Mechanical arm grabbing in-place detection device

Abstract

The invention discloses a mechanical arm grabbing in-place detection device, and particularly relates to the technical field of mechanical arms, the mechanical arm grabbing in-place detection device comprises a mechanical arm body, a plurality of clamping jaws are arranged on the mechanical arm body, and detection mechanisms are arranged on the clamping jaws. The detection mechanism is arranged on the clamping jaw, the detection mechanism is composed of a plurality of sets of positioning heads, connecting columns, contact blocks, first springs, microswitches and the like, when the clamping jaw grabs goods, the positioning heads can be extruded to move and trigger the microswitches, a control system of the mechanical arm receives a contact signal, it is judged that the goods are grabbed in place at the point position, and then the goods are grabbed in place at the point position. On the contrary, if the goods are not located at the point position, whether the mechanical arm grabs the goods in place or not can be rapidly and accurately detected through point position judgment of the multiple sets of positioning heads, if the mechanical arm grabs the goods in place, the next step is continued, and if the mechanical arm does not grab the goods in place, work is stopped to grab the goods again, and therefore the situation that the goods fall off due to the fact that grabbing is not in place can be effectively avoided, and it is guaranteed that the goods are accurately in place during follow-up discharging; and the safety is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm grasping-in-place detection device. Background Art

[0002] The robot arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, etc. The robot arm is a complex system with uncertainties such as parameter perturbation, external interference, and unmodeled dynamics. Therefore, the modeling model of the robot arm is also uncertain. For different tasks, it is necessary to plan the motion trajectory of the robot arm joint space, so as to cascade and form the terminal posture.

[0003] At present, if the robotic arm fails to grasp the goods in place when grabbing them, it may lead to an unsecured grasp, causing the goods to fall off, resulting in unnecessary damage and affecting safety. In addition, due to the inaccurate grasping position, the subsequent release of materials cannot be guaranteed to be in place, and workers are often required to rearrange them, which is time-consuming and labor-intensive, affecting work efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a detection device for detecting the grasping position of a robot arm. A detection mechanism is arranged on the clamping claw, and the detection mechanism is composed of multiple groups of positioning heads, connecting columns, contact blocks, a first spring and micro switches. When the clamping claw grasps the goods, the positioning head can be squeezed and move and trigger the micro switch. The control system of the robot arm receives the contact signal and determines that the goods are grasped in place at this point. Otherwise, the goods are not at this point. By using the point position judgment of multiple groups of positioning heads, it can be quickly and accurately detected whether the robot arm is grasped in place. If it is grasped in place, the next step will be continued. If it is not in place, the work will be stopped and re-grasped, thereby effectively avoiding the falling of goods due to inadequate grasping, and also ensuring the accurate grasping in place during subsequent discharge, greatly improving safety, so as to solve the above-mentioned shortcomings in the technology.

[0005] In order to achieve the above object, the present invention provides the following technical solution: a robot arm grasping detection device, comprising:

[0006] A mechanical arm body, wherein a plurality of clamping claws are provided on the mechanical arm body, and a detection mechanism is provided on the clamping claws;

[0007] The detection mechanism comprises a detection frame installed on the outside of the clamping jaw, the side wall of the detection frame is detachably connected with a sealing plate, the inner side of the sealing plate is provided with a circuit board, a plurality of micro switches are arrayed on the circuit board, and the micro switches are connected with contact pieces;

[0008] A plurality of through slots facing the contact piece are arranged in an array between the clamping jaw and the side wall of the detection frame, and connecting columns are inserted in the through slots, one end of the connecting column extends into the detection frame and is fixed with a contact block facing the contact piece, and the other end of the connecting column extends out of the through slot and is provided with a positioning head, the outer wall of the connecting column is located in the detection frame and is sleeved with a first spring, one end of the first spring is fixedly connected to the contact block, and the other end of the first spring is fixedly connected to the detection frame.

[0009] Preferably, a plurality of clamping strips are provided in a circular array on the outer side of the connecting column, and a plurality of clamping slots matching the clamping strips are provided in a circular array on the inner side of the through slot.

[0010] Preferably, the positioning head is semicircular at one end relative to the connecting column.

[0011] Preferably, a screw groove is formed at one end of the connecting column close to the positioning head, and a stud matching the screw groove is formed at one end of the positioning head.

[0012] Preferably, two U-shaped sockets are symmetrically fixed on both sides of the clamping claw, and plug posts facing the U-shaped sockets are symmetrically arranged at both ends of the side walls of the detection frame, and a limiting component is provided between the plug posts and the U-shaped sockets.

[0013] Preferably, the limit assembly includes a cavity formed at the end of the plug post, a second spring is provided in the cavity, baffles are symmetrically connected to both ends of the second spring, a limit block is fixed to the baffle relative to one end of the second spring, one end of the limit block extends outside the plug post, and limit grooves matching the limit block are symmetrically formed on both sides of the U-shaped socket.

[0014] Preferably, the four ends of the baffle are all provided with arc chamfers.

[0015] Preferably, the sealing plate and the detection frame are fixedly connected by bolts.

[0016] Preferably, an anti-slip structure is provided at the end of the clamping jaw.

[0017] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0018] By setting a detection mechanism on the clamping claw, the detection mechanism is composed of multiple groups of positioning heads, connecting columns, contact blocks, first springs and micro switches. When the clamping claw grabs the goods, the positioning head can be squeezed and move to trigger the micro switch. The control system of the mechanical arm receives the contact signal and determines that the goods are grabbed in place at the point. Otherwise, the goods are not at the point. By using the point determination of multiple groups of positioning heads, it can be quickly and accurately detected whether the mechanical arm is in place. If it is in place, it will continue to the next step. If it is not in place, it will stop working and grab again, thereby effectively avoiding the falling of goods due to inadequate grabbing, and also ensuring the accurate placement of subsequent material discharge, which greatly improves safety.

[0019] By setting the studs and screw grooves, the positioning head can be quickly disassembled and assembled on the connecting column, so that the number and position of the contact points of the positioning head can be pre-set according to the actual grabbing position of the goods, so that the positioning head can better fit and contact the goods, greatly improving the applicability of the device;

[0020] By arranging a plug post, a U-shaped socket and a limit assembly between the detection frame and the clamp, the plug post can be locked in the U-shaped socket through the limit assembly, and then the detection frame can be fastened to the clamp, and it can be unlocked again by pressing the limit block, so that the detection frame can be quickly removed, thereby facilitating the disassembly and assembly of the detection mechanism for maintenance and replacement, and the use effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is one of the schematic diagrams of the connection structure between the clamp and the detection frame of the present invention;

[0024] Figure 3 This is the second schematic diagram of the connection structure between the clamp and the detection frame of the present invention;

[0025] Figure 4 It is one of the three-dimensional structural schematic diagrams of the clamping jaw of the present invention;

[0026] Figure 5 The second schematic diagram of the three-dimensional structure of the clamping jaw of the present invention;

[0027] Figure 6 is a schematic diagram of the three-dimensional structure of the detection frame of the present invention;

[0028] Figure 7 It is a schematic diagram of the explosion structure of the detection frame and the sealing plate of the present invention;

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the back of the detection frame of the present invention;

[0030] Fig. 9 is a transverse cross-sectional view of the detection frame of the present invention;

[0031] Fig.10 is a longitudinal cross-sectional view of the detection frame of the present invention;

[0032] Fig.11 It is a schematic diagram of the internal structure of the cavity of the present invention;

[0033] Fig.12 It is a schematic diagram of the structure in which the connecting column and the positioning head are separated according to the present invention.

[0034] Description of reference numerals:

[0035] 1. Robotic arm body; 2. Gripper; 3. Detection frame; 4. Closing plate; 5. Circuit board; 6. Micro switch; 7. Contact piece; 8. Contact block; 9. Connecting column; 10. Positioning head; 11. Stud; 12. Screw groove; 13. First spring; 14. Card strip; 15. Card groove; 16. Through groove; 17. Insert column; 18. U-shaped socket; 19. Cavity groove; 20. Second spring; 21. Baffle; 22. Limit block; 23. Limit groove; 24. Anti-slip structure. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0037] The present invention provides Figure 1-Figure 12 A robot arm grasping detection device shown includes:

[0038] A mechanical arm body 1, on which a plurality of grippers 2 are arranged, and on which a detection mechanism is arranged;

[0039] The detection mechanism includes a detection frame 3 installed on the outside of the clamping jaw 2, and the side wall of the detection frame 3 is detachably connected to a sealing plate 4, and a circuit board 5 is arranged on the inner side of the sealing plate 4. A plurality of micro switches 6 are arranged in an array on the circuit board 5, and a contact piece 7 is connected to the micro switch 6;

[0040] The sealing plate 4 is fixedly connected to the detection frame 3 by bolts. By setting the bolt structure, it is convenient to connect and disassemble.

[0041] The end of the clamping jaw 2 is provided with an anti-skid structure 24. The anti-skid structure 24 can be in the form of tooth patterns, thereby greatly enhancing the anti-skid effect.

[0042] A plurality of through slots 16 facing the contact piece 7 are arranged in an array between the clamping jaw 2 and the side wall of the detection frame 3, and a connecting column 9 is inserted in the through slot 16. One end of the connecting column 9 extends into the detection frame 3 and is fixed with a contact block 8 facing the contact piece 7, and the other end of the connecting column 9 extends out of the through slot 16 and is provided with a positioning head 10. The outer wall of the connecting column 9 is located in the detection frame 3 and is sleeved with a first spring 13. One end of the first spring 13 is fixedly connected to the contact block 8, and the other end of the first spring 13 is fixedly connected to the detection frame 3.

[0043] A plurality of clamping strips 14 are provided in an annular array on the outer side of the connecting column 9 , and a plurality of clamping slots 15 matching the clamping strips 14 are provided in an annular array on the inner side of the through slot 16 .

[0044] The positioning head 10 is semicircular relative to one end of the connecting column 9. The smooth semicircular structure can reduce the damage of the positioning head 10 to the goods.

[0045] A screw groove 12 is formed at one end of the connecting column 9 close to the positioning head 10 , and a stud 11 matching the screw groove 12 is formed at one end of the positioning head 10 .

[0046] By arranging multiple groups of positioning heads 10 on the clamping jaws 2, when the clamping jaws 2 clamp the goods, the positioning heads 10 are squeezed and drive the connecting column 9 to move in the through slot 16, and then the connecting column 9 can drive the contact block 8 to move and lengthen the first spring 13, and then the contact block 8 contacts the contact sheet 7 and starts the micro switch 6. The control system of the mechanical arm receives the contact signal and determines that the goods are grasped in place at the point, otherwise the goods are not in the point. By using the point determination of multiple groups of positioning heads 10, it is possible to quickly and accurately detect whether the mechanical arm grasps in place. If grasped in place, it will continue to the next step. If not in place, it will stop working and grasp again, thereby effectively avoiding the goods from falling off due to inadequate grasping, and also ensuring the accurate position during subsequent discharge, which greatly improves safety.

[0047] Furthermore, by screwing the stud 11 and the screw groove 12 together, the positioning head 10 can be quickly disassembled and assembled on the connecting column 9, so that the number and position of the contacts of the positioning head 10 can be pre-set according to the actual grabbing position of the goods, so that the positioning head 10 can better fit and contact the goods, greatly improving the applicability of the device.

[0048] In a specific embodiment of the present invention, two U-shaped sockets 18 are symmetrically fixed on both sides of the clamp 2, and plug posts 17 facing the U-shaped sockets 18 are symmetrically arranged at both ends of the side walls of the detection frame 3, and a limit assembly is provided between the plug posts 17 and the U-shaped sockets 18.

[0049] The limiting assembly includes a cavity 19 opened at the end of the plug column 17, a second spring 20 is arranged in the cavity 19, baffles 21 are symmetrically connected to both ends of the second spring 20, a limiting block 22 is fixed to the baffle 21 relative to one end of the second spring 20, one end of the limiting block 22 extends to the outside of the plug column 17, and limiting grooves 23 matching the limiting block 22 are symmetrically opened on both sides of the U-shaped socket 18.

[0050] By aligning the plug posts 17 at the four ends of the detection frame 3 with the four U-shaped sockets 18 on the clamp 2, and by pressing the limit block 22, the limit block 22 drives the baffle 21 and squeezes the second spring 20, and then the limit block 22 retreats into the cavity 19. When the plug post 17 is inserted into the U-shaped socket 18, the limit block 22 can be reset and inserted into the limit groove 23 under the rebound of the second spring 20, so that the plug post 17 can be locked in the U-shaped socket 18, and then the detection frame 3 can be fastened to the clamp 2, and it can be unlocked again by pressing the limit block 22, so that the detection frame 3 can be quickly removed, thereby facilitating the disassembly and assembly of the detection mechanism for maintenance and replacement, and the use effect is better.

[0051] The four ends of the baffle 21 are all provided with arc chamfers. The arc chamfers can reduce the sliding resistance.

[0052] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A robot arm grasping detection device, characterized in that: include: A mechanical arm body (1), wherein a plurality of clamping claws (2) are provided on the mechanical arm body (1), and a detection mechanism is provided on the clamping claws (2); The detection mechanism comprises a detection frame (3) mounted on the outside of the clamping jaw (2); a side wall of the detection frame (3) is detachably connected to a sealing plate (4); a circuit board (5) is arranged on the inner side of the sealing plate (4); a plurality of micro switches (6) are arranged in an array on the circuit board (5); and a contact piece (7) is connected to the micro switch (6); A plurality of through slots (16) facing the contact sheet (7) are arranged in an array between the clamping jaw (2) and the side wall of the detection frame (3); a connecting column (9) is inserted into the through slot (16); one end of the connecting column (9) extends into the detection frame (3) and is fixed with a contact block (8) facing the contact sheet (7); the other end of the connecting column (9) extends out of the through slot (16) and is provided with a positioning head (10); the outer wall of the connecting column (9) is located in the detection frame (3) and is sleeved with a first spring (13); one end of the first spring (13) is fixedly connected to the contact block (8), and the other end of the first spring (13) is fixedly connected to the detection frame (3).

2. A robot arm grasping detection device according to claim 1, characterized in that: The outer side of the connecting column (9) is provided with a plurality of clamping strips (14) in an annular array, and the inner side of the through slot (16) is provided with a plurality of clamping slots (15) matching the clamping strips (14) in an annular array.

3. The robot arm grasping detection device according to claim 1 is characterized in that: The positioning head (10) is semicircular at one end relative to the connecting column (9).

4. The robot arm grasping detection device according to claim 1, characterized in that: A screw groove (12) is provided at one end of the connection column (9) close to the positioning head (10), and a stud (11) matching the screw groove (12) is provided at one end of the positioning head (10).

5. The robot arm grasping detection device according to claim 1 is characterized in that: Two U-shaped sockets (18) are symmetrically fixed on both sides of the clamping claw (2), and plug posts (17) facing the U-shaped sockets (18) are symmetrically arranged at both ends of the side wall of the detection frame (3), and a limit assembly is arranged between the plug posts (17) and the U-shaped sockets (18).

6. A robot arm grasping detection device according to claim 5, characterized in that: The limiting assembly comprises a cavity (19) provided at the end of the plug post (17), a second spring (20) being provided in the cavity (19), baffles (21) being symmetrically connected at both ends of the second spring (20), a limiting block (22) being fixed to one end of the baffle (21) relative to the second spring (20), one end of the limiting block (22) extending outside the plug post (17), and limiting grooves (23) matching the limiting block (22) being symmetrically provided on both sides of the U-shaped socket (18).

7. The robot arm grasping detection device according to claim 6, characterized in that: The four ends of the baffle (21) are all provided with circular arc chamfers.

8. The robot arm grasping detection device according to claim 1, characterized in that: The sealing plate (4) and the detection frame (3) are fixedly connected by bolts.

9. The robot arm grasping detection device according to claim 1, characterized in that: An anti-slip structure (24) is provided at the end of the clamping jaw (2).

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