CN109434861A - A kind of anti-drop device and location of workpiece adjusting method of Intelligent robotic manipulator of numerical control equipment - Google Patents
A kind of anti-drop device and location of workpiece adjusting method of Intelligent robotic manipulator of numerical control equipment Download PDFInfo
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- CN109434861A CN109434861A CN201811366773.6A CN201811366773A CN109434861A CN 109434861 A CN109434861 A CN 109434861A CN 201811366773 A CN201811366773 A CN 201811366773A CN 109434861 A CN109434861 A CN 109434861A
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- workpiece
- mechanical hand
- clamping
- numerical control
- control equipment
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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
- B25J15/00—Gripping heads and other end effectors
-
- 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
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The invention discloses a kind of anti-drop devices of Intelligent robotic manipulator of numerical control equipment, including numerically-controlled machine tool and the mechanical hand pedestal being arranged on numerically-controlled machine tool, mechanical hand crawl section is connected with by connecting steering mechanism on mechanical hand pedestal, the clamping protection mechanism for preventing workpiece from loosening is also equipped on mechanical hand crawl section, clamping protection mechanism carries out distribution clamping to workpiece in such a way that multidigit clamps, a kind of workpiece sensing anticreep method of Intelligent robotic manipulator of numerical control equipment includes the following steps: the current state after one-time detection mechanical hand clamping workpiece；Anti- deprotection, and secondary detection workpiece current state are carried out according to one-time detection concrete condition starter；According to one-time detection situation and secondary detection situation, judge whether workpiece is in stable state and adjusts the location of workpiece, until stablizing; when mechanical hand clamps workpiece; by way of auxiliary clamp, anti-deprotection is carried out to workpiece, allows mechanical hand flexible modulation when clamping workpiece.
Description
Technical field
The present invention relates to numerical control device technical field, the anti-drop device and work of specially a kind of Intelligent robotic manipulator of numerical control equipment
Part detects anticreep method.
Background technique
Numerical control device just refers to that the equipment using this technology, Numeric Control Technology are also computer numerical control technology, it is at present
Realize that the technology of Digital Program Control, this technology are executed pair with computer by the control program stored in advance using computer
The motion profile of equipment and the operation timing logic control function of peripheral hardware.Due to originally electric with hardware logic using computer substitution
The numerical control device of road composition, makes the realization of the various Control functions such as the storage input operation instruction, processing, operation, logic judgment,
It can be completed by computer software, the microcosmic instruction for handling generation sends servo drive driving motor to or hydraulic holds
Units drive equipment operation.
Mechanical hand is called manipulator, is a kind of certain holding functions that can imitate manpower and arm, to grab by fixed routine
Take, carry the automatic pilot of object or operational instrument.Feature is that various expected operations, structure can be completed by programming
It makes and has the advantage of people and robotics respectively in performance concurrently.
Manipulator is the industrial robot occurred earliest, and the modern machines people occurred earliest, it can be instead of the numerous of people
Heavy work can be operated with realizing the mechanization and automation of production under hostile environment to protect personal safety, thus answer extensively
For departments such as machine-building, metallurgy, electronics, light industry and atomic energy.
Manipulator is mainly made of executing agency, driving mechanism and control system three parts.Hand is for grasping work
The component of part (or tool), according to by the shape of grasping object, size, weight, material and job requirements and there are many structure shape
Formula, such as clamp-type, holding type and absorbent-type.Movement mechanism makes hand complete various rotations (swing), mobile or compound motion
It realizes defined movement, changes by the position of grasping object and posture.The independent fortune such as the lifting of movement mechanism, flexible, rotation
Flowing mode, the referred to as freedom degree of manipulator.In order to grab the object of any position and orientation in space, there need to be 6 freedom degrees.From
It is the key parameter of manipulator design by degree.Freedom degree is more, and the flexibility of manipulator is bigger, and versatility is wider, structure
It is more complicated.General special manipulator has 2~3 freedom degrees.Control system is by the motor to each freedom degree of manipulator
Control, to complete specific action.The information of receiving sensor feedback simultaneously, forms stable closed-loop control.The core of control system
The heart is usually to be made of microcontroller chips such as single-chip microcontroller or dsp, realizes wanted function by programming to it.
But existing numerical control device mechanical hand is after clamping workpiece, due to work requirements, it is often necessary to make
Some adjustment work out, and the case where mechanical hand of workpiece loosens when adjustment it is easy to appear workpiece is clamped, serious shadow
The working efficiency for ringing mechanical hand, also will cause safety problem when serious.
Summary of the invention
In order to overcome the shortcomings of that prior art, the present invention provide a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment
And workpiece sensing anticreep method by way of auxiliary clamp, carries out anti-remove-insurance to workpiece when mechanical hand clamps workpiece
Shield, allows mechanical hand to complete flexible modulation when clamping workpiece, can effectively solve the problem of background technique proposes.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment, including numerically-controlled machine tool and the machine being arranged on numerically-controlled machine tool
Hand pedestal is connected with mechanical hand crawl section by connecting steering mechanism on the mechanical hand pedestal, on the mechanical hand crawl section
It is also equipped with the clamping protection mechanism for preventing workpiece from loosening, the clamping protection mechanism is in such a way that multidigit clamps to work
Part carries out distribution clamping.
Further, the clamping protection mechanism includes the upper arc-shaped seat and arc lower for being mounted on mechanical hand crawl section surface
Seat, the upper arc-shaped seat and arc lower seat are symmetrical arranged by symmetry axis of mechanical hand crawl section central axes, and upper arc-shaped seat is under
Arc-shaped seat end is hinged and is connected to transmission guide rod, and the transmission guide rod end is connected with auxiliary collet, and transmission guide rod surface is logical
It crosses universal joint and is connected with pneumatic cylinder, the pneumatic cylinder end is hinged with mechanical hand crawl section surface, the additional lock cephalic par
It is respectively connected with spiral handspike, the spiral handspike end is connected with taper work set.
Further, the taper work set is internal is equipped with ejection seat, is connected to if the ejection seat end is uniformly hinged
Dry elastic baffle, and elastic baffle side covers surface with taper work by piston push rod and is hinged.
Further, the elastic baffle outer surface is evenly arranged with several lug bosses and several recessed portions are wavy
Structure, and all lug bosses and recessed portion form wavelike structure, and wearing layer is filled with inside the recessed portion, it is described wear-resisting
Layer surface is frosted structure.
Further, the connection steering mechanism includes the rotating basis being connected on mechanical hand pedestal, the rotation base
Seat top is connected with the first linking arm by the first turning crankshaft by locking seat, the locking seat, and the locking seat outer wall is logical
It crosses the first drive shaft to connect with the first linking arm, first linking arm end is connected with the second connection by the second turning crankshaft
Arm, and the second linking arm end is connect with mechanical hand crawl section is also hinged between the first linking arm and the second linking arm and is connected to the
Two drive shafts.
Further, first linking arm and the opposite surface of the second linking arm are mounted on flexible arc frame, and two
It is connected between flexible arc frame by several bending spring levers, is connected between adjacent bending spring lever by cross folding frame
It connects, the bending spring lever middle is also equipped with inflation set, and inflation set surface is provided with several air holes, and bends
The bending place of spring lever is also equipped with elastic balloon.
Further, pressure-bearing rod is also connected between the locking seat and the first linking arm, the pressure-bearing rod passes through hinged
Part is connect with locking seat, the first linking arm.
The invention discloses a kind of workpiece sensing anticreep methods of Intelligent robotic manipulator of numerical control equipment, include the following steps:
S100, workpiece current state is detected after mechanical hand clamps workpiece, is denoted as one-time detection, judges whether in easy
Loosen state；
S200, anti-deprotection is carried out according to one-time detection concrete condition starter, and detects workpiece current state again,
It is denoted as secondary detection；
S300, according to one-time detection situation and secondary detection situation, judge whether workpiece is in stable state and adjusts work
Part position, until workpiece keeps stablizing.
Further, in the step S100, one-time detection process specifically: navigate to the portion of mechanical hand clamping workpiece
Position, the stress size of the detection clamping each point in position, judges whether different parts stress size is identical, if identical, judges to press from both sides
Stabilization is taken, if it is different, then judging that workpiece holding is unstable；
In the step S200, the process of secondary detection specifically: after the fixed workpiece of protection mechanism, while detection machine
Device hand clamps the stress size at position and protection mechanism fixed position, if identical, judges that clamping is stablized, if it is different, then sentencing
Disconnected workpiece holding is unstable.
Further, in the step S300, after one-time detection and secondary detection, when any one position of the two by
When power is uniform, judge that workpiece is currently at stable state；When two position stress are all uneven, judge that workpiece is currently at not
Stable state readjusts mechanical hand to the clamping position of workpiece.
Compared with prior art, the beneficial effects of the present invention are:
(1) present invention carries out anti-deprotection to the workpiece that mechanical hand clamps using clamping protection mechanism, on the one hand improves work
The stability that part clamps, on the other hand when mechanical hand uses, so that the flexible modulation of mechanical hand not will lead to workpiece pine
It is de-, the use demand of mechanical hand can be met to greatest extent；
(2) present invention controls the stability that mechanical hand clamps workpiece by detection method of adjustment, in entirely clamping process
With mechanical hand adjustment process whole process detection, prevent workpiece from loosening.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is coasting mechanism structural schematic diagram of the invention；
Fig. 3 is bending structure of the spring bar schematic diagram of the invention；
Fig. 4 is arc part cross section structure schematic diagram of the invention；
Fig. 5 is clamping protection mechanism structural schematic diagram of the invention；
Fig. 6 is pretreatment cleaning mechanism structural schematic diagram of the invention；
Fig. 7 is arc-shaped guide plate cross section structure schematic diagram of the invention；
Fig. 8 is that arc of the invention scrapes row's structural schematic diagram；
Fig. 9 is elastic baffle structural schematic diagram of the invention；
Figure 10 is workpiece sensing anticreep method workflow schematic diagram of the invention.
Figure label:
1- numerically-controlled machine tool；2- mechanical hand pedestal；3- connection steering mechanism；4- mechanical hand crawl section；5- coasting mechanism；6- folder
Take protection mechanism；7- pre-processes cleaning mechanism；8- recovering mechanism；
301- rotating basis；302- locking seat；The first turning crankshaft of 303-；The first linking arm of 304-；305- first drives
Axis；The second turning crankshaft of 306-；The second linking arm of 307-；308- flexible arc frame；309- bends spring lever；310- cross folding
Frame；311- inflation set；312- air hole；313- elastic balloon；314- pressure-bearing rod；315- articulation piece；The second drive shaft of 316-；
501- sliding seat；502- roller group；503- slide slot；504- metallic rod；505- arc part；506- pushes seat；
507- screw propulsion component；508- directly pushes away component；509- connection rubber base；510- rotary screw；511- external spiral sleeve；512-
Connect pedestal；513- sliding sleeve；514- servo motor；515- hydraulic stem；516- sheet metal；517- limiting slot；518- metal
Steel ball；519- sound insulation gasket；520- honeycomb filled layer；
The upper arc-shaped seat of 601-；602- arc lower seat；603- transmission guide rod；604- assists collet；605- pneumatic cylinder；606- ten thousand
Xiang Jie；607- spiral handspike；608- taper work set；609- ejects seat；610- elastic baffle；611- piston push rod；612- is convex
The portion of rising；613- recessed portion；614- wearing layer；
701- rotation axis；702- arc-shaped guide plate；703- lift scrapes seat；704- arc scrapes row；705- rotating roller；706- is clear
Clean layers of brush bristles；707- connecting column；708- movable block；The vertical air pressure lifting poker of 709-；710- suction hole；711- flow guiding head；
801- recycling bucket；802- conduction pipe；803- accumulator tank；804- limiting section；805- axial fan.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figures 1 to 9, the present invention provides a kind of Intelligent robotic manipulator of numerical control equipment, including numerically-controlled machine tool 1 and setting
Mechanical hand pedestal 2 on numerically-controlled machine tool 1 is connected with mechanical hand crawl by connecting steering mechanism 3 on the mechanical hand pedestal 2
Portion 4, the connection steering mechanism 3 use buffering regulative mode to adjust the position of mechanical hand crawl section 4 to prevent the workpiece of clamping
It falls, and 2 bottom end of mechanical hand pedestal is slided by coasting mechanism 5 on 1 surface of numerically-controlled machine tool, the coasting mechanism 5 passes through two-way
Mode carries out position adjusting to mechanical hand pedestal 2, and the numerical control device manipulator is by mechanical hand crawl section 4 to workpiece to be processed
Clamping work is carried out, when clamping workpiece, angle is carried out to mechanical hand crawl section 4 by connection steering mechanism 3 and is freely turned
It changes, consequently facilitating realizing the flexible use of mechanical hand, convenient for the workpiece of clamping is transported to suitable position, and is specifically carrying out
When machine hand position is adjusted, it is contemplated that the difference that horizontal position is mobile and vertical direction is mobile utilizes coasting mechanism 5 and machine
The steering of device hand crawl section 4 itself is adjusted, and is selected most suitable path to be moved, is realized the efficient movement of workpiece.
The coasting mechanism 5 includes the sliding seat 501 that 1 surface of numerically-controlled machine tool is arranged in, and 501 both ends of sliding seat are pacified
Equipped with the roller group 502 slided on 1 surface of numerically-controlled machine tool, 501 surface of sliding seat is provided with slide slot 503, described to slide
It installs inside slot 503 there are two the metallic rod 504 being parallel to each other, 2 bottom of mechanical hand pedestal passes through two curved portions respectively
Part 505 slides in metallic rod 504, and 2 side of mechanical hand pedestal, which is connected with, pushes seat 506, and described 506 one end of pushing seat connects
It is connected to screw propulsion component 507, the other end, which is connected with, directly pushes away component 508, and when mobile, entire coasting mechanism 5 passes through rolling
Wheel group 502 is slided in 1 end of numerically-controlled machine tool, while mechanical hand pedestal 2 utilizes the water in two metallic rods 504 of arc part 505
It is smooth dynamic, so that entire mechanical hand pedestal 2 moving freely in the horizontal plane is realized, to realize the position of mechanical hand pedestal 2
It adjusts, and in mechanical hand pedestal 2 when being slided in metallic rod 504, component is pushed away by screw propulsion component 507 and directly respectively
508 are used in conjunction with each other, to adjust the precision of mechanical hand pedestal 2 when moving, allow the workpiece of clamping more accurate
Arrival designated position, reduce the error that generates in moving process, prevent from leading to mechanical hand needs because of excessive movement repeatedly
It adjusts, and the problem of influencing overall processing efficiency occurs.
The auger component 507 includes being mounted on the connection rubber base 509 for pushing 506 surface of seat, and connect rubber
509 outer walls of seat are connected with rotary screw 510 by ball bearing, and 510 spiral of rotary screw is connected with external spiral sleeve
511, and external spiral sleeve 511 is connected with sliding sleeve 513 by connecting pedestal 512, and 510 end of rotary screw is connected with and watches
Motor is taken, the sliding sleeve 513 is slidably socketed in the metallic rod 504 of side, and sliding sleeve 513 is internally provided with electromagnetism
Iron.
The component 508 that directly pushes away includes being connected to the movable loop bar 514 for pushing 506 surface of seat, 514 end of activity loop bar
End is connected with hydraulic stem 515, and the hydraulic stem 515 is connect with 503 end of slide slot.
When specifically used, component 508 is directly pushed away since moving distance is bigger, and precision is smaller, for pushing at the beginning
Mechanical hand pedestal 2 cooperates the accurate movement of auger component 507 later, so that the mechanical hand pedestal 2 after mobile adjusting can
Accurately to reach predetermined position, reduce the error generated in moving process, improves accuracy.
It is acted on first by the hydraulic drive of hydraulic stem 515, so that hydraulic stem 515 pushes mechanical hand by pushing seat 506
Moved further at the beginning of pedestal 2 is completed, and the electromagnet no power inside the sliding sleeve 513 of auger component 507, so that spiral pushes away
Dynamic component 507 is free to slide in metallic rod 504 by sliding sleeve 513, reaches the approximate location of specified workpiece, rear screw
The servo motor of pushing component 507 starts, while the electromagnet of sliding sleeve 513 also starts therewith, so that entire sliding sleeve
513 fixations are adsorbed in metallic rod 504, later the entire constantly rotation of rotary screw 510, due to rotary screw 510 and external spiral
Spiral engagement between sleeve 511, so that the circumgyration stretch on outer screw sheel 511 of rotary screw 510, thus to overhanging
Rotary screw 510 out, which pushes directly on, pushes seat 506, so that mechanical hand pedestal 2 continues to occur subtle movement, and due to
515 end of hydraulic stem is to be connect by movable loop bar 514 with seat 506 is pushed, and push mechanical hand base in auger component 507
When seat 2 occurs mobile, also drive activity loop bar 514 moves mechanical hand pedestal 2 therewith, to guarantee mechanical hand pedestal
2 movement is gone on smoothly.
It is adjusted using move horizontally be combined formula of the aforesaid way to mechanical hand pedestal 2, on the one hand improves workpiece and exist
The precision moved on horizontal plane improves efficiency of the workpiece when clamping transfer, after can completing workpiece on exact position
On the other hand continuous processing work by accurately controlling the moving process of entire mechanical hand, can maximally reduce mechanical hand
Adjustment workload can effectively reduce the excessive mobile extra abrasive action generated of mechanical hand while saving energy,
It plays a protective role to mechanical hand itself.
Mechanical hand is adjusted compared to traditional single mode simultaneously, can effectively increase mechanical hand by the way of convolution
Activity space, meet different regulatory demands.
505 inner wall of arc part is evenly arranged with several sheet metals 516, is provided on each sheet metal 516
Several limiting slots 517 are provided with metal steel ball 518 inside the limiting slot 517, and 517 outer wall of limiting slot is provided with one
Layer sound insulation gasket 519 is provided with honeycomb filled layer 520 between adjacent sheet metal 516, fills out inside the honeycomb filled layer 520
Filled with coolant liquid, and when mobile, arc part 505 contacts with each other with 504 surface of metallic rod slided respectively, in cunning
When dynamic, sound and heat can be generated, heat radiation protection is carried out by sheet metal 516, to be played when sliding good
Heat dissipation and deadening, the contact site of arc part 505 and metallic rod 504 is protected.
When specific sliding, as arc part 505 slides in metallic rod 504, using metal steel ball 518 in limiting slot
The constantly rotation of 517 inside, replaces the sliding friction of arc part 505 to act on by the rolling friction effect of metal steel ball 518,
So that the resistance of arc part 505 when moving greatly reduces, while continuous in 517 inside of limiting slot using metal steel ball 518
Rotation, so that the contact surface between metal steel ball 518 and metallic rod 504 constantly changes, the heat for reducing CONTACT WITH FRICTION is produced
It is raw.
Further, when mobile, since CONTACT WITH FRICTION is generating heat between arc part 505 and metallic rod 504
While amount, a part of sound can be also generated, sound insulation is carried out by the sound insulation gasket 519 of 517 outer wall of limiting slot at this time, will be generated
Unwanted noise eliminate, realize mute movement, while a part of heat generated can be by the honeycomb between adjacent sheet metal 516
Filled layer 520 is absorbed, and cooling is carried out by the coolant liquid inside honeycomb filled layer 520, thus in entire moving process
In, it plays a protective role to the movement between arc part 505 and metallic rod 504.
Pretreatment cleaning mechanism 7 is additionally provided with inside the mechanical hand crawl section 4, the pretreatment cleaning mechanism 7 passes through
Rotary-grinding and backwashing manner pre-process the workpiece surface of clamping, and pre-process 7 bottom end of cleaning mechanism and be also connected with for broken
Consider to be worth doing collect recovering mechanism 8, mechanical hand grab transmitting workpiece when, by pretreatment cleaning mechanism 7 to workpiece surface into
Row pretreatment removes the sundries of workpiece surface before workpiece reaches designated position, on the one hand improves workpieces in subsequent processing
Efficiency improve workpiece processing quality, further, disposing workpiece table and by being handled in time workpiece surface
After the sundries in face, extra sundries is recycled by recovering mechanism 8, the sundries disposed is recycled in time, prevents two
Secondary pollution.
The pretreatment cleaning mechanism 7 includes the arc-shaped guide plate that 4 side of mechanical hand crawl section is connected to by rotation axis 701
702,702 inner wall of arc-shaped guide plate is equipped with lift and scrapes seat 703, and the lift is scraped there are two 703 outer wall of seat is hinged
Arc scrapes row 704, and the arc scrapes 704 inner walls of row and is uniformly equipped with several rotating rollers 705, and 705 surface of rotating roller is set
It is equipped with cleaning brush batt 706, the recovering mechanism 8 includes the recycling bucket 801 for being mounted on arc and scraping 704 bottom ends of row, arc-shaped guide plate
702 are connect by rotation axis 701 with mechanical hand crawl section 4, when in use, adjustable using the rotary action of rotation axis 701
Position between arc-shaped guide plate 702 and mechanical hand crawl section 4, so that arc-shaped guide plate 702 can be grabbed with accurate movement to mechanical hand
Any position in portion 4 works to the workpiece cleaning treatment on mechanical hand crawl section 4 by arc-shaped guide plate 702.
In mechanical hand crawl section when 4 grabbing workpiece, the general balanced weight for considering workpiece, is all directly from centre
Position clamps workpiece, at this time when arc-shaped guide plate 702 turns to 4 corresponding position of mechanical hand crawl section, passes through arc
Shape guide plate 702 carries out cleaning pretreatment, drives two arcs to scrape row 704 by lift hanging seat 703 at this time and constantly moves up and down,
So that arc scrapes cleaning of 704 completion of row to workpiece upper and lower surface.
When specific cleaning, the rotating roller 705 of 704 surfaces of row installation is scraped by arc, rotary action so that its surface
Cleaning brush batt 706 scrubs workpiece surface, and the sundries of workpiece surface is scraped, and completes preliminary cleaning.
The arc scrapes row 704 and is connected with movable block 708 by connecting column 707, and the movable block 708 is fixedly connected with peace
Vertical air pressure lifting poker 709 mounted in 702 surface of arc-shaped guide plate, the arc scrape 704 surfaces of row and are also evenly arranged with several
Suction hole 710, the suction hole 710 is uniformly arranged between adjacent rotating roller 705, and is also equipped with and is led in suction hole 710
Stream head 711, and recycle 801 tops of bucket and be connected with the conduction pipe 802 connected with the conducting of suction hole 710, specifically when lifting, by perpendicular
The oscilaltion effect of straight air pressure lifting poker 709, drives movable block 708 to move up and down so that arc scrape row 704 can more than
Lower movement carries out cleaning treatment to workpiece surface.
Further, by the suction hole 710 being arranged between adjacent rotating roller 705, passing through rotation in rotating roller 705 will
After the sundries of workpiece surface scrapes, sundries is absorbed in time using suction hole 710, realizes that the integration of cleaning process carries out,
And flow guiding head 711 allows the sundries of sucking to enter directly into suction null 710, is not easy to remain, and is sucked the suction of hole 710
Sundries enter conduction pipe 802 carry out centralized collection.
The recycling bucket 801 is internally provided with the accumulator tank 803 of V-structure, and the 803 top two sides of accumulator tank are also set up
There is limiting section 804, and axial fan 805 is installed inside accumulator tank 803, by the draft effect of axial fan 805, makes
It obtains entirely 801 inside of recycling bucket and forms subnormal ambients, the sundries of outside is quickly pumped into inside suction hole 710, while being made
Used time due to the V-shaped structure of accumulator tank 803 of 801 bottoms of recycling bucket, allows and stablizes into the clast inside recycling bucket 801
It concentrates, due to the barrier effect of V-structure, so that the clast entered inside recycling bucket 801 will not flow back easily, realizes high
Effect cleaning.
The clamping protection mechanism 6 for preventing workpiece from loosening is also equipped on the mechanical hand crawl section 4, the clamping is anti-
Shield mechanism 6 multidigit clamp by way of distribution clamping is carried out to workpiece, the device 4 grabbing workpiece of mechanical hand crawl section it
Afterwards, secondary protection is carried out by the workpiece of 6 pairs of protection mechanism clampings of clamping, prevents work occur when mechanical hand transmitting workpiece
The case where part loosens guarantees the stability of whole process workpiece, while after mechanical hand clamps workpiece, convenient for mechanical hand from
By flexible modulation, the stabilization of workpiece will not be had an impact.
The clamping protection mechanism 6 includes the upper arc-shaped seat 601 and arc lower seat for being mounted on 4 surface of mechanical hand crawl section
602, the upper arc-shaped seat 601 and arc lower seat 602 are symmetrical arranged by symmetry axis of 4 central axes of mechanical hand crawl section, and upper arc
Shape seat 601 and 602 end of arc lower seat, which are hinged, is connected to transmission guide rod 603, and 603 end of transmission guide rod is connected with additional lock
First 604, and 603 surface of transmission guide rod is connected with pneumatic cylinder 605,605 end of pneumatic cylinder and mechanical hand by universal joint 606
4 surface of crawl section is hinged, and 604 end of auxiliary collet is respectively connected with spiral handspike 607,607 end of spiral handspike
It is connected with taper work set 608, clamping protection mechanism 6 passes through the air pressure impetus of pneumatic cylinder 605 respectively, so that auxiliary collet
604 is mobile by upper arc-shaped seat 601 and arc lower seat 602 respectively, allows two upper and lower auxiliary collets 604 for difference
The workpiece of size carries out position adjustment, more convenient when specifically used, and when specifically clamping workpiece, pass through additional lock
First 604 push taper work set 608 by the spiral handspike 607 that end connects, and workpiece end are clamped, to cooperate mechanical hand
Crawl section 4 itself fixes workpiece comprehensively, prevents workpiece from loosening.
Ejection seat 609 is installed inside the taper work set 608, is connected to if 609 end of ejection seat is uniformly hinged
Dry elastic baffle 610, and 610 side of elastic baffle covers 608 surfaces with taper work by piston push rod 611 and is hinged, with
The contraction of pneumatic cylinder 605 so that auxiliary the preliminary adjusting position of collet 604, later in the impetus of spiral handspike 607
Under, the position of taper work set 604 is further adjusted, two taper work sets 608 is allowed to carry out bound to workpiece
Position guarantees that the end of workpiece is fallen into inside taper work set 608, and since taper work set 608 is using pyramidal structure,
When different size of workpiece is fixed, due to being suitable for the workpiece of different sizes inside taper work set 608,
So that it is more practical when fixed workpiece, meet the use demand of different size workpiece.
After the end of workpiece is inserted into taper work 608 inside of set, by the position of regulating piston push rod 611, make
Obtaining multiple elastic baffles 610 can contact with the end of workpiece respectively, while protecting to workpiece, pass through elastic baffle
610 elastic reaction, so that workpiece is abundant when stress, the active force applied for piston push rod 611 can be direct
It is transferred to workpiece surface, thus it is even closer by what is be bonded between workpiece and elastic baffle 610, increase the fixed effect of workpiece.
610 outer surface of elastic baffle is evenly arranged with several lug bosses 612 and several recessed portions 613 are wavy
Structure, and all lug bosses 612 and recessed portion 613 form wavelike structure, are filled with wearing layer inside the recessed portion 613
614,614 surface of wearing layer is frosted structure, further, when elastic baffle 610 and workpiece surface contact, by
Multiple continuous lug bosses 612 and recessed portion 613 in its surface form a wavelike structure, apply in piston push rod 611
Force transfer to 610 surface of elastic baffle after, promote the close contact of elastic baffle 610 and workpiece surface, increase connects
Active force is touched, guarantees that workpiece is not easy to loosen, simultaneously as the enclosure space formed after recessed portion 613 and workpiece contact, utilizes
The effect of atmospheric pressure can further increase the fixed function of elastic baffle 610, play good anti-off effect.
After workpiece is fixed by mechanical hand crawl section 4, the secondary fixed function of cooperation clamping protection mechanism 6 not only increases
The strong fixed stability of workpiece, and can prevent workpiece from loosening when mechanical hand flexibly turns to or moves, it is convenient for
Mechanical hand carries out the operation of various complexity after clamping workpiece.
It is fixed due to entirely clamping protection mechanism 6 using dual end fixed form, when mechanical hand is adjusting
When angle, compared to traditional clamping mode, the fixed mode in dual end can be effectively prevented workpiece and loosen, and have effect
Work is adjusted to different angles.
The connection steering mechanism 3 includes the rotating basis 301 being connected on mechanical hand pedestal 2, the rotating basis 301
Top is connected with the first linking arm 304, the lock by the first turning crankshaft 303 by locking seat 302, the locking seat 302
302 outer wall of reservation is connect by the first drive shaft 305 with the first linking arm 304, and 304 end of the first linking arm passes through second
Turning crankshaft 306 is connected with the second linking arm 307, and 307 end of the second linking arm is connect with mechanical hand crawl section 4, and first connects
It connects also to be hinged between arm 304 and the second linking arm 307 and is connected to the second drive shaft 316, entire mechanical hand crawl section 4 is turned by connection
Multiple steering work is realized to mechanism 3, convenient for realizing angular transition to mechanical hand crawl section 4, facilitates the work for completing different requirements
Part shifts work.
It is acted on by the double drive of the first drive shaft 305 and the second drive shaft 316, so that the first linking arm 304 and the
Two linking arms 307 when in use, can realize angle adjustment, by first by the impetus of two drive shafts
The mixing of linking arm 304 and the second linking arm 307 is adjusted, so that the torque tune of greater angle may be implemented in mechanical hand crawl section 4
Section, convenient for completing a variety of different operations.
First linking arm 304 and the opposite surface of the second linking arm 307 are mounted on flexible arc frame 308, and two
It is connected between flexible arc frame 308 by several bending spring levers 309, passes through intersection between adjacent bending spring lever 309
Folding stand 310 connects, and 309 middle of bending spring lever is also equipped with inflation set 311, and the inflation covers the setting of 311 surfaces
Have several air holes 312, and the bending place for bending spring lever 309 is also equipped with elastic balloon 313, on the other hand, for
When adjusting machine hand position, pushes the vibration that adjusts and can generate larger due to drawing, especially clamped on mechanical hand
When workpiece, the clamping of workpiece may be had an impact, workpiece is caused to occur loosening the case where even loosening, influenced entire
The crawl process and subsequent processing progress of mechanical hand.
Since when adjustment, the link position between the first linking arm 304 and the second linking arm 307 is grabbed with mechanical hand
It takes portion 4 closest, is also easiest to the crawl work to mechanical hand and has an impact, bend spring lever 309 by several at this time
Buffer protection is carried out, and bends 309 both ends of spring lever and is connected respectively with the first linking arm 304, second by flexible arc frame 308
The connection of arm 307 is connect, so that the effect of vibration generated in adjustment process, it can be successively by flexible arc frame 308 and bending spring
Bar 309 is offset, thus play the role of tentatively buffering, and when effect of vibration is transferred to bending spring lever 309, by
Setting inflation set 311, the percussion being transferred among bending spring lever 309 cover inflation among bending spring lever 309
311 generate strong extruding, so that inflation set 311 is gradually compressed, it is outside to pass through air hole 312 after the gas pressure of formation
Portion's release, to complete whole pressure releasing process, plays good cushioning effect to the adjusting of mechanical hand.
And since bending spring lever 309 uses folding type structure, when its compression or stretching, bending place is set
The elastic balloon 313 set can all generate a resistance buffer function, so that the adjustment process to mechanical hand plays buffer protection
Effect.
Pressure-bearing rod 314 is also connected between the locking seat 302 and the first linking arm 304, the pressure-bearing rod 314 passes through hinge
Fitting 315 is connect with locking seat 302, the first linking arm 304, and and when adjusting the first linking arm 304, pass through pressure-bearing rod
314 are fixedly connected with locking seat 302 with the first linking arm 304, guarantee that the first linking arm 304 will not be run when connection
Partially, it plays and is oriented to stable effect.
As shown in Figure 10, the present invention also provides a kind of position adjustment control method of Intelligent robotic manipulator of numerical control equipment, packets
Include following steps:
S100, the specified arrival target position of mechanical hand, recorder hand current location are determined, combining position information is analyzed most
Target position, current location are carried out information record and comparison, analysis optimization go out optimal path by shortest path；
S200, the optimal path according to analysis, mechanical hand itself and mechanical hand base combination formula are mobile to reach target position
It sets, specific analytic process are as follows:
Horizontal coordinate, the horizontal coordinate of mechanical hand pedestal and the horizontal coordinate of target position of recorder hand；
Energy consumed by recorder hand pedestal is mobile in the horizontal direction, the mobile consumed energy of mechanical hand itself
Amount；
In conjunction with the horizontal coordinate of mechanical hand pedestal and the energy of consumption, the horizontal coordinate of mechanical hand itself and the energy of consumption
Amount, digital control system calculate optimal walking in a horizontal state distance and vertical travel distance, while fastest to point of destination is reached, reach
Most energy saving effect, and the path of Current protocols is recorded, by digital control system come Manipulation of the machine hand according to preset path
It is mobile, to realize the move mode that mechanical hand optimizes.
S300, mechanical hand complete final position movement, and the data of record and mobile route are stored and are uploaded, under being convenient for
It is secondary to compare, while after the moving process for completing mechanical hand, the mechanical hand initial position target position of record is saved,
And save path, until next time encounters same situation, the correspondence program in digital control system is directly transferred, realizes and quickly moves
It is dynamic, without computing repeatedly.
As shown in Figure 10, the present invention provides a kind of workpiece sensing anticreep methods of Intelligent robotic manipulator of numerical control equipment, including
Following steps:
S100, workpiece current state is detected after mechanical hand clamps workpiece, is denoted as one-time detection, judges whether in easy
State is loosened, state is clamped according to the mechanical hand of detection first, judges whether workpiece is in stable state, detailed process are as follows: is fixed
Position to the position of mechanical hand clamping workpiece, the stress size of the detection clamping each point in position, judges that different parts stress size is
It is no identical, if identical, judge that clamping is stablized, if it is different, then judging that workpiece holding is unstable；
S200, anti-deprotection is carried out according to one-time detection concrete condition starter, and detects workpiece current state again,
It is denoted as secondary detection, when one-time detection is unstable, starting clamping protection mechanism carries out anti-deprotection to the end of workpiece,
The anticreep for detecting workpiece again at this time clamps the active force at position, the process of secondary detection specifically: in protection mechanism regular worker
After part, while the stress size at mechanical hand clamping position and protection mechanism fixed position is detected, if identical, judges that clamping is steady
It is fixed, if it is different, then judging that workpiece holding is unstable.
S300, according to one-time detection situation and secondary detection situation, judge whether workpiece is in stable state and adjusts work
Part position, until workpiece keeps stablizing.
In the step S300, after one-time detection and secondary detection, when any one position uniform force of the two,
Judge that workpiece is currently at stable state；When two position stress are all uneven, judge that workpiece is currently at unstable state,
Mechanical hand is readjusted to the clamping position of workpiece.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment including numerically-controlled machine tool (1) and is arranged on numerically-controlled machine tool (1)
Mechanical hand pedestal (2), it is characterised in that: mechanical hand is connected with by connection steering mechanism (3) on the mechanical hand pedestal (2) and is grabbed
It takes portion (4), the clamping protection mechanism (6) for preventing workpiece from loosening, the folder is also equipped on the mechanical hand crawl section (4)
Protection mechanism (6) is taken to carry out distribution clamping to workpiece in such a way that multidigit clamps.
2. a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment according to claim 1, it is characterised in that: the clamping
Protection mechanism (6) includes being mounted on the upper arc-shaped seat (601) and arc lower seat (602) on mechanical hand crawl section (4) surface, it is described on
Arc-shaped seat (601) and arc lower seat (602) are symmetrical arranged by symmetry axis of mechanical hand crawl section (4) central axes, and upper arc-shaped seat
(601) it is hinged and is connected to transmission guide rod (603) with arc lower seat (602) end, transmission guide rod (603) end is connected with auxiliary
It helps collet (604), and transmission guide rod (603) surface is connected with pneumatic cylinder (605), the pneumatic cylinder by universal joint (606)
(605) end is hinged with mechanical hand crawl section (4) surface, and auxiliary collet (604) end is respectively connected with spiral handspike
(607), spiral handspike (607) end is connected with taper work set (608).
3. a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment according to claim 1, it is characterised in that: the taper
Ejection seat (609) is installed, ejection seat (609) end, which is uniformly hinged, is connected to several elasticity gears inside workpiece set (608)
Plate (610), and elastic baffle (610) side is hinged by piston push rod (611) and taper work set (608) surface.
4. a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment according to claim 1, it is characterised in that: the elasticity
Baffle (610) outer surface is evenly arranged with several lug bosses (612) and several recessed portion (613) wavelike structures, and institute
By lug boss (612) and recessed portion (613) form wavelike structure, wearing layer is filled with inside the recessed portion (613)
(614), wearing layer (614) surface is frosted structure.
5. a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment according to claim 1, it is characterised in that: the connection
Steering mechanism (3) includes the rotating basis (301) being connected on mechanical hand pedestal (2), and rotating basis (301) top passes through
Locking seat (302), the locking seat (302) are connected with the first linking arm (304), the lock by the first turning crankshaft (303)
Reservation (302) outer wall is connect by the first drive shaft (305) with the first linking arm (304), the first linking arm (304) end
It is connected with the second linking arm (307) by the second turning crankshaft (306), and the second linking arm (307) end and mechanical hand grab
Portion (4) connection, is also hinged between the first linking arm (304) and the second linking arm (307) and is connected to the second drive shaft (316).
6. a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment according to claim 1, it is characterised in that: described first
Linking arm (304) and the opposite surface of the second linking arm (307) are mounted on flexible arc frame (308), two flexible arc framves
(308) it is connected between by several bendings spring lever (309), passes through cross folding between adjacent bending spring lever (309)
Frame (310) connection, bending spring lever (309) middle are also equipped with inflation set (311), and the inflation covers (311) surface
Several air holes (312) are provided with, and the bending place for bending spring lever (309) is also equipped with elastic balloon (313).
7. a kind of anti-drop device of Intelligent robotic manipulator of numerical control equipment according to claim 5, it is characterised in that: the locking
It is also connected with pressure-bearing rod (314) between seat (302) and the first linking arm (304), the pressure-bearing rod (314) passes through articulation piece
(315) it is connect with locking seat (302), the first linking arm (304).
8. a kind of workpiece sensing anticreep method of Intelligent robotic manipulator of numerical control equipment, which comprises the steps of:
S100, workpiece current state is detected after mechanical hand clamps workpiece, is denoted as one-time detection, judges whether in easily loosening
State；
S200, anti-deprotection is carried out according to one-time detection concrete condition starter, and detects workpiece current state again, be denoted as
Secondary detection；
S300, according to one-time detection situation and secondary detection situation, judge whether workpiece is in stable state and adjusts workpiece position
It sets, until workpiece keeps stablizing.
9. a kind of workpiece sensing anticreep method of Intelligent robotic manipulator of numerical control equipment according to claim 8, which is characterized in that
In the step S100, one-time detection process specifically: navigate to the position of mechanical hand clamping workpiece, detection clamping position is each
The stress size of point, judges whether different parts stress size is identical, if identical, judges that clamping is stablized, if it is different, then sentencing
Disconnected workpiece holding is unstable；
In the step S200, the process of secondary detection specifically: after the fixed workpiece of protection mechanism, while detecting mechanical hand
The stress size for clamping position and protection mechanism fixed position judges that clamping is stablized, if it is different, then judging work if identical
Part clamping is unstable.
10. a kind of workpiece sensing anticreep method of Intelligent robotic manipulator of numerical control equipment according to claim 8, feature exist
In, in the step S300, after one-time detection and secondary detection, when any one position uniform force of the two, judgement
Workpiece is currently at stable state；When two position stress are all uneven, judge that workpiece is currently at unstable state, again
Mechanical hand is adjusted to the clamping position of workpiece.
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| CN201811366773.6A CN109434861B (en) | 2018-11-16 | 2018-11-16 | Anti-falling device of intelligent robot hand of numerical control equipment and workpiece position adjusting method |
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| CN112720548A (en) * | 2021-01-29 | 2021-04-30 | 陕西国防工业职业技术学院 | Workpiece transposition manipulator of hydraulic stretching machine |
| CN112757328A (en) * | 2020-12-25 | 2021-05-07 | 广东智源机器人科技有限公司 | Clamping device and food making equipment |
| CN113544069A (en) * | 2019-04-09 | 2021-10-22 | 川崎重工业株式会社 | Robot hand, robot, and robot system |
| CN114407056A (en) * | 2022-01-17 | 2022-04-29 | 无锡市鑫启机械科技有限公司 | 5G intelligent household electrical appliance production line clamping mechanism |
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