CN221190599U

CN221190599U - Manipulator with clamping workpiece anti-falling function

Info

Publication number: CN221190599U
Application number: CN202323237270.8U
Authority: CN
Inventors: 张蕾
Original assignee: Guangdong Jufeng Intelligent Technology Co ltd
Current assignee: Guangdong Jufeng Intelligent Technology Co ltd
Priority date: 2023-11-29
Filing date: 2023-11-29
Publication date: 2024-06-21
Anticipated expiration: 2033-11-29

Abstract

The utility model provides a mechanical arm capable of clamping a workpiece and preventing the workpiece from falling off, which relates to the technical field of workpiece clamping mechanical arms, and comprises the following components: manipulator main part, grip block, mounting bracket, early warning subassembly and protection subassembly set up in the grip block of the inside both sides of manipulator main part, install the mounting bracket at manipulator main part top, set up the early warning subassembly on manipulator main part and grip block for the clamping force of monitoring grip block sets up in the protection subassembly of manipulator main part bottom, is used for preventing that the work piece from dropping. This kind of manipulator with press from both sides tight work piece anti-drop can be to the clamping dynamics early warning monitoring of grip block through early warning subassembly, avoids carrying the unstable dismantlement of process centre gripping, and then reduces the hidden danger emergence that drops to seal manipulator main part bottom through the protective component, can prevent dropping the protection to the work piece bottom, avoid the work piece directly to drop from manipulator main part bottom and break, also can reduce the incident emergence when carrying the work piece.

Description

Manipulator with clamping workpiece anti-falling function

Technical Field

The utility model relates to the technical field of workpiece clamping manipulators, in particular to a manipulator capable of clamping a workpiece and preventing the workpiece from falling off.

Background

The manipulator is an automatic operation device which can simulate some action functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to fixed programs, and is characterized in that various expected operations can be completed through programming, the structure and the performance of the manipulator have the advantages of a human body and a manipulator device, along with the rapid development of intellectualization and automation, the manipulator is used for realizing the automatic grabbing and the transferring of the arm support, and a new transferring mode is realized, wherein the manipulator mainly comprises an executing mechanism, a driving mechanism and a control system, and can clamp objects with different shapes, sizes, weights, materials and the like.

Regarding the manipulator with clamp work piece anti-drop, patent publication No. CN219522160U discloses "an efficient clamp gets anti-drop's bearing processing intelligent assembly manipulator" and carries out the centre gripping through the grip block to the bearing inner race, through opening step motor, can drive the bearing inner race and remove, conveniently fix a position, through opening first electric putter, can remove the bearing inner race to the bearing outer race, outer lane accessible clamping device is fixed, through opening the second electric putter, the accessible push pedal is with the bearing inner chamber top outer lane, prevent to press from pressing from both sides the problem of getting in the bearing inner race top outer lane of the bearing processing intelligent assembly manipulator of drop in the prior art, inconvenient assembly has been solved. However, in the actual use process, the manipulator still has certain defects, the manipulator cannot monitor the clamping force of the clamping block when clamping the workpiece, and because the existing manipulator directly starts to transport and convey after immediately grabbing the workpiece, whether the workpiece is completely clamped or not cannot be detected, so that the hidden danger of falling off can still exist when the workpiece is conveyed, meanwhile, the bottom of the manipulator is not provided with a protection component, if the workpiece falls off, the manipulator can directly fall from the bottom of the manipulator, and safety accidents and workpiece breaking are easy to be caused.

Disclosure of utility model

The technical problems to be solved by the utility model are as follows: the utility model provides a manipulator with press from both sides tight work piece anti-drop can be to the clamping dynamics early warning monitoring of grip block through early warning subassembly, avoids the unstable drop of transportation centre gripping to seal manipulator main part bottom through the protection subassembly, can carry out anti-drop protection to the work piece bottom.

The technical problems to be solved by the utility model are realized by adopting the following technical scheme:

A robot having a clamped workpiece anti-drop, comprising: manipulator main part, grip block, mounting bracket, early warning subassembly and protection subassembly set up in the grip block of the inside both sides of manipulator main part, install in the mounting bracket at manipulator main part top, set up in the manipulator main part with early warning subassembly on the grip block, be used for the monitoring the clamping strength of grip block, set up in the protection subassembly of manipulator main part bottom is used for preventing that the work piece from dropping.

Further, the early warning assembly includes: the mounting groove a is formed in the outer side of the clamping block, a pressure sensor is arranged in the mounting groove a, the warning boxes are arranged on two sides of the outer end of the manipulator body, warning lamps are arranged at the top of the warning boxes, and the warning lamps are arranged in the loudspeakers in the warning boxes.

Further, the guard assembly includes: the movable opening is formed in one side of the bottom of the manipulator main body, the protection plate is connected inside the movable opening in a sliding mode, the movable rod is arranged on one side of the top of the protection plate, the movable rod is arranged on one side of the top of the movable rod, the pushing cylinder is arranged on one end of the pushing cylinder, and the multistage telescopic rod b connected with the movable rod is arranged at one end of the pushing cylinder.

Further, the equipment box is installed respectively to manipulator main part outer end both sides, just the early warning case install in the equipment box outside, equipment box internally mounted has the centre gripping cylinder, the equipment box with the through-hole has been seted up between the manipulator main part, centre gripping cylinder one end is equipped with multistage telescopic link a, just multistage telescopic link a one end runs through the through-hole extends to inside the manipulator main part, the connecting rod that is "U" shape structure is installed to multistage telescopic link a one end, just the connecting rod with grip block fixed connection.

Further, a plurality of sound producing openings are formed in the position, close to the loudspeaker, of the outer side of the early warning box, and dust screens are mounted on the outer sides of the early warning box.

Further, a fixing plate is arranged on one side of the outer end of the manipulator main body, a fixing rod is arranged between the fixing plate and the manipulator main body, a mounting groove b is formed in the fixing plate, and the mounting groove b is fixedly connected with the pushing cylinder.

Further, a positioning groove is formed in one side, away from the moving opening, of the bottom of the manipulator main body, and the positioning groove is right opposite to the position of the protection plate.

The beneficial effects of the utility model are as follows:

Can be to the clamping-force degree early warning monitoring of grip block through early warning subassembly, avoid carrying the unstable whereabouts of process centre gripping, and then reduce the hidden danger emergence that drops to seal manipulator main part bottom through the protective component, can carry out anti-drop protection to the work piece bottom, and the cooperation grip block keeps the work piece stable, avoids the work piece to drop from manipulator main part bottom directly and breaks, also can reduce the incident emergence when carrying the work piece.

Drawings

Fig. 1 is a schematic view of a main structure of a manipulator according to the present utility model.

Fig. 2 is a schematic cross-sectional view of a robot body according to the present utility model.

Fig. 3 is a schematic side cross-sectional view of a clamp block of the present utility model.

Fig. 4 is an enlarged schematic view of fig. 2a in accordance with the present utility model.

Fig. 5 is a schematic structural diagram of the warning box of the present utility model.

Fig. 6 is an enlarged schematic view of fig. 2B in accordance with the present utility model.

In fig. 1-6: 1. a robot body; 101. a clamping block; 102. a mounting frame; 103. an equipment box; 104. a clamping cylinder; 105. a through hole; 106. a multi-stage telescopic rod a; 107. a connecting rod; 108. a mounting groove a; 109. a pressure sensor; 110. an early warning box; 111. a warning light; 112. a speaker; 113. a sound producing port; 114. a dust screen; 2. a moving port; 201. a protection plate; 202. a moving rod; 203. a pushing cylinder; 204. a multi-stage telescopic rod b; 3. a fixing plate; 301. a fixed rod; 302. a mounting groove b; 4. and a positioning groove.

Detailed Description

The technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present application are included in the protection scope of the present application.

The embodiment of the application provides a manipulator with workpiece clamping anti-drop function, which can realize the early warning and monitoring of clamping force of a clamping block through an early warning assembly, avoid unstable clamping and drop in the conveying process, further reduce hidden danger of drop, seal the bottom of a manipulator main body through a protection assembly, protect the bottom of a workpiece, and keep the workpiece stable by matching with the clamping block, so that the workpiece is prevented from falling and breaking directly from the bottom of the manipulator main body, and safety accidents during workpiece conveying can be reduced.

The application is described in detail below with reference to the drawings and the detailed description.

Example 1

As shown in fig. 1-6, a robot arm having a gripping workpiece with a drop-off prevention, comprising: manipulator main part 1, grip block 101, mounting bracket 102, early warning subassembly and protection subassembly set up in the grip block 101 of the inside both sides of manipulator main part 1, install in the mounting bracket 102 at manipulator main part 1 top, set up the early warning subassembly on manipulator main part 1 and grip block 101 for the clamping-force of monitoring grip block 101 sets up in the protection subassembly of manipulator main part 1 bottom, is used for preventing that the work piece from dropping.

Referring to fig. 1-3, two sides of the outer end of the manipulator main body 1 are respectively provided with an equipment box 103, an early warning box 110 is installed outside the equipment box 103, a clamping cylinder 104 is installed inside the equipment box 103, a through hole 105 is formed between the equipment box 103 and the manipulator main body 1, one end of the clamping cylinder 104 is provided with a multi-stage telescopic rod a106, one end of the multi-stage telescopic rod a106 penetrates through the through hole 105 and extends into the manipulator main body 1, one end of the multi-stage telescopic rod a106 is provided with a connecting rod 107 in a U-shaped structure, and the connecting rod 107 is fixedly connected with the clamping block 101.

When the manipulator main body 1 is used, the manipulator main body 1 is installed at a driving mechanism of conveying equipment through the mounting frame 102, and then the manipulator main body 1 can be driven to move up and down and move left and right, when a workpiece is grabbed, the manipulator main body 1 of the manipulator main body moves down to the workpiece, the clamping cylinder 104 is started to drive the multi-stage telescopic rod a106 to move into the manipulator main body 1 from the through hole 105, the multi-stage telescopic rod a106 pushes the connecting rod 107 to move, the connecting rod 107 drives the clamping block 101 to move towards the workpiece, and the clamping block 101 clamps and fixes the outer side of the workpiece, so that the manipulator main body 1 is convenient for grabbing the workpiece.

In some embodiments, referring to fig. 1-5, the early warning assembly includes: the mounting groove a108 is formed in the outer side of the clamping block 101, the pressure sensor 109 is arranged in the mounting groove a108, the warning boxes 110 are arranged on two sides of the outer end of the manipulator main body 1, the warning lamp 111 is arranged at the top of each warning box 110, and the loudspeaker 112 is arranged in each warning box 110.

When the workpiece is clamped and fixed, the clamping block 101 is tightly attached to the outer side of the workpiece, so that the pressure sensor 109 is tightly attached to the workpiece, when the pressure sensor 109 is tightly attached to the workpiece, the force applied to the workpiece by the clamping block 101 is firm, the clamping block 101 is used for clamping the workpiece firmly, when a gap exists between the pressure sensor 109 and the workpiece or the clamping force is not tight, the pressure sensor 109 sends detected information to the control system of the conveying equipment, the warning lamp 111 and the loudspeaker 112 are started to work through feedback processing of the control system, at the moment, the warning lamp 111 is lighted, the loudspeaker 112 emits warning sound, the operator can be reminded that the clamping of the manipulator main body 1 and the workpiece is unstable, the clamping force of the clamping block 101 is poor, the workpiece is clamped again until the clamping force meets the conveying standard, the workpiece can be grabbed and transported, the clamping force is prevented from being unstable in the early warning and monitoring, and the hidden danger of falling is reduced.

The pressure sensor 109 is composed of a pressure element, a chip U1 and a joint J1, wherein the pressure element and the chip U1 can be 27501 and MLX-RC U01003, and the working principle is as follows: the specific measured signals are converted into certain available signals according to a certain rule through the sensitive element and the conversion element and output, so that the requirements of information transmission, processing, recording, display, control and the like are met, the pressure sensor 109 can sense physical quantities, can convert the physical quantities into electric quantities such as voltage and current according to a certain rule or convert the electric quantities into on-off of a circuit, so that the measurement, the transmission, the processing and the control are conveniently carried out, the pressure sensor 109 is a mature conventional technology in the technical field, the circuit or the program of the pressure sensor 109 is not improved, and the circuit and the signal connection mode between the pressure sensor 109 and the control system of conveying equipment also belong to the common conventional technology, so that the circuit and the signal connection relation of the pressure sensor 109 is not repeated.

Referring to fig. 1, 2 and 5, a plurality of sound outlets 113 are formed at positions, close to the loudspeaker 112, on the outer sides of the warning box 110, and dust screens 114 are mounted on the outer sides.

When the loudspeaker 112 is used, when the alarm sound emitted by the loudspeaker 112 can be transmitted to the outside of the early warning box 110 from the sound emitting port 113, the alarm sound is heard by a worker, the worker can conveniently take countermeasures, and in the use process of the sound emitting port 113, dust can be prevented from entering the inside of the early warning box 110 from the sound emitting port 113 through the dust screen 114, so that dust accumulation of the loudspeaker 112 is avoided, and normal sound emission use is influenced.

Example 2

On the basis of embodiment 1, referring to fig. 1-2, the guard assembly comprises: the movable port 2 is arranged at one side of the bottom of the manipulator main body 1, the protection plate 201 is connected inside the movable port 2 in a sliding manner, the movable rod 202 is arranged at one side of the top of the protection plate 201, the pushing cylinder 203 is arranged at one side of the top of the movable rod 202, and one end of the pushing cylinder 203 is provided with a multi-stage telescopic rod b204 connected with the movable rod 202.

When the manipulator main body 1 grabs, transports and conveys the workpiece, the pushing cylinder 203 is started to drive the multi-stage telescopic rod b204, so that the multi-stage telescopic rod b204 pushes the moving rod 202, the moving rod 202 drives the protection plate 201 to move towards the inside of the manipulator main body 1 at the moving port 2, at this time, the protection plate 201 seals the bottom of the manipulator main body 1, can protect the bottom of the workpiece from falling, and is matched with the clamping block 101 to keep the workpiece stable, so that the workpiece is prevented from falling and breaking directly from the bottom of the manipulator main body 1, and the safety accident during conveying the workpiece can be reduced.

Referring to fig. 1, 2 and 6, a fixing plate 3 is disposed at one side of the outer end of the manipulator body 1, a fixing rod 301 is installed between the fixing plate 3 and the manipulator body 1, a mounting groove b302 is formed in the fixing plate 3, and the mounting groove b302 is fixedly connected with the pushing cylinder 203.

When the pushing cylinder 203 is used, the fixing plate 3 is fixedly installed on one side of the outer end of the manipulator main body 1 through the fixing rod 301, at this time, the pushing cylinder 203 can be installed in the installation groove b302 of the fixing plate 3, and then the pushing cylinder 203 is fixed on the top of the protection plate 201 for use, and power is provided for the protection plate 201 for moving.

Referring to fig. 1-2, a positioning slot 4 is formed on one side of the bottom of the manipulator main body 1 away from the moving port 2, and the positioning slot 4 is opposite to the position of the protection plate 201.

When the protection plate 201 moves to the inside of the manipulator main body 1 through the moving opening 2, one end of the protection plate 201 moves to the inside of the positioning groove 4, and the protection plate 201 is reinforced and placed through the positioning groove 4, so that the protection plate 201 has good stability.

This device can be to grip block 101's clamping-force degree early warning monitoring through early warning subassembly, avoids carrying the unstable whereabouts of process centre gripping, and then reduces the hidden danger emergence that drops to seal manipulator main part 1 bottom through the protective component, can carry out anti-drop protection to the work piece bottom, and cooperation grip block 101 keeps the work piece stable, avoids the work piece to drop the damage from manipulator main part 1 bottom directly, also can reduce the incident emergence when carrying the work piece. The specific embodiment is as follows: when the workpiece is clamped and fixed, the clamping block 101 is tightly attached to the outer side of the workpiece, so that the pressure sensor 109 is tightly attached to the workpiece, when the pressure sensor 109 is tightly attached to the workpiece, the force applied to the workpiece by the clamping block 101 is firm, the clamping block 101 is used for clamping the workpiece firmly, when a gap exists between the pressure sensor 109 and the workpiece or the clamping force is not tight, the pressure sensor 109 sends detected information to the control system of the conveying equipment, the warning lamp 111 and the loudspeaker 112 are started to work through feedback processing of the control system, at the moment, the warning lamp 111 is lighted, the loudspeaker 112 emits warning sound, the operator can be reminded that the clamping of the manipulator main body 1 and the workpiece is unstable, the clamping force of the clamping block 101 is poor, the workpiece is clamped again until the clamping force meets the conveying standard, the workpiece can be grabbed and transported, the clamping force is prevented from being unstable in the early warning and monitoring, and the hidden danger of falling is reduced.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

The above description of the embodiment of the present application provides a manipulator with workpiece clamping and anti-falling function, and specific examples are applied to illustrate the principles and embodiments of the present application, where the above description of the embodiment is only for helping to understand the technical solution and core ideas of the present application, and those skilled in the art should understand: the technical solutions described in the foregoing embodiments may be modified or some technical features may be replaced with other technical solutions, where the modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot arm having a clamped workpiece anti-drop, comprising: the manipulator comprises a manipulator main body (1), a clamping block (101), a mounting rack (102), an early warning component and a protection component;

Clamping blocks (101) arranged at two sides of the interior of the manipulator main body (1);

the mounting frame (102) is mounted at the top of the manipulator main body (1);

The early warning assembly is arranged on the manipulator main body (1) and the clamping block (101) and is used for monitoring the clamping force of the clamping block (101);

The protection component is arranged at the bottom of the manipulator main body (1) and used for preventing the workpiece from falling.

2. The robot with gripping workpiece anti-drop of claim 1, wherein the pre-warning assembly comprises:

A mounting groove a (108) which is arranged at the outer side of the clamping block (101), wherein a pressure sensor (109) is arranged in the mounting groove a (108);

The early warning boxes (110) are arranged at two sides of the outer end of the manipulator main body (1), and warning lamps (111) are arranged at the tops of the early warning boxes (110);

And a speaker (112) installed inside the warning box (110).

3. The robot arm having a clamped workpiece anti-slip function of claim 1, wherein the guard assembly comprises:

a moving port (2) arranged at one side of the bottom of the manipulator main body (1), wherein a protection plate (201) is connected in the moving port (2) in a sliding manner;

A moving rod (202) arranged on one side of the top of the protection plate (201);

The pushing cylinder (203) is arranged on one side of the top of the moving rod (202), and one end of the pushing cylinder (203) is provided with a multi-stage telescopic rod b (204) connected with the moving rod (202).

4. The manipulator with workpiece clamping and falling preventing functions according to claim 2, wherein equipment boxes (103) are respectively installed on two sides of the outer end of the manipulator main body (1), the early warning boxes (110) are installed on the outer sides of the equipment boxes (103), clamping cylinders (104) are installed in the equipment boxes (103), through holes (105) are formed between the equipment boxes (103) and the manipulator main body (1), a multistage telescopic rod a (106) is arranged at one end of each clamping cylinder (104), one end of each multistage telescopic rod a (106) penetrates through the corresponding through hole (105) and extends into the manipulator main body (1), and connecting rods (107) which are of U-shaped structures are installed at one ends of the multistage telescopic rods a (106), and the connecting rods (107) are fixedly connected with the clamping blocks (101).

5. The manipulator with workpiece clamping and falling prevention function according to claim 2, wherein a plurality of sound producing openings (113) are formed in the outer side of the early warning box (110) at positions close to the loudspeaker (112), and a plurality of dustproof screens (114) are arranged on the outer sides.

6. The manipulator with workpiece clamping and falling preventing functions according to claim 3, wherein a fixing plate (3) is arranged on one side of the outer end of the manipulator main body (1), a fixing rod (301) is installed between the fixing plate (3) and the manipulator main body (1), a mounting groove b (302) is formed in the fixing plate (3), and the mounting groove b (302) is fixedly connected with the pushing cylinder (203).

7. The manipulator with workpiece clamping and falling preventing functions according to claim 3, wherein a positioning groove (4) is formed in one side, away from the moving port (2), of the bottom of the manipulator main body (1), and the positioning groove (4) is opposite to the protection plate (201).