CN104690737B - A kind of ultrasonic standing wave suspends and clamps conveying robot - Google Patents
A kind of ultrasonic standing wave suspends and clamps conveying robot Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于夹持机械手技术领域，具体涉及一种非接触式搬运工件的超声驻波悬浮夹持式机械手。The invention belongs to the technical field of clamping manipulators, in particular to an ultrasonic standing wave suspension clamping manipulator for non-contact handling of workpieces.
背景技术Background technique
机械手是较早出现的工业机器人，也是较早出现的现代机器人，它可代替人的繁重劳动以实现生产的机械化及自动化，其能在有害环境下操作以保护人身安全。因而，其广泛应用于机械制造、冶金、电子、轻工和原子能等领域。The manipulator is an early industrial robot and an early modern robot. It can replace human heavy labor to realize mechanization and automation of production. It can operate in a harmful environment to protect personal safety. Therefore, it is widely used in the fields of machinery manufacturing, metallurgy, electronics, light industry and atomic energy.
现有的搬运机械手都是接触式的，即机械手夹持部件与搬运工件直接接触，而在一些高精密元器件的搬运过程对表面质量要求特别高，不允许元器件在搬运过程中受到损坏或污染，而在使用现有接触式搬运机械手时，元器件与机械手夹持部件直接接触就可能对元器件造成损坏或污染，从而不能达到装配精度要求。基于此，本发明运用超声驻波悬浮原理，提供了一种非接触式的搬运机械手。The existing handling manipulators are all contact-type, that is, the gripping parts of the manipulator are in direct contact with the handling workpiece, and the handling process of some high-precision components requires particularly high surface quality, and the components are not allowed to be damaged or damaged during the handling process. Pollution, and when using the existing contact handling manipulator, the direct contact between the components and the gripping parts of the manipulator may cause damage or pollution to the components, so that the assembly accuracy requirements cannot be met. Based on this, the present invention uses the principle of ultrasonic standing wave suspension to provide a non-contact handling manipulator.
发明内容Contents of the invention
本发明公开了一种超声驻波悬浮夹持搬运机械手，用于工件非接触式搬运，在生产线上，其实现了机器人手臂末端非接触式的夹具功能。The invention discloses an ultrasonic standing wave suspension clamping and transporting manipulator, which is used for non-contact transporting of workpieces. On a production line, it realizes the non-contact clamping function at the end of a robot arm.
本发明提供了一种超声驻波悬浮夹持搬运机械手，用来实现工件的非接触式搬运，具体技术方案如下：The invention provides an ultrasonic standing wave suspension clamping and handling manipulator, which is used to realize the non-contact handling of workpieces. The specific technical scheme is as follows:
一种超声驻波悬浮夹持搬运机械手，包括横梁，横梁安装两导轨平台，每一导轨平台上安装有导轨，导轨滑动配合外滑块，外滑块固定连接移动平台，移动平台固定连接内滑块，内滑块穿过滚珠丝杆，滚珠丝杆通过螺纹推动内滑块运动；滚珠丝杆的第一端与驱动电机的电机轴连动；移动平台上安装换能器，换能器固定连接变幅杆；两变幅杆的一端相正对且留有间隙；在驱动电机的驱动下，两变幅杆作相对或反向同步运动。An ultrasonic standing wave suspension clamping and handling manipulator, including a beam, two guide rail platforms are installed on the beam, each guide rail platform is equipped with a guide rail, the guide rails slide and cooperate with the outer slider, the outer slider is fixedly connected to the mobile platform, and the mobile platform is fixedly connected to the inner slide block, the inner slider passes through the ball screw, and the ball screw pushes the inner slider to move through the thread; the first end of the ball screw is linked with the motor shaft of the driving motor; the transducer is installed on the mobile platform, and the transducer is fixed Connect the horns; one end of the two horns faces each other with a gap; driven by the drive motor, the two horns move synchronously relative to each other or in reverse.
优选的，移动平台上安装固定夹具，所述的换能器安装于固定夹具。Preferably, a fixed fixture is installed on the mobile platform, and the transducer is installed on the fixed fixture.
优选的，固定夹具具有一圆柱形安装孔，与此相对应的，所述的换能器呈圆柱状，换能器的局部或全部插入固定夹具的安装孔，换能器与固定夹具之间紧配合。Preferably, the fixing fixture has a cylindrical mounting hole. Correspondingly, the transducer is cylindrical, and part or all of the transducer is inserted into the mounting hole of the fixing fixture. Between the transducer and the fixing fixture Tight fit.
优选的，固定夹具的圆柱形安装孔的局部径向具有间隙，间隙处通过调节螺栓旋接上下相对部，通过调节螺栓来调整固定夹具与换能器间的夹紧度。Preferably, there is a gap in the radial direction of the cylindrical mounting hole of the fixing fixture, and the upper and lower opposite parts are screwed to the gap at the gap, and the clamping degree between the fixing fixture and the transducer is adjusted by adjusting the bolt.
优选的，滚珠丝杆的第一端通过一联轴器与所述驱动电机的电机轴相连而连动。Preferably, the first end of the ball screw is connected to the motor shaft of the drive motor through a coupling for interlocking movement.
优选的，滚珠丝杆的第二端转动式地定位于一支撑架，该支撑架安装于导轨平台的第一端。Preferably, the second end of the ball screw is rotatably positioned on a support frame, and the support frame is installed on the first end of the guide rail platform.
优选的，驱动电机安装于导轨平台的第二端。Preferably, the drive motor is mounted on the second end of the rail platform.
优选的，横梁的截面呈U形，两导轨平台对称地安装于横梁的两端。Preferably, the cross-section of the beam is U-shaped, and the two guide rail platforms are symmetrically installed at both ends of the beam.
优选的，每一导轨平台上沿长度方向安装两条相平行且相对称的导轨。Preferably, two parallel and symmetrical guide rails are installed along the length direction on each guide rail platform.
优选的，横梁安装一连接件。Preferably, a connecting piece is installed on the beam.
优选的，变幅杆由两段圆柱段构成，变幅杆与换能器同轴线，且变幅杆的两段圆柱段与换能器的直径由小到大排布。Preferably, the horn is composed of two cylindrical sections, the horn and the transducer are coaxial, and the diameters of the two cylindrical sections of the horn and the transducer are arranged from small to large.
优选的，换能器为压电陶瓷换能器。Preferably, the transducer is a piezoelectric ceramic transducer.
本发明超声驻波悬浮夹持搬运机械手利用超声驻波场中形成的声悬浮力来“夹持”工件，其包括支架、位于支架左右两侧的导轨平台、位于平台之上的导轨、位于导轨之上的导轨滑块、位于导轨滑块之上的超声驻波悬浮换能器、变幅杆、驱动换能器、变幅杆沿导轨方向运动的驱动组件。驱动组件带动换能器和变幅杆沿变幅杆轴线方向做靠近或者远离夹持工件的直线运动，执行夹持和松开动作，并根据所夹持工件的重量来调节一对变幅杆之间的距离，调整出一对变幅杆的合适距离，通过数控系统来控制驱动电机来实现两个变幅杆同步运动，以实现自动夹取及释放工件的搬运工作。The ultrasonic standing wave suspension clamping and handling manipulator of the present invention uses the acoustic suspension force formed in the ultrasonic standing wave field to "clamp" the workpiece, which includes a bracket, a guide rail platform located on the left and right sides of the bracket, a guide rail located on the platform, and a guide rail located on the guide rail. The guide rail slider above, the ultrasonic standing wave suspension transducer located above the guide rail slider, the horn, the driving transducer, and the driving assembly for the horn to move along the guide rail direction. The drive assembly drives the transducer and the horn to make a linear motion close to or away from the clamped workpiece along the axial direction of the horn, performs clamping and loosening actions, and adjusts a pair of horns according to the weight of the clamped workpiece The distance between a pair of horns is adjusted, and the driving motor is controlled by the numerical control system to realize the synchronous movement of the two horns, so as to realize the handling work of automatically clamping and releasing the workpiece.
本发明利用超声波传播过程中，经反射后入射波与反射波形成的驻波场，而物体在驻波场中会受到声悬浮力的作用下会悬浮起来，利用超声悬浮力将物体悬浮在驻波节点位置处，实现“抓取”工件的功能，其技术效果在于：The invention utilizes the standing wave field formed by the incident wave and the reflected wave after reflection in the process of ultrasonic propagation, and the object will be suspended under the action of the acoustic levitation force in the standing wave field, and the object is suspended in the standing wave field by using the ultrasonic levitation force. At the position of the wave node, the function of "grabbing" the workpiece is realized, and its technical effect lies in:
一、创新的非接触式夹持设计，结构原理简单，突破以往夹具夹持工件必须与工件接触的概念。1. Innovative non-contact clamping design, simple structure and principle, breaking through the previous concept that the clamp must be in contact with the workpiece when clamping the workpiece.
二、创新地将超声悬浮与夹具夹持结合到一起。2. Innovatively combine ultrasonic levitation and fixture clamping together.
三、本发明装置不仅适用于一般的生产环境，更加适合于对生产环境要求较高的无尘环境中，能够减少工件在搬运过程中的污染，提高了生产质量。3. The device of the present invention is not only suitable for general production environments, but also more suitable for dust-free environments with higher requirements on the production environment. It can reduce the pollution of workpieces during the transportation process and improve the production quality.
附图说明Description of drawings
图1是超声驻波悬浮夹持搬运机械手的立体图。Fig. 1 is a perspective view of an ultrasonic standing wave suspension clamping and handling manipulator.
图2是超声驻波悬浮夹持搬运机械手的侧视图。Fig. 2 is a side view of the ultrasonic standing wave suspension clamping and handling manipulator.
图3是导轨平台结构图。Figure 3 is a structural diagram of the rail platform.
图4是变幅杆与换能器组合件立体图。Fig. 4 is a perspective view of the horn and transducer assembly.
图5是变幅杆与换能器组合件正视图。Fig. 5 is a front view of the horn and transducer assembly.
图6是固定夹具的主视结构图。Fig. 6 is a front structural view of the fixing fixture.
图7是固定夹具的俯视结构图。Fig. 7 is a top structural view of the fixing fixture.
图8是横梁的结构示意图。Fig. 8 is a structural schematic diagram of the beam.
图示中，1-驱动电机；2-导轨；3-滚珠丝杆；4-固定夹具；5-换能器；6-变幅杆；7-导轨平台；8-外滑块；9-横梁；10-连接件；11-固定螺栓；12-调节螺栓；13-移动平台；14-内滑块；15-联轴器；16-悬浮夹持件。In the illustration, 1-drive motor; 2-guide rail; 3-ball screw; 4-fixing fixture; 5-transducer; 6-horn; 7-guide rail platform; 8-outer slider; 9-beam ; 10-connecting piece; 11-fixing bolt; 12-adjusting bolt; 13-moving platform; 14-inner slider; 15-coupling; 16-suspension clamp.
具体实施方式detailed description
以下结合附图对实施例做详细说明。The embodiments will be described in detail below in conjunction with the accompanying drawings.
参见图1-8，本实施例超声驻波悬浮夹持搬运机械手用于工件的非接触式夹持，其包括横梁9、导轨平台7，横梁9的截面呈U形，横梁9几何中心外侧面安装连接件10，通过连接件10与多自由度机器人手臂末端连接。Referring to Figures 1-8, the ultrasonic standing wave suspension clamping and handling manipulator of this embodiment is used for non-contact clamping of the workpiece, which includes a beam 9 and a guide rail platform 7. The cross-section of the beam 9 is U-shaped, and the outer surface of the geometric center of the beam 9 is The connecting piece 10 is installed and connected with the end of the multi-degree-of-freedom robot arm through the connecting piece 10 .
横梁9的两端对称地安装两导轨平台7，导轨平台与横梁间通过固定螺栓连接。导轨平台7上沿长度方向通过固定螺栓11安装两条相平行且对称的导轨2。每条导轨2滑动配合一外滑块8，同侧的两外滑块8之上固定连接移动平台13，移动平台13的中部之下通过螺栓固定连接内滑块14，内滑块14穿过滚珠丝杆3，滚珠丝杆3通过螺纹推动内滑块14运动。滚珠丝杆3的一端通过联轴器15与驱动电机1的电机轴相连，驱动电机1安装于导轨平台7的一端。滚珠丝杆3的另一端转动式地定位于支撑架，该支撑架安装于导轨平台7的另一端(朝向对侧的一端)。Two guide rail platforms 7 are installed symmetrically at the two ends of the beam 9, and the guide rail platforms and the beam are connected by fixing bolts. Two parallel and symmetrical guide rails 2 are installed on the guide rail platform 7 along the length direction through fixing bolts 11 . Each guide rail 2 is slidably matched with an outer slider 8, and the two outer sliders 8 on the same side are fixedly connected to the mobile platform 13, and the middle part of the mobile platform 13 is fixedly connected to the inner slider 14 by bolts, and the inner slider 14 passes through The ball screw 3 pushes the inner slider 14 to move through threads. One end of the ball screw 3 is connected to the motor shaft of the driving motor 1 through a coupling 15 , and the driving motor 1 is installed on one end of the guide rail platform 7 . The other end of the ball screw 3 is rotatably positioned on the support frame, and the support frame is installed on the other end of the guide rail platform 7 (the end facing the opposite side).
移动平台13之上通过螺栓安装固定夹具4，固定夹具4具有一圆柱形安装孔，该圆柱形安装孔的局部径向具有间隙，间隙处通过调节螺栓12旋接上下相对部。该安装孔插入圆柱形换能器5的局部，该安装孔的内表面与换能器5紧配合，通过调节螺栓12来调整两者间的夹紧程度。换能器5的另一端连接变幅杆6，变幅杆6由两段圆柱段构成，变幅杆6与换能器5同轴线，变幅杆6轴线平行于横梁9。且变幅杆6的两段圆柱段与换能器5的直径由小到大排布。换能器5为压电陶瓷换能器。两侧的变幅杆6相对称设置，且两者的一端(小直径一段的端部)相正对，两者的该端之间置入悬浮夹持件16，两者的该端部用于夹紧悬浮夹持件16。通过驱动电机1的驱动，带动两变幅杆6沿导轨远离或靠近工件16，实现对工件16夹紧或放松。On the mobile platform 13, the fixed fixture 4 is installed by bolts. The fixed fixture 4 has a cylindrical mounting hole. The local radial direction of the cylindrical mounting hole has a gap, and the gap is screwed to the upper and lower relative parts by the adjusting bolt 12. The mounting hole is inserted into a part of the cylindrical transducer 5 , and the inner surface of the mounting hole is closely matched with the transducer 5 , and the clamping degree between the two is adjusted by adjusting the bolt 12 . The other end of the transducer 5 is connected to the horn 6 , the horn 6 is composed of two cylindrical sections, the horn 6 is coaxial with the transducer 5 , and the axis of the horn 6 is parallel to the beam 9 . And the diameters of the two cylindrical segments of the horn 6 and the transducer 5 are arranged from small to large. The transducer 5 is a piezoelectric ceramic transducer. The horns 6 on both sides are symmetrically arranged, and one end of the two (the end of the small diameter section) is facing each other, and a suspension clamp 16 is placed between the ends of the two, and the ends of the two are used For clamping the suspension clamping member 16. Driven by the drive motor 1 , the two horns 6 are driven to move away from or approach the workpiece 16 along the guide rails, thereby realizing clamping or loosening of the workpiece 16 .
本发明中，变幅杆、换能器与超声波发生器，属现有技术，不予详述。In the present invention, the horn, the transducer and the ultrasonic generator belong to the prior art and will not be described in detail.
本发明超声驻波悬浮夹持机械手的工作原理：采用超声驻波悬浮原理，通过两个相对的变幅杆形成超声驻波场。运用超声驻波场中的声悬浮力的作用完成对工件的“抓取”，使工件稳定在驻波场的节点位置处。相对的两个变幅杆之间的距离不同，则其形成的驻波场中声悬浮力的大小也随之变化。工件夹持过程为：调节机械手使工件处于两相对的变幅杆的轴线上，根据工件的大小，通过数控系统调节导轨平台两端的驱动电机，驱动电机带动滚珠丝杠转动，滚珠丝杠驱动移动平台移动，相应的使两个变幅杆之间的距离减小，增强驻波场的声悬浮力，使工件被紧紧抓住，完成工件的夹持。工件释放过程：通过控制系统控制驱动电机带动滚珠丝杠转动使移动平台向远离工件的方向运动，带动两变幅杆之间的距离增大。变幅杆形成的驻波场中的声悬浮力减弱，完成工件的释放。The working principle of the ultrasonic standing wave suspension clamping manipulator of the present invention is as follows: the ultrasonic standing wave suspension principle is adopted, and the ultrasonic standing wave field is formed by two opposite horns. Using the acoustic levitation force in the ultrasonic standing wave field to complete the "grabbing" of the workpiece, so that the workpiece is stabilized at the node position of the standing wave field. If the distance between two opposite horns is different, the magnitude of the acoustic levitation force in the standing wave field formed by them will also change accordingly. The workpiece clamping process is as follows: adjust the manipulator so that the workpiece is on the axis of the two opposite horns, according to the size of the workpiece, adjust the driving motors at both ends of the guide rail platform through the numerical control system, the driving motor drives the ball screw to rotate, and the ball screw drives the movement The platform moves, correspondingly reducing the distance between the two horns, enhancing the acoustic suspension force of the standing wave field, so that the workpiece is firmly grasped, and the clamping of the workpiece is completed. The process of workpiece release: the control system controls the drive motor to drive the ball screw to rotate, so that the mobile platform moves away from the workpiece, and the distance between the two horns increases. The acoustic levitation force in the standing wave field formed by the horn is weakened to complete the release of the workpiece.
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