CN109773812A - A kind of robot Special flexible fixture of automatic quick change - Google Patents
A kind of robot Special flexible fixture of automatic quick change Download PDFInfo
- Publication number
- CN109773812A CN109773812A CN201811493450.3A CN201811493450A CN109773812A CN 109773812 A CN109773812 A CN 109773812A CN 201811493450 A CN201811493450 A CN 201811493450A CN 109773812 A CN109773812 A CN 109773812A
- Authority
- CN
- China
- Prior art keywords
- handgrip
- robot
- mounting plate
- rifle disk
- finger
- 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.)
- Withdrawn
Links
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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- 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
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot Special flexible fixtures of automatic quick change, including handgrip connecting pin and floating handgrip, one end of handgrip connecting pin is connect by robot connecting flange with robot, the other end changes rifle disk public affairs disk and stamper cooperation by robot and freely connect with floating handgrip, the floating handgrip, which is additionally provided with, changes rifle disk mounting plate, relocation mechanism, cylinder mounting plate, three-jaw cylinder and handgrip finger, robot, which changes rifle disk stamper and is mounted on, to be changed on rifle disk mounting plate, it changes rifle disk mounting plate and passes through relocation mechanism and cylinder mounting plate floating connection, three-jaw cylinder is installed on cylinder mounting plate, the piston head of three-jaw cylinder connects handgrip finger, the handgrip finger is used for clamping workpiece.Robot switches different handgrip matching feedings by moving rifle disk certainly, solves the problems, such as that the matching problem of handgrip and workpiece and existing handgrip do not have flexibility, improves the versatility and clamping effect of handgrip.
Description
Technical field
The present invention relates to industrial robots, and in particular to a kind of robot Special flexible fixture of automatic quick change.
Background technique
With the rapid development of robot technology, industrial robot is widely used to every field.Above and below robot
Expect to generally use robot grabbing workpiece automatic loading/unloading in operation, labor intensity is effectively reduced, improves working efficiency.Needle
Workpiece complex to shape, plurality of specifications needs to carry out categorizedly design according to the shapes and sizes of workpiece different
The handgrip of specification, robot match feeding by switching different handgrips.The specificity of robot gripper increases to a certain extent
Add the specification and quantity of handgrip, simultaneously because robot gripper does not have flexibility, has been difficult effectively to clamp workpiece, it can not
Meet automation demanding, causes the promotion of cost, the reduction of production efficiency.
Summary of the invention
The object of the present invention is to provide a kind of robot Special flexible fixture of automatic quick change, robot passes through moves rifle certainly
Disk switches different handgrip matching feedings, solves the problems, such as that the matching problem of handgrip and workpiece and existing handgrip do not have flexibility,
Improve the versatility and clamping effect of handgrip.
For this purpose, the technical solution adopted by the present invention is that:
A kind of robot Special flexible fixture of automatic quick change, including handgrip connecting pin and floating handgrip, handgrip connecting pin
Rifle disk public affairs disk is changed equipped with robot connecting flange and robot, floating handgrip is equipped with robot and changes rifle disk stamper, handgrip connecting pin
One end connect with robot by robot connecting flange, the other end changes rifle disk public affairs disk by robot and stamper cooperates and floats
Dynamic handgrip freely connects, the floating handgrip be additionally provided with change rifle disk mounting plate, relocation mechanism, cylinder mounting plate, three-jaw cylinder and
Handgrip finger, robot, which changes rifle disk stamper and is mounted on, to be changed on rifle disk mounting plate, is changed rifle disk mounting plate and is passed through relocation mechanism and cylinder
Mounting plate floating connection, three-jaw cylinder is installed on cylinder mounting plate, and the piston head of three-jaw cylinder connects handgrip finger, the handgrip
Finger is used for clamping workpiece.
Multiple groups floating handgrip can be arranged in the fixture of the application according to the type of handgrip, and every group of floating handgrip configuration is a set of with rule
Lattice change rifle disk stamper, change rifle disk public affairs disk need to only configure it is a set of, change rifle disk public affairs disk and change rifle disk stamper by gas control and it is automatically controlled from
By connecting, the crawl of multiple types workpiece is can be realized in the finger different for the workpiece replacing of different batches.Robot changes rifle
Disk stamper is connect with three-jaw cylinder floating, since relocation mechanism has certain buffering, in the case where error allows, even if supplied materials
Work top has uneven phenomenon, can realize the flexibility of workpiece by relocation mechanism during the process of crawl and blowing
Pick-and-place.
Further, the relocation mechanism includes spring and spring guide pillar；Spring pocket is on spring guide pillar, spring guide pillar
Upper end be fixedly connected with rifle disk mounting plate is changed, the lower end of spring guide pillar slides through cylinder mounting plate and cylinder mounting plate and slides
Connection, the upper end of spring is against rifle disk mounting plate is changed, and the lower end of spring is against cylinder mounting plate.
Spring and spring guide pillar form relocation mechanism, and relocation mechanism can be along spring guide pillar direction by above and below spring force
It is mobile, to realize that robot changes the floating connection of rifle disk stamper Yu three-jaw cylinder.
Further, the three-jaw cylinder connect by conversion block with handgrip finger, the upper end of conversion block pass through bolt and
The lower end of cylinder piston head connection, conversion block is connect by bolt with handgrip finger.Transfer block can at any time more as vulnerable part
It changes, protects the threaded hole of three-jaw cylinder injury-free, extend the service life of cylinder.
Further, the downside of the conversion block is connect with the upper side of handgrip finger, the downside of conversion block with grab
Positioning mechanism is equipped between the upper side of hand finger.Further, the positioning mechanism is to be arranged on conversion block downside
Rectangular recess and the rectangular preiection that is arranged on handgrip finger upper side, the rectangular recess be through slot and with rectangular preiection card
Close connection.
The Fast Installation and positioning of handgrip finger may be implemented in positioning mechanism, improves efficiency.
Further, the medial surface of the handgrip finger is equipped with cushion.Further, pressure is equipped in the cushion
Force snesor, the pressure sensor are used to measure the pressure size of grabbing workpiece.Cushion is installed on surface, avoids workpiece surface
Scratch, cushion have pressure sensing function, chucking power it is excessive or it is too small will call the police, avoid the damage and landing of workpiece.
Further, the handgrip connecting pin is additionally provided with 3D vision connecting plate, the one side and machine of 3D vision connecting plate
The connection of people's connecting flange, another side are changed rifle disk stamper with robot and are connect, and 3D vision connecting plate is equipped with 3D visual sensor,
Workpiece carrys out discharge position and signal is passed to robot 3D visual sensor for identification.
Robot judges automatically the type come discharge position and required handgrip of workpiece by 3D visual sensor, automatic to carry out
Position and angle adjustment, Auto-matching change rifle disk stamper grabbing workpiece, improve working efficiency.
Beneficial effects of the present invention:
1, workpiece type is set by 3D visual sensor automatically and come discharge position, robot carries out position and angle automatically
Adjustment, Auto-matching change rifle disk stamper, and work efficiency is high；
2, relocation mechanism has certain buffering in depth direction, in the case where error allows, even if supplied materials work top
There is uneven situation, can also realize that the flexible pick-and-place of workpiece is acted by relocation mechanism during crawl and blowing,
In order to avoid disfiguring workpiece；
3, when replacing different workpiece, handgrip also does corresponding replacement.It has increased transfer block newly, has been done in transfer block corresponding
Limit, to guarantee the position precision of handgrip finger.Meanwhile installing and dismounting carries out between handgrip finger and transfer block, effectively
Extend the service life of three-jaw cylinder；
4, cushion have pressure sensing function, chucking power it is excessive or it is too small will call the police, avoid the damage and cunning of workpiece
It falls.
Detailed description of the invention
Fig. 1 is the three-dimensional assembling schematic diagram of the handgrip connecting pin of the embodiment 1 of robot Special flexible fixture of the present invention.
Fig. 2 is the main plan view of Fig. 1.
Fig. 3 is the three-dimensional assembling schematic diagram of the floating handgrip of the embodiment 1 of robot Special flexible fixture of the present invention.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing and a kind of preferred reality
Mode is applied technical solution of the present invention is clearly and completely described.
Embodiment 1
A kind of robot Special flexible fixture of automatic quick change, including handgrip connecting pin and floating handgrip, handgrip connecting pin
One end is connect with robot, and the other end changes rifle disk by robot and connect with floating handgrip.
Refering to fig. 1 and Fig. 2, handgrip connecting pin include short joint flange 101,3D vision connecting plate 102,3D visual sensor
103 and robot change rifle disk public affairs disk 104.Short joint flange 101 is by one section of nipple and two ring flanges at connection nipple both ends
It constitutes, one of ring flange passes through bolt and 3D vision connecting plate 102 for connecting the 6th axis of robot, another ring flange
It is fixedly connected.3D vision connecting plate is generally circular, and one side projects radially outward to form sensor mount, sensor installation
Portion is equipped with 3D visual sensor, and workpiece carrys out discharge position and signal is passed to robot 3D visual sensor for identification.
Robot changes the side not connecting with flange pup joint 101 that rifle disk public affairs disk 104 is mounted on 3D vision connecting plate 102 by bolt
On, change the connecting pin of rifle disk public affairs disk outwardly.
It is the prior art that 3D visual sensor and robot, which change rifle disk, in the present embodiment, selects EC-3D-M model
3D visual sensor.
Refering to Fig. 3, floating handgrip includes that robot changes rifle disk stamper 201, changes rifle disk mounting plate 202, spring 203, spring
Guide post 204, cylinder mounting plate 205, three-jaw cylinder 206, transfer block 207, handgrip finger 208 and cushion 209.
Robot changes rifle disk stamper 201 and is mounted on the upper side for changing rifle disk mounting plate 202 by screw.Change rifle disk mounting plate
202 ontologies are rounded, and the side of circular mounting plate projects radially outward to form three equally distributed trunnions 2011, trunnion 2011
Interior to offer tapped blind hole along plate thickness direction, the opening of tapped blind hole is set to the downside of trunnion.Cylinder mounting plate 205 is equipped with
Radial protrusion corresponding with rifle disk mounting plate trunnion 2011 is changed, offers the unthreaded hole through plate thickness in radial protrusion, unthreaded hole with
Tapped blind hole corresponds, and unthreaded hole internal diameter is greater than the outer diameter of spring guide pillar 204.
Spring guide pillar 204 is cylindrical, and the upper end is equipped with threaded joints, and the threaded joints are equipped with external screw thread, institute
External screw thread is stated to be adapted to the internal screw thread of the tapped blind hole of trunnion 2011.203 sets of spring on spring guide pillar 204, spring guide pillar 204
Upper end be threadedly coupled with trunnion 2011, and be locked by nut 2031；The lower end of spring guide pillar 204 slides through cylinder
The unthreaded hole of mounting plate 205 extends to the lower section of cylinder mounting plate 205, the upper end of spring 203 against changing rifle disk mounting plate 202, under
End is against cylinder mounting plate 205.Relocation mechanism can be moved up and down along spring guide pillar direction by spring force, to realize machine
Device people changes the floating connection of rifle disk stamper Yu three-jaw cylinder.
Three-jaw cylinder 206 is mounted on the downside of cylinder mounting plate 205, three pistons of three-jaw cylinder 206 by screw
Head distribution is connect by transfer block 207 with three handgrip fingers 208.In the present embodiment, handgrip finger 208 is substantially L-shaped, grabs
The upper side of hand finger is a flat surface, and the plane outwardly protrudes to form a rectangular preiection.In the present embodiment, transfer block 207
For the special-shaped block that width is adapted to handgrip finger 208, downside is equipped with the rectangular recess of front and back perforation, rectangular recess and handgrip
The rectangular preiection of finger upper side is adapted, and transfer block 207 and handgrip finger 208 pass through groove and the quick peace of male cooperation realization
Dress and positioning.
The medial surface of the lower end of handgrip finger 208 is equipped with cushion 209, and cushion 209 is by way of screw or bonding
It is fixed on the medial surface of handgrip finger lower end.In the present embodiment, the medial surface of the lower end of handgrip finger 208 is equipped with groove,
Cushion 209 is stuck in groove, and is fastened by screw.Pressure sensor is equipped in cushion 209, the pressure sensor is used
In the pressure size of measurement grabbing workpiece.Cushion 209 is made of elastic material, and in this embodiment, cushion is by polyurethane material
Material is made, and can also be made in other embodiments of materials such as rubber, flexible plastics.Pressure sensor is the prior art, at this
In embodiment, using selection PWFC-100 model.
It, can be with according to the type of workpiece it should be noted that the shape of handgrip finger is not limited only to the shape in the present embodiment
A variety of and work piece match handgrip finger is designed, such as handgrip finger can be designed as arc.
Illustrate the working method of the application by taking the robot Special flexible fixture of embodiment 1 as an example below:
More set floating handgrips are set as needed, handgrip connecting pin is connected to robot the 6th by short joint flange 101
On axis.When supplied materials, robot judges automatically the type come discharge position and required handgrip of workpiece by 3D visual sensor 103,
Automatic to carry out position and angle adjustment, rifle disk stamper 201, grabbing workpiece are changed in matching.Since relocation mechanism has one in depth direction
Fixed buffering, even if supplied materials work top has uneven situation, was grabbing and blowing mistake in the case where error allows
It can realize that the flexible pick-and-place of workpiece acts in journey by relocation mechanism.Cushion has pressure sensing function, when pressure mistake
Hour, to prevent workpiece from sliding, automatic alarm, when pressure is excessive, to prevent disfiguring workpiece, automatic alarm.If without prompt, weight
The multiple above movement is until production is completed.
The robot clamp has flexibility, is suitable for the workpiece grabbing of different size, can effectively solve handgrip and workpiece
Matching problem improves work efficiency to improve the versatility of handgrip.
Not doing the part illustrated in above instructions is the prior art, or has both been able to achieve by the prior art.
Claims (8)
1. a kind of robot Special flexible fixture of automatic quick change, including handgrip connecting pin and floating handgrip, which is characterized in that grab
Hand connecting pin is equipped with robot connecting flange and robot changes rifle disk public affairs disk, and floating handgrip is equipped with robot and changes rifle disk stamper, grabs
One end of hand connecting pin is connect by robot connecting flange with robot, and the other end changes rifle disk public affairs disk and stamper by robot
Cooperation is freely connect with floating handgrip, and the floating handgrip, which is additionally provided with, changes rifle disk mounting plate, relocation mechanism, cylinder mounting plate, three
Pawl cylinder and handgrip finger, robot, which changes rifle disk stamper and is mounted on, to be changed on rifle disk mounting plate, is changed rifle disk mounting plate and is passed through floating engine
Structure and cylinder mounting plate floating connection install three-jaw cylinder on cylinder mounting plate, and the piston head of three-jaw cylinder connects handgrip finger,
The handgrip finger is used for clamping workpiece.
2. robot Special flexible fixture as described in claim 1, which is characterized in that the relocation mechanism includes spring and bullet
Spring guide post；Spring pocket is on spring guide pillar, and the upper end of spring guide pillar is fixedly connected with rifle disk mounting plate is changed, under spring guide pillar
End slides through cylinder mounting plate and is slidably connected with cylinder mounting plate, and the upper end of spring is against changing rifle disk mounting plate, under spring
End is against cylinder mounting plate.
3. robot Special flexible fixture as described in claim 1, which is characterized in that the three-jaw cylinder by conversion block with
The upper end of the connection of handgrip finger, conversion block is connect by bolt with cylinder piston head, and the lower end of conversion block passes through bolt and handgrip
Finger connection.
4. robot Special flexible fixture as claimed in claim 3, which is characterized in that the downside of the conversion block and handgrip
The upper side of finger connects, and positioning mechanism is equipped between the downside of conversion block and the upper side of handgrip finger.
5. robot Special flexible fixture as claimed in claim 4, which is characterized in that the positioning mechanism is that setting is being converted
Rectangular recess on block downside and the rectangular preiection being arranged on handgrip finger upper side, the rectangular recess be through slot and with
Rectangular preiection is connected together.
6. robot Special flexible fixture as described in claim 1, which is characterized in that the medial surface of the handgrip finger is equipped with
Cushion.
7. robot Special flexible fixture as claimed in claim 6, which is characterized in that be equipped with pressure sensing in the cushion
Device, the pressure sensor are used to measure the pressure size of grabbing workpiece.
8. robot Special flexible fixture as described in claim 1, which is characterized in that the handgrip connecting pin is additionally provided with 3D view
Feel that connecting plate, the one side of 3D vision connecting plate are connect with robot connecting flange, rifle disk stamper is changed with robot in another side
Connection, 3D vision connecting plate be equipped with 3D visual sensor, 3D visual sensor for identification workpiece come discharge position and will letter
Number pass to robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811493450.3A CN109773812A (en) | 2018-12-07 | 2018-12-07 | A kind of robot Special flexible fixture of automatic quick change |
| PCT/CN2019/086543 WO2020113906A1 (en) | 2018-12-07 | 2019-05-13 | Robot-special flexible clamp allowing automatic and quick change |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811493450.3A CN109773812A (en) | 2018-12-07 | 2018-12-07 | A kind of robot Special flexible fixture of automatic quick change |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109773812A true CN109773812A (en) | 2019-05-21 |
Family
ID=66496807
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811493450.3A Withdrawn CN109773812A (en) | 2018-12-07 | 2018-12-07 | A kind of robot Special flexible fixture of automatic quick change |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109773812A (en) |
| WO (1) | WO2020113906A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253627A (en) * | 2019-06-10 | 2019-09-20 | 浙江吉利控股集团有限公司 | A kind of safety detection switchs adaptive installing mechanism and Gripper attachment |
| CN111687878A (en) * | 2020-06-03 | 2020-09-22 | 杭州浙达精益机电技术股份有限公司 | Floating self-adaptive structure device of robot arm |
| CN112692533A (en) * | 2020-12-16 | 2021-04-23 | 杭州徐睿机械有限公司 | Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof |
| CN114147753A (en) * | 2021-11-19 | 2022-03-08 | 博众精工科技股份有限公司 | Battery module material loading clamping jaw |
| CN114407060A (en) * | 2022-02-21 | 2022-04-29 | 河南科技大学 | Active and passive compliant manipulator device for pneumatic measurement of outer diameter of cylindrical part |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006009559B3 (en) * | 2006-02-28 | 2007-05-31 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Gripper device in form of artificial hand, has two fingers attached at frame and is formed like hinge and can bend in area around finger in assigned movement plane |
| CN205236269U (en) * | 2015-12-07 | 2016-05-18 | 广州朗高科技有限公司 | Spraying machine people's rifle bolt that trades constructs |
| CN107309897B (en) * | 2017-02-24 | 2023-09-15 | 苏州柔触机器人科技有限公司 | Flexible manipulator with buffer function |
| CN107097257B (en) * | 2017-05-25 | 2023-02-28 | 上海松科快换自动化股份有限公司 | Gun changing plate |
| CN107175681A (en) * | 2017-06-27 | 2017-09-19 | 武汉库柏特科技有限公司 | A kind of flexible three-finger configuration manipulator |
-
2018
- 2018-12-07 CN CN201811493450.3A patent/CN109773812A/en not_active Withdrawn
-
2019
- 2019-05-13 WO PCT/CN2019/086543 patent/WO2020113906A1/en active Application Filing
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110253627A (en) * | 2019-06-10 | 2019-09-20 | 浙江吉利控股集团有限公司 | A kind of safety detection switchs adaptive installing mechanism and Gripper attachment |
| CN111687878A (en) * | 2020-06-03 | 2020-09-22 | 杭州浙达精益机电技术股份有限公司 | Floating self-adaptive structure device of robot arm |
| CN111687878B (en) * | 2020-06-03 | 2023-10-31 | 杭州浙达精益机电技术股份有限公司 | Floating self-adaptive structure device of robot arm |
| CN112692533A (en) * | 2020-12-16 | 2021-04-23 | 杭州徐睿机械有限公司 | Robot floating holding deviation rectifying fine throwing mechanism and operation method thereof |
| CN114147753A (en) * | 2021-11-19 | 2022-03-08 | 博众精工科技股份有限公司 | Battery module material loading clamping jaw |
| CN114147753B (en) * | 2021-11-19 | 2024-05-17 | 博众精工科技股份有限公司 | Battery module material loading clamp claw |
| CN114407060A (en) * | 2022-02-21 | 2022-04-29 | 河南科技大学 | Active and passive compliant manipulator device for pneumatic measurement of outer diameter of cylindrical part |
| CN114407060B (en) * | 2022-02-21 | 2023-08-22 | 河南科技大学 | Active and passive flexible manipulator device for pneumatic measurement of outer diameter of cylindrical part |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020113906A1 (en) | 2020-06-11 |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20190521 |
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| WW01 | Invention patent application withdrawn after publication |