Manipulator clamping jaw used for grabbing defective products and capable of achieving early warning

Abstract

The utility model discloses a manipulator clamping jaw for inferior-quality product grabbing and capable of early warning, which comprises a fixed shaft rod, a clamping assembly and a visual capturing assembly, the clamping assembly is arranged at one end of the fixed shaft rod, the clamping assembly comprises a driving part, a moving seat, a clamping jaw and a fastening end, the driving part is arranged at one end of the fixed shaft rod, and the moving seat is arranged at the other end of the fixed shaft rod. The movable seats are arranged at the output end of the driving part respectively, the clamping jaws are arranged on the movable seats correspondingly, the fastening ends are detachably arranged on the clamping jaws correspondingly, and the visual capturing assembly is arranged on the fixed shaft rod. Therefore, when the output flange is grabbed, the position of the output flange is judged through visual capture, so that whether the output flange can be grabbed by a manipulator or through a clamping jaw or not is judged, if the output flange cannot be grabbed, an operator is warned in time to carry out manual processing, and therefore the operation process of the whole production line is optimized, and efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator jaw for defective product grasping with warning function. Background Art

[0002] During the process of transporting the output flange to the unloading place through the conveying box, in order to ensure its smooth transfer to the next processing position, we usually use a manipulator to accurately grasp and place it on the rotary positioning table from the conveying box. However, it should be noted that during the transportation process, the output flange may tilt or fall due to various reasons, which greatly increases the difficulty of the manipulator grasping operation.

[0003] For the tilted or fallen output flange, traditional manipulators are often difficult to effectively grasp. If the grasping fails and the manipulator fails to give a warning in time, it will cause the flange to be retained in the conveying box. Considering the weight of the output flange itself, this problem will not only affect the automatic recycling process of the conveying box, but also have an adverse impact on the subsequent processing efficiency of the output flange. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems in the related art to some extent.

[0005] Therefore, the purpose of the utility model is to provide a manipulator jaw for defective product grasping with warning function, which judges the position of the output flange through visual capture when grasping it, so as to judge whether it can be grasped by the manipulator or by the jaw. If it cannot be grasped, the operator will be warned in time for manual processing, so as to optimize the operation process of the whole production line and improve the efficiency.

[0006] To achieve the above purpose, the utility model provides a manipulator jaw for defective product grasping with warning function, which includes a fixed shaft rod, a clamping assembly and a visual capture assembly. Among them, the clamping assembly is arranged at one end of the fixed shaft rod. The clamping assembly includes a driving component, a moving seat, jaws and fastening ends. Among them, the driving component is arranged at one end of the fixed shaft rod; there are two groups of moving seats, and the two groups of moving seats are respectively arranged at the output end of the driving component; there are two groups of jaws, and the two groups of jaws are respectively arranged corresponding to the moving seats; there are two groups of fastening ends, and the two groups of fastening ends are detachably arranged corresponding to the jaws; the visual capture assembly is arranged on the fixed shaft rod.

[0007] The manipulator jaw for defective product grasping with warning function of the utility model judges the position of the output flange through visual capture when grasping it, so as to judge whether it can be grasped by the manipulator or by the jaw. If it cannot be grasped, the operator will be warned in time for manual processing, so as to optimize the operation process of the whole production line and improve the efficiency.

[0008] In addition, the mechanical hand gripper for defective product grasping with warning function proposed above according to the application may also have the following additional technical features:

[0009] Specifically, the visual capture component includes a fixed plate, a visual capture component, and a limit housing. Among them, the fixed plate is arranged on the fixed shaft rod; the visual capture component is arranged on the fixed plate; the limit housing is arranged on the fixed plate, and the limit housing is arranged directly below the visual capture component.

[0010] Specifically, the fastening end is a rectangular end, and inner grooves are respectively arranged on the opposite end faces of the two groups of fastening ends.

[0011] Specifically, the limit housing is a circular ring housing, and the center of the limit housing and the center of the visual capture component are located on the same axis.

[0012] Specifically, a limit card slot is arranged on the gripper, and the fastening end is clamped in the limit card slot.

[0013] Specifically, the limit housing is arranged above the gripper, and a limit pin is arranged at the connection between the limit housing and the fixed shaft rod.

[0014] Additional aspects and advantages of the present utility model will be partially given in the following description, partially will become obvious from the following description, or will be understood through the practice of the present utility model. Description of the Drawings

[0015] The above-mentioned and / or additional aspects and advantages of the present utility model will become obvious and easy to understand from the following description of the embodiments in conjunction with the drawings, wherein:

[0016] Figure 1 is a schematic structural diagram of a mechanical hand gripper for defective product grasping with warning function according to an embodiment of the present utility model;

[0017] Figure 2 is a schematic structural diagram of a visual capture component of a mechanical hand gripper for defective product grasping with warning function according to an embodiment of the present utility model;

[0018] Figure 3 is a schematic structural diagram of a clamping component of a mechanical hand gripper for defective product grasping with warning function according to an embodiment of the present utility model.

[0019] As shown in the figure: 10, fixed shaft rod; 20, clamping component; 201, driving component; 202, moving seat; 203, gripper; 204, fastening end; 30, visual capture component; 301, fixed plate; 302, visual capture component; 303, limit housing. Detailed Embodiment

[0020] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present utility model, and should not be construed as limiting the present utility model. On the contrary, the embodiments of the present utility model include all changes, modifications and equivalents falling within the spirit and scope of the appended claims.

[0021] The manipulator gripper for defective product grasping and warning will be described below in conjunction with the accompanying drawings for the embodiments of the present utility model.

[0022] As Figures 1-3 shown, the manipulator gripper for defective product grasping and warning of the embodiments of the present utility model includes a fixed shaft rod 10, a clamping assembly 20 and a visual capture assembly 30.

[0023] Among them, the clamping assembly 20 is arranged at one end of the fixed shaft rod 10. The clamping assembly 20 includes a driving component 201, a moving seat 202, a gripper 203 and a fastening end 204.

[0024] It should be noted that the fixed shaft rod 10 is installed on the manipulator. The manipulator includes a control system and various control components. The manipulator is a prior art, so it will not be specifically described here.

[0025] Among them, the driving component 201 is arranged at one end of the fixed shaft rod 10. There are two groups of moving seats 202, and the two groups of moving seats 202 are respectively arranged at the output end of the driving component 201. There are two groups of grippers 203, and the two groups of grippers 203 are respectively arranged corresponding to the moving seats 202. There are two groups of fastening ends 204, and the two groups of fastening ends 204 are detachably arranged corresponding to the grippers 203. The visual capture assembly 30 is arranged on the fixed shaft rod 10.

[0026] It should be noted that the driving component 201 in the clamping assembly 20 is a cylinder. The driving component 201 is connected to the power supply through a control switch and runs. The driving component 201 drives the moving seat 202 and the gripper 203 to move relatively, so as to adjust the distance between the two groups of grippers 203. And there is a fastening end 204 to ensure good stability when clamping the product. The visual capture assembly 30 is used to observe whether the position of the output flange is correct when placed, and judge whether the gripper 203 can grasp and feedback information to warn and remind the operator to operate manually.

[0027] Specifically, the visual capture assembly 30 includes a fixing plate 301, a visual capture component 302 and a limiting housing 303.

[0028] Among them, the fixed plate 301 is arranged on the fixed shaft rod 10, and the visual capture component 302 is arranged on the fixed plate 301. The limit housing 303 is arranged on the fixed plate 301, and the limit housing 303 is arranged directly below the visual capture component 302.

[0029] It should be noted that the visual capture component 302 is a visual system, including a camera and a feedback system used in conjunction with the camera. The feedback system is connected to the control system on the manipulator. The camera and the feedback system are prior arts, so no specific description will be made again. The limit housing 303 is arranged below the visual capture component 302 to effectively protect the visual capture component 302.

[0030] Specifically, the fastening end 204 is a rectangular end, and inner grooves are respectively arranged on the opposite end faces of the two groups of fastening ends 204.

[0031] It should be noted that inner grooves are arranged on the fastening end 204, and the shape of the inner grooves is set according to the shape of the product to be clamped. When clamping, the clamping force between the fastening end 204 and the product is enhanced, and the stability during driving is stronger.

[0032] Specifically, the limit housing 303 is a circular ring housing, and the center of the limit housing 303 and the center of the visual capture component 302 are located on the same axis.

[0033] It should be noted that the limit housing 303 is circular ring-shaped with a circular empty groove in the middle, and it does not affect shooting when protecting the visual capture component 302.

[0034] Specifically, a limit card slot is arranged on the clamping jaw 203, and the fastening end 204 is clamped in the limit card slot.

[0035] It should be noted that the fastening end 204 is clamped in the limit card slot, and the clamping jaw 203 is fixed in the limit card slot by screws, which is convenient for replacing different types of fastening ends 204.

[0036] Specifically, the limit housing 303 is arranged above the clamping jaw 203, and a limit pin is arranged at the connection between the limit housing 303 and the fixed shaft rod 10.

[0037] It should be noted that the limit housing 303 is installed on the fixed shaft rod 10 through a positioning pin to enhance the overall stability, and it is arranged above the clamping jaw 203. After the visual capture component 302 completes detection and judgment, it is grabbed by the clamping jaw 203, with higher efficiency.

[0038] The steps of grasping the output flange by the manipulator gripper are as follows: Before the manipulator grasps the output flange, first, the manipulator drives the visual capture component 302 to move directly above the output flange to determine whether the position of the output flange placed in the conveying box is in a vertical state. If it is in a vertical state, it can be grasped by the manipulator. For the output flange that is tilted during the conveying process, when the visual capture component 302 feeds back and determines that the manipulator cannot grasp it normally, the driving component 201 on the manipulator drives the gripper 203 to grasp the output flange and take the output flange out and place it on the placement table. When the tilt angle of the output flange is excessive and the gripper 203 cannot grasp it either, the visual capture component 302 feeds back and alarms to prompt the operator to handle it manually.

[0039] In summary, for the manipulator gripper capable of early warning for defective product grasping in the embodiment of the present utility model, when grasping the output flange, the position is judged through visual capture, so as to judge whether it can be grasped by the manipulator or by the gripper. If it cannot be grasped, the operator is promptly warned to handle it manually, thereby optimizing the operation process of the entire production line and improving the efficiency.

[0040] Although the embodiments of the present utility model have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present utility model. Those of ordinary skill in the art can make changes, modifications, substitutions, and deformations to the above embodiments within the scope of the present utility model.

Claims

1. A mechanical gripper with early warning function for grasping defective products, characterized in that: It comprises a fixed shaft (10), a clamping assembly (20) and a visual capture assembly (30), wherein: The clamping assembly (20) is arranged at one end of the fixed shaft (10), and the clamping assembly (20) comprises a driving component (201), a moving seat (202), a clamping claw (203) and a fastening end (204), wherein: The driving component (201) is arranged at one end of the fixed shaft (10); The movable seats (202) are divided into two groups, and the two groups of movable seats (202) are respectively arranged at the output ends of the driving component (201); The clamping jaws (203) are in two groups, and the two groups of clamping jaws (203) are respectively and correspondingly arranged on the movable seat (202); The fastening ends (204) are in two groups, and the two groups of fastening ends (204) are detachably arranged on the clamping jaws (203) in correspondence; The visual capture component (30) is arranged on the fixed shaft (10).

2. The robot gripper for grabbing defective products with early warning according to claim 1 is characterized in that: The vision capture assembly (30) comprises a fixing plate (301), a vision capture component (302) and a position limiting cover (303), wherein: The fixing plate (301) is arranged on the fixing shaft (10); The visual capturing component (302) is arranged on the fixing plate (301); The limiting cover (303) is arranged on the fixing plate (301), and the limiting cover (303) is arranged directly below the visual capturing component (302).

3. The robot gripper for grabbing defective products with early warning according to claim 1 is characterized in that: The fastening end heads (204) are rectangular end heads, and the opposite end faces of the two groups of fastening end heads (204) are respectively provided with inner grooves.

4. The robot gripper for grabbing defective products with early warning according to claim 2 is characterized in that: The limiting cover (303) is a circular cover, and the center of the limiting cover (303) and the center of the visual capturing component (302) are located on the same axis.

5. The robot gripper for grabbing defective products with early warning according to claim 1 is characterized in that: The clamping jaw (203) is provided with a limiting slot, and the fastening end (204) is engaged in the limiting slot.

6. The robot gripper for grabbing defective products with early warning according to claim 2 is characterized in that: The limiting cover (303) is arranged above the clamping jaw (203), and a limiting pin is arranged at the connection between the limiting cover (303) and the fixed shaft rod (10).

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