Clamping jaw system

Abstract

The utility model discloses a clamping jaw system which comprises a rotating mechanism and a driving mechanism, and the driving mechanism is arranged on the rotating mechanism. The empty clamping detection mechanism is mounted on the driving mechanism; the height avoiding mechanism is arranged on the driving mechanism; the number of the replacing mechanisms is two, and the replacing mechanisms are symmetrically arranged on the driving mechanism. The empty clamping detection mechanism comprises a first potential piece and a second potential piece which can be in contact with each other or separated from each other. The device relates to the technical field of clamping jaws, so that the grabbing accuracy is improved, operation idling is avoided, and the operation reliability and efficiency are improved. The clamping jaw system not only can accurately recognize and respond to problems in operation, but also can intelligently adjust the operation strategy to adapt to different environment changes, and the efficiency and safety of automatic operation are remarkably improved.

Description

Technical Field

[0001] The utility model relates to the technical field of clamping jaws, in particular to a clamping jaw system. Background Art

[0002] In industrial production, especially in the field of construction waste sorting, common sorting methods include manual sorting and human-machine collaboration. These methods usually rely on workers' intuitive judgment and operation. Faced with the complexity and danger of construction waste, such as the remnants of steel bars and nails, this sorting method has obvious safety hazards and efficiency problems. In addition, in order to improve sorting accuracy and efficiency, automatic sorting robots based on image recognition technology have been introduced into the market. These robots recognize different types of garbage through advanced computer vision systems and realize automatic sorting, thereby reducing manual intervention and improving processing speed and accuracy.

[0003] Although the introduction of image recognition technology in sorting robots has improved the level of automation, the existing technology still has certain shortcomings. For example, in the processing of construction waste, the gripper components are often damaged and need to be replaced frequently, which not only increases maintenance costs but also affects the overall operating efficiency of the equipment. The existing grippers are difficult to record and alarm when the gripper is empty, and it is also difficult to judge the height of the object on the line. Utility Model Content

[0004] The purpose of the utility model is to provide a clamping claw system to solve the problems raised in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a clamping jaw system, comprising: a rotating mechanism and a driving mechanism, wherein the driving mechanism is arranged on the rotating mechanism; a clamping jaw detection mechanism, wherein the clamping jaw detection mechanism is installed on the driving mechanism; a height avoidance mechanism, wherein the height avoidance mechanism is arranged on the driving mechanism; a replacement mechanism, wherein the replacement mechanism is divided into two groups and are symmetrically arranged on the driving mechanism respectively; wherein the clamping jaw detection mechanism comprises a first potential plate and a second potential plate which can contact or separate from each other, wherein the first potential plate and the second potential plate are used to monitor whether the clamping jaw is empty.

[0006] In a feasible implementation manner, the rotating mechanism includes: a first rotating base and a second rotating base, and the second rotating base is rotatably disposed directly above the first rotating base via a rotating shaft.

[0007] In a feasible embodiment, the driving mechanism includes: a cylinder, the bottom end of which is fixedly arranged directly above the second rotating base; an operating table, which is a hollow structure and fixedly connected to the outer wall of the cylinder; a straight rod rotating base, two of which are fixedly mounted on the operating table and symmetrically arranged; a T-shaped connecting rod, which is fixedly mounted on the output end of the cylinder; a power-pulling straight rod, the ends of a plurality of the power-pulling straight rods are respectively rotatably arranged on two T-shaped connecting rods, and each two are symmetrically distributed in a group; a rotating clamping straight rod, one end of a plurality of the rotating clamping straight rods are respectively rotatably arranged on the two straight rod rotating bases; and the straight rods are connected to the plurality of power-pulling straight rods through mounting holes provided therein.

[0008] In a feasible embodiment, the gap detection mechanism includes: the first potential piece is fixedly installed inside the operating table through a mounting base; the second potential piece is fixedly set at the bottom end of the T-shaped connecting rod and is set corresponding to the first potential piece; a grounding cable, one end of the grounding cable is fixedly connected to the first potential piece; a data cable, one end of the data cable is connected to the second potential piece, and the other end is connected to the MCU control board.

[0009] In a feasible implementation, the height avoidance mechanism includes: a radar sensor, one end of which is fixedly mounted on a T-shaped connecting rod, with the probe facing the clamping area, and the other end of the radar sensor is connected to a signal cable.

[0010] In a feasible embodiment, the replacement mechanism includes: an L-shaped base, two of the L-shaped bases are symmetrically and rotatably arranged at the other end of the multiple rotating clamping straight rods; and replacement jaws, two of the replacement jaws are detachably mounted on the two L-shaped bases by screws.

[0011] Compared with the prior art, the beneficial effects of the utility model are as follows: the device realizes the overhead detection function through the contact and separation of the first potential piece and the second potential piece in the empty clamp detection mechanism. The low level and high level generated when the first potential piece and the second potential piece are in contact and separated can be judged as an empty clamp state, and alarm and record processing can be performed; through the interrupt processing of the MCU, the empty clamp count can be recorded, the number and type of missed grasped objects can be statistically recorded, and an alarm can be triggered or an abnormal state can be recorded. Thereby improving the accuracy of grasping and avoiding idling operation, increasing the reliability and efficiency of the operation.

[0012] The height avoidance mechanism monitors the height change of objects in the gripping area through radar sensors, and can calculate the movement trajectory of the gripper in real time to avoid hitting the object, thereby protecting the gripper itself and the object being operated. Under the action of the height avoidance mechanism, the device can autonomously avoid obstacles in complex operating environments while ensuring smooth and precise operation. It can be seen that the gripper system can not only accurately identify and respond to problems in operation, but also intelligently adjust its operating strategy to adapt to different environmental changes, significantly improving the efficiency and safety of automated operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the front three-dimensional structure of the utility model;

[0014] Figure 2 It is a schematic diagram of the back three-dimensional structure of the utility model;

[0015] Figure 3 This is a schematic diagram of the signal cable structure of the utility model;

[0016] Figure 4 This is a flow chart of the air clamp alarm of the utility model.

[0017] In the figure: 1. rotating mechanism, 2. driving mechanism, 3. empty clamping detection mechanism, 4. height avoiding mechanism, 5. replacement mechanism, 11. first rotating base, 12. second rotating base, 21. cylinder, 22. operating table, 23. straight rod rotating base, 24. T-type connecting rod, 25. power pulling straight rod, 26. rotating and clamping straight rod, 31. first potential plate, 32. second potential plate, 33. grounding cable, 34. data cable, 41. radar sensor, 42. signal cable, 51. L-type base, 52. replacement of clamping jaws. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] See also Figures 1 to 4The utility model provides a technical solution: a clamping claw system, including: a rotating mechanism 1 and a driving mechanism 2, a gap detection mechanism 3 and a height avoidance mechanism 4, the driving mechanism 2 is arranged on the rotating mechanism 1; the gap detection mechanism 3 is installed on the driving mechanism 2; the height avoidance mechanism 4 is arranged on the driving mechanism 2; a replacement mechanism 5, the replacement mechanism 5 is two groups, and are symmetrically arranged on the driving mechanism 2 respectively; wherein the gap detection mechanism 3 includes a first potential sheet 31 and a second potential sheet 32 ​​which can contact or separate from each other.

[0020] The position and angle of the rotating mechanism 1 can be adjusted to meet different work requirements. The driving mechanism 2 drives the replacement mechanism 5 to open and close, so as to realize the grasping and releasing actions. The empty clamp detection mechanism 3 is used to detect whether the object is correctly grasped. The low level and high level generated by the contact and separation of the first potential plate 31 and the second potential plate 32 can be judged as an empty clamp state, and alarm and recording processing can be performed; through the interrupt processing of the MCU, the empty clamp count can be recorded, and the number and type of missed grasped objects can be statistically recorded, and an alarm can be triggered or an abnormal state can be recorded. The height avoidance mechanism 4 can determine the height of the target object, and then store and calculate it in the MCU, so as to avoid the changed height condition of the online object. The setting of the replacement mechanism 5 is convenient for repair or replacement of components, which simplifies the maintenance process.

[0021] In some examples, further, the rotating mechanism 1 includes: a first rotating base 11 and a second rotating base 12, and the second rotating base 12 is rotatably arranged directly above the first rotating base 11 through a rotating axis. Through the first rotating base 11 and the second rotating base 12, the gripper can flexibly adjust the angle to adapt to different operating requirements, thereby achieving efficient and accurate object grasping and manipulation.

[0022] In some examples, further, the driving mechanism 2 includes: a cylinder 21, an operating table 22, a straight rod rotating base 23, a T-shaped connecting rod 24, a power-pulling straight rod 25 and a rotating clamping straight rod 26, the bottom end of the cylinder 21 is fixedly arranged directly above the second rotating base 12; the operating table 22 is a hollow structure and is fixedly connected to the outer wall of the cylinder 21; the two straight rod rotating bases 23 are respectively fixedly mounted on the operating table 22 and are symmetrically arranged with each other; the T-shaped connecting rod 24 is fixedly mounted on the output end of the cylinder 21; the ends of multiple power-pulling straight rods 25 are respectively rotatably arranged on the two T-shaped connecting rods 24, and each two are symmetrically distributed in a group; one end of multiple rotating clamping straight rods 26 are respectively rotatably arranged on the two straight rod rotating bases 23; and they are connected to multiple power-pulling straight rods 25 through the mounting holes opened by themselves.

[0023] Among them, the operating table 22 adopts a hollow structure to facilitate wiring and maintenance, and at the same time, the device is lightweight. When the cylinder 21 is activated, it pushes the T-shaped connecting rod 24 to move up and down, thereby driving the power to pull the straight rod 25 to pull synchronously, and finally the connection between the rotating clamping straight rod 26 and the straight rod rotating base 23 starts to rotate as an axis, thereby realizing the opening and closing action, ensuring the efficiency and accuracy of the clamping claw system, so that the clamping claw can be opened and closed accurately as needed to complete the task of grasping or releasing objects.

[0024] In some examples, further, the gap detection mechanism 3 includes: a grounding cable 33 and a data cable 34, wherein the first potential plate 31 is fixedly installed inside the operating table 22 through a mounting bracket; the second potential plate 32 is fixedly set at the bottom end of the T-shaped connecting rod 24, and is set corresponding to the first potential plate 31; one end of the grounding cable 33 is fixedly connected to the first potential plate 31; one end of the data cable 34 is connected to the second potential plate 32, and the other end is connected to the MCU control board.

[0025] Among them, the cylinder 21 drives the T-type connecting rod 24 to move up and down, so that the T-type connecting rod 24 drives the second potential piece 32 to move up and down. When the second potential piece 32 moves to the lowermost end, that is, the T-type connecting rod 24 moves to the lowermost end, the rotating clamping straight rod 26 is driven to move to the smallest angle between the two sides. The other end of the grounding cable 33 is connected to the ground end of the MCU control board, and the other end of the data cable 34 is connected to an I / O port of the MCU control board. The I / O port is initialized to a high level. When the second potential piece 32 moves to the lowermost end, that is, it contacts the first potential piece 31 and maintains the contact state for a period of time, the data cable 34 is connected to the grounding cable 33, so the I / O port is at a low level at this time. When the MCU detects that the I / O port is at a low level, it can be judged as a clamping empty state, and an alarm and record processing are performed; through the interrupt processing of the MCU, the clamping empty count can be recorded, and the number and type of missed grasping objects can be statistically recorded.

[0026] In some examples, further, the height avoidance mechanism 4 includes: one end of a radar sensor 41 is fixedly mounted on the T-shaped connecting rod 24 , and the probe faces the clamping area, and the other end of the radar sensor 41 is connected to a signal cable 42 .

[0027] Among them, the radar sensor 41 transmits electromagnetic waves of a certain frequency. When these waves encounter objects, they will be reflected back. The radar equipment receives these reflected waves and calculates the difference between them and the transmitted waves. This difference can be manifested as time delay, frequency change or phase change, so that the radar can determine the height of the target object, and then transmit the height value to the I / O port through the signal cable 42, and store and calculate it in the MCU, so as to avoid the changed height condition of the object on the line.

[0028] In some examples, further, the replacement mechanism 5 includes: an L-shaped base 51 and a replacement clamp 52, and the two L-shaped bases 51 are symmetrically and rotatably arranged at the other end of the multiple rotating clamping straight rods 26; the two replacement clamps 52 are detachably installed on the two L-shaped bases 51 by screws.

[0029] When the jaw 52 needs to be replaced, the system is ensured to be in a safe state. The operator uses an appropriate tool to loosen and remove the screws that fix the jaw. After removing the old jaw, the new jaw is placed on the L-shaped base 51 and re-fixed with screws. The replacement procedure is simple and convenient, ensuring that the jaw system can adapt to changing operating requirements or quickly replace the function after the jaw is damaged.

[0030] In the description of the present utility model, it should be understood that the orientations or positional relationships indicated by terms such as "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "two ends", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present utility model 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; at the same time, unless otherwise clearly stipulated and limited, terms such as "setting", "installation", "connection", "fixed installation", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, for ordinary technicians in this field, the specific meanings of the above terms in the utility model can be understood according to specific circumstances.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A clamping jaw system, characterized in that: include: A rotating mechanism and a driving mechanism, wherein the driving mechanism is arranged on the rotating mechanism; A clamping gap detection mechanism, wherein the clamping gap detection mechanism is installed on the driving mechanism; A height avoidance mechanism, wherein the height avoidance mechanism is arranged on the driving mechanism; A replacement mechanism, wherein the replacement mechanism comprises two groups and are symmetrically arranged on the driving mechanism; The empty clamp detection mechanism comprises a first potential sheet and a second potential sheet which can contact or separate from each other, and the first potential sheet and the second potential sheet are used to monitor whether the clamping jaws are empty.

2. A gripper system according to claim 1, characterized in that: The rotating mechanism comprises: a first rotating base and a second rotating base, wherein the second rotating base is rotatably arranged directly above the first rotating base via a rotating shaft.

3. A gripper system according to claim 1, characterized in that: The driving mechanism comprises: A cylinder, the bottom end of which is fixedly arranged just above the second rotating base; An operating table, which is a hollow structure and is fixedly connected to the outer wall of the cylinder; A straight rod rotating base, wherein two straight rod rotating bases are respectively fixedly mounted on the operating table and are symmetrically arranged with respect to each other; A T-type connecting rod, which is fixedly mounted on the output end of the cylinder; Power-pulling straight rods, the ends of which are rotatably arranged on two T-shaped connecting rods, and are symmetrically distributed in groups of two; The rotating clamping straight rods, one end of each of which is rotatably arranged on the two straight rod rotating bases; and connected with the plurality of power pulling straight rods through the mounting holes provided therein.

4. A gripper system according to claim 1, characterized in that: The clamping gap detection mechanism comprises: The first potential piece is fixedly mounted inside the operating table through a mounting seat; the second potential piece is fixedly arranged at the bottom end of the T-shaped connecting rod and is arranged corresponding to the first potential piece; A grounding cable, one end of which is fixedly connected to the first potential plate; A data cable, one end of which is connected to the second potential plate, and the other end of which is connected to the MCU control board.

5. A clamping jaw system according to claim 3, characterized in that: The height avoidance mechanism comprises: A radar sensor, one end of which is fixedly mounted on a T-shaped connecting rod, with the probe facing the clamping area, and the other end of the radar sensor is connected to a signal cable.

6. A clamping jaw system according to claim 3, characterized in that: The replacement mechanism comprises: An L-shaped base, wherein two L-shaped bases are symmetrically and rotatably arranged at the other end of the plurality of rotating clamping straight rods; Replacement jaws, the two replacement jaws are detachably mounted on the two L-shaped bases by screws.

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