Flexible clamping jaw with self-adaptive tail end size

Abstract

The invention discloses a tail end size self-adaptive flexible clamping jaw, and belongs to the field of automatic machining equipment. One end of the tool quick-changing device is fixedly installed at the tail end of the robot, the other end of the tool quick-changing device and the pneumatic module are fixedly installed on the connecting plate, the proximity photoelectric switch is fixedly installed at the upper end of the connecting plate, and the claw part fixing ends of the two clamping claws are fixedly connected with two sliding seats of the pneumatic module in a one-to-one mode. An anti-collision detection sensor is fixedly installed in the middle of the upper end of a base of the pneumatic module, a laser distance measuring sensor baffle and a laser distance measuring sensor are installed on two clamping jaw parts, the laser distance measuring sensor is in signal connection with an aviation plug interface, and the aviation plug interface is in signal connection with a robot upper controller. The clamping end of each clamping jaw part is provided with a flexible rod set unit, telescopic damping rods of the flexible rod set units are located on the inner sides of the clamping jaw parts, the two correlation sensors are fixedly installed at the upper ends of the two clamping jaw parts, and the tool quick-changing device is provided with an aviation plug interface. The clamping device is installed at the tail end of the robot and used for clamping workpieces when the workpieces are carried.

Description

Technical Field

[0001] The present invention belongs to the field of automated processing equipment, relates to a robot gripper, and specifically relates to a flexible gripper with self-adaptive end dimensions. Background Art

[0002] In recent years, due to the further development of automation technology, intelligent manufacturing has become a powerful driving force and the main development direction for promoting production efficiency, improving the stability of product quality, and enhancing the safety of production operations. Among them, for the complex working conditions of processing workpieces with complex shapes that are difficult to grip and dangerous, industrial robots can replace humans to complete work more stably and safely. An industrial robot cannot complete different processes and perform different complex actions without a pair of flexible and stable robot grippers. At the same time, to achieve flexible automation in an intelligent factory, industrial robot grippers need to have a certain degree of end self-adaptive flexibility, the ability to sense environmental factors, and the ability to prevent and quickly respond to potential safety accidents. In recent years, flexible grippers have increasingly replaced humans and been applied in fields with complex and changeable service environments such as automobile manufacturing, hazardous chemical production, nuclear power energy, and aerospace.

[0003] When an industrial robot works in a complex workshop environment, it often lacks the ability to distinguish between the gripped object and other people and objects in the working environment and the ability to judge the safety distance. The gripping force for workpieces of a certain size is often determined by force sensing feedback. When gripping and transporting some dangerous chemical substances, due to the danger of the workpiece itself and the possible overloading of the gripper, there are significant safety hazards in production, and there may also be collisions with other people and objects during the handling and movement process.

[0004] Therefore, the present invention provides a flexible gripper with self-adaptive end dimensions to solve the problems raised in the above background art. Summary of the Invention

[0005] The purpose of the present invention is to improve the safety and reliability of a robot when handling items in a workshop, reduce the probability of collision accidents of the robot, and at the same time achieve rapid adaptation to gripping workpieces with different shaped surfaces, reduce the time for replacing tooling and special grippers, and improve production efficiency. The present invention provides a flexible gripper with self-adaptive end dimensions.

[0006] To achieve the above purpose, the technical solution adopted by the present invention is:

[0007] A flexible gripper with self-adaptive end dimensions includes at least two flexible rod group units, two opposed sensors, two gripper claw parts, a pneumatic module, a connecting plate, a laser distance sensor, a D-sub connector, an anti-collision detection sensor, a tool quick-change device, a laser distance sensor baffle, and at least one proximity photoelectric switch;

[0008] One end of the tool quick-change device is fixedly installed at the end of the robot. The other end of the tool quick-change device and the rear side of the base of the pneumatic module are both fixedly installed on the connecting plate. At least one proximity photoelectric switch is fixedly installed at the upper end of the connecting plate. The two jaw claws are symmetrically arranged left and right, and the fixed ends are fixedly connected to the two sliders of the pneumatic module one by one. The anti-collision detection sensor is fixedly installed in the middle of the upper end of the base of the pneumatic module. The laser ranging sensor baffle and the laser ranging sensor are installed corresponding to each other on the two jaw claws. The aviation plug interface is arranged on the tool quick-change device. The clamping end of each jaw claw is equipped with a flexible rod group unit. The telescopic damping rod of the flexible rod group unit is located inside the jaw claw. Two opposed sensors are fixedly installed at the upper ends of the two jaw claws;

[0009] Both the laser ranging sensor and the pneumatic module are signal-connected to the aviation plug interface, and the aviation plug interface is signal-connected to the upper controller of the robot; the proximity photoelectric switch, the anti-collision detection sensor and the two opposed sensors are all signal-connected to the upper controller of the robot.

[0010] Further, the tool quick-change device includes a male head of the tool quick-change device and a female head of the tool quick-change device; one end of the male head of the tool quick-change device is installed at the end of the robot, the other end of the male head of the tool quick-change device is connected to the female head of the tool quick-change device, and the female head of the tool quick-change device is fixedly installed on the connecting plate.

[0011] Further, there are two through holes penetrating the left and right side walls at the clamping end of each jaw claw. The four through holes of the two jaw claws are arranged in a matrix form; the number of the flexible rod group units is four. Each flexible rod group unit includes a fixed seat and four telescopic damping rods arranged in a matrix form. The fixed ends of the four telescopic damping rods are fixed on the fixed seat, and the fixed seat is fixedly installed in the through hole of the jaw claw.

[0012] Further, the outer surface of the telescopic end of the telescopic damping rod is wrapped with rubber material.

[0013] Further, the jaw also includes two anti-drop trays; one end of each of the two anti-drop trays is fixedly connected to the bottom of the two jaw claws, and the other ends of the two anti-drop trays are located inside the openings of the two jaw claws and are arranged opposite to each other.

[0014] Further, the middle parts of the other ends of the two anti-drop trays are both arc-shaped.

[0015] Further, the number of the proximity photoelectric switches is two, and the two proximity photoelectric switches are fixedly installed side by side at the upper end of the connecting plate.

[0016] The beneficial effects of the present invention compared with the prior art are:

[0017] 1. The adaptive flexible gripper of the present invention uses the telescopic damping rods of four flexible rod group units to grip the workpiece, achieving adaptive gripping for workpieces with different shapes. The telescopic end of the telescopic damping rod is made of rubber material, which plays an anti-static role; the gripping of the four flexible rod units can also play an anti-slip role.

[0018] 2. The proximity photoelectric switch is used to monitor the stroke position of the pneumatic module, and the laser distance sensor is used to monitor the size of the workpiece gripped by the gripper jaws in real time to prevent empty gripping; at the same time, the combined use of the laser distance sensor and the flexible rod group unit can effectively avoid damage to the workpiece caused by excessive gripping force, greatly improving the safety of the adaptive flexible gripper.

[0019] 3. The gripper jaws are driven by a pneumatic module. By controlling the on-off of the air circuit, the gripping action of the gripper jaws can be controlled. At the same time, the gripping force of the gripper jaws can be adjusted by adjusting the air pressure, which is convenient for adapting to the clamping of workpieces of different sizes.

[0020] 4. By installing a laser distance sensor on the gripper jaws and a proximity photoelectric switch on the connecting plate, the real-time distance between the two gripper jaws when they open is measured by the laser distance sensor, and the size of the gripped workpiece is calculated. The measured distance data is transmitted to the robot upper controller through the signal line. The robot upper controller judges the opening and closing state of the gripper jaws and the size of the gripped workpiece and other information based on these data. The proximity photoelectric switch is used to detect the stroke position of the gripper jaws and judge whether it reaches the expected position. When the gripper jaws move into its detection range, a signal is output to the robot upper controller. The robot upper controller judges the stroke state of the gripper jaws based on this signal and controls the opening and closing and clamping actions of the pneumatic module, so as to realize the real-time monitoring of the distance between the two gripper jaws, judge the size of the gripped workpiece and prevent empty gripping.

[0021] 5. The anti-collision detection sensor is fixedly installed in the middle of the upper end of the base of the pneumatic module, which can monitor in real time whether there are objects in front of the robot, and is used to prevent equipment damage and personal injury caused by the robot colliding due to operator error or robot failure.

[0022] 6. Two opposed sensors are fixedly installed at the upper ends of the two gripper jaws, which can monitor in real time whether there are objects between the two gripper jaws, and are used to prevent misjudgment caused by the workpiece falling during the process of transporting the workpiece.

[0023] 7. The adaptive flexible gripper of the present invention has a compact structure and layout design. The anti-collision detection sensor is fixedly installed in the middle of the upper end of the base of the pneumatic module, ensuring that the sensor will not be blocked and affect the normal operation when gripping the workpiece. Description of the Drawings

[0024] Figure 1 Schematic diagram of an end - dimension - adaptive flexible gripper of the present invention Figure 1 ;

[0025] Figure 2 Schematic diagram of an end - dimension - adaptive flexible gripper of the present invention Figure 2 。

[0026] The names and reference numerals of the components involved in the above - mentioned drawings are as follows:

[0027] 1 - Flexible rod group unit, 2 - Telescopic damping rod, 3 - Through - beam sensor, 4 - Gripper claw part, 5 - Pneumatic module, 6 - Connecting plate, 7 - Laser distance sensor, 8 - Aviation plug interface, 9 - Anti - collision detection sensor, 10 - Proximity photoelectric switch, 11 - Male head of tool quick - change device, 12 - Female head of tool quick - change device, 13 - Baffle of laser distance sensor, 14 - Anti - dropping tray, 15 - Tool quick - change device. Detailed implementation manners

[0028] Detailed implementation manner 1: As shown in Figure 1 、 Figure 2 This implementation manner discloses an end - dimension - adaptive flexible gripper, which includes at least two flexible rod group units 1, two through - beam sensors 3, two gripper claw parts 4, a pneumatic module 5, a connecting plate 6, a laser distance sensor 7, an aviation plug interface 8, an anti - collision detection sensor 9, a tool quick - change device 15, a baffle 13 of the laser distance sensor, and at least one proximity photoelectric switch 10;

[0029] One end of the tool quick - change device 15 is fixedly installed on the end of the robot, and the other end of the tool quick - change device 15 is fixedly installed on the rear side plate surface of the connecting plate 6. The rear side surface of the base of the pneumatic module 5 is fixedly installed on the front side plate surface of the connecting plate 6. At least one proximity photoelectric switch 10 is fixedly installed at the upper end of the connecting plate 6. The two gripper claw parts 4 are symmetrically arranged left and right, and the fixed ends are fixedly connected to the two sliders of the pneumatic module 5 one by one. The left and right gripper claw parts 4 are driven by the pneumatic module 5. The anti - collision detection sensor 9 is fixedly installed in the middle of the upper end of the base of the pneumatic module 5. The anti - collision detection sensor 9 can monitor in real time whether there is a sufficient safety distance between the object in front of the gripper claw part 4 and the gripper claw part 4 to avoid collision. The baffle 13 of the laser distance sensor and the laser distance sensor 7 are installed corresponding to each other left and right on the two gripper claw parts 4. The laser distance sensor 7 is used to measure the real - time distance between the two gripper claw parts 4 when they are opened, and calculate the size of the workpiece to be picked up. The aviation plug interface 8 is arranged on the tool quick - change device 15. A flexible rod group unit 1 is installed at the clamping end of each gripper claw part 4. The telescopic damping rod 2 of the flexible rod group unit 1 is located inside the gripper claw part 4. The two through - beam sensors 3 are fixedly installed at the upper ends of the two gripper claw parts 4;

[0030] The laser distance measuring sensor 7 and the pneumatic module 5 are both signal-connected to the aviation plug interface 8, and the aviation plug interface 8 is signal-connected to the robot upper controller. The laser distance measuring sensor 7 can monitor the distance between the claw parts 4 of the left and right grippers in real time, and output the monitored data to the robot upper controller through the aviation plug interface 8; the proximity photoelectric switch 10, the anti-collision detection sensor 9 and the two opposed sensors 3 are all signal-connected to the robot upper controller.

[0031] The proximity photoelectric switch 10 is used to detect the stroke position of the claw part 4 of the gripper; when the claw part 4 of the gripper moves into the detection range of the proximity photoelectric switch 10, the proximity photoelectric switch 10 will output a signal to the robot upper controller. After receiving this signal, the robot upper controller will judge whether the stroke of the claw part 4 of the gripper reaches the expected position according to the preset program logic. If the expected position is reached, the robot upper controller will issue an instruction to the pneumatic module 5 to control the pneumatic module 5 to open and close and clamp, so as to realize the clamping or release of the object.

[0032] Further, as Figure 1 , Figure 2 shown, the tool quick-change device 15 includes a male tool quick-change device 11 and a female tool quick-change device 12; one end of the male tool quick-change device 11 is installed at the end of the robot, the other end of the male tool quick-change device 11 is connected to the female tool quick-change device 12, and the female tool quick-change device 12 is fixedly installed on the rear side plate surface of the connecting plate 6.

[0033] Further, as Figure 1 , Figure 2 shown, each clamping end of the claw part 4 of the gripper is provided with two through holes penetrating the left and right side walls, and the four through holes of the two claw parts 4 of the gripper are arranged in a matrix form; the number of the flexible rod group units 1 is four, and each flexible rod group unit 1 includes a fixed seat and four telescopic damping rods 2 arranged in a matrix form. The fixed ends of the four telescopic damping rods 2 are fixed on the fixed seat, and the fixed seat is fixedly installed in the through hole of the claw part 4 of the gripper.

[0034] The adaptive clamping of workpieces with different shapes is realized through the telescopic damping rod 2. The clamping of the four groups of flexible rod units 1 can play an anti-slip role and make the clamping more stable.

[0035] The flexible rod group unit 1 and the telescopic damping rod 2 are both existing technologies. A total of four flexible rod group units 1 are installed on the left and right claw parts 4 of the gripper. Each flexible rod group unit 1 is composed of four telescopic damping rods 2, and can change its own stroke according to different workpiece shapes (such as workpieces with arcs and tapers), and autonomously expand and contract through the springs in the telescopic damping rods 2 to realize flexible clamping and can adapt to the clamping requirements of workpieces with different shapes.

[0036] Further, as Figure 1, Figure 2 As shown, the outer surface of the telescopic end of the telescopic damping rod 2 is wrapped with rubber material, which can play an anti-static role.

[0037] Furthermore, as Figure 1 , Figure 2 shown, the clamping jaw further includes two anti-drop trays 14; one end of each of the two anti-drop trays 14 is fixedly connected to the bottom of the two clamping jaw parts 4, and the other ends of the two anti-drop trays 14 are located within the openings of the two clamping jaw parts 4, and the other ends of the two anti-drop trays 14 are arranged oppositely.

[0038] The anti-drop tray 14 can play a role in assisting clamping on the one hand, and on the other hand, it can prevent the workpiece from falling in case of emergency air cut-off and other situations during the process of the robot carrying the workpiece.

[0039] Furthermore, as Figure 1 , Figure 2 shown, the middle parts of the other ends of the two anti-drop trays 14 are both arc-shaped, and the two arc radii are the same. It can assist in clamping workpieces with a circular cross-section.

[0040] Furthermore, as Figure 1 , Figure 2 shown, the number of the proximity photoelectric switches 10 is two, and the two proximity photoelectric switches 10 are fixedly installed side by side at the upper end of the connecting plate 6.

[0041] The working process of the flexible clamping jaw of the present invention is as follows:

[0042] The upper controller of the robot controls the gripper to approach the workpiece to be clamped, and the anti-collision detection sensor 9 continuously detects the vertical distance from the gripper to the workpiece to be clamped and feeds back the signal to the upper controller of the robot; when reaching the preparatory clamping position, the upper controller of the robot gives a signal through the aviation plug interface 8 to control the pneumatic module 5 to loosen, so that the two symmetrical clamping jaw parts 4 loosen and reach the limit position, and both of the two proximity photoelectric switches 10 are triggered to feed back the signal to the upper controller of the robot. After the upper controller of the robot controls the gripper to approach the workpiece to be clamped closely to the clamping position, the transmissive sensor 3 receives the signal reflected back by the workpiece to be clamped, and then feeds back the signal to the upper controller of the robot. After receiving the signal, the upper controller of the robot controls the pneumatic module 5 to automatically clamp the workpiece. At the same time, the laser distance sensor 7 calculates the workpiece size according to the opening travel distance of the left and right clamping jaw parts at this time, transports the workpiece to the specified position, and the upper controller of the robot gives a signal to control the pneumatic module 5 to loosen the clamping jaw part 4, thus completing the entire working process.

[0043] The opposed sensors 3, pneumatic module 5, laser distance sensors 7, aviation plug interfaces 8, anti-collision detection sensors 9, proximity photoelectric switches 10, male tool quick-change devices 11, and female tool quick-change devices 12 adopted in the present invention are all off-the-shelf components.

[0044] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A flexible clamp with self-adaptive end size, characterized in that: The invention comprises at least two flexible rod group units (1), two opposing beam sensors (3), two clamping claws (4), a pneumatic module (5), a connecting plate (6), a laser distance measuring sensor (7), an aviation plug interface (8), an anti-collision detection sensor (9), a tool quick-change device (15), a laser distance measuring sensor baffle (13) and at least one proximity photoelectric switch (10); One end of the tool quick change device (15) is fixedly mounted on the end of the robot, the other end of the tool quick change device (15) and the rear side of the base of the pneumatic module (5) are fixedly mounted on the connecting plate (6), at least one proximity photoelectric switch (10) is fixedly mounted on the upper end of the connecting plate (6), the two clamping claws (4) are symmetrically arranged on the left and right, and the fixed ends are fixedly connected to the two slide seats of the pneumatic module (5) one by one, the anti-collision detection sensor (9) is fixedly mounted on the middle part of the upper end of the base of the pneumatic module (5), the laser distance sensor baffle (13) and the laser distance sensor (7) are correspondingly mounted on the two clamping claws (4) on the left and right, the aviation plug interface (8) is arranged on the tool quick change device (15), the clamping end of each clamping claw (4) is installed with a flexible rod group unit (1), the telescopic damping rod (2) of the flexible rod group unit (1) is located on the inner side of the clamping claw (4), and the two opposing sensors (3) are fixedly mounted on the upper ends of the two clamping claws (4); The laser distance measuring sensor (7) and the pneumatic module (5) are both connected to the aviation plug interface (8) by signal, and the aviation plug interface (8) is connected to the robot upper controller by signal; the proximity photoelectric switch (10), the anti-collision detection sensor (9) and the two opposing beam sensors (3) are all connected to the robot upper controller by signal.

2. The flexible clamping jaw with self-adaptive end dimensions according to claim 1, characterized in that: The tool quick change device (15) comprises a tool quick change device male head (11) and a tool quick change device female head (12); one end of the tool quick change device male head (11) is mounted on the end of the robot, the other end of the tool quick change device male head (11) is connected to the tool quick change device female head (12), and the tool quick change device female head (12) is fixedly mounted on the connecting plate (6).

3. The flexible clamping jaw with self-adaptive end dimensions according to claim 1, characterized in that: The clamping end of each clamping claw portion (4) is provided with two through holes penetrating the left and right side walls, and the four through holes of the two clamping claw portions (4) are arranged in a matrix form; the number of the flexible rod group units (1) is four, and each flexible rod group unit (1) comprises a fixed seat and four telescopic damping rods (2) arranged in a matrix form, the fixed ends of the four telescopic damping rods (2) are fixed on the fixed seat, and the fixed seat is fixedly mounted in the through holes of the clamping claw portion (4).

4. The flexible clamping jaw with self-adaptive end dimensions according to claim 3, characterized in that: The outer surface of the telescopic end of the telescopic damping rod (2) is wrapped with rubber material.

5. The flexible clamping jaw with self-adaptive end dimensions according to claim 1, characterized in that: The clamping jaws also include two anti-drop trays (14); the bottoms of the two clamping jaws (4) are each fixedly connected to one end of an anti-drop tray (14), the other ends of the two anti-drop trays (14) are located in the openings of the two clamping jaws (4), and the other ends of the two anti-drop trays (14) are arranged opposite to each other.

6. The flexible clamping jaw with self-adaptive end dimensions according to claim 5, characterized in that: The middle parts of the other ends of the two anti-drop trays (14) are both in an arc shape.

7. The flexible clamping jaw with self-adaptive end dimensions according to claim 1, characterized in that: The number of the proximity photoelectric switches (10) is two, and the two proximity photoelectric switches (10) are fixedly mounted side by side on the upper end of the connecting plate (6).

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