CN109434861B - Anti-falling device of intelligent robot hand of numerical control equipment and workpiece position adjusting method - Google Patents
Anti-falling device of intelligent robot hand of numerical control equipment and workpiece position adjusting method Download PDFInfo
- Publication number
- CN109434861B CN109434861B CN201811366773.6A CN201811366773A CN109434861B CN 109434861 B CN109434861 B CN 109434861B CN 201811366773 A CN201811366773 A CN 201811366773A CN 109434861 B CN109434861 B CN 109434861B
- Authority
- CN
- China
- Prior art keywords
- workpiece
- robot
- clamping
- robot hand
- numerical control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an anti-drop device of an intelligent robot hand of numerical control equipment, which comprises a numerical control machine and a robot hand base arranged on the numerical control machine, wherein the robot hand base is connected with a robot hand grabbing part through a connecting steering mechanism, the robot hand grabbing part is also provided with a clamping protection mechanism for preventing a workpiece from loosening, and the clamping protection mechanism is used for distributing and clamping the workpiece in a multi-position clamping manner, and the workpiece detection anti-drop method of the intelligent robot hand of the numerical control equipment comprises the following steps: detecting the current state of the robot after the robot grips the workpiece at one time; starting the device to perform anti-drop protection according to the specific condition of primary detection, and secondarily detecting the current state of the workpiece; according to the primary detection condition and the secondary detection condition, whether the workpiece is in a stable state or not is judged, the position of the workpiece is adjusted until the workpiece is stable, and when the robot hand clamps the workpiece, the workpiece is protected from falling off in an auxiliary clamping mode, so that the robot hand can be flexibly adjusted when clamping the workpiece.
Description
Technical Field
The invention relates to the technical field of numerical control equipment, in particular to an anti-falling device of an intelligent robot hand of numerical control equipment and a workpiece detection anti-falling method.
Background
The numerical control equipment is the equipment applying the technology, the numerical control technology is also called computer numerical control technology, and the technology adopts a computer to realize digital program control at present, and the computer executes the function of controlling the motion track of the equipment and the operation sequence logic of the peripheral equipment according to a control program stored in advance. The computer is used to replace available digital controller comprising hardware logic circuit, and the control functions of input operation command including storage, processing, calculation, logic judgment, etc. may be completed through computer software.
A robot, also called a manipulator, is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing and carrying objects or operating tools according to a fixed program. The robot has the characteristics that various expected operations can be completed through programming, and the advantages of the robot and the manipulator are combined in structure and performance.
The manipulator is the earliest industrial robot and the earliest modern robot, can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
The manipulator mainly comprises an actuating mechanism, a driving mechanism and a control system. The hand is a member for gripping a workpiece (or a tool), and has various structures such as a grip type, a holding type, and an adsorption type according to the shape, size, weight, material, and working requirements of an object to be gripped. The motion mechanism enables the hand to complete various rotation (swing), movement or compound motions to realize specified actions and change the position and the posture of a gripped object. The independent motion modes of the motion mechanism, such as lifting, stretching, rotating and the like, are called the degree of freedom of the manipulator. In order to grasp an object at any position and orientation in space, 6 degrees of freedom are required. The degree of freedom is a key parameter for the design of the manipulator. The more degrees of freedom, the more flexible the manipulator, the wider the versatility, and the more complex the structure. The general special manipulator has 2-3 degrees of freedom. The control system is used for controlling a motor of each degree of freedom of the manipulator to complete a specific action. And meanwhile, receiving information fed back by the sensor to form stable closed-loop control. The core of the control system is usually composed of a single chip microcomputer or a dsp and other micro control chips, and the required functions are realized by programming the micro control chips.
However, after the existing numerical control equipment robot hand clamps a workpiece, some adjustment work is often needed due to work requirements, and the robot hand for clamping the workpiece is easy to loosen the workpiece during adjustment, so that the work efficiency of the robot hand is seriously affected, and a safety problem is also caused in serious cases.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the anti-falling device of the intelligent robot hand of the numerical control equipment and the workpiece detection anti-falling method.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an anticreep device of numerical control equipment intelligent robot hand, includes digit control machine tool and sets up the robot base on the digit control machine tool, be connected with the robot through connecting steering mechanism on the robot base and snatch the portion, still install the clamp that is used for preventing that the work piece from taking off in the robot snatchs the portion and get protective mechanism, the clamp is got protective mechanism and is distributed the clamp tightly to the work piece through the tight mode of many clamps.
Further, press from both sides and get protection machanism including installing at the last arc seat and the lower arc seat on the robot grabbing portion surface, go up the arc seat and use the robot grabbing portion axis to set up as symmetry axis symmetry with lower arc seat, and go up the arc seat and all articulate the transmission guide arm with lower arc seat tip, transmission guide arm end-to-end connection has supplementary chuck, and transmission guide arm surface is connected with the pneumatic cylinder through the universal joint, the pneumatic cylinder end is connected with robot grabbing portion surface hinge, supplementary chuck tip all is connected with screw rod, screw rod end-to-end connection has toper workpiece sleeve.
Furthermore, an ejection seat is installed inside the conical workpiece sleeve, the tail end of the ejection seat is evenly hinged with a plurality of elastic baffles, and the side faces of the elastic baffles are hinged with the surface of the conical workpiece sleeve through piston push rods.
Further, a plurality of protruding portions and a plurality of depressed portion wavy structure are evenly provided with to the elastic baffle surface, and all protruding portions and depressed portions constitute wavy structure, the depressed portion is inside to be filled with the wearing layer, the wearing layer surface is dull polish structure.
Further, connect steering mechanism including connecting the rotating base on the robot base, the rotating base top is connected with the locking seat, the locking seat has first linking arm through first rotation crankshaft connection, the locking seat outer wall is connected with first linking arm through first drive shaft, first linking arm end is connected with the second linking arm through second rotation crankshaft, and the second linking arm is terminal to be connected with the robot portion of snatching, and it has the second drive shaft to go back the hinge between first linking arm and the second linking arm.
Further, the relative surface of first linking arm and second linking arm all installs elasticity arc frame, buckles through a plurality of spring beam between two elasticity arc frames and connects, connects through alternately folding leg between the adjacent spring beam of buckling, buckle the spring beam middle department and still install the cover of aerifing, the cover surface of aerifing is provided with a plurality of bleeder vent, and buckles the department of buckling of spring beam and still install elastic airbag.
Furthermore, a pressure bearing rod is connected between the locking seat and the first connecting arm and is connected with the locking seat and the first connecting arm through a hinge.
The invention discloses a workpiece detection anti-drop method of an intelligent robot hand of numerical control equipment, which comprises the following steps:
s100, detecting the current state of the workpiece after the workpiece is clamped by the robot hand, recording the current state as primary detection, and judging whether the workpiece is in an easy-to-loosen state or not;
s200, starting the device to perform anti-drop protection according to the specific situation of the primary detection, detecting the current state of the workpiece again, and recording as secondary detection;
and S300, judging whether the workpiece is in a stable state or not according to the primary detection condition and the secondary detection condition, and adjusting the position of the workpiece until the workpiece is stable.
Further, in step S100, one detection process specifically includes: positioning a part for clamping the workpiece by a robot hand, detecting the stress of each point of the clamping part, judging whether the stress of different parts is the same, if so, judging that the clamping is stable, and if not, judging that the clamping of the workpiece is unstable;
in step S200, the secondary detection process specifically includes: after the protection mechanism fixes the workpiece, the stress of the robot clamping part and the stress of the protection mechanism fixing part are detected simultaneously, if the stress is the same, the clamping is judged to be stable, and if the stress is different, the workpiece clamping is judged to be unstable.
Further, in the step S300, after the primary detection and the secondary detection, when the force applied to any one of the two parts is uniform, it is determined that the workpiece is currently in a stable state; and when the two parts are not uniformly stressed, judging that the workpiece is in an unstable state at present, and readjusting the clamping position of the robot hand on the workpiece.
Compared with the prior art, the invention has the beneficial effects that:
(1) the clamping protection mechanism is used for preventing the workpiece clamped by the robot hand from falling off, so that the workpiece clamping stability is improved, the workpiece cannot be loosened due to flexible adjustment of the robot hand when the robot hand is used, and the use requirement of the robot hand can be met to the maximum extent;
(2) the invention controls the stability of the robot hand for clamping the workpiece by the detection and adjustment method, and detects the whole clamping process and the whole robot hand adjustment process to prevent the workpiece from loosening.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the skid structure of the present invention;
FIG. 3 is a schematic view of a buckling spring bar according to the present invention;
FIG. 4 is a cross-sectional structural view of a curved member of the present invention;
FIG. 5 is a schematic view of the gripping and guarding mechanism of the present invention;
FIG. 6 is a schematic view of the pre-treatment cleaning mechanism of the present invention;
FIG. 7 is a schematic cross-sectional view of an arc-shaped guide plate according to the present invention;
FIG. 8 is a schematic view of an arcuate wiper blade configuration of the present invention;
FIG. 9 is a schematic view of the structure of the elastic baffle of the present invention;
FIG. 10 is a schematic view of a work flow of the method for detecting and preventing the falling of the workpiece according to the present invention.
Reference numbers in the figures:
1-numerical control machine tool; 2-robot base; 3-connecting a steering mechanism; 4-a robot gripping section; 5-a slide mechanism; 6-a clamping protection mechanism; 7-a pre-treatment cleaning mechanism; 8-a recovery mechanism;
301-a rotating base; 302-a locking seat; 303-a first rotating crankshaft; 304-a first connecting arm; 305-a first drive shaft; 306-a second rotating crankshaft; 307-a second connecting arm; 308-an elastic arc-shaped frame; 309-bending the spring rod; 310-cross folding leg; 311-inflation sleeve; 312-air holes; 313-an elastic balloon; 314-a pressure-bearing rod; 315-a hinge; 316-a second drive shaft;
501-a sliding seat; 502-roller train; 503-sliding slot; 504-metal rod; 505-an arc-shaped member; 506-pushing seat; 507-a screw propulsion assembly; 508-a direct push component; 509-connecting rubber seat; 510-rotating the screw; 511-external spiral sleeve; 512-connecting the base; 513-sliding sleeve; 514-servo motor; 515-hydraulic ram; 516-metal sheet; 517-a limit groove; 518-metal steel balls; 519-sound insulation spacers; 520-a honeycomb filling layer;
601-upper arc seat; 602-lower arc seat; 603-a drive guide; 604-an auxiliary chuck; 605-pneumatic cylinder; 606-a gimbal; 607-a helical push rod; 608-conical workpiece sleeve; 609-an ejection seat; 610-elastic baffle; 611-piston pusher; 612-a boss; 613-a recess; 614-wear layer;
701-a rotating shaft; 702-an arc guide plate; 703-lifting type scraping base; 704-arc scraping; 705-rotating rolls; 706-a cleaning bristle layer; 707-connecting column; 708-moving block; 709-vertical pneumatic lifting rod; 710-suction holes; 711-a flow guiding head;
801-recovery bucket; 802-a conduit; 803-a recovery tank; 804-a limiting part; 805-axial flow fan.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 9, the invention provides an intelligent robot hand for numerical control equipment, comprising a numerical control machine 1 and a robot base 2 arranged on the numerical control machine 1, wherein the robot base 2 is connected with a robot gripping part 4 through a connecting steering mechanism 3, the connecting steering mechanism 3 adjusts the position of the robot gripping part 4 in a buffer adjustment mode to prevent a gripped workpiece from falling off, the bottom end of the robot base 2 slides on the surface of the numerical control machine 1 through a sliding mechanism 5, the sliding mechanism 5 adjusts the position of the robot base 2 in a bidirectional mode, the robot hand of the numerical control equipment grips a workpiece to be processed through the robot gripping part 4, and when gripping the workpiece, the connecting steering mechanism 3 freely converts the angle of the robot gripping part 4, so that the flexible use of the robot hand is facilitated, and the gripped workpiece is conveniently conveyed to a proper position, when the position of the robot hand is adjusted, the most appropriate path is selected to move by taking the difference between horizontal position movement and vertical direction movement into consideration and utilizing the steering adjustment of the sliding mechanism 5 and the robot hand grabbing part 4, so that the efficient movement of the workpiece is realized.
The sliding mechanism 5 comprises a sliding seat 501 arranged on the surface of the numerical control machine tool 1, roller groups 502 sliding on the surface of the numerical control machine tool 1 are arranged at two ends of the sliding seat 501, a sliding groove 503 is arranged on the surface of the sliding seat 501, two metal rods 504 parallel to each other are arranged in the sliding groove 503, the bottom of the robot base 2 slides on the metal rods 504 through two arc-shaped parts 505 respectively, a pushing seat 506 is connected to one side of the robot base 2, one end of the pushing seat 506 is connected with a spiral pushing assembly 507, the other end of the pushing seat is connected with a straight pushing assembly 508, when the sliding mechanism moves, the whole sliding mechanism 5 slides at the end of the numerical control machine tool 1 through the roller groups 502, and meanwhile, the robot base 2 horizontally slides on the two metal rods 504 through the arc-shaped parts 505, so that the free movement of the whole robot base 2 on the horizontal plane is realized, and the position adjustment of, and when the robot base 2 slides on the metal rod 504, the spiral pushing assembly 507 and the straight pushing assembly 508 are respectively matched with each other for use, so that the precision of the robot base 2 in moving is adjusted, a clamped workpiece can reach a specified position more accurately, errors generated in the moving process are reduced, and the problem that the whole machining efficiency is influenced due to repeated adjustment of the robot caused by excessive movement is solved.
The direct pushing assembly 508 comprises a movable sleeve rod 514 connected to the surface of the pushing seat 506, the end of the movable sleeve rod 514 is connected with a hydraulic rod 515, and the hydraulic rod 515 is connected with the end of the sliding groove 503.
When the robot hand base is used specifically, the straight pushing assembly 508 is larger in moving distance and smaller in precision, and is used for pushing the robot hand base 2 at the beginning and then matching with the accurate movement of the spiral pushing assembly 507, so that the robot hand base 2 after moving and adjusting can accurately reach a preset position, errors generated in the moving process are reduced, and the precision is improved.
Firstly, the hydraulic rod 515 pushes the robot base 2 to complete the preliminary movement through the pushing seat 506 by the hydraulic pushing action of the hydraulic rod 515, the electromagnet inside the sliding sleeve 513 of the spiral pushing assembly 507 is not electrified, so that the spiral pushing assembly 507 slides freely on the metal rod 504 through the sliding sleeve 513 to reach the approximate position of the appointed workpiece, then the servo motor of the spiral pushing assembly 507 is started, simultaneously the electromagnet of the sliding sleeve 513 is started, so that the whole sliding sleeve 513 is fixedly adsorbed on the metal rod 504, then the whole rotating screw 510 rotates continuously, due to the spiral meshing action between the rotating screw 510 and the outer rotating sleeve 511, the rotating screw 510 rotates and stretches on the outer rotating sleeve 511, so that the rotating screw 510 extending outwards directly pushes the pushing seat 506, and thus the robot base 2 continues to move slightly, since the end of the hydraulic rod 515 is connected to the pushing seat 506 through the movable sleeve rod 514, when the screw pushing assembly 507 pushes the robot base 2 to move, the robot base 2 also drives the movable sleeve rod 514 to move, thereby ensuring that the robot base 2 moves smoothly.
Adopt above-mentioned mode to carry out combination formula regulation to the horizontal migration of robot base 2, improved the precision that the work piece moved on the horizontal plane on the one hand, improved the work piece and got the efficiency when shifting in the clamp, can accomplish the subsequent processing work of work piece on the accurate position, on the other hand, through the removal process of the whole robot of accurate control, the adjustment work load of reduction robot that can furthest, when energy saving, can effectively reduce the unnecessary wearing and tearing effect that the excessive removal of robot produced, play the guard action to the robot itself.
Compared with the traditional single-mode adjusting manipulator, the combined type manipulator can effectively increase the activity space of the manipulator and meet different adjusting requirements.
The inner wall of the arc-shaped component 505 is uniformly provided with a plurality of metal sheets 516, each metal sheet 516 is provided with a plurality of limiting grooves 517, metal steel balls 518 are arranged inside each limiting groove 517, the outer wall of each limiting groove 517 is provided with a layer of sound insulation gasket 519, a honeycomb filling layer 520 is arranged between every two adjacent metal sheets 516, cooling liquid is filled inside the honeycomb filling layer 520, the arc-shaped component 505 slides in contact with the surface of the metal rod 504 in a sliding mode, sound and heat can be generated in the sliding mode, heat dissipation protection is conducted through the metal sheets 516, good heat dissipation and sound insulation effects are achieved in the sliding mode, and the contact parts of the arc-shaped component 505 and the metal rod 504 are protected.
When the metal rod 504 slides, the arc-shaped component 505 slides on the metal rod 504, the metal steel ball 518 continuously rotates in the limiting groove 517, the sliding friction effect of the arc-shaped component 505 is replaced by the rolling friction effect of the metal steel ball 518, so that the resistance of the arc-shaped component 505 during movement is greatly reduced, meanwhile, the metal steel ball 518 continuously rotates in the limiting groove 517, the contact surface between the metal steel ball 518 and the metal rod 504 continuously changes, and the heat generation of friction contact is reduced.
Further, when moving, because frictional contact between arc part 505 and metal pole 504 is producing heat, also can produce some sound, give sound insulation through the syllable-dividing gasket 519 of spacing groove 517 outer wall this moment, eliminate the unnecessary noise that produces, realize the silence and move, some heat that produces simultaneously can be absorbed by the honeycomb filling layer 520 between the adjacent metal piece 516, carry out the cooling of dispelling the heat through the inside coolant liquid of honeycomb filling layer 520, thereby in whole removal process, play the guard action to the removal between arc part 505 and the metal pole 504.
The interior of the robot hand grabbing part 4 is also provided with a pretreatment cleaning mechanism 7, the pretreatment cleaning mechanism 7 pretreats the surface of a clamped workpiece in a rotating polishing and flushing mode, the bottom end of the pretreatment cleaning mechanism 7 is also connected with a recovery mechanism 8 for collecting chips, when the robot hand grabs and transports the workpiece, the pretreatment cleaning mechanism 7 pretreats the surface of the workpiece, and impurities on the surface of the workpiece are removed before the workpiece reaches a specified position, so that the subsequent processing efficiency of the workpiece is improved, the surface of the workpiece is timely processed, the processing quality of the workpiece is improved, furthermore, after the impurities on the surface of the workpiece are processed, the residual impurities are recovered through the recovery mechanism 8, the processed impurities are timely recovered, and secondary pollution is prevented.
The pretreatment cleaning mechanism 7 includes an arc-shaped guide plate 702 attached to the side of the robot grip portion 4 via a rotating shaft 701, the inner wall of the arc-shaped guide plate 702 is provided with a lifting type scraping seat 703, the outer wall of the lifting type scraping seat 703 is hinged with two arc-shaped scraping rows 704, a plurality of rotating rollers 705 are uniformly arranged on the inner wall of the arc-shaped scraping row 704, a cleaning brush layer 706 is arranged on the surface of each rotating roller 705, the recovery mechanism 8 comprises a recovery bucket 801 arranged at the bottom end of an arc-shaped scraping row 704, an arc-shaped guide plate 702 is connected with the robot gripping part 4 through a rotating shaft 701, when in use, the position between the arc-shaped guide plate 702 and the robot gripping part 4 can be adjusted by the rotating action of the rotating shaft 701, so that the arc-shaped guide plate 702 can be accurately moved to any position of the robot gripping part 4, and the workpiece on the robot gripping part 4 is cleaned and processed through the arc-shaped guide plate 702.
When the robot grabbing part 4 grabs a workpiece, generally considering the weight balance of the workpiece, the workpiece is directly clamped from the middle position, at this time, when the arc guide plate 702 rotates to the position corresponding to the robot grabbing part 4, cleaning pretreatment is performed through the arc guide plate 702, at this time, the lifting type hanging seat 703 drives the two arc scraping rows 704 to continuously move up and down, so that the arc scraping rows 704 complete the cleaning work of the upper surface and the lower surface of the workpiece.
During specific cleaning, the rotating roller 705 arranged on the surface of the arc-shaped scraping row 704 rotates, so that the cleaning brush layer 706 on the surface of the arc-shaped scraping row brushes the surface of the workpiece, sundries on the surface of the workpiece are scraped off, and preliminary cleaning work is completed.
The arc scrapes row 704 and is connected with movable block 708 through spliced pole 707, movable block 708 fixedly connected with installs the vertical atmospheric pressure lifter 709 in arc guide 702 surface, the arc scrapes row 704 surface and still evenly is provided with a plurality of suction hole 710, suction hole 710 evenly sets up between adjacent rotatory roller 705, and still installs the water conservancy diversion head 711 on the suction hole 710, and retrieves fill 801 top and be connected with the conduction pipe 802 with suction hole 710 turn-on connection, during concrete lift, through the oscilaltion effect of vertical atmospheric pressure lifter 709, drives movable block 708 and reciprocates to make the arc scrape row 704 can reciprocate and carry out cleaning to the workpiece surface.
Furthermore, through the suction holes 710 arranged between the adjacent rotating rollers 705, after the rotating rollers 705 scrape off the sundries on the surface of the workpiece through rotation, the sundries are absorbed in time by the suction holes 710, so that the cleaning process is integrated, the sucked sundries can directly enter the suction empty rows 710 through the flow guide heads 711, the sundries are not easy to remain, and the sundries sucked in by the suction holes 710 enter the flow guide pipes 802 for centralized collection.
The inside accumulator 803 that is provided with the V type structure of accumulator 801, accumulator 803 top both sides still are provided with spacing portion 804, and accumulator 803 internally mounted has axial fan 805, through axial fan 805's air draft effect, make the inside negative pressure environment that forms of whole accumulator 801, with outside debris suction hole 710 inside fast, simultaneously when using because accumulator 803 of accumulator 801 bottom is the V type structure, make the inside piece that gets into accumulator 801 stably concentrate, because the effect that blocks of V type structure, make the inside piece that gets into accumulator 801 can not take place the backward flow easily, realize high-efficient cleanness.
Still install on the robot gripping portion 4 and be used for preventing that the clamp that the work piece pine takes off from getting protective mechanism 6, press from both sides and get protective mechanism 6 and distribute the clamp tightly to the work piece through the tight mode of many tight, the device is after the robot gripping portion 4 snatchs the work piece, through pressing from both sides protective mechanism 6 and carrying out the secondary protection to the work piece of pressing from both sides the clamp, prevent the condition that the work piece pine takes off when the robot transports the work piece, guarantee the stability of whole process work piece, press from both sides the work piece at the robot simultaneously after, the flexible regulation of freedom of the robot of being convenient for can not exert an influence to the stability.
The clamping protection mechanism 6 comprises an upper arc-shaped seat 601 and a lower arc-shaped seat 602 which are arranged on the surface of the robot gripping part 4, the upper arc-shaped seat 601 and the lower arc-shaped seat 602 are symmetrically arranged by taking the central axis of the robot gripping part 4 as a symmetry axis, the end parts of the upper arc-shaped seat 601 and the lower arc-shaped seat 602 are hinged with a transmission guide rod 603, the tail end of the transmission guide rod 603 is connected with an auxiliary chuck 604, the surface of the transmission guide rod 603 is connected with a pneumatic cylinder 605 through a universal joint 606, the tail end of the pneumatic cylinder 605 is hinged with the surface of the robot gripping part 4, the end parts of the auxiliary chuck 604 are connected with a spiral push rod 607, the tail end of the spiral push rod 607 is connected with a conical workpiece sleeve 608, the clamping protection mechanism 6 respectively moves through the pneumatic pushing action of the pneumatic cylinder 605, so that the auxiliary chucks 604 respectively move through the upper arc-shaped seat 601, the clamping device is more convenient in specific use, and when a workpiece is clamped specifically, the auxiliary chuck 604 pushes the conical workpiece sleeve 608 through the spiral push rod 607 connected with the end part to clamp the end part of the workpiece, so that the workpiece is comprehensively fixed by matching with the grabbing part 4 of the robot hand, and the workpiece is prevented from loosening.
The inner part of the conical workpiece sleeve 608 is provided with an ejection seat 609, the tail end of the ejection seat 609 is evenly hinged with a plurality of elastic baffles 610, the side surfaces of the elastic baffles 610 are hinged with the surface of the conical workpiece sleeve 608 through a piston push rod 611, the auxiliary chuck 604 can preliminarily adjust the position along with the contraction action of the pneumatic cylinder 605, then the position of the conical workpiece sleeve 604 is further adjusted under the pushing action of a spiral push rod 607, so that the two conical workpiece sleeves 608 can limit the workpiece up and down, the end part of the workpiece is ensured to fall into the conical workpiece sleeve 608, and the conical workpiece sleeve 608 adopts a conical structure, so that when workpieces with different sizes are fixed, the conical workpiece sleeve 608 can adapt to workpieces with different sizes, therefore, the conical workpiece sleeve 608 is more practical in workpiece fixing and meets the use requirements of the workpieces with different sizes.
After the end of the workpiece is inserted into the conical workpiece sleeve 608, the position of the piston push rod 611 is adjusted, so that the elastic baffle plates 610 can be respectively contacted with the end of the workpiece, the workpiece is protected, meanwhile, the workpiece is fully stressed under the elastic action of the elastic baffle plates 610, the acting force applied to the piston push rod 611 can be directly transmitted to the surface of the workpiece, the workpiece and the elastic baffle plates 610 are attached more tightly, and the fixing effect of the workpiece is increased.
A plurality of convex parts 612 and a plurality of concave parts 613 wave-shaped structures are uniformly arranged on the outer surface of the elastic baffle 610, and all the raised portions 612 and the recessed portions 613 form a wavy structure, the recessed portions 613 are internally filled with a wear-resistant layer 614, the surface of the wear-resistant layer 614 is a frosted structure, and further, when the elastic baffle 610 contacts with the surface of the workpiece, since a plurality of continuous convex parts 612 and concave parts 613 of the surface form a wave-shaped structure, after the acting force exerted by the piston push rod 611 is transmitted to the surface of the elastic baffle 610, the close contact between the elastic baffle 610 and the surface of the workpiece is promoted, the contact acting force is increased, the workpiece is not easy to loosen, and simultaneously, due to the closed space formed after the recess 613 and the workpiece are contacted, the fixing function of the elastic baffle 610 can be further increased by the action of the atmospheric pressure, and a good anti-falling function is achieved.
After the work piece is fixed by the robot gripping part 4, the secondary fixed action of the protective mechanism 6 is got in cooperation, the stability of the work piece fixation is enhanced, and the work piece can be prevented from loosening when the robot turns to or moves flexibly, so that the robot can carry out various complex operations after the work piece is got.
Because what whole clamp got protective mechanism 6 adopted is that dual tip fixed mode is fixed, when the manipulator when angle of adjustment, compare in traditional clamping mode, dual tip fixed mode can prevent effectively that the work piece from taking off, effectively deals with different angle adjustment work.
Through the dual driving effect of first drive axle 305 and second drive axle 316 for first linking arm 304 and second linking arm 307 can realize angle adjustment through the pushing action of two drive axles when using, through the mixed regulation to first linking arm 304 and second linking arm 307, make the moment of torsion that the robot arm snatchs portion 4 can realize bigger angle adjust, are convenient for accomplish the operation of various differences.
Because the connecting position between the first connecting arm 304 and the second connecting arm 307 is closest to the gripping part 4 of the robot hand and is most likely to affect the gripping work of the robot hand during adjustment, the buffer protection is performed by the plurality of bending spring rods 309, and the two ends of the bending spring rods 309 are respectively connected with the first connecting arm 304 and the second connecting arm 307 through the elastic arc-shaped frames 308, so that the vibration generated during adjustment can be counteracted by the elastic arc-shaped frames 308 and the bending spring rods 309 in sequence, thereby playing a role of primary buffer, and when the vibration is transmitted to the bending spring rods 309, because the inflating sleeve 311 is arranged in the middle of the bending spring rods 309, the impact transmitted to the middle of the bending spring rods 309 generates strong extrusion on the inflating sleeve 311, so that the inflating sleeve 311 is gradually compressed, and the formed air pressure is released to the outside through the air vents 312, thereby accomplishing the whole pressure release process and playing a good role in damping the adjustment of the robot hand.
Moreover, because the bending spring rod 309 adopts a bending structure, when the bending spring rod is compressed or stretched, the elastic air bag 313 arranged at the bending part can generate a resistance buffering effect, so that the buffering protection effect is realized in the adjusting process of the robot hand.
Still be connected with pressure-bearing pole 314 between locking seat 302 and the first connecting arm 304, pressure-bearing pole 314 passes through articulated elements 315 and is connected with locking seat 302, first connecting arm 304, and when adjusting first connecting arm 304, gets up locking seat 302 and first connecting arm 304 fixed connection through pressure-bearing pole 314, guarantees that first connecting arm 304 can not the off tracking when connecting, plays the stable effect of direction.
As shown in fig. 10, the present invention further provides a position adjustment control method for an intelligent robot of a numerical control device, including the following steps:
s100, determining that the robot finger reaches a target position, recording the current position of the robot hand, analyzing an optimal path by combining position information, recording and comparing information of the target position and the current position, and analyzing and optimizing the optimal path;
s200, according to the analyzed optimal path, the robot hand and the robot hand base move in a combined mode to reach a target position, and the specific analysis process is as follows:
recording the horizontal coordinate of the robot hand, the horizontal coordinate of the robot hand base and the horizontal coordinate of the target position;
recording the energy consumed by the movement of the base of the robot hand in the horizontal direction and the energy consumed by the movement of the robot hand;
the numerical control system calculates the optimal horizontal walking distance and the optimal vertical walking distance by combining the horizontal coordinate and the consumed energy of the base of the robot hand, the horizontal coordinate and the consumed energy of the robot hand, the effect of saving energy most is achieved while the target point is reached at the fastest speed, the path of the current scheme is recorded, and the robot hand is controlled to move according to the preset path through the numerical control system, so that the optimal moving mode of the robot hand is realized.
S300, the robot finishes final position movement, recorded data and a moving route are stored and uploaded, comparison is convenient to carry out next time, meanwhile, after the moving process of the robot is finished, the recorded starting position target position of the robot is stored, the route is stored, when the same condition is met next time, a corresponding program in the numerical control system is directly called, rapid movement is achieved, and repeated calculation is not needed.
As shown in fig. 10, the invention provides a workpiece detection anti-drop method for an intelligent robot hand of a numerical control device, which comprises the following steps:
s100, detecting the current state of the workpiece after the robot grips the workpiece, recording the current state as one-time detection, judging whether the workpiece is in an easy-loosening state, firstly judging whether the workpiece is in a stable state according to the detected robot gripping state, and the specific process is as follows: positioning a part for clamping the workpiece by a robot hand, detecting the stress of each point of the clamping part, judging whether the stress of different parts is the same, if so, judging that the clamping is stable, and if not, judging that the clamping of the workpiece is unstable;
s200, detect concrete condition starting drive according to once and carry out the anticreep protection to detect work piece current state once more, mark for the secondary and detect, when once detecting unstably, start to press from both sides and get protection mechanism and carry out the anticreep protection to the tip of work piece, detect the effort at the anticreep clamping position of work piece once more this moment, the process that the secondary detected specifically is: after the protection mechanism fixes the workpiece, the stress of the robot clamping part and the stress of the protection mechanism fixing part are detected simultaneously, if the stress is the same, the clamping is judged to be stable, and if the stress is different, the workpiece clamping is judged to be unstable.
And S300, judging whether the workpiece is in a stable state or not according to the primary detection condition and the secondary detection condition, and adjusting the position of the workpiece until the workpiece is stable.
In the step S300, after the primary detection and the secondary detection, when any one of the two parts is uniformly stressed, it is determined that the workpiece is currently in a stable state; and when the two parts are not uniformly stressed, judging that the workpiece is in an unstable state at present, and readjusting the clamping position of the robot hand on the workpiece.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (9)
1. The utility model provides an anticreep device of numerical control equipment intelligent robot hand, includes digit control machine tool (1) and sets up robot base (2) on digit control machine tool (1), its characterized in that: the robot hand base (2) is connected with a robot hand grabbing part (4) through a connecting steering mechanism (3), the robot hand grabbing part (4) is further provided with a clamping protective mechanism (6) for preventing a workpiece from loosening, and the clamping protective mechanism (6) is used for clamping the workpiece in a multi-position clamping mode;
press from both sides and get protection mechanism (6) including installing last arc seat (601) and lower arc seat (602) on the robot portion of grabbing (4) surface, go up arc seat (601) and arc seat (602) down and use the robot portion of grabbing (4) axis to set up as symmetry axis symmetry, and go up arc seat (601) and arc seat (602) tip down and all articulate transmission guide arm (603), transmission guide arm (603) end-to-end connection has auxiliary clamp (604), and transmission guide arm (603) surface is connected with pneumatic cylinder (605) through universal joint (606), pneumatic cylinder (605) end and robot portion of grabbing (4) surface hinge are connected, auxiliary clamp (604) tip all is connected with screw rod (607), screw rod (607) end-to-end connection has toper work piece cover (608).
2. The anti-drop device of numerical control equipment intelligent robot of claim 1, characterized in that: an ejection seat (609) is installed inside the conical workpiece sleeve (608), the tail end of the ejection seat (609) is uniformly hinged with a plurality of elastic baffles (610), and the side surfaces of the elastic baffles (610) are hinged with the surface of the conical workpiece sleeve (608) through a piston push rod (611).
3. The anti-drop device of numerical control equipment intelligent robot of claim 2, characterized in that: the outer surface of the elastic baffle plate (610) is uniformly provided with a plurality of protrusions (612) and a plurality of recesses (613), the protrusions (612) and the recesses (613) form a wavy structure, a wear-resistant layer (614) is filled in the recesses (613), and the surface of the wear-resistant layer (614) is of a frosted structure.
4. The anti-drop device of numerical control equipment intelligent robot of claim 1, characterized in that: connect steering mechanism (3) including connecting rotating basis (301) on manipulator base (2), rotating basis (301) top is connected with locking seat (302), locking seat (302) are connected with first linking arm (304) through first rotation bent axle (303), locking seat (302) outer wall is connected with first linking arm (304) through first drive shaft (305), first linking arm (304) end is connected with second linking arm (307) through second rotation bent axle (306), and second linking arm (307) end and manipulator snatch portion (4) and be connected, and it has second drive shaft (316) still to articulate between first linking arm (304) and second linking arm (307).
5. The anti-drop device of numerical control equipment intelligent robot of claim 4, characterized in that: elastic arc frame (308) are all installed on the surface that first linking arm (304) and second linking arm (307) are relative, buckle spring beam (309) through a plurality of between two elastic arc frames (308) and connect, buckle between spring beam (309) through alternately folding leg (310) and connect, it still installs inflation cover (311) to buckle spring beam (309) middle department, inflation cover (311) surface is provided with a plurality of bleeder vent (312), and buckles the department of buckling of spring beam (309) and still install elastic airbag (313).
6. The anti-drop device of numerical control equipment intelligent robot of claim 4, characterized in that: and a pressure bearing rod (314) is further connected between the locking seat (302) and the first connecting arm (304), and the pressure bearing rod (314) is connected with the locking seat (302) and the first connecting arm (304) through a hinge (315).
7. A workpiece detection anti-drop method of a numerical control equipment intelligent robot adopts the anti-drop device of the numerical control equipment intelligent robot in claim 1, which is characterized by comprising the following steps:
s100, detecting the current state of the workpiece after the workpiece is clamped by the robot hand, recording the current state as primary detection, and judging whether the workpiece is in an easy-to-loosen state or not;
s200, starting the device to perform anti-drop protection according to the specific situation of the primary detection, detecting the current state of the workpiece again, and recording as secondary detection;
and S300, judging whether the workpiece is in a stable state or not according to the primary detection condition and the secondary detection condition, and adjusting the position of the workpiece until the workpiece is stable.
8. The workpiece detection anti-drop method for the intelligent robot of the numerical control equipment according to claim 7, wherein in the step S100, one detection process specifically comprises: positioning a clamping part for clamping the workpiece by a robot hand, detecting the stress of each point of the clamping part, judging whether the stress of different parts is the same, if so, judging that the clamping is stable, and if not, judging that the clamping of the workpiece is unstable;
in step S200, the secondary detection process specifically includes: after the protection mechanism fixes the workpiece, the stress of the robot clamping part and the stress of the protection mechanism fixing part are detected simultaneously, if the stress is the same, the clamping is judged to be stable, and if the stress is different, the workpiece clamping is judged to be unstable.
9. The workpiece detection and drop-preventing method for the intelligent robot hand of the numerical control equipment as claimed in claim 7, wherein in the step S300, after the primary detection and the secondary detection, when any one of the clamping part of the robot hand and the fixing part of the protection mechanism is uniformly stressed, the workpiece is judged to be in a stable state currently; and when the clamping position of the robot hand and the fixing position of the protection mechanism are not uniformly stressed, judging that the workpiece is in an unstable state at present, and readjusting the clamping position of the robot hand on the workpiece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109434861A CN109434861A (en) | 2019-03-08 |
| CN109434861B true CN109434861B (en) | 2020-08-14 |
Family
ID=65553661
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811366773.6A Active CN109434861B (en) | 2018-11-16 | 2018-11-16 | Anti-falling device of intelligent robot hand of numerical control equipment and workpiece position adjusting method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109434861B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7220115B2 (en) * | 2019-04-09 | 2023-02-09 | 川崎重工業株式会社 | Robot hands, robots and robot systems |
| CN112378737A (en) * | 2020-11-12 | 2021-02-19 | 苏州碧利医疗科技有限公司 | Intelligent mechanical analysis system for surgical instruments |
| CN112757328B (en) * | 2020-12-25 | 2022-10-28 | 广东智源机器人科技有限公司 | Clamping device and food making equipment |
| 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 |
| CN114407056B (en) * | 2022-01-17 | 2023-03-28 | 无锡市鑫启机械科技有限公司 | 5G intelligent household electrical appliance production line clamping mechanism |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006102920A (en) * | 2004-10-08 | 2006-04-20 | Fanuc Ltd | Grip-type hand |
| CN100368158C (en) * | 2006-04-21 | 2008-02-13 | 北京航空航天大学 | Flexible gripper with two fingers |
| CN201960566U (en) * | 2010-12-18 | 2011-09-07 | 如皋市江海技工学校 | Adjustable manipulator for numerical control machine |
| CN205905044U (en) * | 2016-04-18 | 2017-01-25 | 四川农业大学 | Take self -adjusting clamping device of auto -lock and dynamics |
| CN206690125U (en) * | 2017-05-04 | 2017-12-01 | 苏州工业职业技术学院 | One kind crawl force adaptive paw |
| CN206825445U (en) * | 2017-05-25 | 2018-01-02 | 无锡职业技术学院 | A kind of simulation manipulator based on controlled stroke cylinder |
-
2018
- 2018-11-16 CN CN201811366773.6A patent/CN109434861B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109434861A (en) | 2019-03-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109434861B (en) | Anti-falling device of intelligent robot hand of numerical control equipment and workpiece position adjusting method | |
| CN109719705B (en) | Intelligent robot hand of numerical control equipment and control method | |
| CN209006712U (en) | A kind of radial drilling machine | |
| ITMI960676A1 (en) | PROCEDURE FOR CHANGING THE TOOL FOR MACHINING CENTER AND EQUIPMENT TO MAKE THE SAME. | |
| CN106737619B (en) | Mechanical gripper | |
| CN109571146B (en) | Workpiece cleaning device of intelligent robot hand of numerical control equipment | |
| CN215848211U (en) | Manipulator for electronic machining | |
| CN108381365A (en) | Plastic plate polissoir | |
| KR20120061307A (en) | Apparatus for assembling fan motor of wheel loader | |
| CN218169421U (en) | Guide rail dual-mode driving mechanism | |
| CN216859728U (en) | Manipulator for machining center | |
| CN215092070U (en) | Positioning mechanism for fixture of CNC (computer numerical control) machine tool | |
| CN215548725U (en) | Clamping manipulator for workpiece assembly | |
| CN212496672U (en) | Pedal type turnover device | |
| CN113579827A (en) | Intelligent measurement and control equipment for six-axis machining and use method | |
| CN212527327U (en) | Automatic change flocking abrasive paper equipment | |
| CN208644306U (en) | A kind of workpiece grabbing mechanism of malleable cast iron pipe fitting automatic threading machine | |
| CN210359089U (en) | Three-rivet simultaneous feeding mechanism | |
| CN112224807A (en) | Blocking and shunting mechanism on conveying line and machine tool | |
| CN219617767U (en) | Subway engineering is with picking thing pincers with anti-drop structure | |
| CN219213169U (en) | Mechanical clamping jaw | |
| CN219748018U (en) | Hydraulic clamping jaw mechanism | |
| CN219617816U (en) | Auxiliary device for grabbing and taking parts by robot | |
| CN219788371U (en) | Mechanical gripper | |
| CN212653357U (en) | Flexible screw detaching mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200721 Address after: 526000, Guangdong, Zhaoqing, Duanzhou all the way south, Duanzhou industrial south, east side of the factory Road No. Applicant after: ZHAOQING WOSON PRECISION MACHINERY Co.,Ltd. Address before: 101104, Beijing, Tongzhou District, Zhang Town, Beijing Village (New Real Estate Development Co., Ltd.) 2 building 157 room Applicant before: BEIJING JINGYI TECHNOLOGY Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |