CN216577915U - Flexible device suitable for annular material snatchs - Google Patents
Flexible device suitable for annular material snatchs Download PDFInfo
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- CN216577915U CN216577915U CN202122817057.9U CN202122817057U CN216577915U CN 216577915 U CN216577915 U CN 216577915U CN 202122817057 U CN202122817057 U CN 202122817057U CN 216577915 U CN216577915 U CN 216577915U
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Abstract
The invention discloses a flexible device suitable for grabbing annular materials, which comprises a connecting flange, a gas regulating valve, a pneumatic device, an inner supporting gas claw and a torque sensor, wherein the connecting flange is arranged on the inner side of the connecting flange; the connecting flange is used for connecting the tail end of the industrial robot; the connecting flange is provided with a pneumatic device and an inner supporting pneumatic claw; the gas regulating valve is arranged on the mounting seat of the inner gas supporting claw in a one-in one-out design mode; the gas regulating valve drives the pneumatic device to act by controlling a valve loop, so that the opening and closing of the three inner gas supporting claws are realized; the moment sensor is arranged in the connecting flange and used for detecting the moment when the pneumatic device drives the inner gas supporting claw to clamp materials, and the clamping moment of the inner gas supporting claw is adjusted by the industrial robot control system. The invention can be integrated with an industrial robot comprehensively, can realize flexible grabbing and placing actions of annular materials through closed-loop control of an industrial robot control system, and provides basic support for further realizing automatic operation of workshop factory unit-level stations.
Description
Technical Field
The invention belongs to the field of material grabbing of industrial robots, and particularly relates to a flexible device suitable for grabbing annular materials.
Background
Industrial robots are multi-joint manipulators widely used in the industrial field or multi-degree-of-freedom machine devices, have a certain degree of automation, can realize various industrial processing and manufacturing functions by means of self power energy and control capacity, and are widely used in various industrial fields such as electronics, logistics, chemical engineering and the like.
In order to realize various industrial processing and manufacturing functions, special clamps are generally required to be designed, the types of the common clamps are tiger clamp type, chuck type, sucker type, indexing head type, rotary worktable type and the like, the clamps have certain universality, can better adapt to the conversion of processing procedures and processing objects, have shaped structures and serialized sizes and specifications, and most of mechanical arm accessories become standard accessories of machine tools.
However, in the aspect of automatic grabbing processes of some product parts, such as the field of ship piping assembly welding, a special fixture needs to be designed, and the ship piping has the characteristics of multi-batch and small-batch discrete production and processing, and further needs the fixture to have a certain flexible design. At present, some clamps which can be used for grabbing specific annular materials are available on the market, but the clamps can only be suitable for materials with specific specifications, and a device which really has certain flexibility and can be used for grabbing the annular materials is not visible.
Therefore, the flexible device for annular material grabbing is designed to solve the problem that the existing field of automatic annular material grabbing is urgently needed.
Disclosure of Invention
The invention aims to provide a flexible device suitable for annular material grabbing, which can be integrated with an industrial robot comprehensively, can realize flexible grabbing and placing actions of annular materials through closed-loop control of an industrial robot control system, and provides basic support for further realizing automatic operation of workshop factory unit-level stations.
The technical solution for realizing the purpose of the invention is as follows:
a flexible device suitable for annular material grabbing comprises a connecting flange, a gas regulating valve, a pneumatic device, an inner gas supporting claw and a torque sensor;
the connecting flange is used for connecting the tail end of the industrial robot; the connecting flange is provided with a pneumatic device and an inner gas supporting claw; the gas regulating valve is arranged on the mounting seat of the inner gas supporting claw in a one-in one-out mode; the gas regulating valve drives the pneumatic device to act by controlling a valve loop, so that the opening and closing of the three inner gas supporting claws are realized;
the moment sensor is arranged in the connecting flange and used for detecting the moment when the pneumatic device drives the inner gas supporting claw to clamp materials, and the clamping moment of the inner gas supporting claw is adjusted by the industrial robot control system.
Compared with the prior art, the invention has the following remarkable advantages:
(1) this device can synthesize with industrial robot and integrate, can realize snatching and placing the action of annular material to but the multiple annular material of adaptation has certain flexibility.
(2) The device adopts an integrated design concept, integrates multiple parts such as a photoelectric sensor, a pneumatic device, an industrial camera, a light source, a torque sensor and the like, and is mainly connected by bolts, so that the dead weight of the device is reduced, and the action execution precision can be ensured.
(3) The pneumatic device and the inner gas supporting claw of the device can be dynamically adjusted according to the structural form of actual materials, and have certain expansibility.
Drawings
FIG. 1 is a schematic diagram of the flexible device of the present invention.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
With reference to fig. 1, the flexible device suitable for grabbing an annular material in this embodiment mainly comprises a connecting flange 1, a gas regulating valve 2, a photoelectric sensor 3, a pneumatic device 4, an inner gas supporting claw 5, an industrial camera 6, a light source 7 and a torque sensor 8, and all the components are connected by bolts;
the connecting flange 1 is integrally designed, is integrally structured with the mounting seat of the inner gas supporting claw 5, is connected with a terminal joint mounting hole of the industrial robot, and provides a rigid mounting environment for other components;
the gas regulating valve 2 is arranged on the mounting seat of the inner gas supporting claw 5 in an one-in one-out design mode, and the action of a pneumatic device 4 (three cylinders arranged in the mounting seat of the inner gas supporting claw) is driven by controlling a valve loop, so that the opening and closing of the three inner gas supporting claws 5 are realized; the three internal gas supporting claws 5 are arranged at equal-angle intervals along the circumference, the included angle between every two adjacent internal gas supporting claws 5 is 120 degrees, the outer side of each internal gas supporting claw 5 is provided with a groove structure, the internal gas supporting claws 5 are opened outwards after stretching into the annular material, and the grooves are clamped into the inner circular holes of the annular material to clamp the annular material. The groove adopts a fillet structure, so that the scratch of a right-angle edge on a workpiece is avoided.
The photoelectric sensor 3 is arranged on the mounting seat of the inner gas supporting claw 5 and used for judging whether materials exist on the inner gas supporting claw 5 or not and providing a judgment signal for an industrial robot control system, so that the situations of mistaken clamping and missed clamping are avoided;
the pneumatic device 4 is a power unit of the device, three cylinders arranged in the inner gas supporting claw mounting seat are adopted, the inner gas supporting claw 5 is opened and closed by executing the control action of the gas regulating valve to provide power, and the power source is compressed air;
the inner gas supporting claw 5 is an execution structure for grabbing materials, and the mechanical stroke is controlled by the pneumatic device 4, so that the grabbing and placing of the materials can be realized;
be equipped with industry camera 6 on the mount pad of interior gas claw 5 for gather annular material image, judge material hole position according to the material shape, mainly used material location, and upload industrial robot control system with the positional information of material, with the terminal shift position of control industrial robot.
The front end of the industrial camera 6 is provided with a light source 7 which mainly provides illumination for the industrial camera 6, and the light source needs to be comprehensively determined according to material materials and application environments;
the moment sensor 8 is arranged in the connecting flange 1 and used for detecting the moment when the pneumatic device 4 drives the inner gas supporting claw 5 to clamp the material, and according to the type and the weight condition of the material, the numerical value of the clamping moment of the inner gas supporting claw 5 is adjusted by the industrial robot control system dynamic control gas regulating valve 2, and the flexible grabbing of the material is realized through the device.
This device can synthesize with industrial robot and integrate, and through industrial robot control system's closed-loop control, can realize that the flexibility of annular material snatchs and place the action, provides basic support for further realizing the automation mechanized operation of workshop factory unit level station.
Claims (7)
1. A flexible device suitable for annular material grabbing is characterized by comprising a connecting flange (1), a gas regulating valve (2), a pneumatic device (4), an inner supporting gas claw (5) and a torque sensor (8);
the connecting flange (1) is used for connecting the tail end of an industrial robot; the connecting flange (1) is provided with a pneumatic device (4) and an inner supporting gas claw (5); the gas regulating valve (2) is arranged on the mounting seat of the inner support gas claw (5) in a one-in one-out mode; the gas regulating valve (2) drives the pneumatic device (4) to act by controlling a valve loop, so that the three inner gas supporting claws (5) are opened and closed;
the moment sensor (8) is arranged in the connecting flange (1) and used for detecting the moment when the pneumatic device (4) drives the inner gas supporting claw (5) to clamp materials, and the clamping moment of the inner gas supporting claw (5) is adjusted by the industrial robot control system.
2. The flexible device for gripping ring-shaped materials according to claim 1, characterized in that three inner gas supporting claws (5) are arranged along the circumference at equal angular intervals, and the included angle between adjacent inner gas supporting claws (5) is 120 degrees.
3. The flexible device suitable for annular material grabbing according to claim 1 is characterized in that the outer sides of the inner gas supporting claws (5) are provided with groove structures for being clamped into an inner circular hole of the annular material.
4. The flexible device suitable for annular material grabbing according to claim 1, wherein the mounting seat of the inner gas supporting claw (5) is provided with a photoelectric sensor (3) for judging whether a material is on the inner gas supporting claw (5).
5. The flexible device for annular material grabbing according to claim 1 is characterized in that an industrial camera (6) is arranged on a mounting seat of the inner gas supporting claw (5) and used for material positioning.
6. Flexible device suitable for annular material grabbing according to claim 5, characterized in that the industrial camera (6) is provided with a light source (7) at its front end.
7. The flexible device for annular material grabbing according to claim 1, wherein the connecting flange (1) and the mounting seat of the inner gas supporting claw (5) are of an integral structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122817057.9U CN216577915U (en) | 2021-11-17 | 2021-11-17 | Flexible device suitable for annular material snatchs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122817057.9U CN216577915U (en) | 2021-11-17 | 2021-11-17 | Flexible device suitable for annular material snatchs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216577915U true CN216577915U (en) | 2022-05-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122817057.9U Active CN216577915U (en) | 2021-11-17 | 2021-11-17 | Flexible device suitable for annular material snatchs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216577915U (en) |
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2021
- 2021-11-17 CN CN202122817057.9U patent/CN216577915U/en active Active
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Address after: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee after: The 716th Research Institute of China Shipbuilding Corp. Patentee after: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. Address before: 222061 No.18, Shenghu Road, Lianyungang City, Jiangsu Province Patentee before: 716TH RESEARCH INSTITUTE OF CHINA SHIPBUILDING INDUSTRY Corp. Patentee before: JIANGSU JARI TECHNOLOGY GROUP Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |