CN105835089B - A kind of robot end's magnetic overload protecting mechanism - Google Patents
A kind of robot end's magnetic overload protecting mechanism Download PDFInfo
- Publication number
- CN105835089B CN105835089B CN201610364243.2A CN201610364243A CN105835089B CN 105835089 B CN105835089 B CN 105835089B CN 201610364243 A CN201610364243 A CN 201610364243A CN 105835089 B CN105835089 B CN 105835089B
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- China
- Prior art keywords
- magnetic flange
- intermediate plate
- magnetic
- flange
- clamping
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
Abstract
A kind of robot end's magnetic overload protecting mechanism includes upper magnetic flange, magnetic flange, jaw, clamp bracket and clamping intermediate plate；Upper magnetic flange is fixed on mechanical arm tail end, magnetic flange lower end installation jaw, jaw lower end installation clamp bracket, clamp bracket installation clamping intermediate plate；Described magnetic flange sets positioning convex with upper magnetic flange contact facings center, and the contact surface other positions set an anti-rotation projection, and upper magnetic flange correspondence position sets corresponding groove；Linked together between upper magnetic flange and magnetic flange by magneticaction so that whole mechanism is rigid structure in normal work；When clamp bracket and clamping intermediate plate collide, upper magnetic flange and magnetic flange depart from, so as to apparatus with shock absorbing protection mechanical arm.
Description
Technical field
The present invention relates to a kind of mechanical arm Anti-bumping protection mechanism, and be particularly suitable for use in sorting mechanical arm.
Background technology
Industrial machinery arm is a kind of automated machine equipment that can complete predetermined action, due to its action and profile
There is similitude with human arm, admittedly it is referred to as industrial machinery arm.The application of industrial machinery arm is quite varied, is dispersed throughout a little quick-fried, arc
Each stations such as brightness, assembling, spray painting, cutting, carrying, packaging code behaviour.For different working environment and target, mechanical arm
Undertake corresponding action.
Production technology is improved with industrial machinery arm, can guarantee personal safety, reduce working environment to people
While endangering, reduce labor intensity caused by body, improving production efficiency, the quality and yield of product can also be improved, is saved
Produce raw material and reduce production cost, bring economic benefit, the development to industrial manufacturing industry has great importance.It is common
The vertical multi-joint mechanical arm of six axles of industrial machinery arm including six-freedom degree, four axle handling machinery arms of four-degree-of-freedom and
SCARA make-up machineries arm and DELTA pickup mechanical arms in parallel etc..
Industrial machinery arm is all based on rigid mechanism connection to ensure the rigidity of the precision of system and mechanism.When mechanical arm is pressed
When carrying out repetitive operation according to the track manually set, the operation object for assuming mechanical arm tail end executing agency and week are substantially
Collarette border is artificial predetermined state.And in actual condition, due to the presence of uncertain factor, the operation object of mechanical arm and
As environment, state often and manually predetermined is inconsistent.For example mechanical arm is when performing the tasks such as sorting, carrying, stacking, machine
The end effector mechanism of tool arm be easy to operation object occur and change operating environment collide.Work as end effector
Enormous impact can be brought even directly to damage mechanical arm when colliding to rigid mechanical arm body.There is presently no find to be directed to
The Patents and document of this problem, in order to protect end effector occur impact when mechanical arm body safety, this
Wen Te proposes a kind of robot end's protection mechanism with one-way buffer function.
The content of the invention
The technology of the present invention solves problem：Overcome the deficiencies in the prior art, there is provided robot end's magnetic overload protection machine
Structure.
The technical solution of the present invention：A kind of robot end's magnetic overload protecting mechanism, including upper magnetic flange, under
Magnetic flange, jaw, clamp bracket and clamping intermediate plate；
Upper magnetic flange is fixed on mechanical arm tail end, magnetic flange lower end installation jaw, jaw lower end installation clamping branch
Frame, clamp bracket installation clamping intermediate plate；Described magnetic flange sets convex with upper magnetic flange contact facings center
Rise, the contact surface other positions set an anti-rotation projection, and upper magnetic flange correspondence position sets corresponding groove；Upper method of magnetic
Linked together between blue and magnetic flange by magneticaction so that whole mechanism is rigid structure in normal work；
When clamp bracket and clamping intermediate plate collide, upper magnetic flange and magnetic flange depart from, so as to which apparatus with shock absorbing is protected
Protect mechanical arm.
Described positioning convex is pyramid type, centering positioning cone high 6~13mm, 15~24mm of diameter.
Described anti-rotation projection is pyramid type, anti-rotation positioning cone high 4~7mm, 8~11mm of diameter.
Described clamping clip body is the sheet metal structural of bending, by optimizing angle of bend and length clamping device
It is best to the adaptability of target bottle, comprise the following steps that：
First, it is the required distance that upper magnetic flange stretches out according to last joint of mechanical arm tail end, is requiring model
It is H and clamping device upper half segment length L1 to enclose interior selection gripping objects thing center with respect to clamping device centre of gyration difference in height；
Then, according to formulaWith the coverage rate of gripping objects thing circumference
Product σ is up to optimization aim and optimized, in the diameter of gripping objects thingOn the basis of, determine clamping device angle of bend
Spend θ and clamping intermediate plate length L after bending2；Described gripping objects thing is predominantly cylindrical object.
When gripping objects thing is bottle, intermediate plate length L after bending2It is for 15~20mm, clamping device angle of bend θ
110 °~125 °.
The critical pretightning force of upper and lower magnetic flange is (a+g) m, wherein, m, a are respectively end magnetic overload protecting mechanism
Quality and peak acceleration.
The present invention compared with prior art the advantages of be：The present invention compared with prior art the advantages of be：The mechanism
As mechanical arm body and the bindiny mechanism of end effector, there is redundancy on last joint of mechanical arm.Simultaneously should
Mechanism has pretightning force in joint, and when the load on this direction is less than pretightning force, the mechanism is protected as a rigid body
Demonstrate,prove the rigidity of mechanical arm；When the shock loading on this direction is more than corresponding pretightning force, the mechanism, which can disintegrate, absorbs punching
Potential energy is hit, protects mechanical arm body.
Brief description of the drawings
Fig. 1 is mechanism normal condition schematic diagram of the present invention；
Fig. 2 present invention equipments scheme of erection under mechanical arm state；
Fig. 3 mechanism diagrammatic cross-sections of the present invention.
Embodiment
General industry mechanical arm is all based on rigid mechanism connection, and machinery can be given when rigid collision occurs for end effector
Arm body brings enormous impact even directly to damage mechanical arm, and set forth herein a kind of mechanical arm tail end collision based on magnetic medium
Protection mechanism.The mechanism is as a module between mechanical arm body and end effector, in whole five frees degree in space
On all there is protecting effect.The mechanism is with pretightning force simultaneously, when the load on each direction is less than corresponding pretightning force
When, the mechanism ensures the motion of mechanical arm as a rigid body；When the load on some direction be more than corresponding pretightning force when
Wait, the magnetic mechanism can depart under collision effect, protect mechanical arm body.
As shown in Figure 1, 2, a kind of robot end's magnetic overload protecting mechanism, including upper magnetic flange 1, magnetic flange
2nd, jaw 3, clamp bracket 4 and clamping intermediate plate 5；Upper magnetic flange 2 is fixed on mechanical arm tail end, the installation of the lower end of magnetic flange 2
Jaw, the lower end of jaw 3 installation clamp bracket 4, the installation clamping intermediate plate 5 of clamp bracket 4；Described magnetic flange 2 and upper magnetic
Flange contact facings center setting positioning convex, the contact surface other positions one anti-rotation projection of setting, upper magnetic flange 1 are right
Answer position that corresponding groove is set；Linked together between upper magnetic flange 1 and magnetic flange 2 by magneticaction so that
Whole mechanism is rigid structure in normal work；When clamp bracket 4 and clamping intermediate plate 5 collide, the upper He of magnetic flange 1
Magnetic flange 2 departs from, and so as to apparatus with shock absorbing protection mechanical arm, jaw 7 receives the gas on mechanical arm, realized to clamping
The clamping control of support 4 and clamping intermediate plate 5.
Set conical positioning convex and anti-rotation raised on magnetic flange of the present invention, it is and corresponding on upper magnetic flange
Groove cooperates does not occur relative motion when ensureing normal work between tail house and robot.Positioning convex is circular cone
Type, centering positioning cone high 6~13mm, 15~24mm of diameter.Anti-rotation projection is pyramid type, the high 4~7mm of anti-rotation positioning cone,
8~11mm of diameter.In order to ensure mechanism reliably working, the diameter of circular cone and the ratio of height are 1.8：1 is most suitable, can be effective
Centering positions, and the action that separates when interference mechanism is not collided.
Acted in view of mechanical arm, introduce mechanical arm tail end peak acceleration to evaluate upper lower flange magnetic pretightning force.End
The quality for holding executing agency is m, and the peak acceleration of mechanical arm tail end executing agency is a, when a and gravity acceleration g direction
It is also maximum to active force caused by mechanism when consistent, it is (a+g) m, this is also the critical pretightning force of upper and lower magnetic flange.
Intermediate plate 5 is clamped using the sheet metal component with certain angle, below angle and sheet metal component bent portion length, it is necessary to
Reach and be brought into close contact with clamping target (cylinder), it is most stable and do not allow caducous purpose, therefore, pass through to reach seized condition
Above-mentioned consideration, as shown in figure 3, gripping objects thing is a diameter ofThe distance of two centres of gyration of clamping device is D, clamping device
Angle of bend is θ, clamping device upper half segment length L1, lower half segment length L2, during gripping objects thing center is turned round with respect to clamping device
Heart difference in height is H.Using clamping device to the area coverage σ of gripping objects thing circumference as optimization aim, the bigger explanation grasping stabilities of σ
Property is better.The critical size of clamping device specifically determines that method is as follows：
The required distance stretched out first according to last joint (i.e. upper magnetic flange 1) of mechanical arm tail end, is requiring model
It is H and clamping device upper half segment length L to enclose interior selection target bottle center with respect to clamping device centre of gyration difference in height1；
Then according to select and L1And H, it can be deduced that：
As can be seen from the above equation, σ and target bottle diameterClamping device angle of bend θ, clamping device upper half segment length L1、
Lower half segment length L2, gripping objects thing center it is related with respect to clamping device centre of gyration height difference H.Due to herein for target
Clamping thing is the object that main body is cylinder, such as normal bottles common on the market, diameterOne determination scope, because
ThisIt can determine.In summary, the area coverage σ and clamping device angle of bend θ of target bottle circumference and clamping intermediate plate are curved
Length L after song2It is relevant.
Using clamping device to the area coverage σ of gripping objects thing circumference as optimization aim, σ it is bigger explanation grasp stability more
It is good.By calculating, as intermediate plate length L after bending2For 15~20mm, when clamping device angle of bend θ when being 110 °~125 °
(with 120 ° for optimal angle), the area coverage σ of target bottle circumference is maximum, and clamping stability is best.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (5)
- A kind of 1. robot end's magnetic overload protecting mechanism, it is characterised in that：Including upper magnetic flange (1), magnetic flange (2), jaw (3), clamp bracket (4) and clamping intermediate plate (5)；Upper magnetic flange (2) is fixed on mechanical arm tail end, magnetic flange (2) lower end installation jaw, jaw (3) lower end installation folder Hold support (4), clamp bracket (4) installation clamping intermediate plate (5)；In described magnetic flange (2) and upper magnetic flange contact facings Heart position sets positioning convex, and the contact surface other positions set an anti-rotation projection, and upper magnetic flange (1) correspondence position is set Corresponding groove；Linked together between upper magnetic flange (1) and magnetic flange (2) by magneticaction so that whole machine Structure is rigid structure in normal work；When clamp bracket (4) and clamping intermediate plate (5) collide when, upper magnetic flange (1) and Magnetic flange (2) departs from, so as to apparatus with shock absorbing protection mechanical arm；Described clamping intermediate plate (5) main body is the sheet metal structural of bending, and intermediate plate is clamped by optimizing angle of bend and length It is best to the adaptability of gripping objects thing, comprise the following steps that：First, it is the required distance that upper magnetic flange (1) place is stretched out according to last joint of mechanical arm tail end, in claimed range The interior relative clamping intermediate plate centre of gyration difference in height in gripping objects thing center of choosing is H and clamps the upper half segment length before intermediate plate bending L1；Then, according to formulaWith the area coverage σ of gripping objects thing circumference most Greatly optimization aim optimizes, in the diameter of known target clamping thingOn the basis of, it is determined that the angle of bend θ of clamping intermediate plate And the length L of clamping intermediate plate end bending part2；Described gripping objects thing is cylindrical object.
- A kind of 2. robot end's magnetic overload protecting mechanism according to claim 1, it is characterised in that：Described positioning Projection is pyramid type, centering positioning cone high 6~13mm, 15~24mm of diameter.
- A kind of 3. robot end's magnetic overload protecting mechanism according to claim 1, it is characterised in that：Described anti-rotation Projection is pyramid type, anti-rotation positioning cone high 4~7mm, 8~11mm of diameter.
- A kind of 4. robot end's magnetic overload protecting mechanism according to claim 1, it is characterised in that：Work as gripping objects When thing is bottle, intermediate plate length L after bending2For 15~20mm, clamping device angle of bend θ is 110 °~125 °.
- A kind of 5. robot end's magnetic overload protecting mechanism according to claim 1, it is characterised in that：Upper and lower method of magnetic Blue critical pretightning force is (a+g) m, wherein, m, a are respectively the quality and peak acceleration of end magnetic overload protecting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364243.2A CN105835089B (en) | 2016-05-26 | 2016-05-26 | A kind of robot end's magnetic overload protecting mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610364243.2A CN105835089B (en) | 2016-05-26 | 2016-05-26 | A kind of robot end's magnetic overload protecting mechanism |
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| CN105835089A CN105835089A (en) | 2016-08-10 |
| CN105835089B true CN105835089B (en) | 2018-01-05 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109387310A (en) * | 2018-09-25 | 2019-02-26 | 西北工业大学 | A kind of high-precision multi-axis force transducer protective device |
| KR102521832B1 (en) * | 2018-10-25 | 2023-04-17 | 윙크 로보틱스, 인코포레이티드 | Detachable end effector for cosmetic robot |
| CN111687875A (en) * | 2020-06-24 | 2020-09-22 | 湖北金色阳光创客教育有限公司 | Mechanical claw device for intelligent robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3926755B2 (en) * | 2003-03-13 | 2007-06-06 | オリンパス株式会社 | Handling device |
| NL1032933C2 (en) * | 2006-11-23 | 2008-05-26 | Peinemann Equipment Bv | Gripper for objects. |
| CN201295927Y (en) * | 2008-10-15 | 2009-08-26 | 常州市武进第二法兰锻造有限公司 | Manipulator clamp for forged flange |
| KR101228279B1 (en) * | 2011-03-31 | 2013-01-30 | 성균관대학교산학협력단 | finger gait planning method of robotic hands and finger gait planning apparatus of robotic hands |
| CN203313035U (en) * | 2013-06-20 | 2013-11-27 | 镇江市江南矿山机电设备有限公司 | Permanent magnet coupling mechanism between shafts |
| CN104552330B (en) * | 2014-12-26 | 2016-04-13 | 清华大学 | Joint of robot moment limiting device |
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