CN109551524A - A kind of robot quick change flexible chucking tools workbench - Google Patents
A kind of robot quick change flexible chucking tools workbench Download PDFInfo
- Publication number
- CN109551524A CN109551524A CN201910056870.3A CN201910056870A CN109551524A CN 109551524 A CN109551524 A CN 109551524A CN 201910056870 A CN201910056870 A CN 201910056870A CN 109551524 A CN109551524 A CN 109551524A
- Authority
- CN
- China
- Prior art keywords
- back pressure
- pressure cavity
- floating guide
- guide post
- quick change
- 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.)
- Granted
Links
- 230000008859 change Effects 0.000 title claims abstract description 20
- 238000007667 floating Methods 0.000 claims abstract description 57
- 239000000463 material Substances 0.000 claims abstract description 45
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 238000007789 sealing Methods 0.000 claims description 13
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052802 copper Inorganic materials 0.000 claims description 10
- 239000010949 copper Substances 0.000 claims description 10
- 239000007788 liquid Substances 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000010992 reflux Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000002123 temporal effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot quick change flexible chucking tools workbench, comprising: material carrier platform is provided with several floating guide posts below；Fixed station, back pressure cavity is arranged inside, and surface offers the through-hole worn to back pressure cavity, floating guide post is protruded into through-hole and is in axial sliding connection, be provided with axial limiting mechanism on floating guide post, the gripper of robot of the present invention on the table grabbing workpiece when, workbench can carry out vertical float according to the dynamics of gripper, automatic adjusting position prevents rigid collision gripper from damaging.
Description
Technical field
The invention belongs to robot field, more specifically to a kind of robot quick change flexible chucking tools workbench.
Background technique
At present industrial robot using more and more common, application range is also increasingly wider, articulated type industrial robot, by
In the reason of the self structure, repeatable accuracy is relatively high, and positioning accuracy is lower.This feature causes industrial robot assembling
It is limited with manufacture field application.
When using the gripper grabbing workpiece on the table of robot, to guarantee gripper crawl securely, gripper
Workbench need to be touched then tighten and be grabbed, but when gripper touches workbench sometimes dynamics it is larger cause gripper with
Workbench rigid collision is damaged.
Existing settling mode is that the transition using high-precision six-dimension force sensor, as robot and executing agency connects
Connection device, six-dimension force sensor are able to detect x, the power in tri- directions y, z and the torque around three axial directions.Sensor is obtained
Power and torque signals feed back to the control system of robot, so that robot be made to make corresponding reaction.But which is deposited
In deficiency below: 1. force snesor higher costs, feedback control system is more complex, is unfavorable for extensive promotion and application.2.
There are temporal hysteresis qualitys for force-feedback control system, and system delay certain time can just generate corresponding dynamic after collision occurs
Make, however when control system makes a response, gripper may be destroyed.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of gripper of robot grabbing workpieces on the table
When, workbench can carry out vertical float according to the dynamics of gripper, and automatic adjusting position prevents rigid collision gripper from causing
The robot of damage quick change flexible chucking tools workbench.
To achieve the above object, the present invention provides the following technical scheme that a kind of robot is worked with quick change flexible chucking tools
Platform, comprising:
Material carrier platform is provided with several floating guide posts below；
Back pressure cavity is arranged inside in fixed station, and surface offers the through-hole worn to back pressure cavity, and floating guide post protrudes into through-hole
In and be in axial sliding connection, be provided with axial limiting mechanism on floating guide post.
The bore of the further back pressure cavity is greater than the bore of through-hole, and the position-limit mechanism includes protruding into back pressure cavity
Limit plate.
It is provided with copper sliding sleeve in the further through-hole, the floating guide post is slidably connected with copper sliding sleeve.
The outer wall of the further floating guide post is provided with annular groove, is provided with sealing ring at the annular groove.
Further each back pressure cavity corresponds to a through-hole and floating guide post, all floating guide posts connections on each material carrier platform
Back pressure cavity series connection together.
Several material carrier platforms, the back pressure cavity series connection one of all or part of material carrier platforms are provided on the further fixed station
It rises.
The further fixed station includes support plate and seal base, is provided between the seal base and support plate
Sealing joint strip.
The interface tube of connection back pressure cavity is provided on the further fixed station.
The interface tube of connection back pressure cavity is provided on the further fixed station.
Several mounting holes are provided with below the further material carrier platform, the floating guide post is removably connected to installation
In hole.
Compared with prior art, the beneficial effects of the present invention are: forming the back of fixed station by support plate and seal base
Chamber is pressed, floating guide post is forming sealing structure in through-hole and between through-hole, preventing back pressure cavity from revealing, and grabs material containing in gripper
When workpiece on platform, gripper touches material carrier platform, if vertical dynamics is greater than the pressure in back pressure cavity, floating guide post will be to back pressure cavity
Inside is mobile, to reach the contact dynamics of buffer machinery claw, prevents gripper from damaging, when gripper leaves, floating guide post is carried
Expect that platform resets；Wherein all back pressure cavities of each material carrier platform are cascaded, the floating guide post that each material carrier platform is connected
Enough movements synchronous when being under pressure.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of robot quick change flexible chucking tools workbench of the present invention；
Fig. 2 is the sectional structure chart cooperated between material carrier platform and fixed station in the present invention；
Fig. 3 is the structural schematic diagram of support plate in the present invention.
Appended drawing reference: 1, fixed station；11, support plate；12, seal base；16, through-hole；2, material carrier platform；3, mounting hole；4,
Interface tube；5, copper sliding sleeve；57, outward flange；6, floating guide post；65, sealing ring；67, limit plate；7, back pressure cavity；8, sealing joint strip；
9, sealed passage.
Specific embodiment
Robot of the present invention is described further with the embodiment of quick change flexible chucking tools workbench referring to figs. 1 to Fig. 3.
A kind of robot quick change flexible chucking tools workbench, comprising:
Material carrier platform 2 is provided with several floating guide posts 6 below；
Back pressure cavity 7 is arranged inside in fixed station 1, and surface offers the through-hole 16 worn to back pressure cavity 7, and floating guide post 6 is stretched
Enter in through-hole 16 and be in axial sliding connection, is provided with axial limiting mechanism on floating guide post 6.
Wherein settable gas or liquid and then formation air pressure or hydraulic in back pressure cavity 7, is preferably arranged on fixed station 1
It is connected to the interface tube 4 of back pressure cavity 7, to be filled with gas or liquid into back pressure cavity 7；And preferably it is arranged at interface tube 4 adjustable
Pressure reducing valve.
Back pressure in back pressure cavity 7 can carry out setting adjustment according to the intensity of product weight and gripper on material carrier platform 2.
Material carrier platform places product on 2 surface, is grabbed by the gripper of robot, when material carrier platform 2 is under pressure, surpasses
When crossing the threshold value in back pressure cavity 7, material carrier platform 2 will be moved down by floating guide post 6, wherein gas can at this time according to gas
Compression buffering is carried out, when according to liquid, liquid reflux buffering, certain gas can also carry out reflux buffering, and gripper crawl produces
After product are removed, floating guide post 6 and material carrier platform 2 reset, and position-limit mechanism can prevent floating guide post 6 from leaving through-hole 16.
The bore of the preferred back pressure cavity 7 of the present embodiment is greater than the bore of through-hole 16, i.e. back pressure cavity 7 connect with through-hole 16
Place forms ladder, and the position-limit mechanism includes the limit plate 67 protruded into back pressure cavity 7, as shown in Fig. 2, limit plate 67 is in always
In back pressure cavity 7, limit plate 67 can not be passed through greater than through-hole 16 by through-hole 16, but can be in back pressure cavity 7 along 6 axis of floating guide post
Direction moves freely.
The present embodiment is preferably provided with copper sliding sleeve 5 in the through-hole 16, and the floating guide post 6 connects with the sliding of copper sliding sleeve 5
It connects, copper sliding sleeve 5 can reduce the frictional force of floating guide post 6, convenient for its sliding, wherein in through-hole 16 towards setting table at back pressure cavity 7
Rank, step bore are less than 7 bore of back pressure cavity, and outward flange 57 is arranged in 5 end of copper sliding sleeve, and outward flange 57 is stuck on step, sliding to copper
Set 5 is limited.
The outer wall of the preferred floating guide post 6 of the present embodiment is provided with annular groove, and sealing ring 65 is provided at the annular groove,
Sealing ring 65 is that y-type seal ring 65 is prevented to make 7 one-way sealing of back pressure cavity by the 6 side gas leakage of floating guide post or leakage.
Preferably each back pressure cavity 7 corresponds to a through-hole 16 and floating guide post 6 to the present embodiment, owns on each material carrier platform 2
Together, as shown in the figure, four floatings are arranged in the series connection of back pressure cavity 7 that floating guide post 6 connects on each material carrier platform 2 in the present embodiment
Guide post 6, certainly three or more can also, after the series connection together of the back pressure cavity 7 of the floating guide post 6 of each material carrier platform 2, each floating is led
The back pressure of column 6 is identical, and in 2 stress of material carrier platform, all floating guide posts 6 can be moved synchronously, and guarantees that material carrier platform 2 is steadily mobile,
Avoid its run-off the straight even floating guide post 6 inclination and it is stuck.
The present embodiment is preferably provided with several material carrier platforms 2, the back pressure of all or part of material carrier platforms 2 on the fixed station 1
Chamber 7 is connected together, as shown in figure 3, wherein all back pressure cavities 7 are cascaded, whole is in " S " shape, naturally it is also possible to other shapes
Shape connection, such as " returning " shape or triangle；For production, the product of same size is usually produced simultaneously, and back pressure cavity 7 is connected
Form sealed passage 9 afterwards together, 2 back pressure of all material carrier platforms also allowed on same fixed station 1 is identical, without individually adjusting
Pressure at each material carrier platform 2 in back pressure cavity 7 can go here and there the back pressure cavity 7 of part of material carrier platform 2 if fixed station 1 is larger certainly
It is linked togather, forms two or more pieces sealed passage 9.
Preferably the fixed station 1 includes support plate 11 and seal base 12, the seal base 12 and branch to the present embodiment
Sealing joint strip 8 is provided between fagging 11, sealing joint strip 8 can prevent the leakage between support plate 11 and seal base 12, reach
To sealing effect.
Several mounting holes 3, the removably connection of floating guide post 6 are provided with below the preferred material carrier platform 2 of the present embodiment
To mounting hole 3, when for processing different product, can be carried out replacing different material carrier platforms 2 according to product, while adjusting back pressure cavity
7 pressure, as shown in Figure 1, four floating guide posts 6 are connected below existing each material carrier platform 2, if the bigger product of processing, replaceable load
Material platform 2 makes it while connecting six or eight even more floating guide posts 6, the shape being cascaded at this time in all back pressure cavities 7
Under state, any material carrier platform 2 no matter is replaced, can guarantee that the back pressure of each position of material carrier platform 2 is identical, when moving steadily and not
It can run-off the straight.
Following mechanism wherein can be used between material carrier platform 2 and floating guide post 6 and realize quick change, as 6 top of floating guide post is arranged
Threaded hole is connected between material carrier platform 2 and floating guide post 6 by dormant bolt；Or the mounting hole 3 of 2 lower section of material carrier platform is led with floating
6 size of column is suitable, and material carrier platform 2 is directly made to ride over 6 top of floating guide post, at this time the slightly open shape of the opening of preferred mounting hole 3
At guide frame, the top in floating guide post 6 of matching is arranged to arched top.
11 top of support plate is stretched out in 6 part of floating guide post in the present embodiment, can stretch out support plate 11 in floating guide post 6 and push up
Buffer spring is set between portion and support plate 11, forms secondary buffer.
Certainly buffer spring can also be set in support plate 11, this buffer spring, which covers, leads in 6 outside of floating guide post with floating
Column 6 is contactless, and the top of buffer spring to material carrier platform 2 has certain distance, the buffer spring being arranged at all floating guide posts 6
It is identical, it is moved after 2 stress of material carrier platform, the pressure in back pressure cavity 7 will be resisted, buffer spring is just contacted after moving a certain distance, delayed
Rush spring offer secondary buffer keeps it smaller with 6 surface distance of floating guide post to prevent buffer spring from tilting.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of robot quick change flexible chucking tools workbench characterized by comprising material carrier platform is provided with several below
Floating guide post；
Back pressure cavity is arranged inside in fixed station, and surface offers the through-hole worn to back pressure cavity, and floating guide post protrudes into through-hole simultaneously
It is in axial sliding connection, is provided with axial limiting mechanism on floating guide post.
2. quick change flexible chucking tools workbench according to claim 1, it is characterised in that: the bore of the back pressure cavity is greater than logical
The bore in hole, the position-limit mechanism include the limit plate protruded into back pressure cavity.
3. quick change flexible chucking tools workbench according to claim 2, it is characterised in that: it is sliding to be provided with copper in the through-hole
Set, the floating guide post are slidably connected with copper sliding sleeve.
4. quick change flexible chucking tools workbench according to claim 3, it is characterised in that: the outer wall of the floating guide post is arranged
There is annular groove, is provided with sealing ring at the annular groove.
5. quick change flexible chucking tools workbench described in any one of -4 according to claim 1, it is characterised in that: each back pressure cavity
A through-hole and floating guide post are corresponded to, the back pressure cavity of all floating guide posts connections is connected together on each material carrier platform.
6. quick change flexible chucking tools workbench according to claim 5, it is characterised in that: be provided on the fixed station several
Material carrier platform, the back pressure cavity series connection of all or part of material carrier platforms is together.
7. quick change flexible chucking tools workbench described in any one of -4 according to claim 1, it is characterised in that: the fixed station
Including support plate and seal base, sealing joint strip is provided between the seal base and support plate.
8. quick change flexible chucking tools workbench according to claim 7, it is characterised in that: be provided with connection on the fixed station
The interface tube of back pressure cavity.
9. quick change flexible chucking tools workbench according to claim 6, it is characterised in that: be provided with connection on the fixed station
The interface tube of back pressure cavity.
10. robot according to claim 1 quick change flexible chucking tools workbench, it is characterised in that: under the material carrier platform
Side is provided with several mounting holes, and the floating guide post is removably connected in mounting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910056870.3A CN109551524B (en) | 2019-01-19 | 2019-01-19 | Quick-change flexible fixture workbench for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910056870.3A CN109551524B (en) | 2019-01-19 | 2019-01-19 | Quick-change flexible fixture workbench for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109551524A true CN109551524A (en) | 2019-04-02 |
| CN109551524B CN109551524B (en) | 2024-03-29 |
Family
ID=65873571
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910056870.3A Active CN109551524B (en) | 2019-01-19 | 2019-01-19 | Quick-change flexible fixture workbench for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109551524B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112557296A (en) * | 2020-12-11 | 2021-03-26 | 中国汽车工程研究院股份有限公司 | Sliding type loading compression bar of material friction abnormal sound test bed |
| CN112678476A (en) * | 2020-12-11 | 2021-04-20 | 江苏华航威泰机器人科技有限公司 | Double-station flexible stock bin |
| CN112697452A (en) * | 2020-11-30 | 2021-04-23 | 中国汽车工程研究院股份有限公司 | Air column type pressure head of material friction test bed |
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| CN207710150U (en) * | 2017-12-28 | 2018-08-10 | 众宏（上海）自动化有限公司 | A kind of anticollision welding gun with rubber protecting jacket |
| CN209551794U (en) * | 2019-01-19 | 2019-10-29 | 嘉兴市宏丰机械有限公司 | A kind of robot quick change flexible chucking tools workbench |
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2019
- 2019-01-19 CN CN201910056870.3A patent/CN109551524B/en active Active
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| CN103785959A (en) * | 2014-02-13 | 2014-05-14 | 无锡卓工自动化制造有限公司 | Anti-collision connector |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112697452A (en) * | 2020-11-30 | 2021-04-23 | 中国汽车工程研究院股份有限公司 | Air column type pressure head of material friction test bed |
| CN112697452B (en) * | 2020-11-30 | 2024-03-26 | 中国汽车工程研究院股份有限公司 | Material friction test bed air column type pressure head |
| CN112557296A (en) * | 2020-12-11 | 2021-03-26 | 中国汽车工程研究院股份有限公司 | Sliding type loading compression bar of material friction abnormal sound test bed |
| CN112678476A (en) * | 2020-12-11 | 2021-04-20 | 江苏华航威泰机器人科技有限公司 | Double-station flexible stock bin |
| CN112557296B (en) * | 2020-12-11 | 2024-07-02 | 中国汽车工程研究院股份有限公司 | Sliding type loading compression bar of material friction abnormal sound test bed |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109551524B (en) | 2024-03-29 |
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Effective date of registration: 20190801 Address after: 314007 Shifo Industrial Functional Zone, Fengqiao Town, Nanhu District, Jiaxing City, Zhejiang Province Applicant after: JIAXING HONGFENG MACHINERY Co.,Ltd. Applicant after: JIAXING University Address before: 314000 Shifo Industrial Functional Zone, Fengqiao Town, Nanhu District, Jiaxing City, Zhejiang Province Applicant before: JIAXING HONGFENG MACHINERY Co.,Ltd. |
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