CN112621801B

CN112621801B - Clamp capable of automatically grabbing single material from material pile and grabbing robot

Info

Publication number: CN112621801B
Application number: CN202011251422.8A
Authority: CN
Inventors: 陈碧云; 曹诗明; 王义元; 李子龙
Original assignee: Dongfeng Motor Co Ltd
Current assignee: Dongfeng Motor Co Ltd
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2022-12-06
Anticipated expiration: 2040-11-10
Also published as: CN112621801A

Abstract

The invention provides a clamp and a grabbing robot capable of automatically grabbing a single material from a material stack, wherein the clamp comprises a base, a telescopic device, a gripper and an adjuster, wherein the base is used for being connected with a mechanical arm; the hand grip is arranged at the tail end of the telescopic device, the tension force provided by the telescopic device is controlled by the regulator to exceed the gravity of a single material, and the tension force provided by the telescopic device is controlled to be smaller than the gravity of two materials. The clamp has flexibility and a mechanical memory function, and can be used for preparing to identify the weight borne by the clamp so as to judge the quantity of the currently grabbed materials.

Description

Clamp capable of automatically grabbing single material from material pile and grabbing robot

Technical Field

The invention belongs to the technical field of automatic grabbing, and particularly relates to a clamp and a grabbing robot capable of automatically grabbing a single material from a material stack, which are particularly suitable for shaft materials.

Background

During crankshaft machining, crankshaft blanks are loaded by operators through auxiliary lifting appliances, and are conveyed and loaded. The hoist is removing the material in-process, because the hoist is unstable, has the bent axle and drops the potential safety hazard of pounding the foot. Blank material loading personnel still need be responsible for other operations, and manual material loading frequency is frequent, need walk back and forth between equipment detection and material loading, and average accumulative walking reaches more than ten kilometers per day.

In addition, bent axle supplied materials is chaotic, has the phenomenon that alternately stacks between the bent axle swing arm, and the hoist can't be colluded the bent axle, needs violence transport to lift up the back and pounces on, and the material frame is yielding, and the work piece easily pounces to staff's hand, has great potential safety hazard.

The lifting appliance in the prior art realizes the grabbing operation between the point and the point of a crankshaft through a single-claw simple clamp or a double-claw simple clamp, and the disordered grabbing capacity of supplied materials cannot be met; in addition, the clamping position of the workpiece (material) is uneven, so that the workpiece (material) cannot be positioned and clamped, and when the workpiece (material) is lifted upwards, the clamp often collides with the material frame; in addition, when the bent axle was alternately stacked and was placed, unable discernment double crank function directly grabbed the material loading and can lead to process pacer equipment trouble.

Anchor clamps among the prior art generally do not have the anticollision function, if anchor clamps with place crooked bent axle when colliding, equipment directly takes place to report to the police, just can resume production after needing the manual work to handle collision trouble.

Based on the above, the invention provides a clamp and a grabbing robot capable of automatically grabbing a single material from a material stack, so as to solve the problem that the single material is difficult to automatically grab from the material stack in the prior art.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides the clamp and the grabbing robot which can automatically grab a single material from a material stack, wherein the clamp has flexibility and a mechanical memory function, and can be used for preparing to identify the weight borne by the clamp so as to judge the quantity of the currently grabbed materials (workpieces).

In order to achieve the above object, in one aspect, the present invention provides a clamp capable of automatically grasping a single material from a stack of materials, comprising:

a base for connecting to a robotic arm;

the telescopic device is used for taking out materials and arranged on the base;

the gripper is used for gripping materials and arranged at the tail end of the telescopic device; and

the regulator is used for setting the tension provided by the telescopic device;

wherein the tension provided by the telescopic device is controlled to exceed the gravity of a single material through the regulator, and the tension provided by the telescopic device is controlled to be smaller than the gravity of two materials;

the telescopic device is used for pushing out the gripper to be pushed out in place to grab single materials, and the telescopic device is used for returning back to drive the gripper to return and simultaneously judge the quantity of the materials grabbed by the gripper currently.

According to another embodiment of the invention, the telescopic device is a stretching cylinder, the regulator is a pressure regulating valve, the tension of the stretching cylinder is controlled by setting the pressure value of the pressure regulating valve, that is, when two or more materials are grabbed, the tension provided by the stretching cylinder is not enough to retract, which indicates that the grabbing is in error, and the grabbing process in the period is finished through program control.

According to another embodiment of the invention, the device further comprises a detector for detecting that the stretching cylinder retracts to the right, and whether the grabbed material is in place can be determined according to the existence of signals of the detector.

According to another specific embodiment of the invention, the end of the telescopic device is provided with an anti-collision mechanism, the anti-collision mechanism comprises a connecting sleeve, a guide shaft, a sensing block and a collision sensor, the connecting sleeve is fixed with the base, the collision sensor is arranged on the sleeve, the hand grip is connected to the end of the telescopic device through the guide shaft, the sensing block is arranged in the connecting sleeve, and the sensing block can be pushed to trigger the collision sensor in the retraction process of the guide shaft.

According to another embodiment of the present invention, the anti-collision mechanism further comprises a spring, the sensing block is disposed on the spring, and the sensing block can trigger the collision sensor during a compression process of the spring, and the sensing block is separated from the collision sensor during an expansion process of the spring.

According to another embodiment of the invention, the anti-collision mechanism further comprises a guard plate, the telescopic device at least comprises a piston shaft, and the spring is sleeved on the piston shaft and is positioned on the inner side of the guard plate.

According to another embodiment of the present invention, the telescopic device further comprises an intermediate connecting sleeve, the connecting sleeve is arranged on the base through the intermediate connecting sleeve, and the telescopic device is arranged in the intermediate connecting sleeve.

According to another embodiment of the invention, the gripper comprises a pneumatic clamping finger and two clamping jaws driven by the pneumatic clamping finger, and correspondingly, a groove structure matched with the shape of the material can be arranged on the two clamping jaws.

In another aspect, the invention provides a gripping robot using the aforementioned gripper capable of automatically gripping a single material from a stack of materials.

According to another embodiment of the present invention, the apparatus further comprises a vision mechanism, and the vision mechanism is mounted on the base.

The invention has the following beneficial effects:

according to the invention, after the gripper at the front end of the clamp grabs the material, the telescopic device at the rear end retreats to complete the grabbing process, wherein the tension of the telescopic device is controlled by the regulator, and the tension of the telescopic device is kept between the end of one material and the weight of two materials, so that only one material is grabbed in one grabbing period.

Furthermore, the expansion piece adopts a stretching cylinder, a pressure regulating valve is adopted for regulating the expansion piece, the air inflow of the stretching cylinder is controlled through the pressure regulating valve, and the control of the tension of the stretching cylinder is further realized; wherein the detector is arranged at the position where the stretching cylinder returns to the place, the stretching cylinder can give an alarm when not returning to the place, and the situation shows that the number of the grabbed materials is two or more, and the grabbed materials need to be grabbed again at the moment, so that the abnormal condition of the equipment in the post process caused by grabbing a plurality of materials is effectively avoided.

The clamp has a flexible collision function, the collision-prevention mechanism arranged at the rear end of the gripper can realize buffering, when the clamp collides with materials, the clamp can drive the sensing block to trigger the collision sensor so as to send out a related instruction to control the robot to abandon the current grabbing operation, and the robot automatically returns to the original point and then grabs again, so that collision faults are avoided, the collision faults are automatically eliminated, the occurrence of alarm shutdown is avoided, and the production efficiency is improved; through the communication between the signal of outside collision inductor and the robot, let the robot have outside perception organ, can brake braking when bumping, automatic go back to the normal position and snatch the process again.

The present invention will be described in further detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic view of the overall construction of the clamp of the present invention;

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a schematic view of the rear end telescoping portion of the clamp of the present invention;

fig. 4 is a structural schematic diagram of the collision preventing mechanism.

Detailed Description

Example 1

A clamp capable of automatically grabbing single materials from a material pile, which is described in detail in the embodiment by taking crankshaft materials as an example, as shown in FIGS. 1 to 4, comprises a base 10, a telescopic device 20, a hand grip 30, an adjuster 40 and an anti-collision mechanism 50.

Wherein the base 10 comprises a flange seat 11 and a column 12, the flange seat 11 is fixedly connected with the mechanical arm, and the column 12 is preferably a hollow cuboid so as to facilitate the installation of parts on the side wall of the column 12.

The expansion device 20 in this embodiment uses a stretching cylinder, the regulator 40 uses a pressure regulating valve, preferably a precision pressure regulating valve, the tension of the stretching cylinder is controlled by setting the pressure value of the pressure regulating valve, according to the test, when the pressure value of the precision pressure regulating valve is 0.1MP, the tension of the stretching cylinder is between the weight of one crankshaft and the weight of two crankshafts, and specifically, approximately 1.5 crankshafts can be provided.

In other preferred embodiments of the present invention, the expansion device 20 may also employ components such as an electric push rod, a hydraulic push rod, etc., and the regulator 40 may also employ components such as an encoder, etc.

Wherein the stretching cylinder is arranged on the column body 12 through the middle connecting sleeve 13, for the tidiness of the structure, the stretching cylinder is preferably arranged in the middle connecting sleeve 13, the pressure regulating valve is arranged on the column body 12, the hand grip 30 is arranged at the tail end of the expansion piece 20, the hand grip 30 is controlled to extend out of place and be grabbed in place through the pushing out and returning back of the stretching cylinder, and then the grabbing process of a single crankshaft is completed.

In the embodiment, when two or more materials are grabbed, the pulling force provided by the stretching air cylinder is not enough to retreat, so that the grabbing error is indicated, and the grabbing process in the period is ended through program control.

Further, a detector for detecting that the piston shaft of the stretching cylinder returns to the position is arranged at the cylinder body of the stretching cylinder, whether the grabbed material returns to the position is determined by mistake according to a signal of the detector, for example, the grabber 30 still cannot acquire the signal of the detector within a certain time period to grab the grabber, and indicates that the grabbed material cannot return to the position, the grabbing process is failed under program control, and the grabber releases the material and returns to the original point to grab the next period again.

The anti-collision mechanism 50 is arranged at the end of the stretching cylinder and is used for collision detection of the hand grip 30 before gripping and no longer detecting relevant information after the hand grip 30 grips, and the anti-collision mechanism 50 comprises a connecting sleeve 51, a guide shaft 52, a sensing block 53, a collision sensor 54, a spring 55, a guard plate 56 and a baffle ring 57.

The connecting sleeve 51 is arranged on the middle connecting sleeve 13, the collision sensor 54 is arranged on the outer side of the connecting sleeve 51, one end of the guide shaft 52 is connected with the piston shaft 21 of the stretching cylinder, the other end of the guide shaft 52 penetrates through the connecting sleeve 51 to be connected with the hand grip 30, the spring 55 is sleeved on the periphery of the piston shaft 21 of the stretching cylinder and can only be axially compressed and expanded under the limit of the two guard plates 56, the sensing block 53 is arranged on the spring 55, the sensing block 53 can trigger the collision sensor 54 in the compression process of the spring 55, and the sensing block 53 is separated from the collision sensor 54 in the expansion process of the spring 55; the stop ring 57 is fitted over the guide shaft 52 and located within the coupling sleeve 51 to reduce the space occupied by the spring 55.

In particular, here, the sensing block 53 can trigger the collision sensor 54, including but not limited to a touch trigger, a distance trigger, and other trigger conditions.

Before the gripper 30 grips, once the gripper 30 collides with other crankshafts in the crankcase, the gripper 30 is extruded into the stretching cylinder to be forced to retract, the guide shaft 52 retracts backwards and compresses the spring 55 at the moment until the sensing block 53 on the spring 55 triggers the collision sensor 54, the current gripping operation is abandoned through program control, the gripper 30 automatically returns to the original position and grips again, and loss of production efficiency caused by alarm shutdown after collision is avoided.

Specifically, after the gripper 30 grips, the sensing block 53 pushes back due to the retraction of the piston rod 21 of the stretching cylinder performed in the normal gripping process through program control, so as not to trigger the collision sensor 54, for example, a gripping signal of the gripper 30 is introduced, and after the gripping is completed, the sensing block 53 cannot trigger the collision sensor 54.

The gripper 30 in this embodiment comprises a pneumatic gripper finger 31 and two gripper jaws 32 driven by the pneumatic gripper finger 31, and correspondingly, a groove structure 33 matched with the shape of the material can be arranged on the two gripper jaws 32.

Example 2

The present embodiment provides a grabbing robot, which adopts the clamp of embodiment 1, as shown in fig. 1-2, wherein the grabbing robot further comprises a vision mechanism 60, the vision mechanism 60 is mounted on the base 10, and is used for visually recognizing the position point information of the next crankshaft to be grabbed, and then completing the subsequent grabbing process through the controller of the mechanical arm.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

Claims

1. A clamp capable of automatically grasping a single material from a stack of materials, comprising:

a base (10) for connecting to a robotic arm;

the telescopic device (20) is used for taking out materials, and the telescopic device (20) is arranged on the base (10);

the gripper (30) is used for gripping materials, and the gripper (30) is arranged at the tail end of the telescopic device (20); and

an adjuster (40) for setting the amount of tension provided by the retractor (20);

wherein the tension provided by the jack (20) is controlled to be set to exceed the weight of a single material and the tension provided by the jack (20) is controlled to be less than the weight of two materials by the regulator (40);

the telescopic device pushes the hand grips out of position to grip single materials, and the retracting of the telescopic device drives the hand grips to retract and simultaneously judges the quantity of the materials gripped by the hand grips at present;

the telescopic device (20) is a stretching cylinder, the tail end of the telescopic device (20) is provided with an anti-collision mechanism (50), and the anti-collision mechanism (50) comprises a connecting sleeve (51), a guide shaft (52), an induction block (53), a collision inductor (54) and a spring (55);

the collision sensor (54) is arranged on the connecting sleeve (51), one end of the guide shaft (52) is connected with the piston shaft (21) of the stretching cylinder, the other end of the guide shaft (52) penetrates through the connecting sleeve (51) to be connected with the hand grip (30), the spring (55) is sleeved on the periphery of the piston shaft (21) of the stretching cylinder, and the spring (55) is arranged in the connecting sleeve (51);

the sensing mass (53) is arranged on the spring (55) and the sensing mass (53) can trigger the impact sensor (54) during compression of the spring (55), the sensing mass (53) being separated from the impact sensor (54) during expansion of the spring (55).

2. The gripper capable of automatically picking up single materials from a stack of materials according to claim 1, characterized in that the regulator (40) is a pressure regulating valve, the tension of the stretching cylinder being controlled by setting the pressure value of the pressure regulating valve.

3. The gripper of claim 2, further comprising a detector for detecting the retraction of said stretch cylinder into position.

4. The gripper capable of automatically picking up a single material from a stack of materials according to claim 1, characterized in that the collision-preventing mechanism (50) further comprises a guard plate (56), the retractor (20) having at least a retractable piston shaft (21), the spring (55) being fitted over the piston shaft (21) and inside the guard plate (56).

5. The gripper capable of automatically picking up single materials from a material pile according to claim 1, characterized in that it further comprises an intermediate connecting sleeve (13), said connecting sleeve (51) being arranged on said base (10) through said intermediate connecting sleeve (13), said telescopic means (20) being arranged inside said intermediate connecting sleeve (13).

6. Gripper capable of automatically gripping single materials from a stack according to claim 1, characterized in that said gripper (30) comprises a pneumatic gripper finger (31) and at least two gripping jaws (32) driven by said pneumatic gripper finger (31).

7. A gripping robot using a gripper according to any one of claims 1-6 capable of automatically gripping individual items from a stack of items.

8. The grasping robot according to claim 7, further comprising a vision mechanism (60), the vision mechanism (60) being mounted on the base (10).