horizontally relative to the mounting plate 400, and the rolling component limits the protective plate 200 to be able to move only in the horizontal direction.

[0044] The rolling component may adopt a slider structure. The rolling component of this embodiment includes a plurality of bull's eye bearings 600 , and the limiting protection plate 200 is realized by the plurality of bull's eye bearings 600 , wherein the bull's eye bearings 600 are fixedly mounted on the mounting plate 400 .

[0045] Furthermore, the sizes of the mounting plate 400 and the mounting top plate 100 of this embodiment are both smaller than the protection plate 200 , and the mounting plate 400 is connected to the bottom of the mounting top plate 100 via a plurality of connecting columns.

[0046] In order to adapt to different materials, the suction cup body 500 in this solution is laterally adjustable and mounted on the mounting plate 400, such as Figure 1 As shown, in this embodiment, a transversely extending installation groove is provided on the installation plate 400, and the suction cup body 500 is clamped and installed in the installation groove by a nut. When adjusting, the nut is loosened and the suction cup body 500 is dragged.

[0047] When in use, the mounting top plate 100 is connected to the robot via a connecting seat arranged on the bottom surface, the protection sensor 800 on the protection detection component is connected to the alarm system signal of the robot, and the clamp mechanism grabs the material via the suction cup module. In the process of the robot driving the entire clamp mechanism to move, when the outer edge of the protection plate 200 touches a foreign object, the protection plate 200 will move horizontally relative to the mounting top plate 100. At this time, the protection detection component detects that the protection plate 200 is in place relative to the mounting top plate 100, and the protection detection component triggers a signal, the system alarms and shuts down, thereby avoiding a collision, which plays a role. It protects the safety of people and products and prevents damage to products, and makes up for the lack of anti-collision function of industrial robots. The technology connects the protective plate 200 with the mounting top plate 100 through a plurality of spring bodies 300, and utilizes the characteristics of the spring body 300 itself that can be displaced 360 degrees horizontally and can automatically rebound, so that the protective plate 200 can be displaced in the opposite direction of the collision when it collides with the outside world in any direction. When the displacement is in place, that is, the protection detection component triggers a signal, the system alarms and shuts down. A plurality of spring bodies 300 can realize the horizontal displacement and rebound of the protective plate 200, realizing 360-degree anti-collision of the angle mechanism.

[0048] For easy assembly, both ends of the spring body 300 are connected with connecting flanges 310, and are connected to corresponding plates through the connecting flanges 310. The spring body 300 and the two connecting flanges 310 can be pre-fixed together to form a module structure to facilitate processing and production.

[0049] Furthermore, the suction cup body 500 includes a buffer telescopic rod 510 and an adsorption cup 520 installed at the bottom end of the buffer telescopic rod 510. The buffer telescopic rod 510 has a built-in spring. The top end of the buffer telescopic rod 510 is a detection end that can move upward with the adsorption cup 520. The suction cup module also includes an anti-pressure sensor 700 installed on the mounting plate 400. The anti-pressure sensor 700 is used to detect the upward movement of the detection end of the buffer telescopic rod 510.

[0050] In this embodiment, an anti-pressure sensor 700 is provided to detect the downward pressure of the suction cup body 500 when sucking materials. The suction cup body 500 adsorbs and contacts the materials through the adsorption plate 520. When the adsorption plate 520 contacts the materials, the spring inside the buffer telescopic rod 510 will be compressed, and the detection end at the upper end of the buffer telescopic rod 510 will be pushed up. When the anti-pressure sensor 700 detects that the detection end moves up to the set position, the anti-pressure sensor 700 generates a signal, and the robot stops pressing down at this time, so as not to continue pressing down and damage the product.

[0051] In addition, the anti-pressure sensor 700 is installed on the mounting plate 400 in an adjustable manner up and down. The amount of pressure on the buffer telescopic rod 510 can be adjusted by adjusting the up and down height of the anti-pressure sensor 700. In this way, the downward pressure force of the suction cup body 500 can be adjusted according to different products.

[0052] In this embodiment, an adjustment frame is installed on the top surface of the installation plate 400, and the anti-pressure sensor 700 is installed on the adjustment frame in a manner that it can be adjusted vertically and horizontally.

[0053] As for the number of the anti-pressure sensors 700, two are provided in this embodiment, and they are provided on two diagonally arranged suction cup bodies 500.

[0054] In this embodiment, two pairs of protection sensors 800 and detection holes 220 are provided.

[0055] The preferred embodiments of the present invention are described in detail above, but the invention is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the invention. These equivalent modifications or substitutions are all included in the scope defined by the claims of this application.

Claims

1. A clamp mechanism with 360-degree protection, characterized in that: It includes: An anti-collision module comprises a mounting top plate (100), a protective plate (200) spaced apart at the bottom side of the mounting top plate (100), a plurality of vertically arranged spring bodies (300) connected between the mounting top plate (100) and the protective plate (200), and a protective detection component for detecting whether the protective plate (200) is displaced relative to the mounting top plate (100), wherein the protective plate (200) moves horizontally relative to the mounting top plate (100); a suction cup module, which is fixedly arranged relative to the mounting top plate (100), wherein the suction cup module and the mounting top plate (100) are both located within a range covered by an outer edge of the protective plate (200); The suction cup module comprises a mounting plate (400) fixedly connected to the mounting top plate (100), and a plurality of suction cup bodies (500) mounted on the mounting plate (400); The mounting plate (400) is disposed between the protection plate (200) and the mounting top plate (100), and the mounting plate (400) is provided with a first hollow portion (410) for the spring body (300) to pass through; The protective plate (200) is provided with a second hollow portion (210) for the suction cup body (500) to pass downward, and the mounting plate (400) is in horizontal sliding contact with the protective plate (200) via a rolling assembly; The suction cup body (500) is laterally adjustable and mounted on the mounting plate (400); The suction cup body (500) comprises a buffer telescopic rod (510) with a built-in spring, and a suction cup (520) connected to the bottom end of the buffer telescopic rod (510); the top end of the buffer telescopic rod (510) is a detection end that can move upward along with the suction cup (520); the suction cup module also comprises an anti-pressure sensor (700) for detecting the upward movement of the detection end; when the anti-pressure sensor (700) detects that the detection end has moved upward to a set position, the anti-pressure sensor (700) generates a signal, and the robot stops the downward pressing action at this time; The anti-pressure sensor (700) is mounted on the mounting plate (400) in an adjustable manner up and down; The protection detection assembly comprises a plurality of protection sensors (800) fixedly arranged relative to the mounting top plate (100); a plurality of detection holes (220) are provided on the protection plate (200); the protection sensors (800) and the detection holes (220) are arranged in a one-to-one correspondence; and the detection end of the protection sensor 800 is coaxially arranged with the detection hole 220; The upper and lower ends of the spring body (300) are respectively connected to the mounting top plate (100) and the protection plate (200) via connecting flanges (310).

2. A clamp mechanism with 360-degree protection according to claim 1, characterized in that: The rolling assembly includes a plurality of bull's eye bearings (600).

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