Weight early warning device of industrial manipulator

Abstract

The utility model discloses a weight early warning device of an industrial manipulator, which relates to the technical field of manipulators, and is characterized by comprising a mechanical claw and a signal comparison structure, the mechanical claw comprises a connecting base and claws, and the multiple claws are rotationally connected with the connecting base. The hook claw comprises a connecting body, a hook body and a weighing sensor, the connecting body is rotationally connected with the connecting seat, and the weighing sensor is connected with the connecting body and the hook body; all the weighing sensors are connected with the signal comparison structure, a preset value is stored in the signal comparison structure, and when the sum of signals output by all the weighing sensors is larger than the preset value, the signal comparison structure sends out a shutdown signal. On the basis of a comparison result of a detection result of the weighing sensor and a preset value, when the transfer disc which is hooked by friction force only exists below the transfer disc grabbed by the mechanical claw, a stop signal is sent out, so that the mechanical arm stops acting, the hooked transfer disc is taken down in time, and the working efficiency is improved. And the possibility that the transfer disc, the injection product, the equipment and the track are impacted and damaged is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and more specifically, to a weight warning device for an industrial manipulator. Background Art

[0002] With the development of the times, high efficiency and speed are the main tasks of production technology. To improve production efficiency, reduce labor costs, and shorten the production cycle, manipulators have emerged as the times require. An industrial manipulator is an automatic device that imitates the hand movements of a human and realizes automatic grasping, handling, and operation according to a given program. It can replace manual labor for cargo classification, handling, and loading and unloading work, or replace humans in handling dangerous goods, reducing the labor intensity of workers, improving production and work efficiency, ensuring the personal safety of workers, and realizing automation, intelligence, and unmanned operation.

[0003] At present, the transfer of small-volume injection products from the sterilization process to the packaging process in a small-volume injection workshop is carried out by a manipulator. The small-volume injection products in the sterilization process are generally placed on a transfer tray, and the manipulator completes the handling and loading and unloading work of the small-volume injection products by grasping the transfer tray. To ensure the stability of the transfer tray stack, the longitudinally adjacent two transfer trays are designed with mutually matching convex positioning columns and concave positioning holes. However, due to the long-term high-temperature sterilization effect of the transfer tray in the sterilization process, high usage frequency, and large load-bearing capacity, the possibility of deformation of the transfer tray increases. When the manipulator grabs the transfer tray, the grabbed transfer tray and the adjacent lower transfer tray are always inseparable. The adjacent lower transfer tray that is brought up due to inseparability is only adhered to the transfer tray grabbed by the manipulator by the friction force between the convex positioning column and the concave positioning hole. During the movement of the manipulator, the transfer tray that is adhered and brought up is very likely to fall to the ground or on the adjacent lower transfer tray, resulting in damage to the transfer tray and the injection products therein. Even worse, if the transfer tray that is adhered and brought up falls onto the equipment or track, it will also cause damage to the equipment or track. Summary of the Utility Model

[0004] Aiming at the problem that in the existing manipulator transfer, the transfer tray that is only hooked and brought up by the friction force between the transfer trays is prone to falling and damaging the transfer tray, injection products, equipment, and track, the purpose of the utility model is to provide a weight warning device for an industrial manipulator, which includes a mechanical claw and a signal comparison structure; the mechanical claw includes a connecting seat and hook claws, a plurality of hook claws are provided, all the hook claws are distributed around the connecting seat, and all the hook claws are rotatably connected to the connecting seat; each hook claw includes a connecting body, a hook body, and a weighing sensor, the connecting body is rotatably connected to the connecting seat, the weighing sensor is connected to the connecting body, and the hook body is connected to the weighing sensor; all the weighing sensors are connected to the signal comparison structure, a preset value is stored in the signal comparison structure, and when the sum of the signals output by all the weighing sensors is greater than the preset value, the signal comparison structure issues a shutdown signal.

[0005] The utility model is further arranged as follows: the connecting body includes a first connecting portion and a first mounting portion; the hook body includes a second connecting portion, a second mounting portion and a hanging portion; one end of the first connecting portion close to the connecting seat is rotatably connected to the connecting seat, and the first mounting portion is fixedly connected to the first connecting portion; when the first mounting portion rotates to the lower side of the connecting seat, the first mounting portion and the connecting seat are respectively located on both sides of the first connecting portion;

[0006] The second mounting portion and the hanging portion are respectively located on both sides of the second connecting portion, and both the second mounting portion and the hanging portion are fixedly connected to the second connecting portion; when the hanging portion rotates to the lower side of the connecting seat, the second mounting portion and the connecting seat are respectively located on both sides of the second connecting portion;

[0007] Both ends of the weighing sensor are detachably connected to the first mounting portion and the second mounting portion respectively, and the weighing sensor is located on the side of the first connecting portion and the second connecting portion away from the hanging portion.

[0008] The utility model is further arranged as follows: the hook claw further includes a buffer pad, and buffer pads are fixedly arranged on one sides of the first connecting portion and the second connecting portion close to the hanging portion.

[0009] The utility model is further arranged as follows: the hook body further includes an anti - detachment edge; the anti - detachment edge is fixed on the side of the hanging portion away from the second connecting portion, and the anti - detachment edge is located on the side of the hanging portion close to the connecting seat.

[0010] The utility model is further arranged as follows: the hook claw further includes a first limiting body, the first limiting body is fixedly connected to the side of the first mounting portion away from the first connecting portion, and the first limiting body is in contact with the side of the second mounting portion away from the second connecting portion.

[0011] The utility model is further arranged as follows: the hook claw further includes connecting bolts, two connecting bolts are provided, one connecting bolt passes through the connecting body and is in threaded connection with the weighing sensor, and the other connecting bolt passes through the hook body and is in threaded connection with the weighing sensor.

[0012] The utility model is further arranged as follows: the hook claw further includes a second limiting body and a third limiting body, the second limiting body is connected to the connecting body, and the second limiting body is used to prevent the weighing sensor from rotating relative to the connecting body; the third limiting body is connected to the hook body, and the third limiting body is used to prevent the weighing sensor from rotating relative to the hook body.

[0013] The utility model is further arranged as follows: the signal comparison structure includes an analog input module and a PLC controller, all weighing sensors are in signal connection with the analog input module, the analog input module is connected to the PLC controller, the preset value is stored in the PLC controller, and the shutdown signal is sent by the PLC controller.

[0014] The present utility model is further configured such that: the signal comparison structure further includes a transmitter, the weighing sensors and the transmitters are in one-to-one correspondence, each weighing sensor is connected to its corresponding transmitter, and each transmitter is connected to the analog input module.

[0015] The present utility model is further configured such that: the weighing sensor is an S-type weighing sensor.

[0016] In summary, the present utility model has the following beneficial effects compared with the prior art: the present utility model is provided with a weighing sensor on the mechanical claw and sets a preset value representing the weight that the mechanical claw needs to grasp. Based on the comparison result between the detection result of the weighing sensor and the preset value, when there is a transfer tray that is only hooked by friction under the transfer tray grasped by the mechanical claw, a stop signal is issued to stop the action of the robotic arm, so that the staff can timely remove the hooked transfer tray, reducing the possibility of the transfer tray, injection products, equipment and tracks being damaged by impact. Description of the Drawings

[0017] Figure 1 Schematic diagram showing the structure of the mechanical claw in the embodiment;

[0018] Figure 2 is Figure 1 an enlarged schematic diagram of area A in

[0019] Figure 3 is Figure 1 an enlarged schematic diagram of area B in

[0020] Figure 4 Schematic diagram showing the third limiting body in the embodiment;

[0021] Figure 5 is Figure 4 an enlarged schematic diagram of area C in

[0022] Figure 6 Schematic diagram showing the connection between the signal comparison structure and the weighing sensor in the embodiment.

[0023] In the figure: 1, connecting seat; 2, hook claw; 21, connecting body; 211, first connecting portion; 212, first mounting portion; 22, hook body; 221, second connecting portion; 222, second mounting portion; 223, hooking portion; 224, anti-slip edge; 23, weighing sensor; 24, buffer pad; 25, screw; 26, first limiting body; 27, connecting bolt; 28, second limiting body; 29, third limiting body; 3, rotating seat; 4, motor; 5, robotic arm; 6, analog input module; 7, PLC controller; 8, transmitter; 9, threaded connecting piece. Detailed Embodiment

[0024] The technical solution of the present utility model will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the utility model.

[0025] It should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "horizontal", "left", "right", "front", "rear", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model.

[0026] Embodiment

[0027] As Figures 1-6 shown, a weight warning device for an industrial manipulator is provided in a preferred embodiment of the present utility model, which includes a mechanical claw and a signal comparison structure; the mechanical claw includes a connecting seat 1 and hook claws 2, and a plurality of hook claws 2 are provided. In this embodiment, four hook claws 2 are provided. All hook claws 2 are distributed around the connecting seat 1, and all hook claws 2 are rotatably connected to the connecting seat 1. In this embodiment, the rotation axes of the hook claws 2 are all located on the same horizontal plane, and the connecting seat 1 is connected to the robotic arm 5; the hook claws 2 include a connecting body 21, a hook body 22 and a weighing sensor 23. The connecting body 21 is rotatably connected to the connecting seat 1. In this embodiment, a motor 4 is installed on the connecting seat 1, and the motor 4 is used to drive the connecting body 21 to rotate relative to the connecting seat 1. The weighing sensor 23 is connected to the connecting body 21, and the hook body 22 is connected to the weighing sensor 23; all weighing sensors 23 are connected to the signal comparison structure, and a preset value is stored in the signal comparison structure. The preset value represents the weight of the transfer tray that the mechanical claw needs to grasp. When the sum of the signals output by all weighing sensors 23 is greater than the preset value, it means that there is a transfer tray that is only adhered and lifted by friction under the transfer tray grasped by the mechanical claw. At this time, the signal comparison structure sends a stop signal to the robotic arm 5 to stop the action of the robotic arm 5, so that the staff can timely remove the transfer tray adhered and lifted, reducing the possibility of damage to the transfer tray, injection products, equipment and tracks caused by impact.

[0028] In this embodiment, the connecting body 21 includes a first connecting portion 211 and a first mounting portion 212; the hook body 22 includes a second connecting portion 221, a second mounting portion 222 and a hanging portion 223; one end of the first connecting portion 211 close to the connecting seat 1 is rotatably connected to the connecting seat 1, and the first mounting portion 212 is fixedly connected to the first connecting portion 211; when the first mounting portion 212 rotates to the lower side of the connecting seat 1, the first mounting portion 212 and the connecting seat 1 are respectively located on both sides of the first connecting portion 211; the second mounting portion 222 and the hanging portion 223 are respectively located on both sides of the second connecting portion 221, and both the second mounting portion 222 and the hanging portion 223 are fixedly connected to the second connecting portion 221; when the hanging portion 223 rotates to the lower side of the connecting seat 1, the second mounting portion 222 and the connecting seat 1 are respectively located on both sides of the second connecting portion 221; both ends of the weighing sensor 23 are detachably connected to the first mounting portion 212 and the second mounting portion 222 respectively, and the weighing sensor 23 is located on the side of the first connecting portion 211 and the second connecting portion 221 away from the hanging portion 223 to reduce the possibility of the transfer tray hitting the weighing sensor 23. It is optimal that the connecting body 21 is an integrally formed structure.

[0029] Specifically, the mechanical claw further includes a rotating seat 3, the rotating seat 3 is rotatably connected to the connecting seat 1, and the first connecting portion 211 is detachably connected to the rotating seat 3. The body of the motor 4 is fixedly connected to the connecting seat 1, and the output shaft of the motor 4 is fixedly connected to the rotating seat 3. In this embodiment, the first connecting portion 211 is connected to the rotating seat 3 through a threaded connector 9.

[0030] Specifically, the hook body 22 further includes an anti-detachment edge 224; the anti-detachment edge 224 is fixed on the side of the hanging portion 223 away from the second connecting portion 221, and the anti-detachment edge 224 is located on the side of the hanging portion 223 close to the connecting seat 1 to hook the bottom of the transfer tray and prevent the transfer tray from falling off the mechanical claw. It is optimal that the hook body 22 is an integrally formed structure. The top of the anti-detachment edge 224 is chamfered on the side close to the second connecting portion 221.

[0031] Specifically, the hook claw 2 further includes a buffer pad 24, and buffer pads 24 are fixed on the sides of the first connecting portion 211 and the second connecting portion 221 close to the hanging portion 223 to buffer the impact force of the transfer tray on the first connecting portion 211 and the second connecting portion 221, reduce the vibration of the whole device, and prevent the service life of the internal structure of the device from being shortened due to vibration. In this embodiment, the buffer pad 24 is connected to the first connecting portion 211 through a plurality of screws 25, and the buffer pad 24 is connected to the second connecting portion 221 through a plurality of screws 25.

[0032] Specifically, the hook 2 further includes a first limiting body 26. The first limiting body 26 is fixedly connected to the side of the first mounting portion 212 away from the first connecting portion 211, and the first limiting body 26 is in contact with the side of the second mounting portion 222 away from the second connecting portion 221. When the transfer tray impacts the first connecting portion 211 and the second connecting portion 221, the first limiting body 26 can help the weighing sensor 23 share the bending force it receives and protect the weighing sensor 23.

[0033] In this embodiment, the connecting body 21, the hook body 22, and the first limiting body 26 are all made of steel.

[0034] Specifically, the hook 2 further includes two connecting bolts 27. One connecting bolt 27 passes through the connecting body 21 and is threadedly connected to the weighing sensor 23, and the other connecting bolt 27 passes through the hook body 22 and is threadedly connected to the weighing sensor 23.

[0035] Specifically, the hook 2 further includes a second limiting body 28 and a third limiting body 29. The second limiting body 28 is connected to the connecting body 21, and the second limiting body 28 is used to prevent the weighing sensor 23 from rotating relative to the connecting body 21 to avoid loosening of the connecting bolt 27 connecting the connecting body 21 and the weighing sensor 23. The third limiting body 29 is connected to the hook body 22, and the third limiting body 29 is used to prevent the weighing sensor 23 from rotating relative to the hook body 22 to avoid loosening of the connecting bolt 27 connecting the hook body 22 and the weighing sensor 23.

[0036] In this embodiment, both the second limiting body 28 and the third limiting body 29 are bolts. The second limiting body 28 is threadedly connected to the connecting body 21 and abuts against the weighing sensor 23; the third limiting body 29 is threadedly connected to the hook body 22 and abuts against the weighing sensor 23. In this embodiment, two second limiting bodies 28 are provided, and the two second limiting bodies 28 are respectively located on both sides of the connecting bolt 27 close to them, and the two third limiting bodies 29 are respectively located on both sides of the connecting bolt 27 close to them.

[0037] In this embodiment, the signal comparison structure includes an analog input module 6 and a PLC controller 7. All weighing sensors 23 are signal-connected to the analog input module 6, the analog input module 6 is connected to the PLC controller 7, and the analog input module 6 is used to convert the analog signal sent by the weighing sensor 23 into a digital signal recognizable by the PLC controller 7. The preset value is stored in the PLC controller 7. When the PLC controller 7 detects that the sum of the signals output by all weighing sensors 23 is greater than the preset value, the PLC controller 7 issues a shutdown signal.

[0038] The signal comparison structure in this embodiment further includes a transmitter 8. The weighing sensors 23 and the transmitter 8 are in one-to-one correspondence. Each weighing sensor 23 is connected to its corresponding transmitter 8, and each transmitter 8 is connected to the analog input module 6. The transmitter 8 is used to convert the analog signal sent by the weighing sensor 23 into an analog signal whose form and quantity range conform to international standards.

[0039] The weighing sensor 23 in this embodiment is an S-type weighing sensor.

[0040] In summary, in this embodiment, a weighing sensor 23 is provided on the robotic gripper, and a preset value representing the weight that the robotic gripper needs to grasp is set. Based on the comparison result between the detection result of the weighing sensor 23 and the preset value, when there is a transfer tray that is hooked together only by friction under the transfer tray grabbed by the robotic gripper, a stop signal is sent to stop the mechanical arm 5 from operating, so that the staff can timely remove the hooked transfer tray, reducing the possibility of the transfer tray, injection products, equipment, and tracks being damaged by impact.

[0041] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A weight warning device for an industrial manipulator, characterized in that: It includes a mechanical claw and a signal comparison structure; the mechanical claw includes a connecting seat (1) and a hook claw (2), multiple hook claws (2) are provided, all the hook claws (2) are distributed around the connecting seat (1), and all the hook claws (2) are rotatably connected to the connecting seat (1); the hook claw (2) includes a connecting body (21), a hook body (22) and a weighing sensor (23), the connecting body (21) is rotatably connected to the connecting seat (1), the weighing sensor (23) is connected to the connecting body (21), and the hook body (22) is connected to the weighing sensor (23); all the weighing sensors (23) are connected to the signal comparison structure, a preset value is stored in the signal comparison structure, and when the sum of the signals output by all the weighing sensors (23) is greater than the preset value, the signal comparison structure issues a shutdown signal.

2. The weight warning device of an industrial manipulator according to claim 1, characterized in that: The connecting body (21) includes a first connecting portion (211) and a first mounting portion (212); the hook body (22) includes a second connecting portion (221), a second mounting portion (222) and a hooking portion (223); one end of the first connecting portion (211) close to the connecting seat (1) is rotatably connected to the connecting seat (1), and the first mounting portion (212) is fixedly connected to the first connecting portion (211); when the first mounting portion (212) rotates to the lower side of the connecting seat (1), the first mounting portion (212) and the connecting seat (1) are respectively located on both sides of the first connecting portion (211). The second mounting portion (222) and the hooking portion (223) are respectively located on both sides of the second connecting portion (221), and both the second mounting portion (222) and the hooking portion (223) are fixedly connected to the second connecting portion (221); when the hooking portion (223) rotates to the lower side of the connecting seat (1), the second mounting portion (222) and the connecting seat (1) are respectively located on both sides of the second connecting portion (221). Both ends of the weighing sensor (23) are detachably connected to the first mounting portion (212) and the second mounting portion (222), and the weighing sensor (23) is located on the side of the first connecting portion (211) and the second connecting portion (221) away from the hooking portion (223).

3. The weight warning device for an industrial manipulator according to claim 2, characterized in that: The hook claw (2) further includes a buffer pad (24), and buffer pads (24) are fixedly provided on the sides of the first connecting portion (211) and the second connecting portion (221) close to the hooking portion (223).

4. The weight warning device of an industrial manipulator according to claim 2, wherein: The hook body (22) further includes an anti - detachment edge (224); the anti - detachment edge (224) is fixed on the side of the hooking portion (223) away from the second connecting portion (221), and the anti - detachment edge (224) is located on the side of the hooking portion (223) close to the connecting seat (1).

5. The weight warning device for an industrial manipulator according to claim 2, characterized in that: The hook claw (2) further includes a first limiting body (26), the first limiting body (26) is fixedly connected to the side of the first mounting portion (212) away from the first connecting portion (211), and the first limiting body (26) is in contact with the side of the second mounting portion (222) away from the second connecting portion (221).

6. The weight warning device for an industrial manipulator according to any one of claims 1-5, characterized in that: The hook claw (2) further includes connecting bolts (27). Two connecting bolts (27) are provided. One connecting bolt (27) passes through the connecting body (21) and is threadedly connected to the weighing sensor (23), and the other connecting bolt (27) passes through the hook body (22) and is threadedly connected to the weighing sensor (23).

7. The weight warning device of an industrial manipulator according to claim 6, characterized in that: The hook claw (2) further includes a second limiting body (28) and a third limiting body (29). The second limiting body (28) is connected to the connecting body (21), and the second limiting body (28) is used to prevent the weighing sensor (23) from rotating relative to the connecting body (21); the third limiting body (29) is connected to the hook body (22), and the third limiting body (29) is used to prevent the weighing sensor (23) from rotating relative to the hook body (22).

8. A weight warning device for an industrial manipulator according to any one of claims 1-5, characterized in that: The signal comparison structure includes an analog input module (6) and a PLC controller (7). All the weighing sensors (23) are signal-connected to the analog input module (6). The analog input module (6) is connected to the PLC controller (7). The preset value is stored in the PLC controller (7), and the shutdown signal is issued by the PLC controller (7).

9. The weight warning device of an industrial manipulator according to claim 8, characterized in that: The signal comparison structure further includes a transmitter (8). The weighing sensors (23) correspond to the transmitters (8) one by one. Each weighing sensor (23) is connected to its corresponding transmitter (8), and each transmitter (8) is connected to the analog input module (6).

10. A weight warning device for an industrial manipulator according to any one of claims 1-5, characterized in that: The weighing sensor (23) is an S-type weighing sensor.

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