CN107283396B - Force application adjustable manipulator and use its robot - Google Patents
Force application adjustable manipulator and use its robot Download PDFInfo
- Publication number
- CN107283396B CN107283396B CN201610210482.2A CN201610210482A CN107283396B CN 107283396 B CN107283396 B CN 107283396B CN 201610210482 A CN201610210482 A CN 201610210482A CN 107283396 B CN107283396 B CN 107283396B
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- China
- Prior art keywords
- wrist
- force application
- force
- gripper
- trigger
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
Abstract
The invention discloses a force-applying adjustable manipulator and a robot using the same, wherein the force-applying adjustable manipulator comprises a manipulator arm and a manipulator wrist, the manipulator wrist comprises a wrist shaft and a gripper, the gripper is arranged at one end of the wrist shaft, the other end of the wrist shaft is movably connected with one end of the manipulator arm, the manipulator arm comprises a trigger baffle, and one side of the trigger baffle is connected with one end of the manipulator arm; the mechanical wrist further comprises a trigger sensor, a sensor mounting seat, a force application spring and a force application adjusting nut. The force-applying adjustable manipulator and the robot using the same can adjust the pressure of the gripper on a contact object through the force-applying spring and the force-applying adjusting nut, so that the force-applying allowable range of the mechanical wrist can be adjusted according to the pressure requirements of different contact objects.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a mechanical arm with adjustable force application and a robot using the same.
Background
With the continuous progress of science and technology, the robot technology is rapidly developed in recent years, industrial robots are more and more pursued by people in China, and support is provided for transformation and upgrading of enterprises. However, the conventional industrial robot rigidly contacts the object when grabbing the object, so that the grabbing speed must be reduced to avoid overlarge impact force when contacting the object, thereby affecting the grabbing efficiency. Especially for robots with a suction cup gripper, it is necessary that the suction cup gripper is pressed against the contact object with a quantitative force value during gripping in order to establish vacuum suction of the contact object. Therefore, the robot with the sucker type gripper has high requirement on contact force, the contact force is too small to suck the contact object, and the contact force is too large to damage the contact object easily. The existing robot with the sucker type gripper cannot regulate and control the contact force through hardware, needs software regulation and control, is complex to operate and is inconvenient for production workers to use.
Disclosure of Invention
The invention aims to provide a force application adjustable manipulator capable of regulating and controlling contact force in a hardware mode according to the pressure requirements of different contact objects and a robot using the same.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical arm with adjustable force application comprises a mechanical arm and a mechanical wrist, wherein the mechanical wrist comprises a wrist shaft and a gripper, the gripper is mounted at one end of the wrist shaft, and the other end of the wrist shaft is movably connected with one end of the mechanical arm;
the mechanical arm comprises a trigger baffle, and one side of the trigger baffle is connected with one end of the mechanical arm;
the mechanical wrist further comprises a trigger sensor, a sensor mounting seat, a force application spring and a force application adjusting nut; the wrist shaft comprises an installation part, the installation part is arranged at one end of the wrist shaft, the gripper is arranged at one end of the installation part, one side of the sensor installation seat is connected with one side of the installation part, and the trigger sensor is arranged at one end, facing the trigger baffle, of the sensor installation seat; the trigger sensor comprises a contact piece which is installed towards the trigger baffle;
the force application adjusting nut is nested in the wrist shaft and is arranged between the trigger baffle and the mounting part; the force application spring is sleeved on the wrist shaft, one end of the force application spring abuts against the trigger baffle, and the other end of the force application spring abuts against the force application adjusting nut.
Preferably, a control processor is further provided, and the mechanical arm, the gripper and the trigger sensor are all electrically connected with the control processor.
Preferably, the mechanical wrist is further provided with a position adjusting nut, and the position adjusting nut is nested in the proximal end portion of the other end of the wrist shaft.
Preferably, the mechanical wrist is further provided with a force application adjustment dial gauge, and the force application adjustment dial gauge is arranged at the proximal end part of one end of the wrist shaft and close to the mounting part.
Preferably, the adjusting range of the force application adjusting scale table is 0mm-25 mm.
Preferably, the mechanical wrist is further provided with a position adjustment dial gauge, and the position adjustment dial gauge is arranged at the other end of the wrist shaft.
Preferably, the adjustment range of the position adjustment scale table is 0mm-5 mm.
Preferably, the mechanical arm further comprises a wrist mounting cavity, the wrist mounting cavity is arranged inside the mechanical arm, and the other end of the wrist shaft penetrates through one end of the mechanical arm and extends into the wrist mounting cavity.
Preferably, the gripper is a sucker type gripper, the wrist shaft and the mounting portion are provided with communicated negative pressure suction pipes, and the other end of the wrist shaft is communicated with a suction device.
Preferably, the robot using the manipulator with the adjustable force application comprises a robot body and the manipulator with the adjustable force application, wherein the manipulator with the adjustable force application is connected with the robot body.
The mechanical arm with the adjustable force application adjusts the compression amount of the force application spring according to different grabbing pressures required by different contact objects, so that enough pressure is ensured to enable the sucker type grabbing device to tightly suck the contact objects, the working accident caused by not tightly sucking the contact objects is prevented, and the contact objects are prevented from being damaged due to overlarge pressure. Meanwhile, the force application spring plays a role in buffering, and the influence of the impact force of the contact object on the mechanical wrist is weakened. And the touch piece type trigger sensor is adopted, so that the induction is more sensitive and accurate.
The robot using the manipulator with the adjustable force application can adjust the force application allowable range of the manipulator with the adjustable force application according to the pressure requirements of different contact objects, has wide application range and better adapts to different production requirements.
Drawings
The drawings are further illustrative of the invention and the content of the drawings does not constitute any limitation of the invention.
FIG. 1 is a schematic cross-sectional view of a robot according to one embodiment of the present invention;
FIG. 2 is a schematic diagram of a wrist axis structure according to one embodiment of the present invention.
Wherein: a robot arm 1; a mechanical wrist 2; a wrist mounting cavity 11; the trigger flap 12; a wrist shaft 21; a gripper 22; a trigger sensor 23; a sensor mount 24; an urging spring 25; a force application adjusting nut 26; a mounting portion 211; a contact blade 231; a position adjusting nut 27; force application adjustment dial gauge 28; a position adjustment scale 29.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
The manipulator with adjustable force application of the embodiment, as shown in fig. 1, includes a manipulator arm 1 and a manipulator wrist 2, where the manipulator wrist 2 includes a wrist shaft 21 and a gripper 22, the gripper 22 is installed at one end of the wrist shaft 21, and the other end of the wrist shaft 21 is movably connected to one end of the manipulator arm 1;
the mechanical arm 1 comprises a trigger baffle 12, and one side of the trigger baffle 12 is connected with one end of the mechanical arm 1; the mechanical wrist 2 further comprises a trigger sensor 23, a sensor mounting seat 24, an application spring 25 and an application adjusting nut 26; the wrist shaft 21 comprises a mounting part 211, the mounting part 211 is arranged at one end of the wrist shaft 21, the gripper 22 is arranged at one end of the mounting part 211, one side of the sensor mounting seat 24 is connected with one side of the mounting part 211, and the trigger sensor 23 is arranged at one end of the sensor mounting seat 24 facing the trigger baffle 12; the trigger sensor 23 includes a contact piece 231, the contact piece 231 being mounted toward the trigger guard 12;
the force application adjusting nut 26 is nested in the wrist shaft 21 and is arranged between the trigger baffle 12 and the mounting part 211; the force application spring 25 is sleeved on the wrist shaft 21, one end of the force application spring 25 abuts against the trigger baffle 12, and the other end of the force application spring 25 abuts against the force application adjusting nut 26.
Preferably, a control processor is further provided, and the mechanical arm 1, the gripper 22 and the trigger sensor 23 are all electrically connected with the control processor.
The manipulator with adjustable force application can adjust the pressure of the gripper 22 on the contact object through the force application spring 25 and the force application adjusting nut 26, so that the force application allowable range of the manipulator wrist 2 can be adjusted according to different pressure requirements of the contact object.
In operation, the control processor drives the robot arm 1 to move towards the contact object, when the gripper 22 of the robot wrist 2 presses towards the contact object, a reverse impact force is generated, the wrist shaft 21 connected with the gripper 22 is deformed under force, so that the trigger sensor 23 mounted on the wrist shaft 21 moves towards the trigger baffle 12, until when the pressure between the gripper 22 and the contact object reaches a preset pressure value, the contact piece 231 of the trigger sensor 23 contacts the trigger baffle 12, so that the trigger sensor 23 generates and transmits a trigger signal to the control processor; the control processor drives the mechanical arm 1 to stop moving, drives the inside of the sucker type gripper 22 to establish vacuum, tightly sucks the contact object, and then drives the mechanical arm to move back, so that the mechanical arm with adjustable force application finishes an action of gripping the contact object.
The force application spring 25 is sleeved on the wrist shaft 21, one end of the force application spring 25 is connected with the trigger baffle 12, and the other end of the force application spring 25 abuts against the force application adjusting nut 26, so that when the gripper 22 contacts with the contact object, the force application spring 25 provides a supporting force for the gripper 22, the impact force caused by the contact object is reduced, and the deformation amount of the wrist shaft 21 is reduced. The magnitude of the supporting force provided by the force applying spring 25 can be adjusted by adjusting the compression amount of the force applying spring 25 through the force applying adjusting nut 26, so that the magnitude of the pressure of the gripper 22 on the contact object can be adjusted. For example, by increasing the amount of compression of the urging spring 25, the larger the amount of deformation required to trigger the trigger sensor 23, and thus the larger the pressing force of the gripper 22 against the contact object.
The mechanical arm with adjustable force application adjusts the compression amount of the force application spring 25 according to different grabbing pressures required by different contact objects, so that not only is enough pressure ensured to enable the sucker type grabbing device 22 to tightly suck the contact objects, and the working accident caused by not tightly sucking the contact objects is prevented, but also the damage to the contact objects caused by overlarge pressure is avoided. Meanwhile, the force application spring 25 plays a role in buffering, and the influence of the impact force of the contact object on the mechanical wrist 2 is weakened. And the touch piece type trigger sensor 23 is adopted, so that the sensing is more sensitive and accurate.
Preferably, the mechanical wrist 2 is further provided with a position adjusting nut 27, as shown in fig. 1, and the position adjusting nut 27 is nested in a proximal end portion of the other end of the wrist shaft 21. The position adjusting nut 27 is used to adjust the relative distance between the contact plate 231 of the trigger sensor 23 and the trigger shutter 12, thereby adjusting the pressure of the gripper 22 against the contact object.
Preferably, the mechanical wrist 2 is further provided with an application adjustment scale 28, as shown in fig. 2, the application adjustment scale 28 is provided at a proximal end portion of one end of the wrist shaft 21, near the mounting portion 211. Since the elastic force of the force application spring 25 is linearly increased, that is, the force application adjustment nut 26 can linearly adjust the compression amount of the force application spring 25, the force application condition of the force application spring 25 can be more intuitively and conveniently adjusted and observed by setting the force application adjustment scale 28.
Preferably, the mechanical wrist 2 is further provided with a position adjustment scale 29, as shown in fig. 2, and the position adjustment scale 29 is disposed at the other end of the wrist shaft 21. In addition to the amount of compression of the force spring 25, the pressure of the gripper 22 against the contacting object is determined by the relative distance between the contact blade 231 and the trigger guard 12, and thus the position adjustment scale 29 is provided to facilitate adjustment of the position adjustment nut 27 and, hence, the relative distance between the contact blade 231 and the trigger guard 12.
Preferably, the force application adjustment scale 28 has an adjustment range of 0mm to 25 mm.
Preferably, the adjustment range of the position adjustment scale 29 is 0mm to 5 mm.
The allowable range of the force applied to the wrist 2 is determined by the amount of compression of the force spring 25 and the relative distance between the contact piece 231 and the trigger shutter 12, and if the pressure requirement for the contact object is different, the allowable range of the force applied to the wrist 2 is different. If the contact object is architectural glass, the compression amount of the force application spring 25 is 5mm-15mm, preferably 10 mm; the relative distance between the contact plate 231 and the trigger guard 12 is 1mm to 3mm, preferably 2.5 mm. If the contact object is the mobile phone screen glass, the compression amount of the force application spring 25 is 0mm-5mm, preferably 3 mm; the relative distance between the contact plate 231 and the trigger guard 12 is 0.1mm to 1mm, preferably 0.7 mm. If the contact object is an aluminum plate or a steel plate, the compression amount of the force application spring 25 is 15mm-25mm, preferably 21 mm; the relative distance between the contact plate 231 and the trigger guard 12 is 3mm to 5mm, preferably 4.5 mm. The manipulator with adjustable force application can adjust the force application allowable range according to different contact objects, thereby enlarging the application range and better adapting to production requirements.
Preferably, the mechanical arm 1 further includes a wrist mounting cavity 11, as shown in fig. 1, the wrist mounting cavity 11 is disposed inside the mechanical arm 1, and the other end of the wrist shaft 21 passes through one end of the mechanical arm 1 and extends into the wrist mounting cavity 11. The wrist mounting cavity 11 is arranged, and the other end of the wrist shaft 21 extends into the wrist mounting cavity 11, so that the protection effect of dust prevention and corrosion prevention is achieved on the wrist shaft 21, and the service life of the wrist shaft 21 is prolonged.
Preferably, the gripper 22 is a suction cup type gripper, the wrist shaft 21 and the mounting portion 211 are provided with a negative pressure suction pipe in communication, and the other end of the wrist shaft 21 is communicated with a suction device. The gripper 22 is a suction cup type gripper that holds the contact object by applying pressure and creating a vacuum inside the suction cup, and is suitable for handling plate-type contact objects, such as glass, steel plates, etc.
The robot of this embodiment of use application of force adjustable manipulator, including the robot body with application of force adjustable manipulator, application of force adjustable manipulator with this body coupling of robot. The robot using the manipulator with the adjustable force application can adjust the force application allowable range of the manipulator with the adjustable force application according to the pressure requirements of different contact objects, has wide application range and better adapts to different production requirements.
The mechanical arm with adjustable force application has the following beneficial effects: 1. the compression amount of the force application spring 25 can be adjusted according to different grabbing pressures required by different contact objects, so that not only is enough pressure ensured to enable the sucker type grabbing device 22 to tightly suck the contact objects, and the working accident caused by not tightly sucking the contact objects is prevented, but also the damage to the contact objects caused by overlarge pressure is avoided; 2. the touch piece type trigger sensor 23 is adopted, so that the sensing is more sensitive and accurate; 3. the force application condition of the mechanical wrist 2 can be adjusted and observed more intuitively and conveniently by setting the force application adjustment dial gauge 28 and the position adjustment dial gauge 29.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (9)
1. The utility model provides a application of force adjustable manipulator, includes robotic arm and robotic wrist, robotic wrist includes wrist axle and gripper, gripper install in the one end of wrist axle, the other end of wrist axle with robotic arm's one end swing joint, its characterized in that:
the mechanical arm comprises a trigger baffle, and one side of the trigger baffle is connected with one end of the mechanical arm;
the mechanical wrist further comprises a trigger sensor, a sensor mounting seat, a force application spring and a force application adjusting nut; the wrist shaft comprises an installation part, the installation part is arranged at one end of the wrist shaft, the gripper is arranged at one end of the installation part, one side of the sensor installation seat is connected with one side of the installation part, and the trigger sensor is arranged at one end, facing the trigger baffle, of the sensor installation seat; the trigger sensor comprises a contact piece which is installed towards the trigger baffle;
the force application adjusting nut is nested in the wrist shaft and is arranged between the trigger baffle and the mounting part; the force application spring is sleeved on the wrist shaft, one end of the force application spring abuts against the trigger baffle, and the other end of the force application spring abuts against the force application adjusting nut;
the mechanical wrist is further provided with a position adjusting nut, and the position adjusting nut is nested at the proximal end part of the other end of the wrist shaft.
2. The force applying adjustable manipulator according to claim 1, characterized in that: the mechanical arm, the gripper and the trigger sensor are all electrically connected with the control processor.
3. The force applying adjustable manipulator according to claim 1, characterized in that: the mechanical wrist is further provided with a force application adjustment dial gauge, and the force application adjustment dial gauge is arranged at the proximal end part of one end of the wrist shaft and close to the mounting part.
4. The force applying adjustable manipulator of claim 3, wherein: the adjusting range of the force application adjusting dial gauge is 0mm-25 mm.
5. The force applying adjustable manipulator according to claim 1, characterized in that: the mechanical wrist is further provided with a position adjusting dial gauge, and the position adjusting dial gauge is arranged at the other end of the wrist shaft.
6. The force applying adjustable manipulator according to claim 5, characterized in that: the adjusting range of the position adjusting dial gauge is 0mm-5 mm.
7. The force applying adjustable manipulator according to claim 1, characterized in that: the mechanical arm further comprises a wrist mounting cavity, the wrist mounting cavity is formed in the mechanical arm, and the other end of the wrist shaft penetrates through one end of the mechanical arm and extends into the wrist mounting cavity.
8. The force applying adjustable manipulator according to claim 1, characterized in that: the gripper is a sucker type gripper, the wrist shaft and the mounting part are provided with communicated negative pressure suction pipes, and the other end of the wrist shaft is communicated with a suction device.
9. A robot using the force application adjustable robot hand according to any one of claims 1 to 8, wherein: the robot comprises a robot body and a mechanical arm with adjustable force application, wherein the mechanical arm with adjustable force application is connected with the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210482.2A CN107283396B (en) | 2016-04-05 | 2016-04-05 | Force application adjustable manipulator and use its robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210482.2A CN107283396B (en) | 2016-04-05 | 2016-04-05 | Force application adjustable manipulator and use its robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107283396A CN107283396A (en) | 2017-10-24 |
| CN107283396B true CN107283396B (en) | 2020-06-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610210482.2A Active CN107283396B (en) | 2016-04-05 | 2016-04-05 | Force application adjustable manipulator and use its robot |
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| CN (1) | CN107283396B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561474A (en) * | 2018-06-05 | 2019-12-13 | 大族激光科技产业集团股份有限公司 | Suction device, robot arm, and robot |
| CN111283671A (en) * | 2020-04-28 | 2020-06-16 | 佛山隆深机器人有限公司 | Negative pressure type mechanical arm for carrying light objects |
| CN111604937B (en) * | 2020-07-23 | 2020-11-10 | 佛山居坤智能科技有限公司 | Mechanical arm for ceramic glaze spraying |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0585924A1 (en) * | 1992-09-03 | 1994-03-09 | Komori Corporation | Paper feed suction apparatus |
| JP2001212786A (en) * | 2000-01-31 | 2001-08-07 | Yokogawa Electric Corp | Pick-up device for handler |
| CN203697016U (en) * | 2013-12-03 | 2014-07-09 | 安徽精一机械设备有限公司 | Pressing device for manipulator suction disk |
| CN203752154U (en) * | 2014-03-18 | 2014-08-06 | 苏州赛腾精密电子有限公司 | Battery adsorption mechanism |
| CN203865565U (en) * | 2014-05-20 | 2014-10-08 | 珠海镇东有限公司 | Automatic vacuum suction plate device |
| CN105345829A (en) * | 2015-12-02 | 2016-02-24 | 北京中电科电子装备有限公司 | Sheet transportation paw device |
-
2016
- 2016-04-05 CN CN201610210482.2A patent/CN107283396B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0585924A1 (en) * | 1992-09-03 | 1994-03-09 | Komori Corporation | Paper feed suction apparatus |
| JP2001212786A (en) * | 2000-01-31 | 2001-08-07 | Yokogawa Electric Corp | Pick-up device for handler |
| CN203697016U (en) * | 2013-12-03 | 2014-07-09 | 安徽精一机械设备有限公司 | Pressing device for manipulator suction disk |
| CN203752154U (en) * | 2014-03-18 | 2014-08-06 | 苏州赛腾精密电子有限公司 | Battery adsorption mechanism |
| CN203865565U (en) * | 2014-05-20 | 2014-10-08 | 珠海镇东有限公司 | Automatic vacuum suction plate device |
| CN105345829A (en) * | 2015-12-02 | 2016-02-24 | 北京中电科电子装备有限公司 | Sheet transportation paw device |
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| Publication number | Publication date |
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| CN107283396A (en) | 2017-10-24 |
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