Anti-collision quick-change robot clamping jaw

Abstract

The invention discloses an anti-collision quick-change robot clamping jaw which comprises a connecting plate, a tool quick-change device female head arranged on the rear side of the connecting plate, a tool quick-change device male head and an aviation plug. The clamping jaw fingers, the pneumatic element, the clamping assembly, the distance measuring sensor baffle, the anti-collision distance measuring sensor, the laser distance measuring sensor and the correlation sensor are arranged on the front side of the connecting plate, the proximity switch is arranged above the pneumatic element, and the position of the pneumatic element is judged through the proximity switch; the clamping jaw fingers are driven by a pneumatic element; the laser distance measuring sensor measures the distance between two clamping jaw fingers in real time and outputs data through the aviation plug, the proximity switch is used for judging the position of a pneumatic element, and the anti-collision distance measuring sensor measures the distance between an object right ahead of the clamping jaw and the clamping jaw in real time and is used for preventing collision. And the anti-falling clamping plate can prevent the workpiece from falling in an emergency gas cut-off state. The overall structure is compact, clamping of the cylindrical workpiece is achieved through the wedge-shaped clamping blocks, automation is improved, the labor cost is reduced, and meanwhile the application safety and reliability are greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of automated processing equipment, and in particular to a robot gripper, and in particular to an anti-collision quick-change robot gripper. Background Art

[0002] In recent years, with the further development of automation technology, unmanned factories have gradually become an important method to improve production efficiency and reduce production costs. Industrial robots are important equipment for automated processing in unmanned workshops. Among them, robot grippers are important structural components for realizing the application of industrial robots in unmanned workshops. In unmanned workshops, whether it is loading or unloading, reversing workpieces, or converting processes, robot grippers are indispensable. The method of realizing automated processing using industrial robots and their grippers is widely used in aerospace, hazardous chemicals, and automotive assembly.

[0003] Since industrial robots cannot sense changes in the surrounding environment when they are in operation, they are prone to collisions with people when they enter their working area. In addition, when industrial robots are carrying some dangerous chemicals, since most types of chemicals are made of unstable materials, are dangerous and volatile, a series of potential safety hazards may occur, so it is necessary to improve the robot gripper. Summary of the invention

[0004] In order to solve the above technical problems, the purpose of the present invention is to provide an anti-collision quick-change robot gripper to improve the safety and reliability of the robot in transporting objects in an unmanned workshop and reduce the probability of collision accidents of the robot.

[0005] The present invention solves the above problems through the following technical solutions:

[0006] A collision-proof quick-change robot gripper, comprising: a connecting plate, a tool quick-change device female head, a tool quick-change device male head and an aviation plug connector arranged on the rear side of the connecting plate, gripper fingers, pneumatic elements, a clamping assembly, a distance sensor baffle, an anti-collision distance sensor, a laser distance sensor and a beam sensor arranged on the front side of the connecting plate, and a proximity switch arranged above the pneumatic element, and the position of the pneumatic element is judged by the proximity switch; wherein the rear side of the connecting plate is connected to the tool quick-change device male head through the tool quick-change device female head, and is installed on the end of the robot through the tool quick-change device male head; the aviation plug connector is arranged on the side of the tool quick-change device male head for outputting data; the front side of the connecting plate is connected to two The clamping fingers are provided with a clamping assembly, a distance sensor baffle, an anti-collision distance sensor, a laser distance sensor and a through-beam sensor, and the clamping assembly on the two clamping fingers is driven by a pneumatic element to clamp the workpiece; the distance sensor baffle and the laser distance sensor are relatively arranged on the two clamping fingers to measure the distance between the two clamping fingers; the anti-collision distance sensor is used to measure the distance between the object in front of the clamping fingers and the clamping fingers in real time to prevent collision; an anti-dropping card plate is arranged on the clamping fingers to prevent the workpiece from falling in an emergency gas-off state; the through-beam sensor is used to monitor in real time whether there is a workpiece between the two clamping fingers to determine whether the workpiece falls.

[0007] As a further improvement, the two pneumatic components are symmetrically arranged on the left and right, including: a piston rod, and a slider slidably arranged on the piston rod, so that the gripper fingers are installed through the slider.

[0008] As a further improvement, the laser emission direction of the laser ranging sensor is arranged facing the ranging sensor baffle;

[0009] And / or the anti-collision distance measuring sensor is arranged on the inner side of the two gripper fingers so as to detect the inner side of the two gripper fingers.

[0010] As a further improvement, the clamping claw finger is integrally formed with a mounting plate and a clamping plate located in front of the mounting plate, the clamping plate is a "C"-shaped plate structure, and the mounting plate and the clamping plate are vertically arranged.

[0011] As a further improvement, the clamping plate is provided with anti-dropping clamping plates on the left and right sides, and the anti-dropping clamping plates are arranged vertically to the clamping plate.

[0012] As a further improvement, the anti-dropping clamping plates on the clamping plates on the left and right sides are staggered front to back.

[0013] As a further improvement, the anti-dropping card plate includes an upper card plate and a lower card plate, and the upper card plate and the lower card plate are both "L"-shaped and are arranged opposite to each other up and down.

[0014] As a further improvement, the upper clamping plate and the lower clamping plate are respectively arranged at upper and lower relative positions of the clamping plate of the clamping claw fingers by screws.

[0015] As a further improvement, the clamping assembly is arranged relatively inside the clamping plate of the clamping claw fingers.

[0016] As a further improvement, the clamping assembly includes wedge-shaped clamping blocks arranged opposite to each other in a "V" shape, and rubber pads arranged on the wedge-shaped clamping blocks; the through-beam sensor is arranged in the middle position above the "V"-shaped wedge-shaped clamping blocks.

[0017] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0018] (1) Compared with the traditional robot gripper, the present invention has a more compact overall structure through structural design and layout. By installing a proximity switch and a laser ranging sensor, the distance between the two gripper fingers of the robot gripper can be monitored in real time, and the size of the clamped workpiece can be determined to prevent empty clamping, which greatly improves the safety of the equipment. In addition, since the present invention installs an anti-collision ranging sensor directly below the gripper fingers, it can monitor in real time whether there are objects directly in front of the robot to prevent the robot from colliding.

[0019] (2) The gripper fingers of the present invention are driven by pneumatic elements. The gripping force of the gripper fingers can be adjusted by adjusting the air pressure. Four wedge-shaped clamping blocks are installed on the gripper fingers to achieve automatic centering of the cylindrical workpiece. At the same time, the four wedge-shaped blocks are installed with rubber pads to reduce the damage of the gripper fingers to the workpiece and increase friction.

[0020] (3) The anti-dropping clamping plate of the present invention can prevent the workpiece from falling in an emergency gas-off state, thereby greatly increasing the safety and reliability of its application while improving automation and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of an anti-collision quick-change robot gripper of the present invention;

[0022] Figure 2 This is a schematic diagram of the cooperation between an anti-collision quick-change robot gripper and a robot end of the present invention.

[0023] Figure numerals: 1. wedge-shaped clamp; 2. rubber pad; 3. through-beam sensor; 4. anti-drop clamp plate; 5. clamping claw finger; 51. mounting plate; 52. clamping plate; 6. connecting plate; 7. pneumatic element; 8. distance sensor baffle; 9. anti-collision distance sensor; 10. laser distance sensor; 11. female head of tool quick changer; 12. proximity switch; 13. male head of tool quick changer; 14. aviation plug connector; 15. workpiece. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the embodiments of the present application will be described in more detail below in conjunction with the drawings in the preferred embodiments of the present application. In the drawings, the same or similar reference numerals throughout represent the same or similar parts or parts with the same or similar functions. The described embodiments are part of the embodiments of the present application, not all of the embodiments. The embodiments described below with reference to the drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limitations on the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present application.

[0025] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0026] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0027] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are orientations or positional relationships based on the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element 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 application.

[0028] In addition, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or display that includes a series of steps or elements is not necessarily limited to those steps or elements explicitly listed but may include other steps or elements not explicitly listed or inherent to such process, method, product, or display.

[0029] The following will be combined Figure 1-2 , a collision-proof quick-change robot gripper involved in the embodiment of the present application is described in detail. It is worth noting that the following embodiments are only used to explain the present application and do not constitute a limitation on the present application.

[0030] Example

[0031] Reference Figure 1-2 , an anti-collision quick-change robot gripper, comprising: a connecting plate 6, a tool quick-change device female head 11, a tool quick-change device male head 13 and an aviation plug connector 14 arranged on the rear side of the connecting plate 6, a gripper finger 5, a pneumatic element 7, a clamping assembly, a distance sensor baffle 8, an anti-collision distance sensor 9 and a laser distance sensor 10 arranged on the front side of the connecting plate 6, and a proximity switch 12 above the pneumatic element 7, wherein the tool quick-change device female head 11 is directly installed on the rear side of the connecting plate 6, the front end of the tool quick-change device male head 13 is connected to the rear end of the tool quick-change device female head 11, and the aviation plug connector 14 is arranged on the side of the tool quick-change device male head 13, and is connected to the air pressure sensor and the torque sensor The connecting plate 6 is connected to an interface for outputting data; and is connected to the axis of the robot through the rear end of the male head 13 of the tool quick change device to realize control; a pneumatic element 7 is arranged at the front end of the connecting plate 6; a gripper finger 5 is installed on the front side of the pneumatic element 7 to grip the workpiece 15 through the clamping components arranged oppositely on the two gripper fingers 5; a distance sensor baffle 8 and a laser distance sensor 10 are arranged oppositely on the two gripper fingers 5 to measure the distance between the two gripper fingers 5; an anti-collision distance sensor 9 is arranged on the opposite side of the two gripper fingers 5 to detect the surrounding environment of the two gripper fingers 5, so as to avoid collision when identifying whether there is a person entering its working area.

[0032] In this embodiment, the pneumatic element 7 includes a piston rod and a slider slidably arranged on the piston rod. The two pneumatic elements 7 are symmetrically arranged on the left and right. The front side of the slider is connected to a gripper finger 5 by screws. The gripper finger 5 is in a "C" shape, and the two gripper fingers 5 are arranged opposite to each other so as to clamp the workpiece. The distance sensor baffle 8 and the laser distance sensor 10 are arranged opposite to each other on the front side of the mounting plate 51 of the gripper finger 5, and the laser emission direction of the laser distance sensor 10 is arranged facing the distance sensor baffle 8; the anti-collision distance sensor 9 is arranged on the inner side of the mounting plate 51 of the two gripper fingers 5 so as to detect the inner side of the two gripper fingers 5 to ensure the safety of the operation process.

[0033] The clamping finger 5 is formed with an integrally formed mounting plate 51 and a clamping plate 52 located on the front side of the mounting plate 51. The clamping plate 52 is a "C"-shaped plate-like structure, and the mounting plate 51 and the clamping plate 52 are arranged vertically. The clamping plate 52 is provided with anti-dropping card plates 4 on the left and right, and the anti-dropping card plates 4 are arranged vertically to the clamping plate 52. Preferably, two anti-dropping card plates 4 are arranged on the left clamping plate 52, and one anti-dropping card plate 4 is arranged on the right clamping plate 52, and the anti-dropping card plates 4 on the left and right clamping plates 52 are arranged in a staggered manner. A further technical solution is that the anti-dropping card plate 4 includes an upper card plate and a lower card plate, and the upper card plate and the lower card plate are both "L"-shaped and arranged relatively to each other up and down. In this embodiment, the upper card plate and the lower card plate are respectively arranged at the upper and lower relative positions of the clamping plate 52 of the clamping finger 5 by screws.

[0034] The clamping assembly is relatively arranged on the inner side of the clamping plate 52 of the clamping claw finger 5; in the present embodiment, the clamping assembly includes a wedge-shaped clamping block 1 relatively arranged in a "V" shape at the front and rear, and a rubber pad 2 arranged on the wedge-shaped clamping block 1 to prevent damage to the workpiece during the clamping process; a through-beam sensor 3 is also arranged on the inner side of the clamping plate 52 of the clamping claw finger 5, and preferably, the through-beam sensor 3 is arranged in the middle position above the "V"-shaped wedge-shaped clamping block 1 arranged at the front and rear.

[0035] Specifically, four wedge-shaped clamping blocks 1 are installed on the gripper fingers 5, which can realize automatic centering of the cylindrical workpiece 15. At the same time, the four wedge-shaped clamping blocks 1 are installed with rubber pads 2, which can reduce the damage of the gripper to the workpiece and increase friction. The gripper fingers 5 are driven by pneumatic components 7, so that the gripping action of the gripper can be controlled by controlling the on and off of the air circuit. At the same time, the gripper's holding force can be adjusted by adjusting the size of the air pressure, which is convenient for adapting to the clamping of workpieces of different masses; the gripper fingers 5 are respectively installed with an upper and a lower clamping plate of an anti-drop clamping plate 4 to prevent the workpiece from falling when the robot is carrying the workpiece.

[0036] The pneumatic element 7 is provided with a proximity switch 12 and a laser distance sensor 10 to monitor the distance between the two gripper fingers 5 of the robot gripper in real time, so as to determine the size of the gripped workpiece and prevent empty gripping. An anti-collision distance sensor 9 is installed directly below the gripping plate 52 of the gripper finger 5, which can monitor in real time whether there is an object in front of the robot, and is used to prevent the robot from colliding due to operator error or robot failure, causing equipment damage and casualties. A through-beam sensor 3 is installed above the gripping plate 52 of the gripper finger 5, which can monitor in real time whether there is an object between the two gripper fingers 5 of the robot, and is used to prevent the workpiece from falling when the robot is carrying the workpiece.

[0037] During operation, the male head 13 of the tool changer is installed on the end of the robot, the female head 11 of the tool changer, the proximity switch 12, the pneumatic element 7 and the gripper finger 5 are installed on the connecting plate 6, the wedge clamp block 1 is installed on the gripper finger 5, and the shooting sensor 3, the distance sensor baffle 8, the anti-collision distance sensor 9, and the laser distance sensor 10 are installed on the gripper finger 5. The gripper finger 5 is driven by the pneumatic element 7, and the laser distance sensor 10 cooperates with the distance sensor baffle 8 to measure the distance between the two gripper fingers 5 in real time and output data through the aviation plug connector 14. The proximity switch 12 is located above the slider to determine the position of the pneumatic element. The anti-collision distance sensor 9 can measure the distance between the object in front of the gripper finger and the gripper finger in real time to prevent collision. The anti-drop card plate 4 can prevent the workpiece from falling in an emergency gas-off state. The clamping of the cylindrical workpiece is achieved by the wedge clamp block 1, which greatly increases the safety and reliability of its application while reducing labor costs.

[0038] Although the present invention is described herein with reference to the illustrative embodiments of the present invention, the above embodiments are only preferred embodiments of the present invention, and the embodiments of the present invention are not limited to the above embodiments. It should be understood that those skilled in the art can design many other modifications and embodiments, which will fall within the scope and spirit of the principles disclosed in this application.

Claims

1. An anti-collision quick-change robot gripper, characterized in that: It includes: a connecting plate, a female head of a tool quick-changer, a male head of a tool quick-changer and an aviation plug connector arranged on the rear side of the connecting plate, a gripper finger arranged on the front side of the connecting plate, a pneumatic element, a clamping assembly, a distance sensor baffle, an anti-collision distance sensor, a laser distance sensor and a beam sensor, and a proximity switch arranged above the pneumatic element, and the position of the pneumatic element is determined by the proximity switch; Among them, the rear side of the connection plate is connected to the male head of the tool quick changer through the female head of the tool quick changer, and is installed on the end of the robot through the male head of the tool quick changer; the aviation plug connector is set on the side of the male head of the tool quick changer for outputting data; The front side of the connecting plate is connected to two gripper fingers through pneumatic components, and the gripper fingers are provided with a clamping assembly, a distance sensor baffle, an anti-collision distance sensor, a laser distance sensor and a through-beam sensor, and the gripper fingers are driven by the pneumatic components to clamp the workpiece by the gripping assembly on the two gripper fingers; the distance sensor baffle and the laser distance sensor are relatively arranged on the two gripper fingers so as to measure the distance between the two gripper fingers; the anti-collision distance sensor is used to measure the distance between the object directly in front of the gripper fingers and the gripper fingers in real time to prevent collision; an anti-drop card plate is arranged on the gripper fingers to prevent the workpiece from falling in an emergency gas-off state; the through-beam sensor is used to monitor in real time whether there is a workpiece between the two gripper fingers to determine whether the workpiece falls.

2. The anti-collision quick-change robot gripper according to claim 1, characterized in that: The two pneumatic components are symmetrically arranged on the left and right, and include a piston rod and a slider slidably arranged on the piston rod, so that the gripper fingers can be installed through the slider.

3. The anti-collision quick-change robot gripper according to claim 1, characterized in that: The laser emission direction of the laser distance measuring sensor is arranged facing the distance measuring sensor baffle; And / or the anti-collision distance measuring sensor is arranged on the inner side of the two gripper fingers so as to detect the inner side of the two gripper fingers.

4. The anti-collision quick-change robot gripper according to any one of claims 1 to 3, characterized in that: The clamping claw finger is integrally formed with a mounting plate and a clamping plate located in front of the mounting plate. The clamping plate is a "C"-shaped plate structure, and the mounting plate and the clamping plate are vertically arranged.

5. The anti-collision quick-change robot gripper according to claim 4, characterized in that: The clamping plate is provided with anti-dropping clamping plates on the left and right sides, and the anti-dropping clamping plates are arranged vertically to the clamping plate.

6. The anti-collision quick-change robot gripper according to claim 4, characterized in that: The anti-drop clamping plates on the clamping plates on the left and right sides are arranged in a front-to-back staggered manner.

7. The anti-collision quick-change robot gripper according to claim 4, characterized in that: The anti-drop card plate includes an upper card plate and a lower card plate, and the upper card plate and the lower card plate are both "L" shaped and are arranged opposite to each other up and down.

8. The anti-collision quick-change robot gripper according to claim 7, characterized in that: The upper clamping plate and the lower clamping plate are respectively arranged at upper and lower relative positions of the clamping plates of the clamping claw fingers by screws.

9. The anti-collision quick-change robot gripper according to claim 4, characterized in that: The clamping assembly is relatively arranged on the inner side of the clamping plate of the clamping claw fingers.

10. The anti-collision quick-change robot gripper according to claim 4, characterized in that: The clamping assembly includes wedge-shaped clamping blocks that are arranged opposite to each other in a "V" shape, and rubber pads arranged on the wedge-shaped clamping blocks; the through-beam sensor is arranged at a middle position above the wedge-shaped clamping blocks in the "V" shape.

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