CN109719705B

CN109719705B - Intelligent robot hand of numerical control equipment and control method

Info

Publication number: CN109719705B
Application number: CN201811366747.3A
Authority: CN
Inventors: 张娟
Original assignee: Tangshan Baoshuquan Technology Co Ltd
Current assignee: Tangshan baoshuquan Technology Co., Ltd
Priority date: 2018-11-16
Filing date: 2018-11-16
Publication date: 2020-08-21
Anticipated expiration: 2038-11-16
Also published as: CN109719705A

Abstract

The invention discloses 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 connecting steering mechanism adjusts the position of the robot hand grabbing part in a buffer adjustment mode to prevent a clamped workpiece from falling off, the bottom end of the robot hand base slides on the surface of the numerical control machine through a sliding mechanism, and the sliding mechanism adjusts the position of the robot hand base in a bidirectional mode. Determining a current position and a target position; according to the analyzed optimal path, combining and moving to reach a target position; the recorded data is uploaded in storage, and the next comparison is convenient for, and the movement of the robot hand is realized through the mode of multiple movement phase combination, so that the robot hand can carry out all-round movement and angle conversion, and the workpiece is not easy to vibrate or loosen.

Description

Intelligent robot hand of numerical control equipment and control method

Technical Field

The invention relates to the technical field of numerical control equipment, in particular to an intelligent robot hand of numerical control equipment and a workpiece position adjusting method.

Background

Numerical control equipment refers to equipment applying the technology. The numerical control technology is also called computer numerical control technology, and is a technology for realizing digital program control by adopting a computer at present. The technology uses computer to execute the control function of the motion trail of the equipment and the operation sequence logic of the peripheral equipment according to the 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, the existing numerical control equipment robot hand mainly has the following problems when in use:

(1) the traditional numerical control equipment robot hand is adjusted based on the movement of the robot hand during adjustment, so that the adjustment range of the robot hand is limited, and the requirement of larger movement space cannot be met;

(2) meanwhile, only the robot hand is adjusted, the selectivity of an adjusting scheme is low, the requirements cannot be met, and serious energy loss is easy to occur frequently.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the intelligent robot hand of the numerical control equipment and the workpiece position adjusting method, the movement of the robot hand is realized in a mode of combining multiple movements, so that the clamped workpiece can be moved in an all-around manner and converted in angle, the vibration effect is small in the adjusting process, the workpiece is not easy to vibrate or loosen, and the problems in the background art can be effectively solved.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a 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, connect steering mechanism and adopt the position that the robot snatchs the portion and drop in order to prevent that the clamp from getting, and robot base bottom slides on the digit control machine tool surface through slide mechanism, slide mechanism carries out position control to the robot base through two-way mode.

Further, the glide mechanism is including setting up the seat that slides on the digit control machine tool surface, the gliding roller train in digit control machine tool surface is all installed at the seat both ends that slide, it is provided with the groove of sliding to slide the seat surface, it has two parallel metal poles each other to slide inslot internally mounted, robot base bottom slides on the metal pole through two arc parts respectively, robot base one side is connected with pushes away the seat, it is connected with the screw propulsion subassembly to push away seat one end, and the other end is connected with the straight subassembly that pushes away.

Further, the spiral propulsion assembly comprises a connection rubber seat installed on the surface of the pushing seat, the outer wall of the connection rubber seat is connected with a rotary screw through a ball bearing, the rotary screw is spirally connected with an outer spiral sleeve, the outer spiral sleeve is connected with a sliding sleeve through a connection base, the tail end of the rotary screw is connected with a servo motor, the sliding sleeve is sleeved on a metal rod on one side in a sliding mode, and an electromagnet is arranged inside the sliding sleeve.

Furthermore, the direct pushing assembly comprises a movable sleeve rod connected to the surface of the pushing seat, the tail end of the movable sleeve rod is connected with a hydraulic rod, and the hydraulic rod is connected with the end of the sliding groove.

Further, a plurality of metal sheets are evenly arranged on the inner wall of the arc-shaped part, a plurality of limiting grooves are formed in each metal sheet, metal steel balls are arranged in the limiting grooves, a sound insulation gasket layer is arranged on the outer wall of each limiting groove, a honeycomb filling layer is arranged between every two adjacent metal sheets, and cooling liquid is filled in the honeycomb filling layer.

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 is connected with first connecting arm through first rotation crankshaft, the locking seat outer wall is connected with first connecting arm through first drive shaft, first connecting 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.

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 also discloses a workpiece position adjusting method of the intelligent robot hand of the numerical control equipment, which comprises the following steps:

s100, determining that the robot finger reaches a target position, recording the current position of the robot hand, and analyzing an optimal path by combining position information;

s200, moving the robot hand and the robot hand base in a combined mode according to the analyzed optimal path to reach a target position;

s300, the robot hand finishes final position movement, and recorded data and a moving route are stored and uploaded to facilitate comparison in the next time.

Further, in step S200, a specific moving method 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;

and calculating the optimal horizontal walking distance and vertical walking distance by the numerical control system according to the horizontal coordinate and the consumed energy of the base of the robot hand and the horizontal coordinate and the consumed energy of the robot hand, and recording the path of the current scheme.

Compared with the prior art, the invention has the beneficial effects that:

(1) according to the invention, the workpiece is clamped by the robot hand clamping part, and after the workpiece is clamped, the position of the robot hand is adjusted by combining the sliding mechanism and the connecting steering mechanism, so that the robot hand can quickly reach a specified position, and meanwhile, the adjustable space range of the robot hand is enlarged, and the use of the robot hand is facilitated;

(2) the invention utilizes the workpiece position adjusting method to carry out movement adjustment on the robot hand, optimizes the optimal scheme according to different positions and target positions, and reduces energy loss while quickly reaching the designated position.

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 flowchart of the work position adjusting method of 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.

Spiral propulsion subassembly 507 is including installing the connection rubber seat 509 who pushes away the seat 506 surface, and connects rubber seat 509 outer wall and be connected with rotatory screw 510 through ball bearing, rotatory screw 510 screwed connection has outer spiral sleeve 511, and outer spiral sleeve 511 is connected with sliding sleeve 513 through connecting base 512, and rotatory screw 510 end-to-end connection has servo motor, sliding sleeve 513 slides and cup joints on the metal pole 504 of one side, and the inside electro-magnet that is provided with of sliding sleeve 513.

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 precise 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 screw pushing assembly 507 is not electrified, so that the screw 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 screw 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 propulsion assembly 507 propels 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 scraping seat 703 drives 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 holes 710 through the flow guide head 711, the sundries are not easy to remain, and the sundries sucked in by the suction holes 710 enter the flow guide pipe 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 608 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 when the workpieces are fixed, 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.

Connect steering mechanism 3 including connecting the rotating base 301 on manipulator base 2, rotating base 301 top is connected with locking seat 302, locking seat 302 is 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 are grabbed portion 4 and are connected, and it has second drive shaft 316 still to articulate between first linking arm 304 and the second linking arm 307, and whole manipulator grabbing portion 4 realizes multiple work that turns to through connecting steering mechanism 3, is convenient for realize the angle conversion to manipulator grabbing portion 4, conveniently accomplishes the work piece transfer work of different requirements.

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.

Elastic arc frame 308 is all installed on the surface that first linking arm 304 and second linking arm 307 are relative, buckles spring beam 309 through a plurality of between two elastic arc frames 308 and connects, connects through alternately folding leg 310 between the adjacent spring beam 309 of buckling, 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 still installs elastic airbag 313, on the other hand, to when adjusting the robot hand position, because the vibration that tensile formula promotion regulation can produce is great, especially when getting the work piece on the robot hand, can produce the influence to the clamp of work piece, lead to the condition that the work piece appears becoming flexible and even pine takes off, influence the process of grabbing and subsequent processing progress of whole robot hand.

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:

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.

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

1. The utility model provides a 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 connecting steering mechanism (3) adjusts the position of the robot hand grabbing part (4) in a buffer adjustment mode to prevent clamped workpieces from falling off, the bottom end of the robot hand base (2) slides on the surface of the numerical control machine tool (1) through a sliding mechanism (5), and the sliding mechanism (5) adjusts the position of the robot hand base (2) in a bidirectional mode;

the sliding mechanism (5) comprises a sliding seat (501) arranged on the surface of the numerical control machine tool (1), roller sets (502) sliding on the surface of the numerical control machine tool (1) are mounted at two ends of the sliding seat (501), a sliding groove (503) is formed in the surface of the sliding seat (501), two metal rods (504) parallel to each other are mounted in the sliding groove (503), the bottom of the robot base (2) slides on the metal rods (504) through two arc-shaped components (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), and the other end of the pushing seat is connected with a direct pushing assembly (508);

spiral propulsion subassembly (507) is including installing connection rubber seat (509) on pushing seat (506) surface, and connects rubber seat (509) outer wall and be connected with rotatory screw rod (510) through ball bearing, rotatory screw rod (510) screw connection has outer spiral sleeve (511), and outer spiral sleeve (511) are connected with sliding sleeve (513) through connecting base (512), and rotatory screw rod (510) end-to-end connection has servo motor, sliding sleeve (513) slip cup joint on metal pole (504) of one side, and sliding sleeve (513) inside is provided with the electro-magnet.

2. The intelligent robot hand of numerical control equipment according to claim 1, characterized in that: the direct pushing assembly (508) comprises a movable sleeve rod (514) connected to the surface of the pushing seat (506), the tail 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).

3. The intelligent robot hand of numerical control equipment according to claim 1, characterized in that: 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 the limiting grooves (517), the outer wall of each limiting groove (517) is provided with one sound insulation gasket (519), a honeycomb filling layer (520) is arranged between every two adjacent metal sheets (516), and cooling liquid is filled inside the honeycomb filling layer (520).

4. The intelligent robot hand of numerical control equipment according to claim 1, characterized in that: connect steering mechanism (3) including connecting rotating base (301) on manipulator base (2), rotating base (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 portion of grabbing (4) are connected.

5. The intelligent robot hand of numerical control equipment 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 intelligent robot hand of numerical control equipment 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 position adjusting method of a numerical control equipment intelligent robot, which adopts a numerical control equipment intelligent robot as claimed in any one of claims 1 to 6, characterized by comprising the steps of:

8. The workpiece position adjusting method of the intelligent robot for the numerical control equipment according to claim 7, wherein in the step S200, the specific moving method is as follows: