Truss clamp for heavy-load annular part

Abstract

The invention discloses a truss gripper for heavy-load annular parts, which belongs to the technical field of automatic truss grippers and comprises an electric gripper body, an inner support gripper mechanism is arranged on the lower portion of the electric gripper body, and a CCD (charge coupled device) camera component is arranged on one side of the upper portion of the electric gripper body and used for judging whether a product is located at a specified position or not. A distance measuring sensor assembly is further arranged on the electric clamping hand body and used for sensing the clamping distance of the inner supporting clamping hand mechanism, the clamping distance of the inner supporting clamping hand mechanism can be rapidly adjusted according to the size of a product, heavy-load annular parts of different specifications can be stably carried, the transportation efficiency and the transmission safety are improved, and the practicability is high. Precise clamping and conveying of parts of multiple sizes are achieved, and the conveying efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of automated truss grippers, in particular to a truss gripper for heavy-loaded annular parts. Background Art

[0002] As key components in industrial manufacturing, ring parts play a vital role in bearing high loads, improving mechanical efficiency and enhancing reliability. Traditional handling equipment and clamping devices mostly rely on robotic arms or simple clamps. Ring parts with hollow structures are difficult to grasp directly, which places high demands on safety and stability during transportation.

[0003] The heavy-duty circular parts handling equipment currently in use has problems such as complex operation, narrow scope of application, and high maintenance cost. Since the parts are often large in size and heavy in weight, they are prone to fall off the equipment. In addition, the existing clamping devices lack adaptability to the parts and have a single clamping method. The parts may be damaged due to excessive clamping force or loosened due to loose clamping. It is difficult to achieve accurate clamping and stable transportation of parts of different sizes, which makes the clamping operation inconvenient and further reduces the transportation efficiency. Summary of the invention

[0004] The object of the present invention is to provide a truss gripper for heavy-duty annular parts, so as to solve the problems proposed in the above-mentioned background technology that the existing clamping device lacks adaptability to parts, has a single clamping method, may damage parts due to excessive clamping force, or may cause parts to loosen due to loose clamping, making it difficult to achieve accurate clamping and stable transportation of parts of different sizes, thereby causing inconvenience in clamping operation and reducing transportation efficiency.

[0005] A truss gripper for heavy-loaded annular parts is provided, comprising an electric gripper body, the electric gripper body being arranged on a truss system, an inner-support gripper mechanism being arranged at the lower part of the electric gripper body, a CCD camera assembly being arranged at one side of the upper part of the electric gripper body, and a distance measuring sensor assembly being arranged on the electric gripper body, the distance measuring sensor assembly being used for sensing the clamping distance of the inner-support gripper mechanism.

[0006] Furthermore, the electric gripper body includes a motor position adjustment plate, a servo motor is arranged on the motor position adjustment plate, the output end of the servo motor is fixedly connected to the reducer, the output end of the reducer is fixedly connected to the transmission mechanism, an upper mounting plate is also arranged on the motor position adjustment plate, a front mounting plate and a rear mounting plate are arranged on the front and rear sides of the upper mounting plate, a gripper motor cover and a sheet metal cover are arranged on the left and right sides of the upper mounting plate, the lower part of the front mounting plate and the rear mounting plate is fixedly connected to the lower part of the front mounting plate and the rear mounting plate, the servo motor drives the power to be transmitted to the inner support gripper mechanism through the speed reduction and torque increase transmission mechanism of the reducer, the gripper opens and closes according to the instructions, so that the gripper of the inner support gripper mechanism moves to adapt to parts of different specifications.

[0007] Furthermore, the transmission mechanism includes a transmission gear, the transmission gear is fixedly connected to the output end of the reducer, the output end of the transmission gear is fixedly connected to a ball screw, the ball screw is rotatably connected between a screw fixing seat and a screw support seat, upper hand mounting plates are threadedly connected to both sides of the upper part of the ball screw, the upper hand mounting plate is slidably connected to a linear slide rail, the linear slide rail is fixedly connected to a lower mounting plate, an inner support hand mechanism is arranged at the bottom of the upper hand mounting plate, the inner support hand mechanism is slidably connected to the lower mounting plate, and the transmission The moving gear drives the ball screw to rotate, and the rotational motion of the ball screw is converted into linear motion of the upper clamping hand mounting plate. The threads on both sides of the ball screw are respectively connected to the two upper clamping hand mounting plates. The upper clamping hand mounting plates will slide along the axial direction of the ball screw when the ball screw rotates. The bottom of the upper clamping hand mounting plate is fixedly connected to the inner support clamping mechanism. As the upper clamping hand mounting plate moves, the inner support clamping mechanism moves accordingly. By adjusting the rotation direction and displacement of the ball screw, the clamping spacing of the inner support clamping mechanism can be automatically adjusted to meet the clamping requirements of annular parts of different specifications.

[0008] Furthermore, a limit block and an anti-collision bolt are arranged on the upper part of the screw support seat, and the limit block and the anti-collision bolt are fixed on a base to prevent the inner support clamp of the product from moving beyond the travel, thereby ensuring the safe operation of the system and avoiding damage caused by misoperation or system abnormality.

[0009] Furthermore, the internal support clamping mechanism includes a product internal support clamping hand, and the product internal support clamping hand is fixedly connected to the upper clamping hand mounting plate. The product internal support clamping hand is provided with a diffuse reflection laser switch. If the target object is not detected, the diffuse reflection laser can take measures such as adjusting the clamping hand position, alarming or suspending operation to avoid misoperation, dynamically adjust the clamping distance of the product internal support clamping hand, ensure adaptation to annular parts of different specifications, detect whether the target object is placed correctly, ensure the accuracy of the clamping process, avoid misoperation of the clamping hand, prevent the clamping hand from clamping in vain when there is no target object, and reduce equipment loss.

[0010] Furthermore, the product's internal support clamps are provided with arc-shaped anti-skid pads. The product's internal support clamps are I-shaped, have good bending resistance and stability, and the arc-shaped anti-skid pads on their surfaces are made of rubber, polyurethane, ethylene propylene diene and other materials with good elasticity, wear resistance and anti-skid effects. They can better fit the shape of the product, improve the protection effect, and have a longer service life.

[0011] Furthermore, the product's inner support clamps are all provided with lower safety hooks, and the downward safety hooks at the lower ends provide additional mechanical support for the annular parts to be transported, preventing the workpiece from falling off completely. The design of the safety hooks is usually slightly smaller than the inner diameter of the annular parts to be transported, and can form an obstruction when the annular parts to be transported slide downward, thereby preventing accidents.

[0012] Furthermore, the CCD camera assembly includes a camera connecting plate, which is fixedly connected to a camera connecting plate on one side of the upper part of the electric gripper body. A camera fixing plate is provided on the upper part of the camera connecting plate, and a CCD camera is provided on the camera fixing plate. The CCD camera transmits image data to an image processing system and pre-processes the collected image; then edge detection is performed to obtain contour information of the product, determine the geometric characteristics of the product, distinguish different types of annular parts, calculate parameters such as the outer diameter and inner diameter of the product based on the extracted shape information, calculate the center offset of the product, and determine whether it is in the set clamping center position. If the product offset is too large, the system will prompt to adjust or refuse to perform the clamping operation. The calculated product size and position data are fed back to the system control unit, which can automatically adjust the clamping spacing of the gripper to ensure adaptation to products of different specifications, determine whether the product is in the specified position, and avoid mis-clamping, offset or falling.

[0013] Furthermore, the distance measuring sensor assembly includes a sensor mounting plate and two position sensing plates, and the sensor mounting plate is provided with a distance measuring sensor. The two position sensing plates are respectively fixedly connected to the two upper clamping hand mounting plates, and the two position sensing plates slide on the linear slide rail along with the upper clamping hand mounting plates. When the product inner support clamp moves, the distance measuring sensor will detect the relative distance between the two position sensing plates, and convert the distance into an electrical signal and feed it back to the system. The system compares the target clamping distance to determine whether the requirement has been met. If the clamping spacing meets the set value, the product inner support clamp stops moving and clamps. If the spacing does not meet the set value, the system adjusts the servo motor to control the product inner support clamp to continue moving until the set value is reached. It is used to detect the relative position of the product inner support clamp in real time, and feed back the clamping spacing to the system to ensure accurate clamping of annular parts of different specifications.

[0014] Furthermore, the distance measuring sensor assembly also includes a sensor mounting base, which is fixedly connected to the product inner support clamping hand. A photoelectric sensing switch is arranged on the sensor mounting base. During the closing process of the product inner support clamping hand, the photoelectric sensing switch detects the distance between the two product inner support clamping hands and the annular parts to be clamped in real time, and controls the movement speed of the product inner support clamping hands to ensure smooth and accurate clamping of parts of different specifications. Through the dual detection of the photoelectric sensing switch and the distance measuring sensor, the clamping process is precisely controlled to ensure that the product inner support clamping hands will not be clamped too loosely or too tightly, thereby improving the clamping stability and safety.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The CCD camera component detects the annular parts to be transported and identifies their specifications and positions. Based on the detection results of the CCD camera component, the system calculates and adjusts the clamping distance of the inner support gripper mechanism. The clamping execution electric gripper drives the inner support gripper mechanism to expand or contract to achieve the clamping of the annular parts to be transported. The distance sensor component detects the clamping distance and feeds back the data to the system to ensure that the clamping action meets the set requirements. After the clamping is successful, the truss system starts and transports the annular parts to be transported to the target position. After reaching the target position, the inner support gripper mechanism releases the parts, completing the transport task, and returns to the initial position to wait for the next instruction.

[0017] It can quickly adjust the clamping distance of the inner support gripper mechanism according to the size of the product, and identify the product specifications and whether it is in the specified position through the CCD camera component, stably carry heavy-loaded annular parts of different specifications, improve transportation efficiency and transmission safety, avoid the lack of adaptability of the clamping device to the parts, which may cause damage to the parts, make it difficult to accurately clamp and transport parts of multiple sizes, and cause inconvenience in clamping, resulting in low transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present drawings or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present drawings. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0019] Figure 1 It is a schematic diagram of the overall structure of a truss gripper for heavy-duty annular parts;

[0020] Figure 2 Another perspective schematic diagram of the overall structure of a truss gripper for heavy-duty annular parts

[0021] Figure 3A schematic diagram of the three-dimensional structure of a CCD camera assembly provided by the present invention;

[0022] Figure 4 A schematic diagram of the structure of the distance measuring sensor assembly provided by the present invention;

[0023] Figure 5 This is an exploded structural diagram of the interior of the electric gripper body provided by the present invention;

[0024] Figure 6 An exploded structural diagram of the transmission mechanism provided by the present invention;

[0025] Figure 7 A structural diagram of the upper clamping hand mounting plate provided by the present invention;

[0026] Figure 8 This is a structural diagram of the inner support gripping portion of the product provided by the present invention.

[0027] In the figure: 1. Electric gripper body; 2. CCD camera assembly; 3. Distance sensor assembly; 4. Internal support gripper mechanism; 5. Camera connecting plate; 6. Camera fixing plate; 7. CCD camera; 8. Sensor mounting plate; 9. Distance sensor; 10. Rear mounting plate; 11. Upper mounting plate; 12. Motor position adjustment plate; 13. Connecting plate; 14. Reinforcement ribs; 15. Limiting plate; 16. Gripper motor cover; 17. Motor mounting plate; 18. Front mounting plate; 19. Lower mounting plate; 20. Sheet metal hood; 21. Servo motor; 22. Reducer; 23. Transmission gear; 24. Screw fixing seat; 25. Linear slide rail; 26. Slider; 27. Ball screw; 28. Anti-collision bolt; 29. ​​Limit block; 30. Screw support seat; 31. Position sensor; 32. Photoelectric sensor switch; 33. Sensor mounting seat; 34. Upper clamp mounting plate; 35. Diffuse reflection laser switch; 36. Arc anti-slip pad; 37. Lower safety hook; 38. Product internal support clamp. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0029] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0030] However, unnecessary detailed descriptions may be omitted. For example, detailed descriptions of well-known matters and repeated descriptions of substantially the same structures may be omitted. This is to avoid the following description from becoming unnecessarily lengthy and to facilitate understanding by those skilled in the art. In addition, the drawings and the following description are provided to enable those skilled in the art to fully understand the present application and are not intended to limit the subject matter described in the claims.

[0031] See also Figure 1-8As shown, in an embodiment of the present invention, a truss gripper for heavy-duty annular parts comprises an electric gripper body 1, which is arranged on a truss system (a truss system is a linear motion mechanism used for automated production and handling, usually composed of a truss structure, a linear guide rail, a driving mechanism and a control system to achieve high-precision linear or multi-axis motion, ensuring that the electric gripper body 1 can smoothly and accurately transport the annular part to be transported to the target position after clamping it). An inner support gripper mechanism 4 is arranged at the lower part of the electric gripper body 1. The electric gripper body 1 is the core driving component of the clamping system to provide the inner support gripper mechanism 4 with the power required for clamping. After the system receives the handling instruction, the electric gripper body 1 drives the inner support gripper mechanism 4 to perform a clamping or loosening action to complete the grasping and releasing of the part. A CCD camera assembly 2 is arranged on one side of the upper part of the electric gripper body 1. The inner diameter size of the part is identified by the CCD camera assembly 2 so that the inner support gripper The hand mechanism 4 adjusts the clamping distance according to the products of different specifications to ensure that the parts are in the specified position for accurate grasping and improved clamping reliability. The electric gripper body 1 is also provided with a distance sensor assembly 3, which is used to sense the clamping distance of the inner support gripper mechanism 4. The CCD camera assembly 2 detects the annular parts to be transported and identifies their specifications and positions. The system calculates and adjusts the clamping distance of the inner support gripper mechanism 4 based on the detection result of the CCD camera assembly 2. The clamping execution electric gripper drives the inner support gripper mechanism 4 to expand or contract to achieve the clamping of the annular parts to be transported. The distance sensor assembly 3 detects the clamping distance and feeds back the data to the system to ensure that the clamping action meets the set requirements. After successful clamping, the annular parts to be transported are transported to the target position through the truss system. After reaching the target position, the inner support gripper mechanism 4 releases the parts to complete the transport task and returns to the initial position to wait for the next instruction.

[0032] It is able to quickly adjust the clamping distance of the inner support clamping mechanism 4 according to the size of the product, and identify the product specifications and whether it is in the specified position through the CCD camera component 2, so as to stably carry heavy-loaded annular parts of different specifications, improve transportation efficiency and transmission safety, avoid the lack of adaptability of the clamping device to the parts, which may cause damage to the parts, make it difficult to accurately clamp and transport parts of multiple sizes, and cause inconvenience in clamping, resulting in low transportation efficiency.

[0033] In one embodiment, see Figure 1 , Figure 5 , Figure 6 and Figure 7The electric gripper body 1 includes an upper mounting plate 11, on which a motor position adjustment plate 12 is arranged, on which a servo motor 21 is arranged, and an output end of the servo motor 21 is fixedly connected to a reducer 22, and an output end of the reducer 22 is fixedly connected to a transmission mechanism, and a front mounting plate 18 and a rear mounting plate 10 are arranged on the front and rear sides of the upper mounting plate 11, and a gripper motor cover 16 and a sheet metal cover 20 are arranged on the left and right sides of the upper mounting plate 11, and the gripper motor cover 16 and the sheet metal cover 20 are used for heat dissipation protection of their respective motors, and a lower mounting plate 19 is fixedly connected to the lower part of the front mounting plate 18 and the rear mounting plate 10, and a support platform for the gripper mechanism 4 is supported in the lower mounting plate 19, and a support platform for the gripper mechanism 4 is provided at the lower part thereof The movable groove facilitates the free movement of the gripper when gripping and releasing the annular parts to be transported, so as to adapt to parts of different specifications. The servo motor 21 drives the speed reduction and torque increase transmission mechanism of the reducer 22 to transmit power to the inner support gripper mechanism 4. The gripper opens and closes according to the instructions. Through the movable groove, the gripper of the inner support gripper mechanism 4 is moved to adapt to parts of different specifications. In addition, a motor mounting plate 17, a connecting plate 13, a plurality of reinforcing ribs 14 and a limiting plate 15 are arranged between the upper mounting plate 11 and the gripper motor cover 16. The connecting plate 13 is used to connect the motor position adjustment plate 12 and the limiting plate 15. The plurality of reinforcing ribs 14 can provide auxiliary functions such as guiding, positioning and supporting to ensure the accuracy and stability of assembly. The limiting plate 15 and the gripper motor cover 16 can protect the internal parts of the motor; guide the airflow to dissipate heat, prevent the motor from being damaged due to overheating, and improve the operating efficiency and stability of the motor; provide installation and support, and optimize the appearance of the device. The motor mounting plate 17 provides a stable fixed foundation for the motor to ensure that the motor will not be displaced or shaken during operation. On the other hand, it can play a certain role in shock absorption, reducing the impact of vibration on the motor itself and other components, and is used to fix the servo motor 21 to ensure the stability of the servo motor 21 installed on the motor position adjustment plate 12.

[0034] For details, please refer to Figure 1 , Figure 5 , Figure 6 and Figure 7The transmission mechanism includes a transmission gear 23, which is fixedly connected to the output end of the reducer 22. The output end of the transmission gear 23 is fixedly connected to a ball screw 27. The ball screw 27 is rotatably connected between a screw fixing seat 24 and a screw support seat 30. The screw fixing seat 24 and the screw support seat 30 are arranged on the lower mounting plate 19. The upper two sides of the ball screw 27 are threadedly connected to an upper clamping mounting plate 34. The upper clamping mounting plate 34 is slidably connected to the linear slide rail 25 through a slider 26. The linear slide rail 25 is fixedly connected to the lower mounting plate 19. An inner support clamping mechanism 4 is arranged at the bottom of the upper clamping mounting plate 34. The inner support clamping mechanism 4 is slidably connected to the lower mounting plate 19. The transmission gear 23 and the output end of the reducer 22 are fixedly connected. Fixed connection, the reducer 22 reduces the rotation speed and increases the torque, thereby improving the accuracy and stability of the inner support clamping mechanism 4, and the transmission gear 23 drives the ball screw 27 to rotate, and the rotational motion of the ball screw 27 is converted into the linear motion of the upper clamping mounting plate 34, and the threads on both sides of the ball screw 27 are respectively connected to the two upper clamping mounting plates 34, and the upper clamping mounting plates 34 will slide axially along the ball screw 27 when the ball screw 27 rotates, and the bottom of the upper clamping mounting plate 34 is fixedly connected to the inner support clamping mechanism 4, and as the upper clamping mounting plate 34 moves, the inner support clamping mechanism 4 moves accordingly, and by adjusting the rotation direction and displacement of the ball screw 27, the clamping spacing of the inner support clamping mechanism 4 can be automatically adjusted to meet the clamping requirements of annular parts of different specifications.

[0035] For details, please refer to Figure 1 , Figure 5 , Figure 6 and Figure 7 A limit block 29 and an anti-collision bolt 28 are arranged on the upper part of the screw support seat 30. The limit block 29 controls the travel range of the ball screw 27 to ensure the movement accuracy of the clamping hand and limits the movement of the internal support clamping mechanism 4 on the linear slide rail 25 not exceeding the travel range to improve stability. The anti-collision bolt 28 absorbs impact force, reduces mechanical damage, and improves overall safety and durability. The screw support seat 30 provides support to ensure the smooth rotation of the ball screw 27, and serves as a fixed base for the limit block 29 and the anti-collision bolt 28 to prevent the internal support clamping hand 38 of the product from moving beyond the travel range, thereby ensuring the safe operation of the system and avoiding damage caused by misoperation or system abnormality.

[0036] Specifically, see Figure 1 , Figure 6 , Figure 7 and Figure 8The inner support clamping mechanism 4 includes a product inner support clamping hand 38, which is fixedly connected to the upper clamping hand mounting plate 34. The product inner support clamping hand 38 is provided with a diffuse reflection laser switch 35. If the target object is not detected, the diffuse reflection laser switch 35 can take measures such as adjusting the clamping hand position, alarming or suspending operation to avoid misoperation, dynamically adjust the clamping spacing of the product inner support clamping hand 38 to ensure that it can adapt to annular parts of different specifications, detect whether the target object is placed correctly, ensure the accuracy of the clamping process, avoid misoperation of the clamping hand, prevent the clamping hand from clamping in space when there is no target object, reduce equipment loss, and combine with the CCD camera component 2 to further improve the recognition accuracy of product specifications and positions, and achieve more precise clamping control. Combined with the ranging sensor component 3, the clamping force of the product inner support clamping hand 38 can be dynamically adjusted to make the handling process more stable and safe.

[0037] Specifically, see Figure 1 , Figure 6 , Figure 7 and Figure 8 The product's inner support clamp hands 38 are all provided with arc-shaped anti-skid pads 36. The product's inner support clamp hands 38 are I-shaped, have good bending resistance and stability, and the arc-shaped anti-skid pads 36 on their surfaces are made of rubber, polyurethane, ethylene propylene diene and other materials with good elasticity, wear resistance and anti-skid effects. They can better fit the shape of the product and improve the protection effect. At the same time, they have a long service life and ensure that they will not deform during clamping. They are suitable for high-load handling. The arc-shaped anti-skid pads 36 increase friction and fit, prevent parts from slipping, and improve clamping accuracy and stability. The elastic material reduces clamping damage, improves durability and long-term use performance, and makes the clamping process more reliable.

[0038] For further information, see Figure 1 , Figure 6 , Figure 7 and Figure 8 The lower safety hook 37 is usually designed to be slightly smaller than the inner diameter of the annular part to be transported, which can form a barrier when the annular part to be transported slides downward, thereby preventing accidents.

[0039] See also Figure 1 and Figure 3 As shown, the CCD camera assembly 2 includes a camera connecting plate 5, which is fixedly connected to the camera connecting plate 5 on one side of the upper part of the electric gripper body 1. A camera fixing plate 6 is arranged on the upper part of the camera connecting plate 5, and a CCD camera 7 is arranged on the camera fixing plate 6. The camera connecting plate 5 is fixed to one side of the upper part of the electric gripper body 1 to provide stable support. The camera fixing plate 6 is installed on the camera connecting plate 5 to ensure the fixation and stable shooting of the CCD camera 7. The CCD camera 7 is responsible for capturing the image of the product to be clamped. The system analyzes the outer diameter, inner diameter, shape and other parameters of the product according to the image to identify its specifications. The specific process is as follows: The CCD camera 7 is installed on the upper part of the electric gripper body 1 to ensure that its field of view can cover the entire area of ​​the product to be clamped. When the equipment is started, the CCD camera 7 takes a picture of the target product and transmits the image data to the image processing system to pre-process the collected image; then edge detection is performed to obtain the contour information of the product, determine the geometric characteristics of the product, distinguish different types of annular parts, and calculate the outer diameter, inner diameter and other parameters of the product based on the extracted shape information. The product center offset is calculated to determine whether it is in the set clamping center position. If the product offset is too large, the system will prompt to adjust or refuse to perform the clamping operation. The calculated product size and position data are fed back to the system control unit, which can automatically adjust the clamping spacing of the clamp to ensure that it can adapt to products of different specifications and determine whether the product is in the specified position to avoid mis-clamping, offset or falling.

[0040] In one embodiment, see Figure 2 and Figure 4 As shown, the distance sensor assembly 3 includes a sensor mounting plate 8 and two position sensing plates 31. A distance sensor 9 is arranged on the sensor mounting plate 8. The two position sensing plates 31 are respectively fixedly mounted on the left and right upper clamp mounting plates 34, and slide along the linear slide rail 25 with the upper clamp, and are located in the central area of ​​the product inner support clamp 38, aligned with the two position sensing plates 31. When the product inner support clamp 38 moves, the distance sensor 9 detects the relative distance between the two position sensing plates 31, and converts the distance into an electrical signal and feeds it back to the system. The system compares the target clamping distance to determine whether the requirement has been met. If the clamping spacing meets the set value, the product inner support clamp 38 stops moving and clamps. If the spacing does not meet the set value, the system adjusts the servo motor 21 to control the product inner support clamp 38 to continue moving until the set value is reached. It is used to detect the relative position of the product inner support clamp 38 in real time, and feed back the clamping spacing to the system to ensure accurate clamping of annular parts of different specifications.

[0041] In one embodiment, see Figure 1 , Figure 2 , Figure 6 and Figure 7As shown, the distance measuring sensor assembly 3 also includes a sensor mounting base 33, and the sensor mounting base 33 is fixedly connected to the product inner support clamp 38. A photoelectric sensing switch 32 is arranged on the sensor mounting base 33, and the photoelectric sensing switch 32 is aimed at the clamping area of ​​the product inner support clamp 38. In the process of closing the product inner support clamp 38, the photoelectric sensing switch 32 detects the distance between the two product inner support clamps 38 and the annular parts to be clamped in real time, and controls the movement speed of the product inner support clamp 38 to ensure smooth and accurate clamping of parts of different specifications. Through the dual detection of the photoelectric sensing switch 32 and the distance measuring sensor 9, the clamping process is accurately controlled to ensure that the product inner support clamp 38 will not be clamped too loosely or too tightly, thereby improving the clamping stability and safety.

[0042] It should be noted that the present application is not limited to the above-mentioned embodiments. The above-mentioned embodiments are only examples, and the embodiments having the same structure as the technical idea and exerting the same effect within the scope of the technical solution of the present application are all included in the technical scope of the present application. In addition, without departing from the scope of the main purpose of the present application, various modifications that can be thought of by those skilled in the art to the embodiments and other methods of combining some of the constituent elements in the embodiments are also included in the scope of the present application.

Claims

1. A truss gripper for heavy-loaded annular parts, comprising an electric gripper body, wherein the electric gripper body is arranged on a truss system, and is characterized in that an inner-support gripper mechanism is arranged at the lower part of the electric gripper body, a CCD camera assembly is arranged at one side of the upper part of the electric gripper body, and a distance sensor assembly is also arranged on the electric gripper body, and the distance sensor assembly is used to sense the clamping distance of the inner-support gripper mechanism.

2. A truss gripper for heavy-duty annular parts according to claim 1, characterized in that: The electric gripper body includes an upper mounting plate, a motor position adjustment plate is arranged on the upper mounting plate, a servo motor is arranged on the motor position adjustment plate, the output end of the servo motor is fixedly connected to the reducer, the output end of the reducer is fixedly connected to the transmission mechanism, a front mounting plate and a rear mounting plate are arranged on the front and rear sides of the upper mounting plate, a gripper motor cover and a sheet metal cover are arranged on the left and right sides of the upper mounting plate, and a lower mounting plate is fixedly connected to the lower parts of the front mounting plate and the rear mounting plate.

3. A truss gripper for heavy-duty annular parts according to claim 2, characterized in that: The transmission mechanism includes a transmission gear, which is fixedly connected to the output end of the reducer, and the output end of the transmission gear is fixedly connected to a ball screw, and the ball screw is rotatably connected between a screw fixing seat and a screw support seat, and upper clamping hand mounting plates are threadedly connected to both sides of the upper part of the ball screw, and the upper clamping hand mounting plate is slidably connected to the linear slide rail, and the linear slide rail is fixedly connected to the lower mounting plate, and an inner support clamping hand mechanism is provided at the bottom of the upper clamping hand mounting plate, and the inner support clamping hand mechanism is slidably connected to the lower mounting plate.

4. A truss gripper for heavy-duty annular parts according to claim 3, characterized in that: The upper part of the screw rod support seat is provided with a limit block and an anti-collision bolt.

5. A truss gripper for heavy-duty annular parts according to claim 1, characterized in that: The inner support gripping mechanism comprises an inner support gripping hand of a product, wherein the inner support gripping hand of the product is fixedly connected to an upper gripping hand mounting plate, and each inner support gripping hand of the product is provided with a diffuse reflection laser switch.

6. A truss gripper for heavy-duty annular parts according to claim 5, characterized in that: The inner support clamps of the product are all provided with arc-shaped anti-skid pads.

7. A truss gripper for heavy-duty annular parts according to claim 5, characterized in that: The inner support clamps of the product are all provided with lower safety hooks.

8. A truss gripper for heavy-duty annular parts according to claim 7, characterized in that: The CCD camera assembly includes a camera connecting plate, which is fixedly connected to a camera connecting plate on one side of the upper part of the electric gripper body. A camera fixing plate is arranged on the upper part of the camera connecting plate, and a CCD camera is arranged on the camera fixing plate.

9. A truss gripper for heavy-duty annular parts according to claim 5, characterized in that: The distance measuring sensor assembly comprises a sensor mounting plate and two position sensing sheets. The distance measuring sensor is arranged on the sensor mounting plate. The two position sensing sheets are respectively fixedly connected to two upper clamping hand mounting plates.

10. A truss gripper for heavy-duty annular parts according to claim 9, characterized in that: The distance measuring sensor assembly also includes a sensor mounting seat, which is fixedly connected to the inner support clamp of the product, and a photoelectric induction switch is arranged on the sensor mounting seat.

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