Anti-collision clamping jaw for foreign matter sorting robot

Abstract

The utility model discloses an anti-collision clamping jaw for a foreign matter sorting robot. The anti-collision clamping jaw comprises a base. A mechanical arm is arranged on the base; the tail end of the mechanical arm is rotationally connected with a fixing part; the fixed part is provided with a connected pneumatic claw; electromagnetic valves are arranged on the lower end surfaces of the fixing parts; a first fixing plate is fixedly connected to the fixing part; the first fixing plate is fixedly connected with a second fixing plate through a screw; an anti-collision mechanism is adhered to the lower surface of the second fixing plate; the anti-collision mechanism comprises a telescopic cover adhered to the lower surface of the second fixing plate; the telescopic cover is of a wave-shaped structure, the solid telescopic cover is unfolded under the acting force applied by the balance weight ring again, then the solid telescopic cover is kept in an open state in the transferring process, when the solid telescopic cover is impacted by the outside, the solid telescopic cover can resist the applied impact force, the sorted objects are prevented from being separated from the pneumatic claw due to the fact that the sorted objects are impacted, and the sorting efficiency is improved. And the clamping failure is caused.

Description

Technical Field

[0001] The utility model belongs to the technical field of sorting clamps, and in particular relates to an anti-collision clamp for a foreign matter sorting robot. Background Art

[0002] A sorting robot is a high-tech device that integrates sensors, objective lenses, and electronic optical systems. It can quickly and accurately complete cargo sorting tasks. In the field of ore color sorting, sorting robots can automatically sort ore instead of manual labor. They can not only remove foreign matter, improve sorting efficiency and accuracy, reduce manual errors and labor intensity, but also protect workers from being harmed by ore dust, greatly improving sorting efficiency.

[0003] The current sorting robot's grippers are mainly divided into pneumatic grippers, electric grippers and hydraulic grippers according to the power source. Among them, pneumatic grippers have a compact structure, take up little space, and are suitable for working in environments with limited space. They have various forms, such as parallel, swinging, rotating, and three-point types, which can adapt to different working methods and clamping operations. For example, parallel air grippers can complete parallel movement, swinging air grippers can achieve swinging movement, rotating air grippers can perform rotating arm movements, and three-jaw air grippers can be used for three-jaw clamping, etc. Pneumatic grippers have stable and flexible power output during operation and are one of the most common types of grippers in sorting robots.

[0004] Although pneumatic grippers have significant advantages over grippers with other power sources, the gripping force exerted on the clamped objects by the grippers during the clamping operation is relatively small. When the grippers are hit by external factors, they can easily fall off, resulting in the robot being unable to effectively complete the foreign object sorting task. Utility Model Content

[0005] In order to solve the technical problem in the prior art that the robot sorting gripper is prone to dropping the clamped objects when subjected to external impact, resulting in the inability to complete the foreign body sorting work, the utility model provides an anti-collision gripper for a foreign body sorting robot.

[0006] The purpose of the utility model can be achieved through the following technical solutions:

[0007] An anti-collision gripper for a foreign body sorting robot, comprising a base; a mechanical arm disposed on the base; a fixed portion rotatably connected to the rear end of the mechanical arm; a pneumatic gripper connected to the fixed portion; and a solenoid valve disposed on the lower end surface of the fixed portion.

[0008] The fixing portion is fixed with a first fixing plate; the first fixing plate is fixed with a second fixing plate via screws; an anti-collision mechanism is bonded to the lower surface of the second fixing plate;

[0009] The anti-collision mechanism includes a telescopic cover bonded to the lower surface of the second fixed plate; the telescopic cover has a wave-shaped structure and a rectangular cross-section; the telescopic cover can be extended to the lower end of the pneumatic claw at most.

[0010] Furthermore, the anti-collision mechanism also includes a counterweight ring fixed to the lower end of the solid telescopic cover; the telescopic cover is a solid telescopic cover.

[0011] Furthermore, the shape of the counterweight ring is the same as that of the solid telescopic cover, presenting a flat ring structure.

[0012] Furthermore, the counterweight ring is fixed with symmetrically arranged limiting rods; the fixing portion is provided with a socket penetrating to the upper surface of the first fixing plate at a position corresponding to the limiting rod.

[0013] Furthermore, the anti-collision mechanism also includes a hollow ring fixedly connected to the upper end of the telescopic cover; the telescopic cover is a hollow telescopic cover; a connected air pipe is fixedly connected to the hollow ring, and the other end of the air pipe is connected to the solenoid valve.

[0014] Furthermore, a solid ring is connected to the corner of the outer surface of the hollow telescopic cover.

[0015] Furthermore, two air pipes are provided, one is an air inlet pipe and the other is an air outlet pipe, which respectively inflate and inhale air into the hollow telescopic cover through electromagnetic valves.

[0016] Beneficial effects of the utility model:

[0017] The utility model supplies air source to the pneumatic claws through the electromagnetic valve, so that the pneumatic claws clamp the sorted items, and then the mechanical arm cooperates with the pneumatic claws to lift the sorted items, and the solid telescopic cover is unfolded again under the force exerted by the counterweight ring, and then remains in the open state during the transfer. When subjected to external impact, the solid telescopic cover can withstand the impact force, thereby preventing the sorted items from being subjected to the impact force, causing the sorted items to be separated from the pneumatic claws, resulting in clamping failure.

[0018] The utility model discloses that after the pneumatic claw clamps the sorted items, the air circuit is connected again through the electromagnetic valve to perform an inflation action, so that the hollow telescopic cover and the hollow ring are filled with gas. At this time, the hollow telescopic cover forms a fully expanded cover shape, which can provide protection for the pneumatic claw and the sorted items on the pneumatic claw when the robot arm moves the pneumatic claw, and prevent the items clamped by the pneumatic claw from falling off due to external impact, resulting in gripping failure. In addition, the clamped items can be sorted at multiple angles, thereby improving gripping flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 This is a schematic diagram of the overall structure of Example 1 of the present utility model;

[0021] Figure 2 This is a cross-sectional view of the solid telescopic cover of Example 1 of the present utility model;

[0022] Figure 3 This is a cross-sectional view of the solid telescopic cover of Example 1 of the present utility model;

[0023] Figure 4 This is a cross-sectional view of the hollow telescopic cover of Example 2 of the present utility model;

[0024] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0025] 1. Base; 2. Robotic arm; 3. Pneumatic claw; 4. Solenoid valve; 5. First fixed plate; 6. Second fixed plate; 7. Solid telescopic cover; 701. Counterweight ring; 702. Limit rod; 703. Jack; 8. Hollow telescopic cover; 801. Hollow ring; 802. Air pipe; 803. Solid ring. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] Example 1: Please refer to Figure 1-Figure 3 As shown, an anti-collision gripper for a foreign body sorting robot includes a base 1; a freely swingable robotic arm 2 is provided on the base 1; a fixed portion 21 is rotatably connected to the tail end of the robotic arm 2; a pneumatic gripper 3 is connected to the fixed portion 21; and a solenoid valve 4 is provided on the end face of the fixed portion 21, which is used to control the opening and closing of the air circuit.

[0028] Please refer again Figure 2 and Figure 3As shown, a first fixing plate 5 is fixed to the fixing portion 21; the first fixing plate 5 is fixed to the second fixing plate 6 by screws; a solid telescopic cover 7 is bonded to the lower surface of the second fixing plate 6, and the solid telescopic cover 7 has a wavy structure and a rectangular cross-section; the solid telescopic cover 7 can be extended to the lower end of the pneumatic claw 3 at most; a counterweight ring 701 is fixed to the lower end of the solid telescopic cover 7, and the shape of the counterweight ring 701 is the same as that of the solid telescopic cover 7, and it has a flat ring structure; symmetrically arranged limit rods 702 are fixed to the counterweight ring 701; the fixing portion 21 is provided with a socket 703 that passes through the upper surface of the first fixing plate 5 at a position corresponding to the limit rod 702, and the limit rod 702 slides in the socket 703.

[0029] In order to facilitate understanding of the above technical solution of the present invention, the working principle or operation method of the present invention in actual process is described in detail below:

[0030] First, install the second fixing plate 6 and the solid telescopic cover 7 and other auxiliary structures on the first fixing plate 5 so that they are sleeved on the outside of the pneumatic claw 3;

[0031] Then, before the pneumatic claw 3 is ready to clamp the sorted item, the solid telescopic cover 7 is first subjected to the gravity of the counterweight ring 701 and is firmly dragged to the maximum expanded state. At this time, the pneumatic claw 3 continues to move toward the sorted item until the pneumatic claw 3 moves down onto the sorted item. Then the solid telescopic cover 7 adaptively contracts without hindering the pneumatic claw 3 from clamping the sorted item. The air source is then supplied to the pneumatic claw 3 through the solenoid valve 4, so that the pneumatic claw 3 clamps the sorted item. After that, the robotic arm 2 is used to cooperate with the pneumatic claw 3 to lift the sorted item. The solid telescopic cover 7 is unfolded again under the force applied by the counterweight ring 701, and then remains in an open state during the transfer. When subjected to external impact, the solid telescopic cover 7 can withstand the impact force applied to prevent the sorted item from being subjected to the impact force, causing the sorted item to detach from the pneumatic claw 3, resulting in a clamping failure.

[0032] In addition, by providing the counterweight ring 701 , the bottom end of the solid telescopic cover 7 can always be in an open and fixed state, thereby improving the stability of the opening at the bottom end of the solid telescopic cover 7 and providing an open supporting force.

[0033] At the same time, through the cooperation of the limit rod 702 and the socket 703, the telescopic position of the solid telescopic cover 7 can be limited to ensure that the solid telescopic cover 7 does not affect the normal use of the clamping claw, and when the solid telescopic cover 7 is hit, its position can be limited to avoid touching the pneumatic claw 3 internally, thereby improving the clamping stability of the pneumatic claw 3 on the sorted items.

[0034] Example 2: Please refer again Figure 4As shown, a hollow telescopic cover 8 is bonded to the lower surface of the second fixed plate 6; a connected hollow ring 801 is fixed to the upper end of the hollow telescopic cover 8; two connected air pipes 802 are fixed to the hollow ring 801, and the air pipes 802 are made of soft leather. The other end of the air pipe 802 is connected to the solenoid valve 4, which is used to inflate or deflat the hollow ring 801 and the hollow telescopic cover 8; a solid ring 803 is connected to the corner of the outer surface of the hollow telescopic cover 8.

[0035] In order to facilitate understanding of the above technical solution of the present invention, the working principle or operation method of the present invention in actual process is described in detail below:

[0036] First, install the second fixing plate 6 and the hollow telescopic cover 8 and other auxiliary structures on the first fixing plate 5 so that they are sleeved on the outside of the pneumatic claw 3;

[0037] Then, before the pneumatic claw 3 grips the object to be sorted, the air circuit is connected through the solenoid valve 4 to perform an air pumping action, thereby extracting the air inside the hollow telescopic cover 8 and the hollow ring 801, so that the hollow telescopic cover 8 contracts along the bend, without hindering the pneumatic claw 3 from gripping and picking up the object;

[0038] After the pneumatic claw 3 clamps the sorted item, the air circuit is connected again through the solenoid valve 4 to perform an inflation action, so that the hollow telescopic cover 8 and the hollow ring 801 are filled with gas. At this time, the hollow telescopic cover 8 forms a fully expanded cover shape, which can provide protection for the robot arm 2 to move the pneumatic claw 3 and the sorted items on the pneumatic claw 3, and prevent the items clamped by the pneumatic claw 3 from being knocked off by external impact, resulting in a failure in clamping. Compared with the first embodiment, although an additional air source is required to provide the telescopic force for the hollow telescopic cover 8, the clamped items can be sorted at multiple angles, which improves flexibility.

[0039] Among them, the provision of the hollow ring 801 can evenly fill the gas into the hollow telescopic cover 8, making the hollow telescopic cover 8 more stable when deployed, and the provision of the solid ring 803 can further improve the deployment stability of the hollow telescopic cover 8.

[0040] Throughout the specification, references to terms such as "one embodiment," "example," or "specific example" indicate that a specific feature, structure, material, or characteristic described in conjunction with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0041] The above content is merely an example and explanation of the structure of the present utility model. The technicians in this technical field may make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the utility model or exceed the scope defined by the claims, they should fall within the scope of protection of the present utility model.

Claims

1. An anti-collision gripper for a foreign body sorting robot, characterized by: The invention comprises a base (1); a mechanical arm (2) is provided on the base (1); the tail end of the mechanical arm (2) is rotatably connected to a fixing portion (21); the fixing portion (21) is provided with a connected pneumatic claw (3); and a solenoid valve (4) is provided on the lower end surface of the fixing portion (21); A first fixing plate (5) is fixedly connected to the fixing portion (21); the first fixing plate (5) is fixedly connected to a second fixing plate (6) via screws; an anti-collision mechanism is bonded to the lower surface of the second fixing plate (6); The anti-collision mechanism comprises a telescopic cover bonded to the lower surface of the second fixed plate (6); the telescopic cover has a wave-shaped structure and a rectangular cross section; the telescopic cover can be extended to the lower end of the pneumatic claw (3) at most.

2. The anti-collision gripper for a foreign body sorting robot according to claim 1, characterized in that: The anti-collision mechanism further comprises a counterweight ring (701) fixedly connected to the lower end of the solid telescopic cover (7); the telescopic cover is a solid telescopic cover (7).

3. The anti-collision gripper for a foreign matter sorting robot according to claim 2, characterized in that: The shape of the counterweight ring (701) is the same as that of the solid telescopic cover (7), and is a flat ring structure.

4. The anti-collision gripper for a foreign matter sorting robot according to claim 2, characterized in that: The counterweight ring (701) is fixed with symmetrically arranged limiting rods (702); the fixing portion (21) is provided with a plug hole (703) penetrating to the upper surface of the first fixing plate (5) at a position corresponding to the limiting rod (702).

5. The anti-collision gripper for a foreign matter sorting robot according to claim 1, characterized in that: The anti-collision mechanism further comprises a hollow ring (801) fixedly connected to the upper end of the telescopic cover; the telescopic cover is a hollow telescopic cover (8); a communicating air pipe (802) is fixedly connected to the hollow ring (801), and the other end of the air pipe (802) is connected to the solenoid valve (4).

6. The anti-collision gripper for a foreign matter sorting robot according to claim 5, characterized in that: A solid ring (803) is connected to the corner of the outer surface of the hollow telescopic cover (8).

7. The anti-collision gripper for a foreign matter sorting robot according to claim 5, characterized in that: There are two air pipes (802), one is an air inlet pipe (802), and the other is an air outlet pipe (802), which respectively inflate and inhale air into the hollow telescopic cover (8) through the electromagnetic valve (4).

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