CN108058182A - A kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning - Google Patents

Abstract

The invention belongs to the technical field of industrial automation equipment, and specifically relates to a hydraulic mechanical gripper capable of identifying and positioning bars of various sizes, including a clamping mechanism and a positioning mechanism, and two clamping mechanisms are arranged symmetrically On both sides of the positioning mechanism, the clamping mechanism includes a support frame, jaws, a rotating shaft and a hydraulic cylinder. There are two jaws, and the rotating shaft includes a first rotating shaft and a second rotating shaft. The first rotating shaft and the second rotating shaft, the left and right ends of the first rotating shaft are respectively fixed on the support frame, and the two second rotating shafts are connected by a hydraulic cylinder. The positioning mechanism includes a fixed frame, and the fixed frame is provided with a Industrial camera, two line lasers and three point lasers, the industrial camera is equipped with an illumination source. The invention is simple in structure, saves time and effort, can replace traditional motor-driven manipulators and replace workers to complete tasks efficiently, adapts to harsh working environments, can protect workers' safety and reduce production costs.

Description

A hydraulic mechanical gripper capable of grabbing bars of various sizes with identification and positioning

technical field

The invention belongs to the technical field of industrial automation equipment, and in particular relates to a hydraulic mechanical gripper with identification and positioning and capable of grabbing bars of various sizes.

Background technique

A robot is a high-tech automated production equipment. The manipulator device is an important part of the robot. During the operation of the robot, the manipulator device is required to be positioned accurately, the degree of grip is adjustable and reliable, and the moving object is stable.

At present, in industrial production, more and more people are tired of manual handling of heavy objects. It is not suitable for workers to work in harsh production conditions such as harmful environments and high temperatures. , The grasped heavy objects are not large, etc., the phenomenon of unreliable clamping and inaccurate grasping and positioning often occur.

Contents of the invention

The purpose of the present invention is to solve the problems existing in the prior art, such as low degree of automation, unreliable grasping of mechanical grippers, non-adjustable strength, inaccurate positioning, etc., and to provide a bar material with identification and positioning that can grab various sizes. hydraulic mechanical gripper.

In order to achieve the above purpose, the technical solution adopted by the present invention is: a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes, including a clamping mechanism and a positioning mechanism, and the clamping mechanism is equipped with Two, symmetrically arranged on both sides of the positioning mechanism, the clamping mechanism includes a support frame, jaws, a rotating shaft and a hydraulic cylinder, there are two jaws, and the rotating shaft includes the first rotating shaft shaft and the second rotating shaft, the first rotating shaft and the second rotating shaft are arranged on the two jaws, the left and right ends of the first rotating shaft are respectively fixed on the supporting frame, and the two described The second rotating shaft is connected by a hydraulic cylinder, the positioning mechanism includes a fixed frame, and an industrial camera, two line lasers and three point lasers are arranged on the fixed frame, and the industrial camera is equipped with There are lighting sources.

Preferably, the support frame is a square support frame, two support frames are connected by a connecting rod, and the fixing frame is fixed on the connecting rod.

Preferably, the hydraulic cylinder is a double-acting hydraulic cylinder, and a relief valve is provided at the oil inlet of the hydraulic cylinder.

Preferably, the fixing frame is arranged in parallel between two supporting frames, and the length of the fixing frame is longer than that of the supporting frame.

Preferably, the industrial camera is arranged in the middle of the fixed frame, and one of the three point lasers is arranged side by side with the industrial camera, and the other two are symmetrically arranged on both sides of the industrial camera, and are arranged on both sides of the industrial camera The distance between the two point lasers is less than the length of the support frame.

Preferably, connecting blocks are respectively provided at both ends of the fixing frame, and the two line lasers are respectively arranged on the two connecting blocks.

Preferably, the connecting block is a right triangle, the line laser is arranged on the hypotenuse of the right triangle, and the angle between the line laser and the fixing frame is less than 90°.

Preferably, the inner surface of the jaw is provided with an anti-slip pad.

After adopting the above technical scheme, the present invention has the following beneficial effects:

1) The present invention provides a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes, which can replace manpower for grabbing. The gripper can precisely position the workpiece through the positioning mechanism, and under the guidance of the positioning mechanism Realize the positioning and grasping of workpieces; the application of this kind of gripper can not only quickly and accurately grasp, improve production efficiency, but also improve the automation degree of robot industrial production.

2) The invention provides a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes, which can automatically adjust the stroke of the hydraulic rod according to the size of the workpiece, so as to obtain a suitable clamping force, and can adjust the overflow The pressure value of the valve can realize that the mechanical gripper will not be too tight or too loose when grabbing the bar, causing the grabbed bar to be broken or dropped, which solves the problems of poor adaptability of the mechanical gripper and unstable clamping force .

In summary, the present invention provides a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes, which can grab bars of different sizes. The size range of bars is 280mm-700mm. The weight of the material can reach 4 tons, which can solve the problem of loading and unloading bars of different sizes and weights. It can realize continuous adjustment of the diameter range of the jaws, and the gripping force of the jaws can be adjusted by adjusting the pressure value of the overflow valve. , the mechanical gripper has a simple structure, saves time and effort, can replace traditional motor-driven manipulators and replace workers to complete tasks efficiently, adapt to harsh working environments, protect workers' safety and reduce production costs.

Description of drawings

Fig. 1 is a structural schematic diagram 1 of a hydraulic mechanical gripper capable of grabbing bars of various sizes with identification and positioning according to the present invention;

Fig. 2 is a structural schematic diagram II of a hydraulic-mechanical gripper capable of grabbing bars of various sizes with identification and positioning according to the present invention.

Among them: clamping mechanism 1, positioning mechanism 2, support frame 3, gripper 4, rotating shaft 5, hydraulic cylinder 6, first rotating shaft 7, second rotating shaft 8, fixed frame 9, industrial camera 10, line laser 11 , Point laser 12, illumination source 13, connecting rod 14, connection block 15, anti-slip mat 16.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

In the present invention, terms such as "installation", "connection", "connection" and "fixation" should be interpreted in a broad sense, for example, it can be a fixed connection or a detachable connection, unless otherwise clearly specified and limited. , or integrated; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

As shown in Figure 1-2, it is a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes according to the present invention, including a clamping mechanism 1 and a positioning mechanism 2, and the clamping mechanism 1 is set There are two, which are arranged symmetrically on both sides of the positioning mechanism 2 respectively. The clamping mechanism 1 includes a support frame 3, a jaw 4, a rotating shaft 5 and a hydraulic cylinder 6. There are two jaws 4, so The rotating shaft 5 includes a first rotating shaft 7 and a second rotating shaft 8, and the first rotating shaft 7 and the second rotating shaft 8 are arranged on the two jaws 4. The first rotating shaft 7 The left and right ends of the left and right ends are respectively fixed on the support frame 3, and the two described second rotating shafts 8 are connected by a hydraulic cylinder 6. The described positioning mechanism 2 includes a fixed frame 9, and the described fixed frame 9 is provided with An industrial camera 10, two line lasers 11 and three point lasers 12, the industrial camera 10 is provided with an illumination light source 13.

Wherein, the support frame 3 is a square support frame, the two support frames 3 are connected by a connecting rod 14, the fixed frame 9 is fixed on the connecting rod 14, and the hydraulic cylinder 6 is a double-acting hydraulic cylinder. A relief valve is provided at the oil inlet of the hydraulic cylinder 6 oil cylinder, and the fixed frame 9 is arranged between the two support frames 3 in parallel, the length of the fixed frame 9 is greater than the length of the support frame 3, and the industrial camera 10 is set In the middle position of the fixed frame 9, three described point lasers 12, one is arranged side by side with the industrial camera 10, the other two are symmetrically arranged on both sides of the industrial camera 10, and the two point lasers arranged on both sides of the industrial camera 10 are arranged The connecting line distance of the point laser 12 is less than the length of the support frame 3, the two ends of the fixing frame 9 are respectively provided with connecting blocks 15, and the two described line lasers 11 are respectively arranged on the two described connecting blocks 15, connected The block 15 is a right triangle, the line laser 11 is arranged on the hypotenuse of the right triangle, the angle between the line laser 11 and the fixed frame 9 is less than 90°, and the inner surface of the jaw 4 is provided with an anti-skid pad 16 .

The working principle of a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes is as follows: before the hydraulic mechanical gripper grabs bars, the jaws 4 are opened to the maximum position, that is, double-acting hydraulic cylinders 6 is in the maximum elongation state, when the clamping mechanism 1 is close to the bar, the industrial camera 10 starts to determine the position of the bar, and at the same time the point laser 12 and the line laser 11 start to recognize the signal and calculate the position of the clamping mechanism 1, after the positioning is completed , the double-acting hydraulic cylinder 6 begins to shrink, and gradually tightens the two jaws 4. When the gripping force of the hydraulic mechanical gripper reaches the preset pressure, the overflow valve opens, and the hydraulic mechanical gripper remains at a stable pressure. conditions, so as to realize that the mechanical gripper will not be too tight or too loose when grabbing the bar, causing the grabbed bar to be broken or dropped. The positioning mechanism 2 is mainly used for the identification of the gripper grabbing the bar The positioning function can realize the precise positioning and precise placement of the captured bar.

The present invention provides a hydraulic mechanical gripper capable of identifying and positioning bars that can grab bars of various sizes, which can replace manpower for grabbing. The gripper can precisely position the workpiece through a positioning mechanism, and realize the workpiece under the guidance of the positioning mechanism. Positioning and grasping; the application of this kind of gripper can not only grasp quickly and accurately, improve production efficiency, but also improve the automation of robot industrial production.

The invention provides a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes, which can automatically adjust the stroke of the hydraulic rod according to the size change of the workpiece, so as to obtain a suitable clamping force, and can adjust the pressure of the overflow valve The size of the pressure value can realize that the mechanical gripper will not be too tight or too loose when grabbing the bar, causing the grabbed bar to be broken or dropped, which solves the problems of poor adaptability of the mechanical gripper and unstable clamping force.

In summary, the present invention provides a hydraulic mechanical gripper with identification and positioning that can grab bars of various sizes, which can grab bars of different sizes. The size range of bars is 280mm-700mm. The weight of the material can reach 4 tons, which can solve the problem of loading and unloading bars of different sizes and weights. It can realize continuous adjustment of the diameter range of the jaws, and the gripping force of the jaws can be adjusted by adjusting the pressure value of the overflow valve. , the mechanical gripper has a simple structure, saves time and effort, can replace traditional motor-driven manipulators and replace workers to complete tasks efficiently, adapt to harsh working environments, protect workers' safety and reduce production costs.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto, any person familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solution of the present invention Any equivalent replacement or change of the inventive concepts thereof shall fall within the protection scope of the present invention.

Claims (8)

1. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning including clamping device (1) and is determined Position mechanism (2), it is characterised in that：The clamping device (1) is symmetrically arranged at the two of detent mechanism (2) there are two setting Side, the clamping device (1) include supporting rack (3), clamping jaw (4), rotation axis (5) and hydraulic cylinder (6), the clamping jaw (4) There are two, the rotation axis (5) is including the first rotation axis (7) and the second rotation axis (8), on the clamping jaw (4) described in two Equipped with the first rotation axis (7) and the second rotation axis (8), the left and right ends of first rotation axis (7) are separately fixed at support It on frame (3), is connected between the second rotation axis (8) described in two by hydraulic cylinder (6), the detent mechanism (2) includes solid Determine frame (9), set on the fixed frame (9) there are one industrial camera (10), two laser line generators (11) and three dot lasers (12), the industrial camera (10) is equipped with lighting source (13).

2. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning according to claim 1, It is characterized in that：The supporting rack (3) is quadrate support frame, is connected between the supporting rack (3) described in two by connecting rod (14) It connects, the fixed frame (9) is fixed on connecting rod (14).

3. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning according to claim 1, It is characterized in that：The hydraulic cylinder (6) is double acting hydraulic cylinder, and overflow is equipped at the hydraulic cylinder (6) oil cylinder oil inlet mouth Valve.

4. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning according to claim 1, It is characterized in that：The fixed frame (9) is arranged in parallel between the supporting rack described in two (3), the length of the fixed frame (9) Degree is more than the length of supporting rack (3).

5. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning according to claim 4, It is characterized in that：The industrial camera (10) is arranged on the centre position of fixed frame (9), the dot laser described in three (12), one is arranged side by side with industrial camera (10), other two is symmetricly set on the both sides of industrial camera (10), and is arranged on The line distance of dot laser (12) described in two of industrial camera (10) both sides is less than the length of supporting rack (3).

6. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning according to claim 5, It is characterized in that：Described fixed frame (9) both ends are respectively equipped with link block (15), and the laser line generator (11) described in two is set respectively It puts on the link block (15) described in two.

7. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning according to claim 6, It is characterized in that：The link block (15) is right angled triangle, and the laser line generator (11) is arranged on right angled triangle On bevel edge, the laser line generator (11) and the angle of fixed frame (9) are less than 90 °.

8. a kind of hydraulic machinery handgrip for capturing sizes bar with identification positioning according to claim 1, It is characterized in that：Described clamping jaw (4) inner surface is equipped with non-slip mat (16).