Clamping jaw gripping power detection device for industrial robot

Abstract

The utility model relates to the technical field of gripping power detection equipment, and discloses a clamping jaw gripping power detection device for an industrial robot, which comprises a device base and a device main body, two mutually symmetrical support frames are arranged on the device base, and the device main body is arranged between two support columns in a sliding manner. The weight of the device body can be detected through the arranged weighing mechanism, gripping force testing can be carried out on the industrial robot through structures such as clamping force plates and a tension sensor, and when the industrial robot is detected, clamping is carried out through the two clamping force plates of the industrial robot, so that the gripping force of the industrial robot is detected. The clamping force of the industrial robot can be obtained through numerical values detected by the two tension sensors, the lifting force of the industrial robot can be tested by adding a counterweight block in a loading cavity, so that the detection functionality of the device is improved, meanwhile, the movement direction of the device body can be limited through the arrangement of the two supporting frames, and the detection accuracy is improved. And the device main body is prevented from rolling during falling.

Description

Technical Field

[0001] The utility model relates to the technical field of gripping force detection equipment, in particular to a gripping force detection device for an industrial robot. Background Art

[0002] With the advancement of science and technology, and the increasing demand for consistent and consistent forging quality, the use of forging robots to replace manual labor and achieve intelligent control of key processes and production processes has become an inevitable trend in industrial technology upgrades. However, the use of forging robots is largely inseparable from the fixture at the end of the manipulator, which is the key to achieving precise workpiece clamping and assisting the robot in completing its work.

[0003] The existing device only tests the gripping force and lacks the test of the lifting gravity when the gripping force is strong. In addition, during the experiment, the device or the robotic arm may be damaged due to insufficient gripping friction or excessive gripping force, thus affecting the experimental detection. Summary of the Invention

[0004] Technical problems solved

[0005] In view of the deficiencies in the prior art, the utility model provides a gripping force detection device for an industrial robot gripper to solve the above technical problems.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: A gripping force detection device for an industrial robot, comprising a device base and a device body, wherein two mutually symmetrical support frames are installed on the device base, and the device body is slidably installed between the two support columns. A weighing mechanism is provided on the top of the device base, and the weighing mechanism is provided directly below the device body. A groove is provided on the top of the device body, and two mutually symmetrical tension sensors are arranged in the groove. A clamping plate is connected to the tension sensor. A load-bearing cavity is provided on the device body, and a movable cover is hinged at the open end of the load-bearing cavity. A control panel is provided on the top of the device base, and the control panel is electrically connected to the tension sensor.

[0007] Preferably, a reset slide groove is provided on the device body, a reset plug is slidably arranged in the reset slide groove, and a limiting slot adapted to the reset plug is provided on the movable cover.

[0008] Preferably, a return spring is provided in the return chute, one end of the return spring is mounted on the inner wall of the return chute, and the other end of the return spring is mounted on the return plug.

[0009] Preferably, a buffer cavity is provided on the side away from each other of the two clamping plates, a movable plate is slidably arranged in the buffer cavity, and a plurality of buffer springs distributed in a matrix are arranged in the buffer cavity, one end of the buffer spring is installed on the inner wall of the buffer cavity, and the other end of the buffer spring is installed on the movable plate.

[0010] Preferably, horizontal limit grooves are provided on both inner walls of the buffer cavity, and horizontal limit blocks are slidably arranged in the horizontal limit grooves, and the horizontal limit blocks are installed on the movable plate.

[0011] Preferably, a plurality of anti-slip rubber strips are arranged at intervals along the circumferential direction on the surface of the movable plate.

[0012] Preferably, vertical limit grooves are provided on the inner sides of the two support frames, vertical limit blocks are slidably arranged in the vertical limit grooves, and the vertical limit blocks are installed on the device body.

[0013] Compared with the prior art, the present invention provides a gripping force detection device for an industrial robot, which has the following beneficial effects:

[0014] The utility model can detect the weight of the device body by providing a weighing mechanism, and can implement the gripping force test of the industrial robot through structures such as the clamping plate and the tension sensor. When the industrial robot is tested, it is clamped by the two clamping plates of the industrial robot, and the clamping force of the industrial robot can be obtained by the values ​​detected by the two tension sensors. The pulling force of the industrial robot can be tested by adding a breeding block in the load-bearing cavity, thereby improving the detection functionality of the device. At the same time, the movement direction of the device body can be restricted by the provision of two support frames to prevent the device body from rolling when it falls. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0016] Figure 2 It is a side cross-sectional structural diagram of the vertical limit block, clamping plate and support frame of the utility model;

[0017] Figure 3 It is a side cross-sectional structural diagram of the reset plug and reset spring structures of the present invention;

[0018] Figure 4 It is a schematic top view cross-sectional structure diagram of the movable plate, horizontal limit block and clamping plate structures of the present invention;

[0019] Figure 5 For the utility model Figure 3 A magnified schematic diagram of the structure in the middle.

[0020] Among them: 1. Device base; 2. Support frame; 3. Device body; 4. Reset slide; 5. Movable cover; 6. Limit slot; 7. Control panel; 8. Vertical limit slot; 9. Vertical limit block; 10. Weighing mechanism; 11. Load chamber; 12. Clamping plate; 13. Buffer chamber; 14. Buffer spring; 15. Groove; 16. Movable plate; 17. Tension sensor; 18. Anti-slip rubber strip; 19. Horizontal limit slot; 20. Horizontal limit block; 21. Reset plug; 22. Reset spring. DETAILED DESCRIPTION

[0021] The following embodiments of the present invention are described in further detail with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0022] In the description of this utility model, unless otherwise specified, "plurality" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific direction, be constructed, or operate in a specific direction, and therefore should not be construed as limiting this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0023] In the description of this utility model, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integral connection; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0024] See also Figure 1-5 A gripping force detection device for an industrial robot includes a device base 1 and a device body 3. Two mutually symmetrical support frames 2 are installed on the device base 1. The device body 3 is slidably installed between the two support columns. A weighing mechanism 10 is provided on the top of the device base 1. The weighing mechanism 10 is arranged directly below the device body 3. A groove 15 is provided on the top of the device body 3. Two mutually symmetrical tension sensors 17 are arranged in the groove 15. The tension sensor 17 is connected to a clamping plate 12. A load-bearing cavity 11 is provided on the device body 3. A movable cover 5 is hinged at the open end of the load-bearing cavity 11. A control panel 7 is provided on the top of the device base 1. The control panel 7 is electrically connected to the tension sensor 17.

[0025] By setting up a weighing mechanism 10, the weight of the device body 3 can be detected, and the gripping force test of the industrial robot can be realized through the structures such as the clamping plate 12 and the tension sensor 17. When the industrial robot is tested, it is clamped by the two clamping plates 12 of the industrial robot, and the clamping force of the industrial robot can be obtained by the values ​​detected by the two tension sensors 17. The pulling force of the industrial robot can be tested by adding a breeding block to the load-bearing chamber 11, thereby improving the detection functionality of the device. At the same time, the movement direction of the device body 3 can be restricted by the setting of the two support frames 2 to prevent the device body 3 from rolling when it falls.

[0026] Specifically, in this embodiment, a reset slide groove 4 is provided on the device body 3 , a reset plug block 21 is slidably arranged in the reset slide groove 4 , and a limiting slot 6 adapted to the reset plug block 21 is provided on the movable cover 5 .

[0027] By cooperating with the reset slide 4, the reset plug 21 and the limit slot 6 and other structures, when the movable cover 5 and the device body 3 are closed, the reset plug 21 can be inserted into the limit slot 6 to achieve locking and fixation between the movable cover 5 and the device body 3.

[0028] Specifically, in this embodiment, a return spring 22 is provided in the return chute 4 , one end of the return spring 22 is mounted on the inner wall of the return chute 4 , and the other end of the return spring 22 is mounted on the return plug 21 .

[0029] By setting the reset spring 22, the reset plug 21 can always be pressed against the inner wall of the reset slide 4, and the bottom of the reset plug 21 can always be pressed against the limit slot 6, ensuring the stability of the locking between the movable cover 5 and the device body 3.

[0030] Specifically, in this embodiment, a buffer cavity 13 is provided on the side of the two clamping plates 12 away from each other, and a movable plate 16 is slidably arranged in the buffer cavity 13. A number of buffer springs 14 distributed in a matrix are arranged in the buffer cavity 13, and one end of the buffer spring 14 is installed on the inner wall of the buffer cavity 13, and the other end of the buffer spring 14 is installed on the movable plate 16. Horizontal limit grooves 19 are provided on the inner walls on both sides of the buffer cavity 13, and a horizontal limit block 20 is slidably arranged in the horizontal limit groove 19, and the horizontal limit block 20 is installed on the movable plate 16.

[0031] By setting up the buffer cavity 13, the movable plate 16 and the buffer spring 14, it can be ensured that when the industrial robot clamps the two clamping plates 12, it squeezes the movable plate 16, so that the movable plate 16 slides into the buffer cavity 13 and squeezes the buffer spring 14. The elastic potential energy of the buffer spring 14 can make the movable plate 16 always press against the clamping claw of the industrial robot, thereby increasing the friction between the clamping claw of the industrial robot and the clamping plate 12, thereby preventing the device body 3 from slipping during the pulling detection process.

[0032] Specifically, in this embodiment, a plurality of anti-slip rubber strips 18 are arranged at intervals along the circumferential direction on the surface of the movable plate 16 .

[0033] The anti-slip rubber strip 18 can further increase the friction between the industrial robot's clamping claw and the clamping plate 12 to prevent the device body 3 from slipping during the pulling detection process.

[0034] Specifically, in this embodiment, vertical limit grooves 8 are provided on the inner sides of the two support frames 2 , vertical limit blocks 9 are slidably arranged in the vertical limit grooves 8 , and the vertical limit blocks 9 are installed on the device body 3 .

[0035] Through the mutual cooperation between the vertical limit groove 8 and the vertical limit block 9, the device body 3 can drive the two vertical limit blocks 9 to slide along the vertical limit groove 8 during the pulling experiment, guiding the moving direction of the device body 3 while limiting the moving range of the device body 3.

[0036] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A gripping force detection device for an industrial robot, comprising a device base and a device body, characterized in that: Two mutually symmetrical support frames are installed on the base of the device, and the device body is slidably installed between the two support columns. A weighing mechanism is provided on the top of the device base, and the weighing mechanism is provided directly below the device body. A groove is provided on the top of the device body, and two mutually symmetrical tension sensors are arranged in the groove. The tension sensors are connected to a clamping plate. A load-bearing cavity is provided on the device body, and a movable cover is hinged at the open end of the load-bearing cavity. A control panel is provided on the top of the device base, and the control panel is electrically connected to the tension sensor.

2. The gripping force detection device for an industrial robot according to claim 1, characterized in that: The device body is provided with a reset slide groove, a reset plug block is slidably arranged in the reset slide groove, and a limit slot adapted to the reset plug block is provided on the movable cover.

3. The gripping force detection device for an industrial robot according to claim 2, characterized in that: A return spring is provided in the return chute, one end of the return spring is mounted on the inner wall of the return chute, and the other end of the return spring is mounted on the return plug.

4. The gripping force detection device for an industrial robot according to claim 1, characterized in that: A buffer cavity is provided on the side away from each other of the two clamping plates, a movable plate is slidably arranged in the buffer cavity, and a plurality of buffer springs distributed in a matrix are arranged in the buffer cavity, one end of the buffer spring is installed on the inner wall of the buffer cavity, and the other end of the buffer spring is installed on the movable plate.

5. The gripping force detection device for an industrial robot according to claim 4, characterized in that: Horizontal limiting grooves are provided on both inner walls of the buffer cavity. Horizontal limiting blocks are slidably arranged in the horizontal limiting grooves. The horizontal limiting blocks are installed on the movable plate.

6. The gripping force detection device for an industrial robot according to claim 4, characterized in that: A plurality of anti-slip rubber strips are arranged at intervals along the circumferential direction on the surface of the movable plate.

7. The gripping force detection device for an industrial robot according to claim 6, characterized in that: The inner sides of the two support frames are both provided with vertical limit grooves, in which vertical limit blocks are slidably arranged, and the vertical limit blocks are installed on the device body.

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