Manipulator clamping jaw with vacuum detection function

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator clamping jaw with a vacuum detection function, which comprises a base, a manipulator big arm and a manipulator small arm, and two ends of the manipulator big arm are respectively movably connected with the middle of the upper surface of the base and one end of the manipulator small arm. The other end, away from the large manipulator arm, of the small manipulator arm is movably connected with a switching joint piece, and the small manipulator arm is in transmission connection with a clamping jaw piece through the switching joint piece. According to the mechanical arm clamping jaw with the vacuum detection function, the switching joint piece, the vacuum generator, the clamping jaw piece and the diffuse reflection sensor are arranged at the top end of the small arm of the mechanical arm, the switching joint piece regulates and controls the clamping jaw piece to be kept in the horizontal state, and the diffuse reflection sensor detects whether a product to be adsorbed exists or not; and the to-be-adsorbed product is adsorbed on the upper surface of the clamping jaw piece, so that the risk that the product falls off due to vacuum leakage is avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator clamp with vacuum detection. Background Art

[0002] A robot gripper is a mechanical component that grabs, carries and places product objects in the automation process. It usually includes a robot arm with motion control and positioning functions, a gripper that grabs the product, and a controller device that controls the robot arm and gripper. A robot gripper with vacuum detection also includes a vacuum system, a vacuum detector and a vacuum suction cup to achieve the grabbing operation and detect the connection status between the suction cup and the object. When the current robot gripper with vacuum detection adsorbs product objects, there is a leakage problem when the weight of the object to be grabbed and carried is limited, resulting in the inability to maintain sufficient vacuum force to fix the object for a long time, which leads to grabbing failure or the object falling during transportation.

[0003] For example, application number CN201520652263.0 discloses a feeding robot gripper, including a base plate, a connecting mechanism, a clamping mechanism, a clamping assembly, an adsorption mechanism, a suction cup base, an air pipe distribution plate assembly, a detection mechanism, a visual detection device, a barcode recognition sensor device and a laser ranging sensor structure. By setting a battery feeding robot gripper on a battery assembly line, it is used to stably, quickly and safely grasp a battery pack and a battery material box composed of multiple single cells. However, there is a vacuum leakage in the vacuum adsorption battery, and the equipment structure is complex, there are surface scratches and abrasions, and the cost is high, and Visual inspection has the defects of large amount of calculation and long application time; Application No. CN202021896650.6 discloses a vacuum adsorption anti-drop type robot clamp, including a base, a supporting seat, a lifting seat, a drive unit, a positioning camera, a vacuum generator, a vacuum tank, a robotic arm and a support claw structure. The support claw is extended to the bottom of the oil pan by the drive unit, and the support claw is at a set distance below the oil pan to prevent the oil pan from falling during transportation when the vacuum suction fails. However, there are defects such as insufficient detection of the oil pan and surface scratches and abrasions caused by the support claw moving from the bottom of the oil pan.

[0004] Therefore, both of the above two utility model patents disclose vacuum adsorption robots, but when vacuum adsorption is used to clamp products, there are quality problems such as the lack of product detection and position adjustment functions, and the adsorbed products are scratched when moving from the bottom. Utility Model Content

[0005] The purpose of the utility model is to provide a robot gripper with vacuum detection to solve the technical problems mentioned in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the utility model discloses a manipulator gripper with vacuum detection, comprising a base, a manipulator upper arm and a manipulator lower arm, and the two ends of the manipulator upper arm are respectively movably connected to the middle part of the upper surface of the base and one end of the manipulator lower arm, and the other end of the manipulator lower arm away from the manipulator upper arm is movably connected to a conversion joint part, and the manipulator lower arm is transmission-connected to a clamping jaw part through the conversion joint part, a vacuum generator is arranged directly below the conversion joint part and on the lower surface of the clamping jaw part, the upper surface of the clamping jaw part is adsorbed and connected to a product to be adsorbed, and a diffuse reflection sensor is arranged in the middle part of the upper surface of the clamping jaw part and inside the product to be adsorbed.

[0007] Optionally, the structure of the clamping jaw member includes a load-bearing support arm, a contoured vacuum suction cup is arranged on the upper surface of the load-bearing support arm, a stepped groove is opened on the upper surface of the contoured vacuum suction cup, a radiation sensor is arranged on the side where the adapter joint and the vacuum generator are connected and in the middle of one end of the upper surface of the load-bearing support arm, a radiation detection groove is opened in the middle of the contoured vacuum suction cup, a plurality of vacuum cavity tubes are fixedly connected to the middle of the contoured vacuum suction cup, screw connection holes are opened all around the upper surface of the contoured vacuum suction cup, and a plurality of vacuum adsorption holes are evenly opened on the upper surface of the contoured vacuum suction cup.

[0008] Optionally, the structure of the product to be adsorbed includes a trapezoidal annular convex body, and a hollow hole is opened inside the trapezoidal annular convex body.

[0009] Optionally, the structure of the base includes a bottom frame, and a plurality of through holes are formed around the bottom frame; the structure of the robot arm includes a load-bearing arm, and both ends of the load-bearing arm are movably connected to a rotating shaft platform and an intermediate connecting shaft.

[0010] Optionally, the vacuum generator is connected to the load-bearing support arm and is transmitted to the contoured vacuum suction cup, and is used to control the clamping claw to perform vacuum adsorption operation on the product to be adsorbed through the vacuum generator. The detection ray emitted by the corresponding sensor is interspersed with the middle ray detection groove of the contoured vacuum suction cup and is parallel to the load-bearing support arm, and is used to detect the distance from the trapezoidal circular ring convex body for precise positioning, so as to ensure that it can be accurately adsorbed at the bottom center of the product during adsorption, thereby improving the force balance of the claw clamp and the stability during operation;

[0011] The outer side of the contoured vacuum suction cup is arc-shaped, and the outer wall diameter of the contoured vacuum suction cup is larger than the outer wall diameter of the trapezoidal circular ring convex body, which is used to fit and clamp the trapezoidal circular ring convex body inside the upper surface of the load-bearing support arm. The width of the stepped groove is equal to the width of the trapezoidal protrusion of the trapezoidal circular ring convex body, which is used to tightly wenge the trapezoidal circular ring convex body inside the stepped groove to ensure the stability of the trapezoidal circular ring convex body. The inner wall diameter of the load-bearing support arm is equal to the diameter of the hollow hole, which is aesthetically pleasing and facilitates the diffuse reflection sensor to obtain relative reference position information inside the trapezoidal circular ring convex body.

[0012] Optionally, the rotating shaft table is connected between the base frame and the load-bearing arm, and is used to rotate the load-bearing arm 360° around the longitudinal axis. The intermediate connecting shaft is connected between the manipulator forearm and the load-bearing arm, and is used to rotate the manipulator forearm 180° around the transverse axis. The diffuse reflection sensor detects information on whether the product to be adsorbed exists, and is used to locate the position and movement of the contoured vacuum suction cup, determine whether the contoured vacuum suction cup has contacted and adsorbed and clamped the trapezoidal ring protrusion, and measure the contact pressure signal between the contoured vacuum suction cup and the trapezoidal ring protrusion to determine whether the contoured vacuum suction cup has successfully grasped the trapezoidal ring protrusion, and is used to measure the force signal applied by the clamp during the handling process to ensure that the clamp applies sufficient force after adsorbing the product to ensure a safe and stable handling process.

[0013] Optionally, the shape of the trapezoidal annular convex body matches the shape of the stepped groove, so as to allow the product to be adsorbed to fit tightly inside the upper surface of the contoured vacuum suction cup, thereby improving the adsorption stability and adsorption force of the product to be adsorbed. The upper surface of the contoured vacuum suction cup is evenly coated with a layer of silicone elastic material, and the upper surface smoothness of the contoured vacuum suction cup is in the range of Ra0.1μm-Ra10μm, which is used to improve the smoothness of the surface of the product to be adsorbed, avoid scratches and abrasions on the product to be adsorbed during adsorption, and ensure that the quality of the surface of the product to be adsorbed is not damaged.

[0014] Compared with the prior art, the utility model has the following advantages:

[0015] In the robot gripper with vacuum detection, a structure including an adapter joint, a vacuum generator, a gripper and a diffuse reflection sensor is provided at the top of the robot arm. The gripper is regulated by the adapter joint to maintain a horizontal state. The diffuse reflection sensor detects the presence of a product to be adsorbed and the manner in which the product to be adsorbed is adsorbed on the upper surface of the gripper, thereby avoiding the risk of the product falling due to vacuum leakage and realizing the function of vacuum adsorption to fix objects for a long time, thereby achieving the goal of reducing costs while ensuring the quality of the product surface without friction, scratches or damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1This is a schematic diagram of the structure of a manipulator gripper with vacuum detection of the utility model.

[0017] Figure 2 It is a schematic diagram of the local structure of the manipulator gripper with vacuum detection of the utility model.

[0018] Figure 3 It is a schematic diagram of the local structure of the manipulator gripper of the utility model.

[0019] Figure 4 This is a schematic diagram of the structure of the vacuum suction cup of the utility model.

[0020] The accompanying drawings are marked as follows: 1. base; 101. base frame; 102. through hole; 2. manipulator arm; 201. load-bearing arm; 202. rotating shaft table; 203. middle connecting shaft; 3. manipulator forearm; 4. adapter joint; 5. vacuum generator; 6. clamping claw; 601. load-bearing support arm; 602. contoured vacuum suction cup; 603. stepped groove; 604. through-beam sensor; 605. ray detection groove; 606. vacuum cavity tube; 607. screw connection hole; 608. vacuum adsorption hole; 7. product to be adsorbed; 701. trapezoidal circular ring convex body; 702. hollow hole; 8. diffuse reflection sensor. DETAILED DESCRIPTION

[0021] The technical solution of the utility model is described in detail below through specific embodiments.

[0022] Reference Figure 1-4 As shown, the utility model discloses a manipulator gripper structure with vacuum detection, comprising a base 1, a manipulator upper arm 2 and a manipulator lower arm 3, and the two ends of the manipulator upper arm 2 are respectively movably connected to the middle part of the upper surface of the base 1 and one end of the manipulator lower arm 3, the other end of the manipulator lower arm 3 away from the manipulator upper arm 2 is movably connected to a transition joint part 4, the manipulator lower arm 3 is transmission-connected to a gripper part 6 through the transition joint part 4, a vacuum generator 5 is arranged directly below the transition joint part 4 and on the lower surface of the gripper part 6, a product 7 to be adsorbed is adsorbed on the upper surface of the gripper part 6, and a diffuse reflection sensor 8 is arranged in the middle part of the upper surface of the gripper part 6 and inside the product 7 to be adsorbed.

[0023] Preferably, the structure of the clamping jaw member 6 includes a load-bearing support arm 601, a contoured vacuum suction cup 602 is arranged on the upper surface of the load-bearing support arm 601, a stepped groove 603 is opened on the upper surface of the contoured vacuum suction cup 602, a radiation sensor 604 is arranged on the side where the adapter joint 4 and the vacuum generator 5 are connected and in the middle of one end of the upper surface of the load-bearing support arm 601, a radiation detection groove 605 is opened in the middle of the contoured vacuum suction cup 602, a plurality of vacuum cavity tubes 606 are fixedly connected to the middle of the contoured vacuum suction cup 602, screw connection holes 607 are opened all around the upper surface of the contoured vacuum suction cup 602, and a plurality of vacuum adsorption holes 608 are evenly opened on the upper surface of the contoured vacuum suction cup 602.

[0024] Preferably, the structure of the product to be adsorbed 7 includes a trapezoidal annular convex body 701 , and a hollow hole 702 is formed inside the trapezoidal annular convex body 701 .

[0025] Preferably, the structure of the base 1 includes a base frame 101, and a plurality of through holes 102 are formed around the base frame 101; the structure of the robot arm 2 includes a load-bearing arm 201, and both ends of the load-bearing arm 201 are movably connected to a rotating shaft 202 and an intermediate connecting shaft 203 respectively.

[0026] Preferably, the vacuum generator 5 is connected to the load-bearing support arm 601 and is connected to the contoured vacuum suction cup 602 through transmission, and is used to control the clamping claw 6 to perform vacuum adsorption operation on the product 7 to be adsorbed through the vacuum generator 5. The detection ray emitted by the corresponding sensor 604 penetrates the middle ray detection groove 605 of the contoured vacuum suction cup 602 and is parallel to the load-bearing support arm 601, and is used to detect the distance from the trapezoidal circular ring convex body 701 for precise positioning, ensuring that it can be accurately adsorbed at the bottom center of the product during adsorption, thereby improving the force balance of the claw clamp and the stability during operation;

[0027] The outer side of the contoured vacuum suction cup 602 is arc-shaped, and the outer wall diameter of the contoured vacuum suction cup 602 is larger than the outer wall diameter of the trapezoidal circular ring protrusion 701, which is used to fit and snap the trapezoidal circular ring protrusion 701 into the inner part of the upper surface of the load-bearing support arm 601. The width of the stepped groove 603 is equal to the width of the trapezoidal protrusion of the trapezoidal circular ring protrusion 701, which is used to tightly wedge the trapezoidal circular ring protrusion 701 into the inner part of the stepped groove 603 to ensure the stability of the trapezoidal circular ring protrusion 701. The inner wall diameter of the load-bearing support arm 601 is equal to the diameter of the hollow hole 702, which is aesthetically pleasing and facilitates the diffuse reflection sensor 8 to obtain relative reference position information inside the trapezoidal circular ring protrusion 701.

[0028] Preferably, the rotating shaft table 202 is connected between the base frame 101 and the load-bearing arm 201, and is used to rotate the load-bearing support arm 601 360° around the longitudinal axis. The intermediate connecting shaft 203 is connected between the manipulator arm 3 and the load-bearing arm 201, and is used to rotate the manipulator arm 3 180° around the transverse axis. The diffuse reflection sensor 8 detects information on whether the product 7 to be adsorbed exists, and is used to locate the position and movement of the contoured vacuum suction cup 602, determine whether the contoured vacuum suction cup 602 has contacted and adsorbed and clamped the trapezoidal ring protrusion 701, and measure the contact pressure signal between the contoured vacuum suction cup 602 and the trapezoidal ring protrusion 701 to determine whether the contoured vacuum suction cup 602 has successfully grasped the trapezoidal ring protrusion 701, and is used to measure the force signal applied by the clamp during the handling process to ensure that the clamp applies sufficient force after adsorbing the product to ensure a safe and stable handling process.

[0029] Preferably, the shape of the trapezoidal annular protrusion 701 matches the shape of the stepped groove 603, so that the product to be adsorbed 7 can fit tightly inside the upper surface of the contoured vacuum suction cup 602, thereby improving the adsorption stability and adsorption force of the product to be adsorbed 7. The upper surface of the contoured vacuum suction cup 602 is evenly coated with a layer of silicone elastic material, and the upper surface smoothness range of the contoured vacuum suction cup 602 is Ra0.1μm-Ra10μm, which is used to improve the smoothness of the surface of the product to be adsorbed 7, avoid scratches and abrasions on the product to be adsorbed 7 during adsorption, and ensure that the quality of the surface of the product to be adsorbed 7 is not damaged.

[0030] Working principle: First, install the base frame 101 on the intelligent robot or production line equipment through the through hole 102, and use screws and sealing gaskets to pass through the screw connection hole 607 to fasten and seal the contoured vacuum suction cup 602 to the upper surface of the load-bearing support arm 601, and then start the manipulator arm 2, the adapter joint 4, the vacuum generator 5 and the diffuse reflection sensor 8. The load-bearing arm 201 rotates around the rotating shaft 202 to drive the manipulator arm 3 and the clamping claw 6 to rotate and move to find the direction and position of the product. The manipulator arm 3 adjusts its height through the middle connecting shaft 203, and at this time, the clamping claw 6 is regulated by the adapter joint 4. No matter how the manipulator arm 3 tilts, it is always in a horizontal position. Secondly, after the diffuse reflection sensor 8 is located at the position of the product, the through-beam sensor 60 is used. The laser beam emitted by the laser ray accurately positions the trapezoidal annular protrusion 701 in the ray detection groove 605, so that the upper surface of the contoured vacuum suction cup 602 is directly opposite to the middle of the trapezoidal annular protrusion 701. After the weight-bearing support arm 601 is adjusted to an appropriate position, the vacuum generator 5 controls the contoured vacuum suction cup 602 on the weight-bearing support arm 601 to vacuum-absorb the trapezoidal annular protrusion 701 through the vacuum cavity tube 606 and the vacuum absorption hole 608, so that the trapezoidal annular protrusion 701 is tightly fitted inside the stepped groove 603. The beam sensor 604 detects the distance to the trapezoidal annular protrusion 701 and the diffuse reflection sensor 8 measures whether the trapezoidal annular protrusion 701 is absorbed, so as to ensure that the trapezoidal annular protrusion 701 can be accurately and stably absorbed by the clamping jaw 6 to avoid falling due to vacuum leakage during transportation.

[0031] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Any modifications, equivalent substitutions, improvements, etc. made within the design concept of the utility model should be included in the protection scope of the utility model.

Claims

1. A manipulator gripper with vacuum detection, comprising a base (1), a manipulator upper arm (2) and a manipulator lower arm (3), wherein two ends of the manipulator upper arm (2) are movably connected to the middle of the upper surface of the base (1) and one end of the manipulator lower arm (3), respectively. Features: The other end of the manipulator forearm (3) away from the manipulator upper arm (2) is movably connected to a transition joint (4), and the manipulator forearm (3) is transmission-connected to a clamping jaw (6) through the transition joint (4). A vacuum generator (5) is provided directly below the transition joint (4) and on the lower surface of the clamping jaw (6). The upper surface of the clamping jaw (6) is adsorbed and connected to a product to be adsorbed (7), and a diffuse reflection sensor (8) is provided in the middle of the upper surface of the clamping jaw (6) and inside the product to be adsorbed (7).

2. A robot gripper with vacuum detection according to claim 1, Features: The structure of the clamping jaw member (6) includes a load-bearing support arm (601), the upper surface of the load-bearing support arm (601) is provided with a contoured vacuum suction cup (602), the upper surface of the contoured vacuum suction cup (602) is provided with a stepped groove (603), a radiation sensor (604) is provided at the side where the adapter joint (4) and the vacuum generator (5) are connected and at the middle of one end of the upper surface of the load-bearing support arm (601), a radiation detection groove (605) is provided in the middle of the contoured vacuum suction cup (602), a plurality of vacuum cavity tubes (606) are fixedly connected to the middle of the contoured vacuum suction cup (602), screw connection holes (607) are provided around the upper surface of the contoured vacuum suction cup (602), and a plurality of vacuum adsorption holes (608) are evenly provided on the upper surface of the contoured vacuum suction cup (602).

3. A manipulator gripper with vacuum detection according to claim 2, Features: The structure of the product to be adsorbed (7) comprises a trapezoidal annular convex body (701), and a hollow hole (702) is opened inside the trapezoidal annular convex body (701).

4. A manipulator gripper with vacuum detection according to claim 3, Features: The structure of the base (1) includes a base frame (101), and a plurality of through holes (102) are provided around the base frame (101); the structure of the manipulator arm (2) includes a load-bearing arm (201), and the two ends of the load-bearing arm (201) are respectively movably connected to a rotating shaft platform (202) and an intermediate connecting shaft (203).

5. A robot gripper with vacuum detection according to claim 4, Features: The vacuum generator (5) is connected to the load-bearing support arm (601) and is connected to the contoured vacuum suction cup (602) through transmission, and the detection ray emitted by the corresponding sensor (604) penetrates the middle ray detection slot (605) of the contoured vacuum suction cup (602) and is parallel to the load-bearing support arm (601); The outer side of the contoured vacuum suction cup (602) is arc-shaped, and the outer wall diameter of the contoured vacuum suction cup (602) is larger than the outer wall diameter of the trapezoidal circular ring convex body (701), the width of the stepped groove (603) is equal to the width of the trapezoidal protrusion of the trapezoidal circular ring convex body (701), and the inner wall diameter of the load-bearing support arm (601) is equal to the inner wall diameter of the hollow hole (702).

6. A robot gripper with vacuum detection according to claim 4, Features: The rotating shaft platform (202) is connected between the base frame (101) and the load-bearing arm (201), and the intermediate connecting shaft (203) is connected between the manipulator forearm (3) and the load-bearing arm (201). The diffuse reflection sensor (8) detects information on whether the product (7) to be adsorbed exists, and measures the contact pressure signal between the contoured vacuum suction cup (602) and the trapezoidal circular ring convex body (701) to determine whether the contoured vacuum suction cup (602) successfully grasps the trapezoidal circular ring convex body (701).

7. A robot gripper with vacuum detection according to claim 4, Features: The shape of the trapezoidal annular protrusion (701) matches the shape of the stepped groove (603), the upper surface of the contoured vacuum suction cup (602) is evenly coated with a layer of silicone elastic material, and the upper surface smoothness of the contoured vacuum suction cup (602) ranges from Ra0.1μm to Ra10μm.

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