CN220313373U

CN220313373U - Clamp for robot

Info

Publication number: CN220313373U
Application number: CN202321812488.9U
Authority: CN
Inventors: 刘作斌; 张晋; 叶灵; 刘永; 涂广森
Original assignee: Fujian Nebula Electronics Co Ltd
Current assignee: Fujian Nebula Electronics Co Ltd
Priority date: 2023-07-11
Filing date: 2023-07-11
Publication date: 2024-01-09
Anticipated expiration: 2033-07-11

Abstract

The utility model provides a fixture for a robot, which belongs to the technical field of industrial robots, and comprises: a bearing plate; the flange is arranged in the middle of the top end of the bearing plate; the clamping mechanism is arranged at the bottom end of the bearing plate; the driving mechanism is arranged on the bearing plate, and the power output end is connected with the clamping mechanism; the two bottom covering mechanisms are symmetrically arranged at the front side and the rear side of the bottom end of the bearing plate; the two fool-proof detection mechanisms are diagonally arranged at the top end of the bearing plate; the tensioning mechanism is arranged in the middle of the bearing plate; the ranging sensor is arranged on the side plate of the bearing plate, and the measuring direction is downward; the two visual modules are diagonally arranged on the front side and the rear side of the bearing plate, and the shooting direction is downward; and the robot calibration rod is vertically arranged at the bottom end of the bearing plate. The utility model has the advantages that: the compatibility and the safety of the clamp are greatly improved.

Description

Clamp for robot

Technical Field

The utility model relates to the technical field of industrial robots, in particular to a clamp for a robot.

Background

Along with the rapid development of robot technology, the robot is widely applied to various fields, and in logistics stacking and carrying operations, the robot is adopted to grasp workpieces for automatic stacking and carrying, so that the labor intensity can be reduced, and the stacking and carrying efficiency can be improved.

The robot grabs the workpieces through the clamps (grabs), the quality, the volume, the appearance and the size of different workpieces are different, conventionally, the clamps with different specifications are arranged, and the clamps are switched through automatic disc replacement so as to grab the different types of workpieces, but the specialization, the specifications and the number of the clamps are obviously increased, and the production and manufacturing cost is further increased; and in the using process of the traditional clamp, the risk of falling off due to the defect of the workpiece exists.

Therefore, how to provide a fixture for a robot to achieve improvement of compatibility and safety of fixture use is a technical problem to be solved.

Disclosure of Invention

The utility model aims to solve the technical problem of providing a clamp for a robot, which can improve the compatibility and safety of the clamp.

The utility model is realized in the following way: a fixture for a robot, comprising:

a bearing plate;

the flange is arranged in the middle of the top end of the bearing plate;

the clamping mechanism is arranged at the bottom end of the bearing plate;

the driving mechanism is arranged on the bearing plate, and the power output end is connected with the clamping mechanism;

the two bottom covering mechanisms are symmetrically arranged at the front side and the rear side of the bottom end of the bearing plate;

the two fool-proof detection mechanisms are diagonally arranged at the top end of the bearing plate;

the tensioning mechanism is arranged in the middle of the bearing plate;

the ranging sensor is arranged on the side plate of the bearing plate, and the measuring direction is downward;

the two visual modules are diagonally arranged on the front side and the rear side of the bearing plate, and the shooting direction is downward;

and the at least one robot calibration rod is vertically arranged at the bottom end of the bearing plate.

Further, the method further comprises the following steps:

and the PLC is respectively connected with the driving mechanism, the bottom covering mechanism, the fool-proof detection mechanism, the tensioning mechanism, the ranging sensor and the vision module.

Further, the vision module includes:

the camera is arranged on the side surface of the bearing plate, and the shooting direction is downward;

a lens arranged at the shooting end of the camera;

and the annular light source is annularly arranged around the lens.

The utility model has the advantages that:

the clamping mechanism is arranged at the bottom end of the bearing plate, the clamping mechanism is driven to open and close by the driving mechanism arranged on the bearing plate so as to clamp workpieces with different sizes, and the bottom holding mechanisms are respectively arranged at the front side and the rear side of the bottom end of the bearing plate so as to hold the clamped workpieces, so that the clamped workpieces are prevented from falling; the combination is located the tight mechanism that rises in loading board middle part and is prevented that the work piece middle part is crooked, combines to be two foolproof detection mechanism that the loading board top was located to the diagonal angle and is used for preventing foolproof, combines ranging sensor and vision module to range finding and location, ensures accurate centre gripping work piece, and the ultimate very big compatibility and the security that have promoted anchor clamps and used.

Drawings

The utility model will be further described with reference to examples of embodiments with reference to the accompanying drawings.

Fig. 1 is a schematic view of a structure of a jig for a robot according to the present utility model.

Fig. 2 is a front view of a jig for a robot according to the present utility model.

Fig. 3 is a schematic view of a structure of the present utility model in a state of clamping a workpiece.

Fig. 4 is a front view showing a state of holding a workpiece according to the present utility model.

Fig. 5 is a schematic block diagram of a circuit of a jig for a robot according to the present utility model.

Marking:

100-a fixture for a robot, a 1-bearing plate, a 2-flange, a 3-clamping mechanism, a 4-driving mechanism, a 5-bottom covering mechanism, a 6-fool-proof detection mechanism, a 7-tensioning mechanism, an 8-ranging sensor, a 9-vision module, a 10-robot calibration rod, a 11-PLC, a 12-workpiece, a 91-camera, a 92-lens and a 93-annular light source.

Detailed Description

According to the embodiment of the utility model, by providing the clamp 100 for the robot, the technical problems that in the prior art, clamps with different specifications are switched by automatic disc replacement to grasp different types of workpieces, the specificity, specification and number of the clamps are increased, the production and manufacturing cost is further increased, and the clamps possibly fall due to defects of the workpieces in the use process are solved, and the use compatibility and safety of the clamps are greatly improved are realized.

The technical scheme in the embodiment of the utility model aims to solve the problems, and the overall thought is as follows: the clamping mechanism 3 is driven to open and close by the driving mechanism 4 so as to clamp workpieces 12 with different sizes, so that the compatibility of the use of the clamp 100 is improved; by arranging the bottom covering mechanism 5, the tensioning mechanism 7, the fool-proof detection mechanism 6, the ranging sensor 8 and the vision module 9, the use safety of the clamp 100 is improved.

In order to better understand the above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.

Referring to fig. 1 to 5, a preferred embodiment of a jig 100 for a robot according to the present utility model includes:

a carrying plate 1 for carrying the jig 100;

a flange 2, which is arranged in the middle of the top end of the bearing plate 1 and is used for connecting a robot (not shown);

a clamping mechanism 3, which is arranged at the bottom end of the bearing plate 1, clamps the workpiece (module) 12 by left-right displacement, and matches the workpieces 12 with different sizes;

the driving mechanism 4 is arranged on the bearing plate 1, the power output end of the driving mechanism is connected with the clamping mechanism 3, the driving mechanism consists of a servo motor (not shown), a bearing (not shown), a lead screw (not shown), a sliding rail (not shown), a sliding block (not shown) and other parts, the clamping mechanism 3 is fixed on the sliding block, the lead screw is driven by the servo motor to drive the sliding block, so that automatic clamping action is realized, and the clamping and clamping force of workpieces 12 with different lengths are realized by controlling the servo motor;

the two bottom covering mechanisms 5 are symmetrically arranged on the front side and the rear side of the bottom end of the bearing plate 1 and are composed of a cylinder (not shown), a bearing (not shown), a transmission shaft (not shown) and other parts, the transmission shaft is pushed by the cylinder, so that the clamp 100 is opened when the workpiece 12 is grabbed, the bottom covering mechanisms are retracted when the workpiece 12 is lifted for carrying, and the workpiece 12 is prevented from falling off in the carrying process;

two fool-proof detecting mechanisms 6, which are diagonally arranged at the top end of the carrying plate 1 and are composed of a proximity switch (not shown), a probe rod (not shown), a spring (not shown), a linear bearing (not shown) and other components, and are used for preventing the clamp 100 from falling down and exceeding a limit position to cause a collision machine and preventing the clamp 100 from lifting up without lifting the workpiece 12; since the gripping points are at both ends of the workpiece 12, in order to avoid lifting one end of the workpiece 12 and not the other end, two foolproof detection mechanisms 6 are provided;

a tensioning mechanism 7, which is arranged in the middle of the bearing plate 1 and is composed of a cylinder (not shown), a spring (not shown) and other components, and is used for providing assistance for clamping according to the characteristics of the workpiece 12, when the workpiece 12 is grabbed and lifted, the middle part of the workpiece 12 can be bent downwards, and the hole in the middle part of the workpiece 12 can also have an upward force through the tensioning mechanism 7, so that the workpiece 12 is prevented from being bent;

the distance measuring sensor 8 is arranged on the side plate of the bearing plate 1, and is used for measuring the distance between the bearing plate and the workpiece 12 in a downward measuring direction so as to avoid collision;

the two vision modules 9 are diagonally arranged on the front side and the rear side of the bearing plate 1, the shooting direction is downward, and the two vision modules are used for determining the position, the shape, the product information (two-dimensional code) and the like of the incoming workpiece 12 and shooting a tool (not shown) into which the workpiece 12 is to be placed to determine the position; since the workpiece 12 is larger, the moving distance of the robot is longer, and the production beat is affected, two vision modules 9 are arranged to take a picture diagonally;

the at least one robot calibration rod 10 is vertically arranged at the bottom end of the bearing plate 1 and is used for checking the precision of the robot after the robot works for a period of time for the first time, so that the workpiece is prevented from being clamped due to the fact that the precision error of the robot is large.

Further comprises:

a PLC11 respectively connected with the driving mechanism 4, the bottom covering mechanism 5, the fool-proof detecting mechanism 6, the tensioning mechanism 7, the distance measuring sensor 8 and the vision module 9; the PLC11 is used to control the operation of the jig 100, and in practice, it is only required to select a PLC capable of performing this function from the prior art, and is not limited to any model, and control programs are well known to those skilled in the art, and can be obtained by those skilled in the art without the need for inventive work.

The vision module 9 comprises:

a camera 91 disposed on a side surface of the carrier plate 1, and having a shooting direction facing downward;

a lens 92 disposed at a photographing end of the camera 91;

and an annular light source 93, which is disposed around the lens 92 and is used for supplementing light for shooting of the camera 91.

The working principle of the utility model is as follows:

the robot is connected with the flange 2 and moves the clamp 100 to the upper part of the workpiece 12, the vision module 9 performs vision code scanning on the workpiece 12, the workpiece 12 to be grabbed is photographed diagonally to determine the position, the clamping mechanism 3 is lowered in place, the tensioning mechanism 7 is opened, meanwhile, the driving mechanism 4 drives the clamping mechanism 3 to clamp the workpiece 12, and the robot lifts the workpiece 12 by the clamp 100 and then performs bottom covering on the workpiece 12 by the bottom covering mechanism 5; the robot is used for transplanting the workpiece 12 to the upper part of the tooling to be placed, and the workpiece 12 is placed into the tooling after the tooling is positioned and measured by the vision module 9 and the distance measuring sensor 8.

In summary, the utility model has the advantages that:

While specific embodiments of the utility model have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the utility model, and that equivalent modifications and variations of the utility model in light of the spirit of the utility model will be covered by the claims of the present utility model.

Claims

1. A fixture for a robot, characterized by: comprising the following steps: