CN209936947U

CN209936947U - Robot end effector capable of automatically identifying axial length of material

Info

Publication number: CN209936947U
Application number: CN201920719151.0U
Authority: CN
Inventors: 刘朝龙
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-17
Filing date: 2019-05-17
Publication date: 2020-01-14
Anticipated expiration: 2029-05-17

Abstract

The utility model discloses an automatic discern robot end effector of material axial length, including installing in the cylinder of robot output end, the front end of cylinder is installed gas claw and the push pedal that contacts with the material, installs the mobilizable elastic telescoping mechanism of multiunit along the cylinder outer wall axial, and every group elastic telescoping mechanism structure is the same, and every group elastic telescoping mechanism top all is connected with the edge of push pedal, the cylinder outer wall is installed and is used for discerning the sensor of elastic telescoping mechanism terminal position; the output end of the sensor is connected with a processing module, and the output end of the processing module is connected with an alarm device and a processing module of the pneumatic claw. The utility model discloses can discern different material axial dimensions, save manual measurement axial dimensions's time or the expense of installing visual sensor to save equipment cost, reduce the labour, improved production efficiency.

Description

Robot end effector capable of automatically identifying axial length of material

Technical Field

The utility model relates to an intelligent robot technical field especially relates to an automatic discernment material axial length's robot end effector.

Background

At present, current robot snatchs material device, the most is the tight action of clamp of control material and unclamp, does not relate to discernment and classification to material axial dimension, if need detect the axial dimension of material, must increase visual sensor or accomplish in advance by the manual work and detect, has increased robot body cost and manufacturing cost, has also reduced production efficiency simultaneously.

SUMMERY OF THE UTILITY MODEL

To above-mentioned defect or not enough, the utility model aims to provide an automatic discernment material axial length's robot end effector.

In order to achieve the above purpose, the technical scheme of the utility model is that: a robot end effector capable of automatically identifying the axial length of a material comprises an air cylinder arranged at the output end of a robot, wherein the front end of the air cylinder is provided with an air claw and a push plate contacted with the material; the output end of the sensor is connected with a processing module, and the output end of the processing module is connected with an alarm device and a processing module of the pneumatic claw.

The elastic telescopic mechanism comprises: fixed mounting is in the support of cylinder outer wall, support axial direction is provided with the through-hole, slidable slide bar is installed to the through-hole fit in, the front end and the push pedal fixed connection of slide bar, the end of slide bar is provided with limit stop, limit stop cooperatees with the sensor, the front end cover of slide bar is equipped with the spring, spring one end contacts with the push pedal, and the spring other end contacts with the support.

An adjusting plate is installed on one side of the support, and the sensor is fixedly installed on the adjusting plate.

The adjusting plate is provided with a first elongated through hole and penetrates through the first through hole through a bolt to be connected with the support.

The push plate is a three-blade push plate, and three groups of elastic telescopic mechanisms are correspondingly connected with the three-blade push plate.

The robot output tail end is connected with the air cylinder through a tail end connecting disc, and a second through hole matched with the sliding rod is circumferentially arranged on the tail end connecting disc.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses the device detects at original end effector and presss from both sides tightly, loosen simultaneously, increases the axial dimensions and detects, to overlength or short material discernment, warning, classification, reach to material safety, stable snatching, saved the time of manual measurement axial dimensions or the expense of installing visual sensor to save equipment cost, reduce the labour, increase production efficiency, accomplish during production and once snatch when qualified material and discern categorised to the mistake material. The utility model discloses whether the device discerns material axial length and accords with the requirement when snatching the material, has overcome current robot and has snatched the material and need artifical detection axial dimension in advance or increase the shortcoming of expensive visual sensor equipment, saves the probability of appearance error in artifical check-out time and the artifical detection and reduces the requirement to whole equipment, in addition, the utility model discloses the device assembly is simple, and the running cost is low, is favorable to the robot in the aspect of intelligent manufacturing's application and popularization.

Drawings

FIG. 1 is a schematic view of the structure of the device of the present invention;

FIG. 2 is a schematic view of a partial structure of the device of the present invention;

fig. 3 is a left side view of the device of the present invention;

FIG. 4 is a schematic diagram of the normal signal transmission flow of the device of the present invention;

fig. 5 is a schematic diagram of the abnormal signal transmission process of the device of the present invention.

In the figure, 1-cylinder; 2-terminal connection pad; 3-robot output end; 4, air claw; 5, pushing a plate; 6, a support; 7, a sliding rod; 8, a spring; 9, adjusting plates; 10-a sensor; 11-material; 12-a processing module; 13-an alarm device; 14 — a first via; 15-second through hole.

Detailed Description

The present invention will be described in detail with reference to the drawings, and it should be understood that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-5, a robot end effector capable of automatically identifying the axial length of a material is characterized by comprising a cylinder 1 mounted at the output end 3 of a robot, wherein the front end of the cylinder 1 is provided with a gas claw 4 and a push plate 5 contacted with the material 11, a plurality of groups of movable elastic telescopic mechanisms are axially mounted along the outer wall of the cylinder 1, each group of elastic telescopic mechanisms has the same structure, and the top end of each group of elastic telescopic mechanisms is connected with the edge of the push plate 5; the outer wall of the cylinder 1 is provided with a sensor 10 for identifying the tail end position of the elastic telescopic mechanism, the output end of the sensor 10 is connected with a processing module 12, and the output end of the processing module 12 is connected with an alarm device 13 and a processing module of the air claw 4. The model of the sensor 10 is LJ5A3-1-Z/BX, the model of the processing module 12 is AFDX05-TY5-4, and the model of the air claw 4 is MHS2-50D, and the sensors are all existing products with mature technology in the market. When the robot drives the end effector to move downwards and vertically to clamp the material 11, the upper end of the material 11 contacts with the push plate 5, the material 11 reacts on the push plate 5, the push plate 5 pushes the elastic telescopic mechanism to move upwards to stop, the tail end of the elastic telescopic mechanism is matched with the sensor 10, the sensor 10 identifies the standard material 11 and the non-standard material 11, and the processing module 12 controls the gas claw 4 to grab the material 11 or the alarm 13 to give an alarm.

Further, the elastic expansion mechanism comprises: the support 6 is fixedly arranged on the outer wall of the air cylinder 1, a through hole is formed in the axial center of the support 6, a sliding rod 7 capable of sliding is arranged in the through hole in a matched mode, and the front end of the sliding rod 7 is fixedly connected with the push plate 5; preferably, the tail end of the sliding rod 7 is provided with a limit stop 7-1, and the limit stop 7-1 is matched with the sensor 10; on one hand, the limit stop 7-1 prevents the movable slide rod 7 from falling off from the through hole of the support 6 in the working process, and on the other hand, the tail end of the slide rod 7 is more sensitive when being in matched contact with the sensor 10. The front end of the sliding rod 7 is sleeved with a spring 8, one end of the spring 8 is in contact with the push plate 5, and the other end of the spring 8 is in contact with the support 6. The spring 8 buffers the reaction force of the material 11 and the push plate 5 at the moment of contact, and protects the support 6, so that the service life of the elastic telescopic mechanism is prolonged.

Preferably, an adjusting plate 9 is installed at one side of the support 6, and the sensor 10 is fixedly installed on the adjusting plate 9. The adjusting plate 9 is provided with a first elongated through hole 14, and the adjusting plate 9 is positioned at the front end of the sensor 10; the adjusting plate 9 is connected with the support 6 through a first through hole 14 by a bolt. The first through hole 14 can adjust the installation position of the adjusting plate 9 according to the size of the given qualified material 11, so that the positioning of the sensor 10 on the adjusting plate 9 is realized.

Furthermore, the push plate 5 is a three-blade push plate, and the three-blade push plate 5 is correspondingly connected with three groups of elastic telescopic mechanisms. The tail ends of each group of elastic telescopic mechanisms respectively correspond to the sensors 10 of the materials 11 with different sizes, so that the functions of identification and classification are achieved.

The utility model discloses in, robot output end 3 is connected with cylinder 1 through end connection pad 2, circumference is provided with 15 with 7 assorted second through-holes of slide bar on the end connection pad 2. Under the condition that the slide bar 7 is ensured to be long enough, when the axial length of the material 11 clamped by the end effector is larger than the standard size, the tail end of the slide bar 7 passes through the second through hole 15 of the tail end connecting disc 2; the second through hole 15 is a channel for the slide bar 7 to move upwards, and the tail end of the slide bar 7 passes through the tail end connecting disc 2.

When the tail end of the sliding rod 7 is identified (contacted) with the sensor 10 and is kept for a certain time, normal signal transmission is carried out, the signal output end of the sensor 10 is connected with the signal input end of the processing module 12, the signal output end of the processing module 12 is connected with the signal input end of the processing module of the gas claw 4, so that the air cylinder 1 controls the gas claw 4 to execute grabbing action, and meanwhile, the robot drives the end effector to place qualified materials 11 on a station to be processed; when the tail end of the sliding rod 7 is not identified (contacted) with the sensor 10, abnormal signal transmission is carried out, the signal of the sensor 10 is sent to the processing module 12, the processing module 12 receives the signal for analysis and processing, then the signal is sent to the alarm device 13 and the processing module of the air claw 4, the alarm device 13 is instructed to alarm, the air cylinder 1 controls the air claw 4 to perform grabbing action, meanwhile, the robot drives the end effector, and unqualified materials 11 are placed in an area to be inspected; the grabbing, identifying and classifying of the material 11 by the end effector are realized.

The utility model discloses a theory of operation:

when the robot drives the end effector to move downwards and vertically to clamp the material 11, the air cylinder 1 controls the air claw 4 to be opened, the end effector is vertically pressed close to the upper end face of the material 11 downwards, the upper end face of the material 11 is in close contact with the push plate 5, the end effector continues to move downwards, the material 11 reacts against the push plate 5, the push plate 5 moves upwards, the slide rod 7 fixedly connected with the push plate 5 moves upwards through the through hole of the support 6, the tail end of the slide rod 7 is in contact with the pre-adjusted sensor 10 and is kept for a certain time, the axial length of the material 11 is qualified, the sensor 10 sends a normal signal to the processing module 12, the processing module 12 sends a signal to the processing module of the air claw 4, the air cylinder 1 controls the air claw 4 to clamp the material 11, the material taking is completed, and the robot drives the end effector to send the; if the tail end of the sliding rod 7 is not in contact with the sensor 10, the material 11 is unqualified in size, the sensor 10 sends a signal to the alarm device 13, the processing module 12 transmits a signal to the processing module of the air claw 4, the air cylinder 1 controls the air claw 4 to clamp the material 11, material taking is completed, and the robot drives the tail end actuator to convey the grabbed material 11 to an area to be inspected. When the axial length of the material 11 is smaller than the standard size, the material 11 acts on the push plate 5 to push the slide rod 7 to move upwards to the actual axial length of the material 11 and then stop, the tail end of the slide rod 7 is not identified (contacted) with the sensor 10 with the standard size height preset in advance, and the sensor 10 sends an abnormal signal to the processing module 12; when the axial length of the material 11 is larger than the standard size, the material 11 acts on the push plate 5 to push the slide rod 7 to move upwards, the tail end of the slide rod 7 continues to move upwards through the sensor 10 to the actual axial length of the material 11 and then stops (when the tail end of the slide rod 7 continues to move upwards through the sensor 10, the tail end of the slide rod 7 is in instant contact with the sensor 10, the contact time is negligible, the sensor 10 cannot send a signal to the processing module at the moment, the tail end of the slide rod 7 is not identified (contacted) to the sensor 10 with the standard size height preset in advance, and the sensor 10 sends an abnormal signal to the processing module 12.

The end effector is provided with a processing module 12 for receiving and transmitting signals and an alarm device 13 for emitting alarm sound.

The utility model discloses in the device, the transmission signal that relates between each part and corresponding action have following several kinds:

the robot drives the end effector to move, the processing module 12 controls the end effector, the front-end cylinder 1 regulates and controls the opening distance and the grabbing torque of the gas claw 4, and the processing module 12 controls the starting of the alarm device 13 when the material is unqualified in size;

1) in the grabbing process, the robot drives the end effector to be close to the material 11 downwards, the processing module 12 sends an 'open air claw 4' signal to the air claw 4 processing module of the end effector, the air cylinder 1 adjusts the open distance of the air claw 4, and the robot drives the end effector 11 to apply force on the upper end face of the material 11;

2) in the grabbing process, when the tail end of the sliding rod 7 contacts the sensor 10, the sensor 10 feeds back a grabbing signal to the processing module 12, and the processing module 12 sends the grabbing signal to the processing module of the air claw 4, so that the air cylinder 1 adjusts the air claw 4 to clamp the material 11; namely, the end effector grabs the material 11;

3) in the grabbing process, after the gas claw 4 grabs the material 11, the robot drives the end effector to move the material 11 to a station to be processed;

4) in the grabbing process, if the tail end of the sliding rod 7 does not identify (contact) the sensor 10, the sensor 10 sends a signal to the processing module 12, the processing module 12 receives an abnormal signal, and the processing module 12 sends an instruction to the alarm device 13 and the processing module of the gas claw 4, so that the alarm device 13 sends an alarm sound; meanwhile, the air cylinder 1 adjusts the air claw 4 to clamp the material 11, and the air claw 4 grabs the material 11;

5) in the grabbing process, after the air claw 4 grabs the material 11, the robot drives the end effector to move the material 11 to the area to be inspected.

It should be apparent to those skilled in the art that the above embodiments are only preferred embodiments of the present invention, and therefore, the modifications and changes that can be made by those skilled in the art to some parts of the present invention still embody the principles of the present invention, and the objects of the present invention are achieved, all falling within the scope of the present invention.

Claims

1. A robot end effector for automatically identifying the axial length of a material, comprising: the device comprises a cylinder (1) arranged at the output tail end (3) of a robot, wherein the front end of the cylinder (1) is provided with a gas claw (4) and a push plate (5) contacted with a material (11), a plurality of groups of movable elastic telescopic mechanisms are axially arranged along the outer wall of the cylinder (1), each group of elastic telescopic mechanisms has the same structure, the top end of each group of elastic telescopic mechanisms is connected with the edge of the push plate (5), and the outer wall of the cylinder (1) is provided with a sensor (10) for identifying the tail end position of the elastic telescopic mechanisms; the output end of the sensor (10) is connected with a processing module (12), and the output end of the processing module (12) is connected with an alarm device (13) and a processing module of the gas claw (4).

2. A robotic end effector for automatically identifying axial length of material as claimed in claim 1, wherein said elastic telescoping mechanism comprises: fixed mounting is in support (6) of cylinder (1) outer wall, support (6) axial direction is provided with the through-hole, slidable slide bar (7) are installed to the through-hole fit in, the front end and push pedal (5) fixed connection of slide bar (7), the end of slide bar (7) is provided with limit stop (7-1), limit stop (7-1) cooperate with sensor (10), the front end cover of slide bar (7) is equipped with spring (8), spring (8) one end contacts with push pedal (5), and the spring (8) other end contacts with support (6).

3. The robot end effector capable of automatically identifying the axial length of a material according to claim 2, wherein an adjusting plate (9) is installed on one side of the support (6), and the sensor (10) is fixedly installed on the adjusting plate (9).

4. The robot end effector capable of automatically identifying the axial length of a material according to claim 3, wherein an elongated first through hole (14) is formed in the adjusting plate (9), and the adjusting plate (9) is connected with the support (6) through the first through hole (14) by a bolt.

5. The robot end effector capable of automatically identifying the axial length of a material according to claim 2, wherein the push plate (5) is a three-blade push plate, and three sets of elastic telescopic mechanisms are correspondingly connected to the three-blade push plate (5).

6. The robot end effector capable of automatically identifying the axial length of a material as claimed in claim 1, wherein the robot output end (3) is connected with the cylinder (1) through an end connecting disc (2), and a second through hole (15) matched with the sliding rod (7) is circumferentially arranged on the end connecting disc (2).