Clamp holder for industrial robot

Abstract

The invention belongs to the technical field of industrial robots, and particularly relates to a clamp holder for an industrial robot, which comprises a motion control mechanism, a clamping mechanism and a control module, the clamping mechanism is mounted at the free end of the motion control mechanism, the clamping mechanism comprises a mounting seat, and a hydraulic cylinder is arranged on one side of the mounting seat; an output shaft of the hydraulic cylinder penetrates through the mounting base and is fixedly connected with a middle rod, double connecting rods are rotationally connected to the two ends of the mounting base respectively, the ends of the double connecting rods are sleeved with clamping jaws, connecting rods are rotationally connected to the two ends of the middle rod respectively, and the other ends of the connecting rods are rotationally connected with the corresponding double connecting rods; a plurality of fixing columns are fixed to the side, close to the hydraulic cylinder, of the mounting base, and a weight detection module is arranged on the inner side of one clamping jaw. According to the clamping device, the clamping force can be accurately adjusted according to the weight of an object, the problem that the object is damaged due to the fact that the clamping force is too large or the object falls off due to the fact that the clamping force is too small is solved, and the stability and reliability of the production process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a clamper for an industrial robot. Background Art

[0002] Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices widely used in the industrial field. They are generally composed of three parts: mechanical part, sensor part and control part. With the continuous improvement of the level of industrial science and technology, more and more industrial robots are replacing manual labor for mechanical processing. However, during the process of industrial robots processing workpieces, the clamping effect of the industrial robot clamping device on the workpiece will directly affect the processing of the workpiece. As a key component of industrial robots for grasping and clamping objects, the industrial robot clamping device is usually installed on the robot arm.

[0003] In actual industrial production, the weight of the objects being grasped varies greatly. When the object is heavier, a greater clamping force is required to ensure that the object does not fall off; when the object is lighter, excessive clamping force may cause damage to the object. However, traditional clamping mechanisms generally find it difficult to accurately use different clamping forces for different objects, which to a certain extent limits the application of industrial robots in diversified production scenarios. Therefore, corresponding improvements are made to address this problem. Summary of the invention

[0004] Based on the technical problems existing in the prior art, the present invention proposes a gripper for an industrial robot.

[0005] The present invention proposes a clamp for an industrial robot, comprising a motion control mechanism, a clamping mechanism and a control module, wherein the clamping mechanism is mounted on the free end of the motion control mechanism, the clamping mechanism comprising a mounting seat, a hydraulic cylinder is arranged on one side of the mounting seat, the output shaft of the hydraulic cylinder passes through the mounting seat and is fixedly connected with an intermediate rod, the two ends of the mounting seat are respectively rotatably connected with double connecting rods, the ends of the double connecting rods are sleeved with clamping claws, the two ends of the intermediate rod are respectively rotatably connected with connecting rods, the other end of the connecting rod is rotatably connected with the corresponding double connecting rod, a plurality of fixing columns are fixed on one side of the mounting seat close to the hydraulic cylinder, the inner side of one of the clamping claws is provided with a Weight detection module; the weight detection module is used to detect the weight of the grasped object in real time; the control module receives the weight signal from the weight detection module, calculates the required clamping force according to a preset algorithm, and sends a control instruction to the hydraulic cylinder; the motion control mechanism controls the motion path of the clamping mechanism, and after reaching the predetermined position, the clamping mechanism will clamp the object to be clamped, the weight detection module detects the weight of the grasped object in real time, the control module receives the weight signal from the weight detection module, and then calculates the required clamping force according to a preset algorithm, and sends a control instruction to the hydraulic cylinder, thereby accurately controlling the clamping force.

[0006] Preferably, the motion control mechanism includes a base, the top of the base is rotatably connected to a first arm, the top of the first arm is rotatably connected to a second arm, the top of the second arm is rotatably connected to a third arm, a fixed column is fixed to the free end of the third arm, and a hydraulic cylinder is embedded in the free end of the third arm; the first arm can rotate in a horizontal plane, and the second arm and the third arm can both rotate in a vertical plane, so that the clamping mechanism can be moved to any position in the space.

[0007] Preferably, a first motor is fixed inside the base, and the output shaft of the first motor is fixedly connected to the first arm, a second motor is fixed inside the free end of the first arm, and the output shaft of the second motor is fixedly connected to the second arm, a third motor is fixed inside the free end of the second arm, and the output shaft of the third motor is fixedly connected to the third arm; the first motor can provide power for the rotation of the first arm, the second motor can provide power for the rotation of the second arm, and the third motor can provide power for the rotation of the third arm.

[0008] Preferably, the control module is for the initial clamping force The calculation formula is:

[0009]

[0010] in, is the initial clamping force, is the safety factor, is the weight of the object, is the acceleration due to gravity, is the friction coefficient, is the contact angle between the gripper and the object, is the effective contact area between the gripper and the object.

[0011] Preferably, the weight detection module is electrically connected to the control module, and the control module is electrically connected to the hydraulic cylinder.

[0012] Preferably, a mounting groove is provided at a portion where the clamping jaw contacts the weight detection module, and the weight detection module is fixed inside the mounting groove.

[0013] Preferably, a displacement detection module is fixed on the outer side surface of one of the clamping jaws, and the displacement detection module is used to detect the relative displacement of the object on the clamping jaw in real time. The displacement detection module can accurately measure the displacement changes of the object in the three directions of X, Y, and Z. The control module receives the displacement signal transmitted by the displacement detection module, calculates the subsequent adjustment of the clamping force change according to the preset algorithm, and sends a control instruction to the hydraulic cylinder.

[0014] Preferably, the displacement detection module and the control module are electrically connected.

[0015] Preferably, the control module adjusts the clamping force The calculation formula is:

[0016]

[0017] in, The clamping force adjustment in the X direction: ;

[0018] The clamping force adjustment in the Y direction: ;

[0019] The clamping force adjustment in the Z direction: ;

[0020] is the displacement and clamping force adjustment coefficient;

[0021] , and They are the displacement changes of the object in the X, Y, and Z directions respectively.

[0022] Compared with the prior art, the present invention provides a gripper for an industrial robot, which has the following beneficial effects:

[0023] 1. A gripper for an industrial robot. The industrial robot gripper of the present invention can not only accurately adjust the gripping force according to the weight of an object, but also adjust the gripping state in real time by detecting the relative displacement of the object on the gripper, thereby effectively avoiding the problem of the object falling off or being damaged due to improper gripping force or object displacement, and greatly improving the stability and reliability of the production process.

[0024] 2. A clamp for an industrial robot. The present invention realizes rapid and accurate adjustment and real-time monitoring of clamping force by adopting a high-precision weight detection module, a relative displacement detection module and an advanced control algorithm, thereby improving the working efficiency and operation accuracy of the industrial robot.

[0025] 3. A gripper for an industrial robot. The present invention has good versatility and adaptability and can be widely used in industrial production in different industries, thereby reducing the production cost of the enterprise and improving the competitiveness of the enterprise. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the overall structure of a gripper for an industrial robot proposed by the present invention;

[0027] Figure 2A schematic diagram of the split structure between a motion control mechanism and a clamping mechanism of a clamp for an industrial robot proposed by the present invention;

[0028] Figure 3 A schematic diagram of the structure of a clamping mechanism of a clamper for an industrial robot proposed by the present invention;

[0029] Figure 4 For the present invention Figure 1 A schematic diagram of the enlarged structure at point A;

[0030] Figure 5 The present invention is a schematic structural diagram of a gripper for an industrial robot.

[0031] In the figure: 1. base; 2. first arm; 3. second arm; 4. third arm; 5. mounting seat; 6. fixing column; 7. hydraulic cylinder; 8. double connecting rod; 9. clamping claw; 10. intermediate rod; 11. connecting rod; 12. mounting slot; 13. weight detection module; 14. control module; 15. displacement detection module. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] Reference Figure 1-Figure 5 A clamp for an industrial robot, comprising a motion control mechanism, a clamping mechanism and a control module 14, wherein the clamping mechanism is mounted on the free end of the motion control mechanism, the clamping mechanism comprising a mounting seat 5, a hydraulic cylinder 7 is arranged on one side of the mounting seat 5, the output shaft of the hydraulic cylinder 7 passes through the mounting seat 5 and is fixedly connected with an intermediate rod 10, the two ends of the mounting seat 5 are respectively rotatably connected with double connecting rods 8, the ends of the double connecting rods 8 are sleeved with clamping claws 9, the two ends of the intermediate rod 10 are respectively rotatably connected with connecting rods 11, the other end of the connecting rod 11 is rotatably connected with the corresponding double connecting rod 8, a plurality of fixed columns 6 are fixed on one side of the mounting seat 5 close to the hydraulic cylinder 7, and a weight detection module 13 is arranged on the inner side of one of the clamping claws 9;

[0035] The weight detection module 13 is used to detect the weight of the grasped object in real time;

[0036] The control module 14 receives the weight signal from the weight detection module 13, calculates the required clamping force according to a preset algorithm, and sends a control instruction to the hydraulic cylinder 7;

[0037] It should be noted that the motion control mechanism controls the motion path of the clamping mechanism. After reaching the predetermined position, the clamping mechanism will clamp the object to be clamped. The weight detection module 13 detects the weight of the grasped object in real time. The control module 14 receives the weight signal transmitted by the weight detection module 13, and then calculates the required clamping force according to the preset algorithm, and sends a control instruction to the hydraulic cylinder 7, so as to accurately control the clamping force.

[0038] The motion control mechanism includes a base 1, the top of the base 1 is rotatably connected to a first arm 2, the top of the first arm 2 is rotatably connected to a second arm 3, the top of the second arm 3 is rotatably connected to a third arm 4, a fixed column 6 is fixed to the free end of the third arm 4, and a hydraulic cylinder 7 is embedded in the free end of the third arm 4;

[0039] It should be noted that the first arm 2 can rotate in a horizontal plane, and the second arm 3 and the third arm 4 can rotate in a vertical plane, so that the clamping mechanism can be moved to any position in the space.

[0040] Among them, a first motor is fixed inside the base 1, and the output shaft of the first motor is fixedly connected to the first arm 2. A second motor is fixed inside the free end of the first arm 2, and the output shaft of the second motor is fixedly connected to the second arm 3. A third motor is fixed inside the free end of the second arm 3, and the output shaft of the third motor is fixedly connected to the third arm 4.

[0041] It should be noted that the first motor can provide power for the rotation of the first arm 2 , the second motor can provide power for the rotation of the second arm 3 , and the third motor can provide power for the rotation of the third arm 4 .

[0042] Furthermore, the control module 14 controls the initial clamping force The calculation formula is as follows:

[0043] Assume the weight of the object to be grasped is m, the acceleration of gravity is g, the required clamping force is F, and the safety factor is k, which is determined according to the actual application scenario. For example, in general industrial production, for objects with smooth surfaces that are easy to slide, the value of k can be between 1.5-2; for objects with rough surfaces that are not easy to slide, the value of k can be between 1.2-1.5. At the same time, the friction coefficient between the object and the gripper is introduced. (Determined by the material of the object and the gripper, for example, a metal gripper grabs a metal object. About 0.15-0.3; rubber gripper grabs plastic objects, The effective contact area between the gripper and the object is S, and the angle between the gripper and the object is ;

[0044] According to the principle of force balance and knowledge about friction, the required clamping force F should satisfy the following formula:

[0045]

[0046] In actual application, the control module obtains the weight m of the object through the weight detection module 13. At the same time, when the system is initialized or the gripper 9 is replaced or objects of different materials are grasped, the operator needs to set the friction coefficient , the effective contact area S between the clamping jaw 9 and the object and the contact angle The control module 14 then inputs the parameters m, g, k, , S and Substituting into the above formula, calculate the required clamping force Next, the control module 14 converts the calculated clamping force into the characteristic curve of the hydraulic cylinder 7 (the curve describes the relationship between the current or voltage of the hydraulic cylinder 7 and the output force, which is measured by experiment before the equipment leaves the factory and stored in the control module 14). It is converted into a corresponding hydraulic cylinder 7 control signal (such as a current value or a voltage value) and sent to the hydraulic cylinder 7, thereby achieving precise control of the clamping force.

[0047] The weight detection module 13 is electrically connected to the control module 14 , and the control module 14 is electrically connected to the hydraulic cylinder 7 .

[0048] A mounting groove 12 is provided at the contact portion between the clamping jaw 9 and the weight detection module 13 , and the weight detection module 13 is fixed inside the mounting groove 12 .

[0049] In another embodiment, a displacement detection module 15 is fixed to the outer side surface of one of the clamping jaws 9. The displacement detection module 15 is used to detect the relative displacement of the object on the clamping jaw 9 in real time. The displacement detection module 15 can accurately measure the displacement changes of the object in the three directions of X, Y, and Z. The control module 14 receives the displacement signal transmitted by the displacement detection module 15, calculates the subsequent adjustment of the clamping force change according to a preset algorithm, and sends a control instruction to the hydraulic cylinder 7.

[0050] The displacement detection module 15 and the control module 14 are electrically connected.

[0051] Further, the clamping force adjustment amount is calculated: Assume that the displacement and clamping force adjustment coefficient is This coefficient is determined experimentally based on the material of the clamping jaw 9, the surface characteristics of the object, etc. When the displacement detection module 15 detects that the object has a displacement change on the clamping jaw 9, the clamping force needs to be adjusted to ensure stable clamping of the object. In the X direction, the clamping force adjustment amount , Clamping force adjustment in the Y direction , Z-direction clamping force adjustment Satisfy the following formulas respectively:

[0052]

[0053]

[0054]

[0055] Adjusted holding force calculation: Adjusted holding force is the initial clamping force and the sum of the clamping force adjustments in each direction, that is

[0056] In actual application, the control module 14 first obtains the weight of the object through the weight detection module 13 , calculate the initial clamping force Then, the displacement detection module 15 monitors the displacement of the object in real time and transmits the displacement data to the control module 14. The control module 14 calculates the clamping force adjustment amount in each direction and the adjusted clamping force according to the above formula. Next, the control module 14 calculates the adjusted clamping force according to the characteristic curve of the hydraulic cylinder 7 (the curve describes the relationship between the current or voltage of the hydraulic cylinder 7 and the output force, which is measured by experiments before the equipment leaves the factory and stored in the control module 14). It is converted into a corresponding hydraulic cylinder 7 control signal (such as a current value or a voltage value) and sent to the hydraulic cylinder 7, thereby achieving precise control and real-time adjustment of the clamping force to ensure stable clamping of the object.

[0057] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A gripper for an industrial robot, comprising a motion control mechanism, a gripping mechanism and a control module (14), characterized in that: The clamping mechanism is mounted on the free end of the motion control mechanism, the clamping mechanism comprising a mounting seat (5), a hydraulic cylinder (7) being arranged on one side of the mounting seat (5), an output shaft of the hydraulic cylinder (7) passing through the mounting seat (5) and being fixedly connected to an intermediate rod (10), double connecting rods (8) being rotatably connected to the two ends of the mounting seat (5), clamping claws (9) being sleeved on the ends of the double connecting rods (8), connecting rods (11) being rotatably connected to the two ends of the intermediate rod (10), the other end of the connecting rod (11) being rotatably connected to the corresponding double connecting rod (8), a plurality of fixed columns (6) being fixed on one side of the mounting seat (5) close to the hydraulic cylinder (7), a weight detection module (13) being arranged on the inner side of one of the clamping claws (9); A weight detection module (13) is used to detect the weight of the grasped object in real time; The control module (14) receives the weight signal transmitted by the weight detection module (13), calculates the required clamping force according to a preset algorithm, and sends a control instruction to the hydraulic cylinder (7).

2. A gripper for an industrial robot according to claim 1, characterized in that: The motion control mechanism comprises a base (1), the top of the base (1) is rotatably connected to a first arm (2), the top of the first arm (2) is rotatably connected to a second arm (3), the top of the second arm (3) is rotatably connected to a third arm (4), a fixed column (6) is fixed to the free end of the third arm (4), and a hydraulic cylinder (7) is embedded in the free end of the third arm (4).

3. A gripper for an industrial robot according to claim 2, characterized in that: A first motor is fixed inside the base (1), the output shaft of the first motor is fixedly connected to the first arm (2), a second motor is fixed inside the free end of the first arm (2), the output shaft of the second motor is fixedly connected to the second arm (3), a third motor is fixed inside the free end of the second arm (3), the output shaft of the third motor is fixedly connected to the third arm (4).

4. A gripper for an industrial robot according to claim 1, characterized in that: The control module (14) is configured to control the initial clamping force The calculation formula is: ； in, is the initial clamping force, is the safety factor, is the weight of the object, is the acceleration due to gravity, is the friction coefficient, is the contact angle between the gripper and the object, is the effective contact area between the gripper and the object.

5. A gripper for an industrial robot according to claim 1, characterized in that: The weight detection module (13) and the control module (14) are electrically connected, and the control module (14) and the hydraulic cylinder (7) are electrically connected.

6. A gripper for an industrial robot according to claim 1, characterized in that: A mounting groove (12) is provided at the contact portion between the clamping claw (9) and the weight detection module (13), and the weight detection module (13) is fixed inside the mounting groove (12).

7. A gripper for an industrial robot according to claim 4, characterized in that: A displacement detection module (15) is fixed to the outer side surface of one of the clamping jaws (9). The displacement detection module (15) is used to detect the relative displacement of the object on the clamping jaw (9) in real time. The displacement detection module (15) can accurately measure the displacement change of the object in three directions, namely, X, Y and Z. The control module (14) receives the displacement signal transmitted by the displacement detection module (15), calculates the subsequent adjustment of the clamping force change according to a preset algorithm, and sends a control instruction to the hydraulic cylinder (7).

8. A gripper for an industrial robot according to claim 7, characterized in that: The displacement detection module (15) and the control module (14) are electrically connected.

9. A gripper for an industrial robot according to claim 7, characterized in that: The control module (14) adjusts the clamping force The calculation formula is: ； in, The clamping force adjustment in the X direction: ; The clamping force adjustment in the Y direction: ; The clamping force adjustment in the Z direction: ; is the displacement and clamping force adjustment coefficient; , and They are the displacement changes of the object in the X, Y, and Z directions respectively.

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