Manipulator grabbing mechanism

Abstract

The utility model discloses a grabbing mechanism of a manipulator, which relates to the technical field of machining and comprises a mounting frame, a clamping mechanism, a clamping mechanism, a grabbing mechanism and a clamping mechanism, and is characterized in that the mounting frame is provided with the clamping mechanism for clamping a workpiece; the detection piece is mounted on the mounting frame; wherein the detection piece comprises an extension sleeve and an inner rod, one end of the inner rod faces the workpiece, and the other end of the inner rod corresponds to the photoelectric sensor. According to the mechanical arm grabbing mechanism, the inner rod capable of moving up and down is attached to the engine support in the installation process, the photoelectric sensor is installed at the other end of the inner rod, and therefore whether the engine support moves in place or not can be determined according to the reaction of the photoelectric sensor, and therefore the mechanical arm grabbing mechanism is convenient to operate. The technical problem that when a mechanical arm grabbing mechanism is used, the stability of the engine support during clamping cannot be guaranteed is effectively solved, then the position of the engine support in the clamping state is detected, and the stability and safety of the engine support during clamping and transporting are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical processing, in particular to a manipulator grasping mechanism. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements and functions of human hands and arms and is used to grasp, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected operations. Its structure and performance combine the advantages of both humans and robotic machines. The grasping mechanism of the manipulator is an important component of the manipulator and is used to grasp objects.

[0003] Currently, a Chinese patent application numbered "CN202223201682.1" discloses an engine bracket gripping device and production line. The gripping device includes a robot, a base plate, and multiple gripping parts. The robot has a mechanical arm with a rotating part at the front end of the mechanical arm. The base plate is mounted on the rotating part and rotates under the drive of the rotating part. Multiple gripping parts are mounted on the base plate, each gripping part is used to grip the engine bracket. Each gripping part includes a fixed part, a cylinder, and multiple clamping claws. The fixed part is fixedly connected to the base plate. The cylinder is fixedly mounted on the fixed part. One clamping claw is mounted on the power telescopic end of the cylinder, and the remaining clamping claws are fixedly mounted on the fixed part. A space for accommodating the engine bracket is formed between the multiple clamping claws. The multiple clamping claws abut against the side walls of the engine bracket to grip the engine bracket. Although this gripping device can grasp the engine bracket, it cannot ensure that the engine bracket is moved into place during the clamping process, resulting in the engine bracket not being clamped in place, which may cause it to loosen or fall off.

[0004] However, during the implementation of the above technical solution, at least the following technical problems were found:

[0005] Unable to ensure the stability of the engine bracket during clamping: The existing engine bracket clamping tooling needs to be grasped, moved and placed according to the procedure when in use. In order to maintain the stability of the engine bracket when clamped, it is necessary to ensure that the position of the engine bracket to be clamped is constant before clamping, that is, the engine bracket needs to be placed in the specified position and the inclination angle needs to be kept consistent. Only then can the robot arm use the grasping mechanism to grasp it. However, no matter which link in the placement process of the engine bracket has problems, it will affect the normal grasping of the engine bracket.

[0006] The existing grasping mechanism uses photoelectric sensors to detect the position of the engine bracket. However, due to the different production and conditions of photoelectric sensors, there are certain differences even between the same batch of photoelectric sensors, so there will be certain differences in the detection results. This causes the manipulator to be unable to determine whether it has grasped stably during the grasping process or the transportation process, which makes it easy for the grasp to not be in place, resulting in loosening or falling off. For this reason, we propose a manipulator grasping mechanism. Utility Model Content

[0007] (1) Technical problems solved

[0008] In view of the deficiencies of the prior art, the utility model provides a manipulator grasping mechanism to solve the technical problem that the manipulator grasping mechanism cannot ensure the stability of the engine bracket when being clamped during use.

[0009] (2) Technical solution

[0010] In order to achieve the above objectives, the present invention is implemented through the following technical solutions:

[0011] A manipulator gripping mechanism includes a mounting frame including a fixed frame, an extension plate, and a mounting seat. The fixed frame supports a self-centering chuck and a detection member. The extension plate is connected to the front end of the fixed frame and is used to support a clamping member in a clamping mechanism. The mounting seat is connected to a movable manipulator, so that the manipulator can drive the entire gripping mechanism to move back and forth, thereby grasping workpieces at different positions. A clamping mechanism is installed on the gripping mechanism, and the workpiece is clamped by the clamping mechanism.

[0012] A detection member is installed on the mounting frame and close to the side of the clamping mechanism, and is used to detect the installation position of the workpiece;

[0013] The detection member includes an extension sleeve and an inner rod inserted through the center of the extension sleeve, and the two are connected by a tension spring. The two ends of the inner rod are respectively connected to a contact head and a linkage head, and the linkage head is connected to the end of the inner rod facing the photoelectric sensor. The tension spring between the extension sleeve and the inner rod is always in a stretched state. When the inner rod is not subjected to external force, the linkage head is in contact with the bottom of the inner rod and is located outside the detection range of the photoelectric sensor.

[0014] When the workpiece is mounted on the mounting bracket, one end of the inner rod is in contact with the surface of the workpiece, and the other end is located at the front end of the photoelectric sensor.

[0015] Preferably, both ends of the inner rod are connected with a contact head and a linkage head respectively, and the linkage head is connected to the end of the inner rod facing the photoelectric sensor, and the inner rod is in contact with the outer wall of the workpiece through the contact head;

[0016] The traction spring between the extension sleeve and the inner rod is always in a stretched state. When the inner rod is not subjected to external force, the linkage head fits against the bottom of the inner rod and is outside the detection range of the photoelectric sensor.

[0017] Preferably, there are two groups of clamping mechanisms on the mounting frame, and they are respectively arranged on both sides of the mounting frame, so that two workpieces can be grasped at the same time, thereby improving loading efficiency, and the self-centering chuck on the clamping mechanism corresponds to the through hole of the workpiece, and the clamping piece corresponds to the end of the workpiece, so that the engine bracket can be fixed from all directions, thereby improving the stability of the engine bracket fixation.

[0018] Preferably, a plurality of support columns arranged in a circular array are installed on the top of the self-centering chuck, and the support columns can expand outwards under the drive of the self-centering chuck.

[0019] Preferably, the clamping member includes a pneumatic clamping jaw, and the top of the pneumatic clamping jaw is connected to a clamping column, and the clamping column can open and close under the drive of the pneumatic clamping jaw, thereby fixing the end of the workpiece away from the self-centering chuck, thereby fixing the engine bracket.

[0020] Preferably, the bottom of the pneumatic clamp is connected to an adjusting member, and the horizontal position of the pneumatic clamp is adjusted by the adjusting member;

[0021] Among them, the adjusting part mainly includes two relatively arranged fixed blocks and a slide rail connected between the two fixed blocks, and the pneumatic clamp is installed on the slide rail. The pneumatic clamp is connected to the fixed block by a spring, so that a certain space can be reserved for the offset of the engine bracket to avoid hard collision between the engine bracket and the pneumatic clamp.

[0022] Preferably, the interior of the fixed block is connected to an adjusting knob via a thread, and one end of the adjusting knob is connected to a movable block, and the adjusting knob is connected to the pneumatic clamp via the movable block; the other end of the adjusting knob extends to the outside of the fixed block;

[0023] Wherein, the spring between the movable block and the fixed block is sleeved on the outside of the adjusting knob.

[0024] (3) Beneficial effects

[0025] 1. Since an inner rod that can be moved up and down is fitted with the engine bracket during installation, and a photoelectric sensor is installed at the other end of the inner rod, it is possible to determine whether the engine bracket has been moved into place based on the position of the inner rod when it is pressed down, thereby reducing the error degree of engine bracket detection. Therefore, it effectively solves the technical problem that the robot gripping mechanism cannot ensure the stability of the engine bracket when clamping when in use, and then realizes the detection of the position of the engine bracket in the clamped state, thereby ensuring the stability and safety of the engine bracket during clamping and transportation. Secondly, the spring between the inner rod and the extension sleeve resets the inner rod for easy reuse.

[0026] 2. Since a self-centering chuck is used to clamp the through hole of the engine bracket, and then a pneumatic clamp is used to clamp the end of the engine bracket away from the through hole for fixation, the engine bracket is fixed in all directions, further improving the stability of the engine bracket fixation.

[0027] 3. Since a slidable adjustment part is used as the connection structure between the pneumatic clamp and the mounting frame, and an adjustment knob is provided between the fixing seat and the pneumatic clamp, the position of the pneumatic clamp can be freely adjusted according to the position of the engine bracket. In addition, the adjustment bolt can be removed, so that the pneumatic clamp and the fixing block are connected by a spring, so that a certain space can be reserved for the offset of the engine bracket, avoiding hard collision between the engine bracket and the pneumatic clamp. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and to implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings.

[0029] Figure 1 This is one of the overall structural diagrams of an embodiment of the present utility model;

[0030] Figure 2 This is the second overall structural diagram of the embodiment of the utility model;

[0031] Figure 3 This is a structural diagram of a self-centering chuck in an embodiment of the present utility model;

[0032] Figure 4 This is a schematic diagram of the use state of the detection member in the embodiment of the utility model;

[0033] Figure 5 A partial cross-sectional view of a detection member in an embodiment of the present utility model;

[0034] Figure 6 This is a structural diagram of the clamping member in an embodiment of the present utility model;

[0035] Figure 7 This is an exploded schematic diagram of the clamping member in an embodiment of the present utility model;

[0036] Figure 8 This is a structural diagram of the adjusting member in the embodiment of the present utility model;

[0037] Figure 9 This is a partial structural diagram of the adjusting member in the embodiment of the present utility model.

[0038] Legend:

[0039] 11. Fixing bracket; 12. Mounting base; 13. Extension plate;

[0040] 2. Self-centering chuck; 21. Support column;

[0041] 3. Detection component; 31. Connecting plate; 32. Extension sleeve; 33. Inner rod; 34. Contact head; 35. Interlocking head; 36. Pull spring; 37. Photoelectric sensor;

[0042] 4. Clamping part; 41. Pneumatic clamping jaw; 42. Clamping column; 43. Adjusting part; 431. Fixed block; 432. Movable block; 433. Adjusting knob; 434. Slide rail; 44. Mounting plate;

[0043] 5. Workpiece. DETAILED DESCRIPTION

[0044] The embodiment of the present application solves the technical problem in the prior art that the mechanical arm grasping mechanism cannot ensure the stability of the engine bracket when it is clamped when it is in use by providing a mechanical arm grasping mechanism. The technical problem that the mechanical arm grasping mechanism cannot ensure the stability of the engine bracket when it is in use is solved by providing a mechanical arm grasping mechanism. Since an inner rod that can be moved up and down is fitted with the engine bracket during installation, and a photoelectric sensor is installed at the other end of the inner rod, it is possible to determine whether the engine bracket has moved into place based on the position where the inner rod is pressed down, thereby reducing the error degree of the engine bracket detection, and further realizing the detection of the position of the engine bracket in the clamped state, thereby ensuring the stability and safety of the engine bracket during clamping and transportation. Secondly, the spring between the inner rod and the extension sleeve resets the inner rod for easy reuse.

[0045] Embodiment: The technical solution in the embodiment of the present application is to solve the problem that the above-mentioned manipulator grasping mechanism cannot ensure the stability of the engine bracket when it is used. The overall idea is as follows:

[0046] In response to the problems existing in the prior art, the utility model provides a manipulator grasping mechanism, which includes a mounting frame for connecting to the manipulator, and the mounting frame can carry a clamping mechanism (including a self-centering chuck 2 and the workpiece 5) for clamping a workpiece 5 (i.e., an engine bracket). The mounting frame mainly consists of three parts. One is a plate-shaped fixing frame 11, which carries the self-centering chuck 2 and the detection part 3; the other is an extension plate 13, which is connected to the front end of the fixing frame 11 and is used to carry the clamping part 4 in the clamping mechanism; and the last part is a mounting seat 12 arranged behind the fixing frame 11, which is connected to a movable manipulator through the mounting seat 12, so that the manipulator can drive the entire grasping mechanism to move back and forth, thereby grasping the workpiece 5 at different positions.

[0047] The mounting frame is equipped with two sets of clamping mechanisms, one on each side of the mounting frame. This allows two workpieces 5 to be grasped simultaneously, improving loading efficiency. The self-centering chuck 2 on the clamping mechanism corresponds to the through-hole of the workpiece 5, and the clamping piece 4 corresponds to the end of the workpiece 5. This allows the engine bracket to be fixed from all directions, improving the stability of the engine bracket fixation. The specific structure of the clamping mechanism is as follows:

[0048] A self-centering chuck 2 (to fix the center of gravity of the engine bracket) is provided on the top of the self-centering chuck 2 with a plurality of support columns 21 arranged in a circular array, and the support columns 21 can expand outwards under the drive of the self-centering chuck 2, such as Figure 3 As shown, thereby stably clamping one end of the workpiece 5. The other end will be clamped by the clamping member 4.

[0049] The clamping member 4 (for fixing the extended portion of the engine bracket) includes a pneumatic clamping jaw 41, and a clamping column 42 is connected to the top of the pneumatic clamping jaw 41. The clamping column 42 can open and close under the drive of the pneumatic clamping jaw 41, thereby fixing the end of the workpiece 5 away from the self-centering chuck 2, thereby fixing the engine bracket. In addition, in order to improve the applicability of the device, an adjustment member 43 is connected to the bottom of the pneumatic clamping jaw 41, so that the horizontal position of the pneumatic clamping jaw 41 can be adjusted by the adjustment member 43. This adjustment member 43 mainly includes two relatively arranged fixed blocks 431 and a slide rail 434 connected between the two fixed blocks 431, and the pneumatic clamping jaw 41 is installed on the slide rail 434. The pneumatic clamping jaw 41 is connected to the fixed block 431 by a spring, so that a certain space can be reserved for the offset of the engine bracket to avoid a hard collision between the engine bracket and the pneumatic clamping jaw 41.

[0050] If the pneumatic clamp 41 does not need to be offset, an adjusting knob 433 can be connected to the inside of the fixed block 431, and the adjusting knob 433 and the fixed block 431 are connected by a thread. In this way, by rotating the adjusting knob 433, the pneumatic clamp 41 can be moved in the direction of the pneumatic clamp 41. Under the squeezing action of the adjusting knob 433, the position of the mounting plate 44 at the bottom of the pneumatic clamp 41 is limited. In this way, after the pneumatic clamp 41 is adjusted, its position is kept from moving, so different clamping methods can be selected as needed. One end of the adjusting knob 433 faces the movable block 432, and this movable block 432 is connected to the pneumatic clamp 41. In this way, when the adjusting knob 433 is rotated, it can be separated from the movable block 432; a spring can be set on the outside of the adjusting knob 433 between the movable block 432 and the fixed block 431.

[0051] Another major focus of this application is to detect whether the workpiece 5 is installed in place. Traditional detection is completed directly through the photoelectric sensor 37 (or proximity sensor, any sensor with the same function). However, due to the different production and conditions of the photoelectric sensor 37, there are certain differences even between the same batch of photoelectric sensors 37, and there is an error range when the photoelectric sensor 37 is detected, so there will be certain differences in the detection results. This will cause certain deviations in the robot arm during the grasping process. In order to solve this problem on the existing basis, we designed a detection part 3, which is as follows:

[0052] Detection member 3, the detection member 3 includes a connecting plate 31 (connected to the fixing frame 11 through the connecting plate 31, as shown in FIG. Figure 2 As shown), an extension sleeve 32 (connected to the connecting plate 31) and an inner rod 33 that is inserted through the center of the extension sleeve 32, and the two are connected by a traction spring 36. The two ends of the inner rod 33 are respectively connected to a contact head 34 and a linkage head 35, and the linkage head 35 is connected to the end of the inner rod 33 facing the photoelectric sensor 37; wherein, the traction spring 36 between the extension sleeve 32 and the inner rod 33 is always in a stretched state. When the inner rod 33 is not subjected to external force, the linkage head 35 is in contact with the bottom of the inner rod 33, and the linkage head 35 is outside the detection range of the photoelectric sensor 37.

[0053] When the workpiece 5 is mounted on the mounting bracket, one end of the inner rod 33 is in contact with the surface of the workpiece 5, and the other end is located at the front end of the photoelectric sensor 37. Figure 1 shown.

[0054] In the specific implementation process, the manipulator drives the mounting frame and the clamping assembly installed on the mounting frame to move to the position of the workpiece 5, and then moves downward to press on the workpiece 5. During the pressing process, the inner rod 33 on the mounting frame first fits the outer wall of the workpiece 5. As the mounting frame continues to descend, the inner rod 33 moves toward the direction of the original workpiece 5. A photoelectric sensor 37 is provided at this end. Therefore, when the inner rod 33 blocks the detection head of the photoelectric sensor 37, as shown in FIG. Figure 4 As shown, at this time, the photoelectric sensor 37 (a sensor with the same function such as a proximity sensor can also be used) detects an obstruction, indicating that the mounting bracket has moved down to its position and stopped descending.

[0055] When the mounting frame descends, the self-centering chuck 2 on it corresponds to the through hole of the workpiece 5, and the clamping member 4 corresponds to the tail of the workpiece 5. Therefore, after it moves down to a certain extent, the self-centering chuck 2 is inserted into the through hole of the workpiece 5, and the tail end of the workpiece 5 enters between the two clamping columns 42 of the pneumatic clamping jaws 41, as shown in FIG. Figure 2 As shown, at this time, the self-centering chuck 2 is controlled to drive the support column 21 to expand outward until the workpiece 5 is clamped. After that, the pneumatic clamp 41 is controlled to start and drive the two clamping columns 42 thereon to close, thereby clamping the tail of the workpiece 5. Figure 1 shown.

[0056] When the position of the pneumatic clamp 41 needs to be adjusted, the adjusting knob 433 of the pneumatic clamp 41 in the direction in which it needs to be adjusted is rotated down, and then the adjusting knob 433 at the other end is rotated to squeeze the pneumatic clamp 41 in the direction in which it needs to be adjusted until it is moved into place, and then the adjusting knob 433 that was previously removed is installed on the fixing block 431 until it fits with the pneumatic clamp 41. At this time, both ends of the pneumatic clamp 41 are restricted by the adjusting knob 433 and cannot move, thereby completing the fixation of the pneumatic clamp 41.

[0057] When it is necessary to lock the pneumatic clamp 41, the adjustment knobs 433 on both sides of the pneumatic clamp 41 are removed at the same time. At this time, the movable blocks 432 on both sides of the pneumatic clamp 41 are connected to the fixed blocks 431 only by springs. In this way, when the pneumatic clamp 41 is squeezed, it can shake to a certain extent to avoid a hard collision between it and the workpiece 5.

[0058] Finally, it should be noted that the above embodiments are merely examples for the purpose of illustrating the present invention and are not intended to limit the embodiments. Those skilled in the art will readily appreciate that other variations or modifications based on the above description are possible. It is not necessary and impossible to provide an exhaustive list of all possible embodiments. However, any obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A manipulator grasping mechanism, characterized in that: The gripping mechanism includes: A mounting frame, on which a clamping mechanism is mounted, and the workpiece (5) is clamped by the clamping mechanism; A detection member (3) is located on the mounting frame and close to one side of the clamping mechanism, and is used to detect the installation position of the workpiece (5); The detection member (3) comprises an extension sleeve (32) connected to the mounting frame and an inner rod (33) inserted into the center of the extension sleeve (32), and the two are connected by a traction spring (36). One end of the inner rod (33) faces the direction of the workpiece (5), and the other end extends to the inside of the mounting frame and corresponds to the photoelectric sensor (37) on the mounting frame. When the workpiece (5) is mounted on the mounting frame, one end of the inner rod (33) is in contact with the surface of the workpiece (5), and the other end is located at the front end of the photoelectric sensor (37).

2. A manipulator grasping mechanism according to claim 1, characterized in that: The two ends of the inner rod (33) are respectively connected to a contact head (34) and a linkage head (35), and the linkage head (35) is connected to the end of the inner rod (33) facing the photoelectric sensor (37); The traction spring (36) between the extension sleeve (32) and the inner rod (33) is always in a stretched state. When the inner rod (33) is not subjected to external force, the linkage head (35) is in contact with the bottom of the inner rod (33), and the linkage head (35) is outside the detection range of the photoelectric sensor (37).

3. A manipulator gripping mechanism according to any one of claims 1-2, characterized in that: The clamping mechanism is provided in two groups and is respectively arranged on both sides of the mounting frame; The clamping mechanism comprises a self-centering chuck (2) and a clamping member (4); when the workpiece (5) is grasped, the self-centering chuck (2) corresponds to the through hole of the workpiece (5), and the clamping member (4) corresponds to the end of the workpiece (5).

4. A manipulator grasping mechanism according to claim 3, characterized in that: A plurality of support columns (21) arranged in a circular array are installed on the top of the self-centering chuck (2), and the support columns (21) can expand outwards under the drive of the self-centering chuck (2).

5. A manipulator grasping mechanism according to claim 3, characterized in that: The clamping member (4) comprises a pneumatic clamping jaw (41), and the top of the pneumatic clamping jaw (41) is connected to a clamping column (42), and the clamping column (42) can perform opening and closing movements under the drive of the pneumatic clamping jaw (41).

6. A manipulator grasping mechanism according to claim 5, characterized in that: The bottom of the pneumatic clamp (41) is connected to an adjusting member (43), and the horizontal position of the pneumatic clamp (41) is adjusted by the adjusting member (43); The adjusting member (43) comprises two fixed blocks (431) arranged opposite to each other, and the pneumatic clamping jaw (41) is located on a slide rail (434) between the two fixed blocks (431), and the pneumatic clamping jaw (41) is connected to the fixed block (431) via a spring.

7. A manipulator grasping mechanism according to claim 6, characterized in that: The interior of the fixed block (431) is connected to an adjusting knob (433) via a thread, and one end of the adjusting knob (433) faces the movable block (432), and the movable block (432) is connected to the pneumatic clamp (41); the other end of the adjusting knob (433) extends to the outside of the fixed block (431); The spring between the movable block (432) and the fixed block (431) is sleeved on the outside of the adjusting knob (433).

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