Anti-collision flexible clamping jaw based on air pressure sensor
By introducing a flexible anti-collision design based on air pressure sensor into the mechanical jaws, the problem of easy damage to the jaws when dealing with construction waste is solved, and more efficient and stable material gripping is achieved.
Patent Information
- Application Number
- CN202421357071.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-14
- Publication Date
- 2025-03-04
- Estimated Expiration
- 2034-06-14
AI Technical Summary
Existing mechanical jaws are prone to damage due to collision when dealing with construction waste, resulting in alarm shutdown of the robotic arm and equipment damage.
The anti-collision flexible jaw based on the air pressure sensor is adopted. By setting an air spring and an air pressure detection gauge between the jaws, the air pressure inside the air spring is detected. When the threshold is reached, the material is clamped to avoid repeated collisions.
It effectively reduces the phenomenon of jaw damage due to excessive force, improves the efficiency of material clamping, and improves the stability of jaws.
Smart Images
Figure CN222553585U_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of mechanical grippers, and in particular to an anti-collision flexible gripper based on an air pressure sensor. Background Art
[0002] The sorting claws on the market are generally installed on the robot arm. Through visual detection, the robot arm controls the movement of the claw to clamp the object. During the debugging, the height point of the clamping needs to be set, and the claw extends to a certain height to clamp. However, this method has a defect, that is, this method is only suitable for use when the materials are dispersed and not stacked. This situation is more obvious when encountering construction waste. Since construction waste contains a lot of materials, inconsistent sizes, and high hardness, when the conventional claw is clamped, if the size of the material is larger than the clamping range of the claw, and there is a higher object or the material is stacked in multiple layers, the claw will collide with the material when the robot arm moves, and press straight down. The collision will easily cause the robot arm to alarm and shut down, and the reducer, motor, and claw will be damaged, causing safety accidents or equipment damage. Utility Model Content
[0003] In order to protect the clamping claw, the present application provides an anti-collision flexible clamping claw based on an air pressure sensor.
[0004] The anti-collision flexible clamp based on air pressure sensor provided in this application adopts the following technical solution:
[0005] An anti-collision flexible clamp based on an air pressure sensor includes a clamp installed on a mechanical arm, wherein the mechanical arm is provided with a first mounting plate, the clamp is provided with a second mounting plate, an air spring is provided between the first mounting plate and the second mounting plate, and an air pressure detection gauge is provided on the first mounting plate. The air pressure detection gauge is connected to the air spring for detecting the air pressure inside the air spring, and when the air pressure detection gauge detects that the air pressure in the air spring reaches a threshold value, the mechanical arm drives the clamp to clamp the next material.
[0006] By adopting the above technical solution, an air spring is arranged between the first mounting plate and the second mounting plate. After the clamp collides with the material, the air spring is deformed and the air pressure detection gauge detects the pressure inside the air spring. After the pressure reaches the threshold, the clamping of the material is cancelled and the next material is clamped, thereby avoiding repeated clamping of the same material, improving the clamping efficiency of the material, and at the same time reducing the phenomenon of excessive force on the clamp, protecting the clamp, and reducing the phenomenon of damage to the clamp.
[0007] Optionally, a tension spring is arranged between the first mounting plate and the second mounting plate.
[0008] By adopting the above technical solution, a tension spring is arranged between the first mounting plate and the second mounting plate, so as to reduce the shaking phenomenon between the first mounting plate and the second mounting plate and improve the stability of the clamping jaws.
[0009] Optionally, the tension spring is provided in plurality around the air spring.
[0010] By adopting the above technical solution and setting a plurality of tension springs, the stability of the second mounting plate is further improved, the shaking of the clamping jaws is reduced, and the air springs can be reset in time after deformation so that the clamping jaws can perform the next clamping operation in time.
[0011] Optionally, two adjacent tension springs are arranged at an angle.
[0012] By adopting the above technical solution, the two tension springs are arranged at an angle, thereby improving the stability of the second mounting plate in the horizontal direction and reducing the shaking of the clamping jaws around the vertical circumference.
[0013] Optionally, the clamp is rotatably arranged on the second mounting plate, a pushing member is arranged on the second mounting plate, a connecting rod is arranged at the output end of the pushing member, the connecting rod is rotatably connected to the clamp, and the pushing member drives the clamp to rotate through the connecting rod to clamp the material.
[0014] By adopting the above technical solution, the pushing member drives the clamping jaws to rotate through the connecting rod, so that the two clamping jaws rotate in a direction close to each other to clamp the material between the clamping jaws, thereby clamping the material.
[0015] Optionally, a plurality of friction grooves are provided at intervals on the inner wall of the clamping jaw, and the friction grooves are used to increase the friction force on the inner side of the clamping jaw.
[0016] By adopting the above technical solution, friction grooves are arranged on the clamping jaws to increase the friction force on the surface of the clamping jaws and reduce the phenomenon of the clamping jaws falling off when clamping materials.
[0017] Optionally, an air pressure regulating gauge is provided on the first mounting plate, and the air pressure regulating gauge is connected to the air spring for adjusting the internal pressure of the air spring.
[0018] By adopting the above technical solution, the initial pressure inside the air spring can be adjusted according to the clamping requirements, and the maximum collision force received by the clamping jaws can be adjusted, thereby improving the applicability of the clamping jaws.
[0019] To summarize, the present application includes the following beneficial technical effects: when the gripper is subjected to a large collision force, the air spring deforms and its internal pressure increases; when the internal pressure of the air spring reaches a threshold, the robotic arm drives the gripper to cancel the gripping of the material and proceed to grip the next material, thereby reducing the phenomenon of damage to the gripper due to excessive force and improving the gripping efficiency. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a structural schematic diagram of an anti-collision flexible clamp based on an air pressure sensor in an embodiment of the present application.
[0021] Figure 2 This is a partial view of an anti-collision flexible clamp based on an air pressure sensor in an embodiment of the present application.
[0022] Figure 3 This is a structural view of a tension spring in an anti-collision flexible clamp based on an air pressure sensor in an embodiment of the present application.
[0023] Figure 4 This is a structural view of a clamping jaw in an anti-collision flexible clamping jaw based on an air pressure sensor in an embodiment of the present application.
[0024] Figure numerals: 1. Robotic arm; 2. Clamp; 21. Friction groove; 3. First mounting plate; 4. Second mounting plate; 5. Air spring; 6. Air pressure detection gauge; 7. Air pressure regulating gauge; 8. Tension spring; 9. Pushing member; 91. Connecting rod. DETAILED DESCRIPTION
[0025] The following is combined with Figure 1-4 This application is described in further detail.
[0026] The present application discloses an anti-collision flexible clamp based on an air pressure sensor. Figure 1 and Figure 2 An anti-collision flexible clamp based on an air pressure sensor includes a mechanical arm 1, on which a clamp 2 is arranged. The mechanical arm 1 drives the clamp 2 to move to clamp the material.
[0027] Reference Figure 2 and Figure 3 A first mounting plate 3 is provided on the robot arm 1, a second mounting plate 4 is provided on the gripper 2, and an air spring 5 for connecting the first mounting plate 3 and the second mounting plate 4 is provided between the first mounting plate 3 and the second mounting plate 4, that is, the gripper 2 is installed on the robot arm 1 through the second mounting plate 4, the air spring 5 and the first mounting plate 3. An air pressure detection gauge 6 is provided on the first mounting plate 3, the air pressure detection gauge 6 is connected to the inside of the air spring 5, and the air pressure detection gauge 6 is used to detect the pressure inside the air spring 5. An air pressure regulating gauge 7 is provided on the first mounting plate 3, and the air pressure regulating gauge 7 is connected to the air spring 5 for regulating the initial pressure inside the air spring 5.
[0028] Reference Figure 2 and Figure 3When working, the robot arm drives the clamp 2 to a certain height until the clamp 2 touches the material. At this time, the air spring 5 is deformed by pressure, and the air pressure detection gauge 6 detects the pressure inside the air spring 5. When the air pressure does not reach the threshold, the clamp 2 grabs the material, and the material is clamped repeatedly. After detecting that the internal pressure of the air spring 5 reaches the threshold, the robot arm drives the clamp 2 to move and retract, cancel the clamping of the material at that position, and clamp the next material, avoiding the generation of invalid actions and improving the clamping efficiency. At the same time, after reaching the pressure threshold, the robot arm 1 automatically lifts up to avoid obstacles, prevents continued downward pressure from damaging parts, and provides protection for the clamp 2.
[0029] Reference Figure 2 and Figure 3 A tension spring 8 is arranged between the first mounting plate 3 and the second mounting plate 4, that is, the two ends of the tension spring 8 are respectively connected to the first mounting plate 3 and the second mounting plate 4, and a plurality of tension springs 8 are arranged around the first mounting plate 3 and the second mounting plate 4, which are used to improve the stability of the second mounting plate 4, reduce the shaking phenomenon of the clamping jaw 2 when clamping materials, and improve the stability of the clamping jaw 2.
[0030] Reference Figure 2 and Figure 3 , two adjacent tension springs 8 are arranged at an angle to further improve the stability of the clamp 2. In this embodiment, the first mounting plate 3 and the second mounting plate 4 are arranged in a triangular shape, and the corners of the first mounting plate 3 and the middle of the side of the second mounting plate 4 are arranged in the same vertical direction. There are three groups of tension springs 8, and the three groups correspond to the corners of the first mounting plate 3 respectively. Each group of tension springs 8 includes two, one end of the tension spring 8 is connected to the corner of the first mounting plate 3, and the other end is connected to the corner of the second mounting plate 4, so that the two tension springs 8 are arranged at an angle, so that the clamp 2 is more stable when clamping materials. At the same time, the air spring 5 can be reset in time when deformed to avoid affecting the clamping of the next material by the clamp 2.
[0031] Reference Figure 2 and Figure 4 Two clamping jaws 2 are arranged at intervals on the second mounting plate 4, and the two clamping jaws 2 rotate in the direction toward each other to clamp the material. A pushing member 9 is arranged on the second mounting plate 4, and the pushing member 9 can be set as a cylinder. A connecting rod 91 is rotatably connected to the output end of the cylinder, and the cylinder is rotatably connected to the clamping jaw 2 through the connecting rod 91. That is, the cylinder drives the clamping jaw 2 to rotate through the connecting rod 91 to clamp the material. At the same time, a plurality of friction grooves 21 for improving the surface friction of the clamping jaw 2 are opened on the side of the clamping jaw 2 to reduce the phenomenon of separation between the material and the clamping jaw 2, and improve the stability of the clamping jaw 2 when clamping the material.
[0032] The implementation principle of the present application is: an air spring 5 is arranged between the first mounting plate 3 and the second mounting plate 4, and when the jaw 2 touches the material and the air pressure detection gauge 6 detects that the pressure of the air spring 5 reaches the threshold, the robotic arm 1 drives the jaw 2 to move to the next position to clamp other materials, thereby reducing the phenomenon of damage to the jaw 2 due to excessive force, and at the same time reducing the phenomenon of repeated clamping of the same material by the jaw 2, thereby improving the clamping efficiency.
[0033] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. A collision-proof flexible gripper based on an air pressure sensor, comprising a gripper (2) mounted on a mechanical arm (1), characterized in that: The mechanical arm (1) is provided with a first mounting plate (3), the clamping jaw (2) is provided with a second mounting plate (4), an air spring (5) is provided between the first mounting plate (3) and the second mounting plate (4), an air pressure detection gauge (6) is provided on the first mounting plate (3), the air pressure detection gauge (6) and the air spring (5) are connected to detect the air pressure inside the air spring (5), and when the air pressure detection gauge (6) detects that the air pressure inside the air spring (5) reaches a threshold value, the mechanical arm (1) drives the clamping jaw (2) to clamp the next material.
2. The anti-collision flexible clamp based on air pressure sensor according to claim 1, characterized in that: A tension spring (8) is provided between the first mounting plate (3) and the second mounting plate (4).
3. The anti-collision flexible clamp based on air pressure sensor according to claim 2, characterized in that: The tension spring (8) is provided with a plurality of springs arranged around the air spring (5).
4. The anti-collision flexible clamp based on air pressure sensor according to claim 3 is characterized in that: Two adjacent tension springs (8) are arranged at an angle.
5. The anti-collision flexible clamp based on air pressure sensor according to claim 1, characterized in that: The clamping jaw (2) is rotatably mounted on the second mounting plate (4), a pushing member (9) is disposed on the second mounting plate (4), a connecting rod (91) is disposed at the output end of the pushing member (9), the connecting rod (91) and the clamping jaw (2) are rotatably connected, and the pushing member (9) drives the clamping jaw (2) to rotate via the connecting rod (91) to clamp materials.
6. The anti-collision flexible clamp based on air pressure sensor according to claim 5, characterized in that: A plurality of friction grooves (21) are provided at intervals on the inner wall of the clamping jaw (2), and the friction grooves (21) are used to increase the friction force on the inner side of the clamping jaw (2).
7. The anti-collision flexible clamp based on air pressure sensor according to claim 1, characterized in that: An air pressure regulating gauge (7) is provided on the first mounting plate (3); the air pressure regulating gauge (7) is connected to the air spring (5) and is used to regulate the pressure inside the air spring (5).