A mechanical gripper with self-sensing material quantity

Abstract

The present invention discloses a mechanical gripper with self-sensing material quantity, comprising a gripper body, a floating module, a first sensing sheet, a second sensing sheet, a first sensor, a second sensor, and a mounting rod. The gripper body is connected to the mounting rod via the floating module, the first sensing sheet and the second sensing sheet are fixed to the mounting rod, the first sensor and the second sensor are fixed to the floating module, and are respectively aligned with the first sensing sheet and the second sensing sheet; the alignment time of the first sensor and the first sensing sheet is staggered and overlapped with the alignment time of the second sensing sheet and the second sensor. The advantage of the present invention is that, through the arrangement and combination of the signals of the two sensors, self-sensing of the number of materials grasped is achieved, which is particularly suitable for use in scenarios where single-package grasping of materials is required, thereby improving the degree of automation of the system.

Description

Technical Field

[0001] The present invention relates to a mechanical gripper, in particular to a mechanical gripper capable of self-sensing the amount of gripped materials, and belongs to the technical field of mechanical arms. Background Art

[0002] In many working scenarios, mechanical grippers must individually grasp materials to meet operational requirements. Take, for example, the handling of ladle covering agent bags during the continuous casting process. Ladle covering agents isolate molten steel from the surrounding air, providing thermal insulation and are essential auxiliary materials in the continuous casting process. For ease of transportation, steel mills typically place multiple covering agent bags in large ton bags, often in random locations, before transporting them to the production site.

[0003] Currently, due to the process requirement of uniform covering agent addition, when grabbing covering agent bags from large bags, it is necessary to ensure single bag handling. That is, only one bag of covering agent can be grabbed at a time to meet on-site process requirements. However, due to the uncontrolled placement of covering agent bags in large bags, traditional robotic arms cannot accurately grab single bags, often resulting in multiple grabs and missed bags, making it impossible to achieve automated and unmanned production. Summary of the Invention

[0004] Purpose of the invention: In view of the above problems, the purpose of the present invention is to provide a mechanical gripper with self-sensing material quantity to achieve single-bag grabbing of materials to meet the use requirements of grabbing covering agent bags in steel mills.

[0005] Technical solution: A mechanical gripper with self-sensing material quantity, comprising a gripper body, a floating module, a first sensing sheet, a second sensing sheet, a first sensor, a second sensor, and a mounting rod. The gripper body is connected to the mounting rod through the floating module, the first sensing sheet and the second sensing sheet are fixed on the mounting rod, the first sensor and the second sensor are fixed on the floating module, and are respectively aligned with the first sensing sheet and the second sensing sheet; the alignment time of the first sensor and the first sensing sheet is staggered and overlapped with the alignment time of the second sensing sheet and the second sensor.

[0006] The principle of the present invention is: in the original position, the first sensor and the first sensing piece are aligned, the second sensor and the second sensing piece are not aligned, the first sensor displays a signal, and the second sensor displays no signal. This state indicates that the material clamped by the clamp body is 0 bags.

[0007] Upon initial operation, the gripper body grasps material. Gravity forces the floating module to move the first and second sensors downward. The more material grasped, the greater the gravity, and the further the first and second sensors move downward. After grasping a single bag of material, the first and second sensors move downward, and the first sensor remains aligned with the first sensor plate, while the second sensor simultaneously moves downward to align with the second sensor plate. At this point, the first sensor and the first sensor plate, as well as the second sensor and the second sensor plate, simultaneously form an alignment, meaning their alignment times overlap and are displayed as signals, indicating that the gripper body has grasped a single bag of material.

[0008] After gripping an item, the first sensor's downward position leaves its alignment with the first sensing plate, and the second sensor's downward position aligns with the first sensing plate. When the first sensor displays no signal and the second sensor displays a signal, the gripper has gripped multiple bags of material. The overlapping and interleaving of the two sensor signals allows for accurate sensing of the gripped material quantity, improving the system's automation.

[0009] Furthermore, a mounting plate is provided on the mounting rod, and the floating module includes a spring, a linear bearing, a guide rod, and a fixed plate. The guide rod passes through the mounting plate and is connected to the fixed plate. The linear bearing is sleeved on the guide rod, and its outer wall is fixedly connected to the mounting plate. A limit nut is fixed to the top of the guide rod. The spring is sleeved on the guide rod and connects the limit nut and the linear bearing. The first and second sensors are mounted on the guide rod, and the clamp body is mounted on the fixed plate. In this structure, after the clamp body clamps the material, the guide rod moves downward along the linear bearing, compressing the spring. After the clamp body releases the material, the spring resets, driving the guide rod to move upward and reset along the linear bearing, thereby forming a floating structure.

[0010] Furthermore, the floating module also includes a connecting block, and the springs, linear bearings, and guide rods are respectively provided in four groups. A connecting block is respectively installed between the guide rods on opposite sides of a group, and the first sensor and the second sensor are respectively fixed on one of the connecting blocks to obtain a more stable floating structure.

[0011] Furthermore, the first and second sensors are arranged at the same height, and the first and second sensing plates are staggered. In this structure, before the clamp is used, the downward movement distance of the floating module needs to be calculated based on the weight of the material bag and the strength of the spring, so as to preset the installation positions of the first and second sensing plates. The equal height arrangement of the first and second sensors facilitates adjustment of the installation positions of the first and second sensing plates.

[0012] Furthermore, the first sensor and the second sensor are U-shaped sensors, and the sensing ends of the first sensing piece and the second sensing piece extend into the U-shaped openings of the first sensor and the second sensor respectively, so that the signal detection of the first sensor and the second sensor is more stable.

[0013] Furthermore, the clamp body includes a cylinder, a connecting rod mechanism, a left claw head, and a right claw head. The left claw head and the right claw head have lower teeth, and the lower teeth of the left claw head and the right claw head engage with each other. The cylinder drives the connecting rod mechanism to drive the left claw head and the right claw head to engage to grab the material.

[0014] Beneficial effect: Compared with the existing technology, the advantages of the present invention are: through the signal arrangement and combination of the two sensors, self-perception of the number of materials grabbed is achieved, which is particularly suitable for use in scenarios where single-bag materials need to be grabbed, thereby improving the degree of automation of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention used in a covering agent bag grabbing scenario;

[0016] Figure 2 It is a schematic diagram of the three-dimensional structure of the present invention;

[0017] Figure 3 for Figure 2 A magnified schematic diagram of position A in the middle;

[0018] Figure 4 for Figure 2 Enlarged schematic diagram of position B in the middle. DETAILED DESCRIPTION

[0019] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. These embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0020] A material quantity self-sensing mechanical gripper, as shown in the attached Figure 1 As shown, it is suitable for the single bag grabbing scenario of the covering agent bag in the steel plant. The covering agent bag 100 is irregularly placed in the silo 101, and the industrial robot 102 drives the mechanical gripper to grab the covering agent bag. Figure 2 、 3 As shown, the mechanical gripper specifically includes a gripper body 1 , a floating module 2 , a first sensing sheet 3 , a second sensing sheet 4 , a first sensor 5 , a second sensor 6 , a mounting rod 7 , and a mounting plate 8 .

[0021] As attached Figure 2 As shown, the clamp body 1 is connected to the mounting plate 8 through the floating module 2 , and the first sensing piece 3 , the second sensing piece 4 and the mounting plate 8 are fixed on the mounting rod 7 .

[0022] As attached Figure 2 As shown, the gripper body 1 specifically includes a cylinder 11, a connecting rod mechanism 12, a left claw head 13, and a right claw head 14. The left claw head 13 and the right claw head 14 have lower teeth a, and the lower teeth a of the left claw head 13 and the right claw head 14 engage with each other. The cylinder 11 drives the connecting rod mechanism 12 to drive the left claw head 13 and the right claw head 14 to engage to grab the material. The specific structure of the connecting rod mechanism 12 is shown in the attached figure. Figure 4 As shown, a combination of multiple rotating shafts and connecting arms is adopted.

[0023] As attached Figure 3 As shown, the floating module 2 specifically includes a spring 21, a linear bearing 22, a guide rod 23, a fixed plate 24, a limit nut 25, and a connecting block 26. The guide rod 23 passes through the mounting plate 8 and is connected to the fixed plate 24. The linear bearing 22 is mounted on the guide rod 23, and its outer wall is fixed to the mounting plate 8. The top of the guide rod 23 is fixed with a limit nut 25. The spring 21 is mounted on the guide rod 23 and connects the limit nut 25 and the linear bearing 22. The first sensor 5 and the second sensor 6 are mounted on the guide rod 23 and are respectively aligned with the first sensing plate 3 and the second sensing plate 4. The clamp body 1 is mounted on the fixed plate 24. In this embodiment, to achieve a more stable floating structure, four groups of springs 21, linear bearings 22, and guide rods 23 are provided. A connecting block 26 is provided between each group of guide rods 23 on opposite sides. The first sensor 5 and the second sensor 6 are respectively fixed to a connecting block 26. The first sensor 5 and the second sensor 6 are arranged at the same height, and the first sensing pieces 3 and the second sensing pieces 4 are arranged alternately. The first sensor 5 and the second sensor 6 are U-shaped sensors, and the sensing ends of the first sensing piece 3 and the second sensing piece 4 extend into the U-shaped openings of the first sensor 5 and the second sensor 6 respectively.

[0024] In this embodiment, the alignment time between the first sensor 5 and the first sensing plate 3 overlaps with the alignment time between the second sensing plate 4 and the second sensor 6. Specifically, there are three alignment states: the first: the first sensor 5 is aligned with the first sensing plate 3, but the second sensing plate 4 and the second sensor 6 are not. The second: the first sensor 5 and the first sensing plate 3, and the second sensing plate 4 and the second sensor 6 are aligned simultaneously. The third: the first sensor 5 and the first sensing plate 3 are not aligned, but the second sensing plate 4 and the second sensor 6 are aligned.

[0025] Before using the mechanical gripper of this embodiment, the installation height of the first and second sensing plates 3 and 4 must be adjusted according to the weight of the covering agent bags. Specifically, when not gripping covering agent bags, the sensor and sensing plates must be in the first alignment state; when gripping a single covering agent bag, the sensor and sensing plates must be in the second alignment state; and when gripping multiple covering agent bags, the sensor and sensing plates must be in the third alignment state.

[0026] During use, the industrial robot drives the mechanical gripper into the silo, drives the connecting rod mechanism 12 through the cylinder 11, and drives the lower teeth a of the left claw head 13 and the right claw head 14 to engage with each other to grab the covering agent bag. When the first sensor 5 and the second sensor 6 have signal feedback at the same time, it corresponds to the second alignment state, which is used to indicate that a single bag of covering agent has been grabbed. When the first sensor 5 has no signal feedback and the second sensor 6 has signal feedback, it corresponds to the third alignment state, which is used to indicate that multiple bags of covering agent have been grabbed. Therefore, through the signal arrangement and combination of the two sensors, self-perception of the quantity of grabbed materials is achieved.

Claims

1. A mechanical gripper with self-sensing material quantity, characterized by: The invention comprises a clamping jaw body (1), a floating module (2), a first sensing piece (3), a second sensing piece (4), a first sensor (5), a second sensor (6), and a mounting rod (7), wherein the clamping jaw body (1) is connected to the mounting rod (7) through the floating module (2), the first sensing piece (3) and the second sensing piece (4) are fixed on the mounting rod (7), the first sensor (5) and the second sensor (6) are fixed on the floating module (2), and are respectively aligned with the first sensing piece (3) and the second sensing piece (4); the alignment time of the first sensor (5) and the first sensing piece (3) is staggered and overlapped with the alignment time of the second sensing piece (4) and the second sensor (6); a mounting plate (8) is provided on the mounting rod (7), the floating module (2) comprises a spring (21), a linear bearing (22), a guide rod (23), and a fixed plate (24), and the guide rod (23) passes through the mounting plate (8) and is aligned with the first sensor (3) and the second sensor (4). The fixing plate (24) is connected, the linear bearing (22) is sleeved on the guide rod (23), and its outer wall is fixedly connected to the mounting plate (8), a limiting nut (25) is fixed on the top of the guide rod (23), the spring (21) is sleeved on the guide rod (23), and the limiting nut (25) and the linear bearing (22) are connected, the first sensor (5) and the second sensor (6) are installed on the guide rod (23), and the clamp body (1) Installed on the fixed plate (24); the clamping jaw body (1) includes a cylinder (11), a connecting rod mechanism (12), a left claw head (13), and a right claw head (14); the left claw head (13) and the right claw head (14) have lower teeth (a), and the lower teeth (a) of the left claw head (13) and the right claw head (14) are engaged with each other; the cylinder (11) drives the connecting rod mechanism (12) to drive the left claw head (13) and the right claw head (14) to engage to grab materials.

2. The material quantity self-sensing mechanical gripper according to claim 1, characterized in that: The floating module (2) further includes a connecting block (26), and the spring (21), the linear bearing (22), and the guide rod (23) are respectively provided in four groups, and one connecting block (26) is respectively mounted between the guide rods (23) on opposite sides of a group, and the first sensor (5) and the second sensor (6) are respectively fixed on one of the connecting blocks (26).

3. The material quantity self-sensing mechanical gripper according to claim 1, characterized in that: The first sensor (5) and the second sensor (6) are arranged at the same height, and the first sensing sheet (3) and the second sensing sheet (4) are arranged in an alternating manner.

4. The material quantity self-sensing mechanical gripper according to claim 1, characterized in that: The first sensor (5) and the second sensor (6) are U-shaped sensors, and the sensing ends of the first sensing piece (3) and the second sensing piece (4) extend into the U-shaped openings of the first sensor (5) and the second sensor (6) respectively.

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