Stacking robot gripper capable of adjusting clamping force
By using pressure sensors and control circuits in the palletizing robot grasper, and using detection circuits to determine the clamping situation, the problems of unstable clamping and lack of prompts in the prior art are solved, and higher safety and production efficiency are achieved.
Patent Information
- Application Number
- CN202422021688.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-20
- Publication Date
- 2025-06-24
- Estimated Expiration
- 2034-08-20
AI Technical Summary
The palletizing grippers of existing palletizing robots are prone to unstable clamping and picking up goods after a long time of use, too large or too small clamping force, which poses safety risks, and lacks the prompt function of effectively picking up goods, which affects production safety and efficiency.
A palletizing robot gripper that can adjust the clamping force is designed. The pressure sensor and control circuit work together to automatically adjust the clamping force, and the detection circuit determines whether the clamping jaws effectively clamp the goods. If it is abnormal, prompt the staff in time.
It realizes automatic adjustment of clamping force, ensures stable clamping of goods, prevents goods from falling, reduces safety risks, and provides effective clamping of goods, improving the safety and efficiency of palletizing work.
Smart Images
Figure CN223015851U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of palletizing robot auxiliary equipment, in particular to a palletizing robot gripper capable of adjusting the clamping force size. Background Art
[0002] The palletizing equipment based on an intelligent six-axis robot (hereinafter referred to as a palletizing robot) is an industrial robot widely used in logistics and various production fields. Specifically, during operation, under the programming control of a supporting central control PLC or a host computer (collectively referred to as a control system), multiple joint motors of the palletizing robot control the movement of the multi-joint arm according to rules between the unloading and palletizing stations, and control the palletizing gripper (installed at the front end of the front arm of the palletizing robot) to grab goods at the unloading station and unload the goods at the unloading station to complete the palletizing operation.
[0003] Although the existing palletizing robots meet the production needs to a certain extent, there are still some disadvantages due to structural limitations. Specifically, under the control of the control system (the power supply time output to the joint motor and the gripper motor reduction mechanism is adjustable), the stroke of the two grippers of the palletizing robot gripper is fixed. This will bring a problem that after a long time of use, due to factors such as wear, the inner ends of the two grippers have a chance of unstable gripping of goods (there is also a chance of excessive clamping force and damage to the goods), which will have an adverse impact on production safety (such as the grabbed goods falling to the ground due to insecure gripping). Subsequently, technicians need to modify the power supply time of the control system output to the palletizing gripper motor reduction mechanism (when using the motor reduction mechanism as the gripper power, the control system outputs positive and negative and negative and positive bipolar DC power supplies to the power input end of the motor reduction mechanism) to make the two grippers of the palletizing gripper clamp the goods, which will bring more or less inconvenience to technicians. In addition, the current palletizing robots do not have an effective function of prompting for gripping goods. That is to say, when the control system is working normally and outputting power to the motor reduction mechanism of the palletizing gripper, if the gripper fails to grab goods for various reasons (including when grabbing goods, there is no goods or the motor reduction mechanism of the palletizing gripper fails to act), the relevant staff do not know the specific situation and take targeted measures, which will have an adverse impact on normal production (such as not being able to maintain and replace the faulty motor reduction mechanism). In summary, it is very necessary to provide a palletizing robot gripper that can automatically adjust the clamping force size and can automatically prompt the staff when there is no effective gripping of goods. Content of the Utility Model
[0004] In order to overcome the drawbacks of the existing palletizing grippers for palletizing robots due to structural limitations as described in the background, the present utility model provides a palletizing robot gripper with adjustable clamping force. During the time when the control system of the palletizing robot outputs power to the motor reduction mechanism of the palletizing gripper body, it can automatically adjust the clamping force on the goods between the inner sides of the two jaws. On the basis of effectively gripping the goods, it can also prevent the goods from being damaged or dropped, reduce safety risks, and can determine whether the two jaws effectively grip the goods during the corresponding time period, providing favorable technical support for the smooth progress of related palletizing work.
[0005] The technical solution adopted by the present utility model to solve its technical problems is as follows:
[0006] A palletizing robot gripper with adjustable clamping force includes a pressure sensor and a palletizing gripper body. It is characterized in that it also has a control circuit and a detection circuit; the palletizing gripper body includes a housing, a motor reduction mechanism, a lead screw, a fixed jaw, a movable jaw, and a spring. There is a guide groove at the lower end of the housing. The motor reduction mechanism is horizontally installed on one side of the upper end inside the housing. A bearing seat is installed on the other side of the upper end inside the housing. The upper end of the fixed jaw is installed on one side of the lower end of the housing. The upper end of the movable jaw has a threaded hole; one end of the lead screw is installed together with one side of the rotating shaft of the motor reduction mechanism. The lead screw and the threaded hole of the movable jaw are connected by threads. The other end of the lead screw is installed in the inner ring of the bearing of the bearing seat; there is an installation hole on the inner side of the upper end of the fixed jaw, and the pressure sensor is installed in the installation hole. The two ends of the spring are respectively installed between the force-receiving surface of the pressure sensor and the inner side of the upper end of the movable jaw; the outer side of the upper end of the housing is connected to the front side of the forearm of the palletizing robot. The control circuit and the detection circuit are installed in the electric control box. The detection circuit is equipped with a photoelectric switch, and the photoelectric switch is installed in the guide groove. The two ends of the control signal of the control circuit are electrically connected in series between one power output terminal of the palletizing robot control system and one power input terminal of the motor reduction mechanism. The signal input terminal of the detection circuit is electrically connected to one power output terminal of the control system; the signal output terminal of the pressure sensor is electrically connected to the signal input terminal of the control circuit.
[0007] Furthermore, the clamping mouths of the fixed jaw and the movable jaw are located outside the lower end of the housing, and the inner ends of the clamping mouths are anti-slip structures.
[0008] Furthermore, the front and rear widths of the fixed jaw and the movable jaw are smaller than the front and rear spacing inside the guide groove of the housing.
[0009] Furthermore, the control circuit includes an adjustable resistor, resistors, a triode, and a relay that are electrically connected. One end of the adjustable resistor is connected to one end of the first resistor and one end of the second resistor. The other end of the second resistor is connected to the base of the triode. The collector of the triode is connected to the negative power input terminal of the relay. The other end of the first resistor is connected to the emitter of the triode.
[0010] Further, the detection circuit includes a time relay module and a buzzer which are electrically connected, and is connected to an optoelectronic switch. The negative power input terminal and the negative control power input terminal of the time relay module are connected to the negative power input terminal of the optoelectronic switch and the negative power input terminal of the buzzer, and the power output terminal of the time relay module is connected to the positive power input terminal of the buzzer.
[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows: (1) During the time when the present novel type outputs power from the control system of the palletizing robot (before production, technicians can adjust the power time output from the control system to the motor reduction mechanism of the palletizing gripper body according to needs and through the functions of the control system itself) to the motor reduction mechanism of the gripper of the palletizing gripper body, under the cooperative action of the pressure sensor and the control circuit, it can automatically adjust the clamping force on the goods between the inner sides of the two grippers. On the basis of effectively clamping the goods, it can also prevent the goods from being damaged or dropped, and reduce the safety risks of the goods falling to the ground and injuring the staff and ground equipment, etc.; (2) The detection circuit can judge whether the two grippers effectively clamp the goods during the period of clamping the goods and for a certain period of time after clamping the goods. When abnormal, it can prompt the staff to check or maintain in time, etc., which provides favorable technical support for the smooth progress of relevant palletizing work. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] The following further describes the present utility model with reference to the drawings and embodiments.
[0013] Figure 1 It is a schematic structural diagram of the present utility model.
[0014] Figure 2 It is a schematic partial structural diagram of the present utility model.
[0015] Figure 3 It is a circuit diagram of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0016] Figure 1 、 2As shown in Figures 3, a palletizing robot gripper capable of adjusting the clamping force includes a power supply module A1, a pressure sensor A3, and a palletizing gripper body 1, and also has a control circuit 2 and a detection circuit 3; the palletizing gripper body includes a housing 101, a motor reduction mechanism M, a lead screw 102, a fixed jaw 103, a movable jaw 104, and a spring 105. There is a rectangular guide groove 1011 at the lower end of the housing 101 (for guiding the left and right movement of the sliding jaw). The motor reduction mechanism M is horizontally installed at the upper left part inside the housing 101. A bearing seat 1012 is installed at the upper right end inside the housing 101. The upper end of the fixed jaw 43 is fixedly installed at the lower left end inside the housing 101. The middle part of the upper end of the movable jaw 104 has a threaded hole 1041 horizontally; the left end of the lead screw 102 is welded to the right end of the rotating shaft of the motor reduction mechanism M, and the right end of the lead screw 102 is rotationally connected to the threaded hole 1041 of the movable jaw through threads. The right side of the lead screw 102 is tightly sleeved in the inner ring of the bearing of the bearing seat 1012; there is a left-concave mounting hole on the right side of the upper end of the fixed jaw 103. The pressure sensor A3 (the right side of the force-receiving surface is in the same vertical plane as the right side of the fixed jaw 103) is installed in the mounting hole and its force-receiving surface is on the right side. The left end and the right end of the spring 105 are respectively welded between the force-receiving surface of the pressure sensor A3 and the upper left inner side of the movable jaw 104 (the wires connected to the pressure sensor A3 and the motor reduction mechanism M are led out backward through the middle hole at the rear end of the housing 101); the middle part outside the upper end of the housing 101 is bolted to the front side end of the forearm of the palletizing robot 5. The power supply module A1, the control circuit 2, and the detection circuit 3 are installed in the electric control box 51 of the palletizing robot. The detection circuit is equipped with a photoelectric switch A4. The photoelectric switch A4 (the lower end is in the same plane as the lower end of the guide groove 101) is vertically installed at the lower left end inside the guide groove 101 with the detection head facing downward.
[0017] Figure 1 , 2As shown in FIGS. 2 and 3, the clamping mouths of the fixed clamping jaw 103 and the movable clamping jaw 104 are located outside the lower end of the housing 101, and the inner ends of the clamping mouths are tooth-shaped anti-slip structures. The front and rear end widths of the fixed clamping jaw 103 and the movable clamping jaw 104 are slightly smaller than the inner front and rear spacing (0.2 mm) of the guide groove 1011 of the housing. The control circuit includes a variable resistor RP1, resistors R1 and R2, a triode Q1, and a relay J1 connected by circuit board wiring. One end of the variable resistor RP1, one end of the first resistor R1, and one end of the second resistor R2 are connected. The other end of the second resistor R2 is connected to the base of the triode Q1. The collector of the triode Q1 is connected to the negative power input terminal of the relay J1. The other end of the first resistor R1 is connected to the emitter of the triode Q1. The detection circuit includes a time relay module A5 and a buzzer B connected by circuit board wiring, and is connected to the photoelectric switch A4 by a wire. The negative power input terminal 2 and the negative control power input terminal 4 of the time relay module A5 are connected to the negative power input terminal 2 of the photoelectric switch A4 and the negative power input terminal of the buzzer B. The power output terminal 5 of the time relay module A5 is connected to the positive power input terminal of the buzzer B.
[0018] Figure 1 , 2 As shown in FIGS. 2 and 3, the power input terminals 1 and 2 of the power module A1 are respectively connected to the two poles of the AC 220V power supply by wires. The power output terminals 3 and 4 of the power module A1 are respectively connected to the power input terminal of the control circuit, the positive power input terminal of the relay J1 and the emitter of the triode Q1, the power input terminals 1 and 2 of the time relay module A5 of the detection circuit, and the power input terminals 1 and 2 of the pressure sensor A3 by wires. The two ends of the control signal of the control circuit are connected in series between one of the power output terminals 3 of the palletizing robot control system A2's palletizing gripper deceleration mechanism and the positive power input terminal of the motor deceleration mechanism M through the relay J1's control power input terminal and the normally closed contact terminal (the 3rd and 4th pins and the 5th and 6th pins of the control system A2 are respectively connected to the positive and negative and negative and positive power input terminals of the motor deceleration mechanism M by wires). The positive control power input terminal 3 of the time relay module A5 of the detection circuit's signal input terminal is connected to one of the power output terminals 3 of the palletizing gripper motor deceleration mechanism of the control system by a wire. The signal output terminal 3 of the pressure sensor A3 is connected to the other end of the electrically adjustable resistor RP1 of the control circuit's signal input terminal by a wire.
[0019] Figure 1 , 2As shown in FIGS. 3, during specific operation, the palletizing robot 5, under the programming control of a supporting central control PLC or a host computer (collectively referred to as the control system), controls the movement of its multiple joint motors to move the multi-joint arm regularly between the unloading and palletizing workstations, and controls the palletizing gripper body (installed at the front end of the forearm of the palletizing robot) to grab goods at the unloading workstation and unload the goods at the unloading workstation to complete the palletizing operation (the above is the prior art, and this application does not protect the above technical solutions and does not elaborate on the working principle). After the 220V AC power enters the power input terminal of the power module A1, the stable DC 12V power output from pins 3 and 4 of the power module A1 enters the power input terminals of the control circuit, the detection circuit, and the pressure sensor. In actual situations, within the time when the control system A2 of the palletizing robot (before production, technicians can adjust the positive and negative power supply time output from the control system to the motor reduction mechanism M according to needs through the functions of the control system itself, the above is the existing mature technology, and this application does not protect the above technical solutions) outputs power to the positive and negative power supply terminals of the gripper motor reduction mechanism M of the palletizing gripper body, the rotating shaft of the motor reduction mechanism M rotates clockwise, the lead screw 102 rotates, and the external thread of the lead screw 102 acts on the threaded hole 1041 of the movable gripper 104, causing the movable gripper 104 to move towards the left end. The clamping distance between the movable gripper 104 and the fixed gripper 103 decreases, and the goods can be clamped. Within the time when the control system A2 of the palletizing robot outputs power to the negative and positive power supply terminals of the gripper motor reduction mechanism M of the palletizing gripper body at pins 5 and 6, the rotating shaft of the motor reduction mechanism M rotates counterclockwise, the lead screw 102 rotates, and the external thread of the lead screw 102 acts on the threaded hole 1041 of the movable gripper 104, causing the movable gripper 104 to move towards the right end. The clamping distance between the movable gripper 104 and the fixed gripper 103 increases, and the clamped goods can be released to the palletizing workstation (the above is the prior art, and this application does not protect the above technical solutions).
[0020] Figure 1 、 2As shown in Figure 3, in the present invention, the control system controls the motor deceleration mechanism M to work. During the time when the movable clamping jaw 104 moves to the left end, the spring 105 will be gradually compressed, and the compressed spring 105 (although the spring 105 can absorb part of the pressure, the force of the compressed spring will still gradually increase and act on the force-bearing surface of the pressure sensor A3) will gradually increase due to being gradually compressed and acting on the force-bearing surface of the pressure sensor A3. The voltage signal output by pin 3 of the pressure sensor A3 will gradually increase; when the clamping force between the movable clamping jaw 103 and the fixed clamping jaw 104 does not reach the pressure threshold set by the adjustable resistor RP1 (the working principle will be described later), the voltage signal output by pin 3 of the pressure sensor A3 is relatively low. The voltage signal is divided by the adjustable resistor RP1 and the resistor R1, and the resistor R2 reduces the voltage and limits the current. When the base voltage of the transistor Q1 is lower than 0.7V, the transistor Q1 will not be turned on, and the relay J1 continues to lose power to control the power input terminal and the normally closed contact terminal to continue to be closed, so that the power output by the control system continues to enter the positive and negative power input terminals of the motor reduction mechanism M, and the movable jaw 103 continues to move to the left to clamp the goods; when the clamping force between the movable jaw 103 and the fixed jaw 104 reaches the pressure threshold set by the adjustable resistor RP1, the voltage signal output by pin 3 of the pressure sensor A3 is relatively high, and the voltage signal is divided by the adjustable resistor RP1 and the resistor R1, and the resistor R2 reduces the voltage and limits the current to enter the base voltage of the transistor Q1 is higher than 0.7V. The transistor Q1 will turn on the collector to output a low level and enter the negative power input terminal of the relay J1. The relay J1 is energized to close the control power input terminal and the normally closed contact terminal to continue to be open. In this way, the control system continues to output power for a period of time and the power no longer enters the positive and negative power input terminals of the motor reduction mechanism M, and the movable jaw 103 no longer continues to move to the left. Through the above, during the time when the control system of the stacking robot outputs power to the motor reduction mechanism of the jaws of the stacking gripper body, the new type can automatically adjust the clamping force of the two inner sides of the jaws on the goods under the coordinated action of the pressure sensor and the control circuit. On the basis of effectively clamping the goods, it can also prevent the goods from being damaged or falling, and reduce the safety risks of goods falling to the ground and injuring workers and ground equipment.
[0021] Figure 1 , 2As shown in Figures 3, when the control system A2 outputs the positive and negative power supplies, the high-level signal will enter the positive control signal input terminal 3 of the time relay module A5 (the low-level signal entering the positive control signal input terminal 3 of the time relay module A5 is an invalid signal, and the 5th terminal of the time relay module A5 does not output a high level). Under the action of its internal circuit, the time relay module A5 will output power for a certain period (such as 40 seconds, the actual time is adjustable, and it is appropriate for a period of time before the goods are unloaded to the palletizing station after the goods are grabbed) to the positive power input terminal of the photoelectric switch A4. After the photoelectric switch A4 is powered on, when there is a goods at the lower end of its detection head (that is, when the fixed jaw and the movable jaw normally grab the goods), the 3rd terminal of the photoelectric switch A4 does not output a high level, and the buzzer B will not be powered on and sound, indicating that the fixed jaw and the movable jaw normally grab the goods. After the photoelectric switch A4 is powered on, when there is no goods at the lower end of its detection head (that is, when the fixed jaw and the movable jaw do not normally grab the goods), the 3rd terminal of the photoelectric switch A4 outputs a high level and enters the positive power input terminal of the buzzer B, and the buzzer B will be powered on and sound, indicating that the fixed jaw and the movable jaw do not normally grab the goods, timely prompting the staff to check or maintain, etc., which provides favorable technical support for the smooth progress of the relevant palletizing work.
[0022] Figure 3Among them, the power supply module A1 is a finished product of an AC 220V to DC 12V switching power supply module; the motor reduction mechanism M is a finished product of a coaxial motor gear reducer with a power of 100W; the triode Q1 is an NPN-type triode of model 9013; the relay J1 model is DC122V; the resistance values of resistors R1 and R2 are 10M and 470K respectively; the photoelectric switch A4 is a finished product of an emitter photoelectric switch of model E3F-DS30C4, which has two power input terminals and one signal output terminal. When working, when the infrared beam emitted by the lower probe head has no obstacle blocking, the signal output terminal outputs a high level, otherwise it does not output a high level. When the photoelectric switch detects a distance of 30 cm, there is a detection distance adjustment knob at the upper end of its housing. Adjusting it to the left makes the detection distance closer, and adjusting it to the right makes the detection distance farther (adjusted to a detection distance of 10 cm in this embodiment); the time relay module A5 is a finished product of a time relay module of model YF79, which has two power input terminals (pins 1 and 2), two control signal input terminals (pins 3 and 4), two power output terminals (pins 5 and 6, pin 5 is a normally open power output terminal, and pin 6 is a normally closed power output terminal, which is not used in this embodiment and is left floating), and four setting buttons (the operation surface is located outside the four openings at the front end of the electric control box). Technicians can respectively adjust the four setting buttons to set the time when the power supply is output from pin 5 after all the trigger signals are input to the two control signal input terminals each time. Each time the high and low levels are input to pins 3 and 4 of the time relay module A5, its pin 5 outputs a high level for a certain period of time; the pressure sensor A3 is a finished product of a weighing sensor of model HZC-H1, which has two power input terminals and one signal output terminal (outputting a voltage signal of 0-5V). When working, the greater the gravity on the stress surface, the higher the output voltage signal, and vice versa; the adjustable resistor RP1 has a resistance value of 470K (the handle of the adjustable resistor RP1 is located outside the front end of the electric control box, and there are continuously marked numbers representing pressure around the handle of the adjustable resistor RP1. When the staff adjusts the resistance value of the adjustable resistor RP1 to be larger, the voltage division between it and the resistor R1 is larger. In this way, when the clamping force of the movable jaw on the goods is greater, the triode Q1 will conduct, that is, the clamping force threshold of this new type of goods is set relatively large. When the staff adjusts the resistance value of the adjustable resistor RP1 to be smaller, the voltage division between it and the resistor R1 is smaller. In this way, when the clamping force of the movable jaw on the goods is smaller, the triode Q1 will conduct, that is, the clamping force threshold of this new type of goods is set relatively small. Adjusted to 48.7K in this embodiment); the buzzer B is a finished product of an active continuous sound alarm of model FM12V.
[0023] Those skilled in the art should understand that although this specification is described in terms of embodiments, not every embodiment only contains an independent technical solution. This narrative style of the specification is only for clarity. Those skilled in the art should take the specification as a whole, and the technical solutions in the embodiments can also be appropriately combined to form other embodiments that can be understood by those skilled in the art. Therefore, the protection scope of this application is defined by the claims.
Claims
1. A palletizing robot gripper with adjustable clamping force, comprising a pressure sensor and a palletizing gripper body, characterized in that: It also has a control circuit and a detection circuit; the stacking gripper body includes a shell, a motor reduction mechanism, a screw rod, a fixed clamping jaw, a movable clamping jaw, and a spring. The lower end of the shell has a guide groove, the motor reduction mechanism is transversely installed on one side of the upper end of the shell, and a bearing seat is installed on the other side of the upper end of the shell. The upper end of the fixed clamping jaw is installed on one side of the lower end of the shell, and the upper end of the movable clamping jaw has a thread hole; one end of the screw rod is installed together with one side of the rotating shaft of the motor reduction mechanism, the screw rod and the thread hole of the movable clamping jaw are connected together by threads, and the other end of the screw rod is installed in the inner ring of the bearing seat; the inner side of the upper end of the fixed clamping jaw has a mounting hole, and the pressure sensor is installed on the mounting hole. The hole is provided, and the two ends of the spring are respectively installed between the force-bearing surface of the pressure sensor and the inner side of the upper end of the movable clamp; the upper end of the shell is connected to the front side of the forearm of the stacking robot, the control circuit and the detection circuit are installed in the electric control box, the detection circuit is equipped with a photoelectric switch, and the photoelectric switch is installed in the guide groove. The two ends of the control signal of the control circuit are electrically connected in series between one of the power output ends of the control system of the stacking robot and one of the power input ends of the motor reduction mechanism, and the signal input end of the detection circuit is electrically connected to one of the power output ends of the control system; the signal output end of the pressure sensor is electrically connected to the signal input end of the control circuit.
2. The palletizing robot gripper with adjustable clamping force according to claim 1, characterized in that: The clamping openings of the fixed clamping jaw and the movable clamping jaw are located outside the lower end of the shell body, and the inner side ends of the clamping openings are anti-slip structures.
3. The palletizing robot gripper with adjustable clamping force according to claim 1, characterized in that: The widths of the front and rear ends of the fixed clamping jaw and the movable clamping jaw are smaller than the front and rear spacing inside the guide groove of the shell.
4. The palletizing robot gripper with adjustable clamping force according to claim 1, characterized in that: The control circuit includes an adjustable resistor and a resistor, a transistor, and a relay that are electrically connected. One end of the adjustable resistor is connected to one end of the first resistor and one end of the second resistor. The other end of the second resistor is connected to the base of the transistor. The collector of the transistor is connected to the negative power input end of the relay. The other end of the first resistor is connected to the emitter of the transistor.
5. The palletizing robot gripper with adjustable clamping force according to claim 1, characterized in that: The detection circuit includes an electrically connected time relay module and an alarm, and is connected to a photoelectric switch. The negative power input terminal and the negative control power input terminal of the time relay module are connected to the negative power input terminal of the photoelectric switch and the negative power input terminal of the alarm. The power output terminal of the time relay module is connected to the positive power input terminal of the alarm.