CN110281254B - Rigid-soft composite end effector for correcting assembly posture of robot - Google Patents
Rigid-soft composite end effector for correcting assembly posture of robot Download PDFInfo
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- CN110281254B CN110281254B CN201910467885.9A CN201910467885A CN110281254B CN 110281254 B CN110281254 B CN 110281254B CN 201910467885 A CN201910467885 A CN 201910467885A CN 110281254 B CN110281254 B CN 110281254B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
Abstract
A rigid-soft composite end effector for correcting the assembly posture of a robot comprises an effector base plate, a clamping mechanism, a rigid-soft composite assembly posture sensing and correcting actuating mechanism and a restraining mechanism, wherein the rigid-soft composite assembly posture sensing and correcting actuating mechanism is formed by fixedly connecting a pneumatic soft body and a rigid clamping mechanism mounting rod, and the restraining mechanism is formed by a restraining top bead, a top bead spring, a top bead mounting rod and a top tight cylinder; the constraint top bead is a ball-head cylindrical top bead, and the end effector is fixed at the tail end of the robot by the effector bottom plate in a screw connection mode; the pneumatic soft part of the rigid-soft composite assembly posture sensing and deviation rectifying actuating mechanism is a cylindrical pneumatic soft device with three cylindrical chambers distributed at 120 degrees, and the soft pneumatic part is made of silica gel materials and is connected with the rigid clamping mechanism mounting rod in a glue bonding mode. The invention has strong adaptability, can realize the sensing of the assembly posture and the active error correction and has strong universality.
Description
Technical Field
The invention relates to a robot end effector, in particular to a rigid-soft composite end effector for correcting the assembly posture of a robot.
Background
Along with the improvement of the automation level of the industrial robot, more and more industrial robots are applied to the field of automatic assembly. The end effector is used as an assembly action executing mechanism directly contacting with the workpiece, and the performance of the end effector directly influences the assembly effect of the workpiece.
The robot end effectors currently on the market can be classified into three categories according to their adaptability to the operation object: a rigid end effector, a partially flexible end effector, and a flexible end effector. The rigid end effector is widely applied to robot automated assembly, and can be in rigid connection with a workpiece in the clamping and positioning processes of the assembly and complete the assembly in a fixed path along with the movement of the robot. However, for complex assemblies such as some plastic toys or low-voltage electrical products, a large number of small elastic and flexible parts are contained in the assemblies, and due to the difficult accurate positioning, manufacturing errors and the like, the relative positions of the assembly parts are difficult to fix, and if a rigid end effector is used for clamping and mounting the parts, the parts are damaged due to the excessive rigidity of the effector. In order to improve the adaptability of the end effector to the positioning error, a type of partially flexible end effector is designed, and the end effector adopts an elastic body in a clamping mechanism, so that the assembled part can slightly deviate under the constraint of the assembling force to overcome the influence of the positioning error on the assembly. However, in order to ensure the rigidity of the clamping device, the error range which can be accommodated by the partially flexible end effector is small, and in addition, for the assembly of some parts which are matched with the parts which. For flexible end effectors, most of such effectors adopt pneumatic soft devices to grasp different objects in a pneumatic deformation mode, so that such end effectors have strong adaptability to the objects to be grasped but are generally used for grasping and carrying objects with complex shapes due to too small rigidity.
In addition to improving the adaptability of the end effector, how to improve the automatic perception and deviation correction capability of robot assembly on complex assembly conditions is also the key content for developing robot assembly under the background of the development of automation and intelligence in the assembly field. Under the existing conditions, the sensing of the assembly contact state is realized by adopting a mode of installing a force sensor between the end effector and the tail end of the robot, and then the adjustment and the correction of the assembly posture are realized on the basis. The realization mode of sensing and rectifying the assembly posture needs to additionally install a force sensor and additionally add a state recognition and adjustment program to the robot, so that the cost is increased, and the robot needs to meet the functional requirements of relevant force feedback control.
Disclosure of Invention
In order to overcome the defects that the assembly adaptability of the existing robot end effector is insufficient, the assembly posture sensing and the deviation rectification cannot be realized, the invention provides the rigid-soft composite end effector which has strong adaptability, can realize the assembly posture sensing and the active error deviation rectification and has strong universality and is used for correcting the assembly posture of the robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a rigid-soft composite end effector for correcting the assembly posture of a robot comprises an effector base plate, a clamping mechanism, a rigid-soft composite assembly posture sensing and correcting actuating mechanism and a restraining mechanism, wherein the rigid-soft composite assembly posture sensing and correcting actuating mechanism is formed by fixedly connecting a pneumatic soft body and a rigid clamping mechanism mounting rod, and the restraining mechanism is formed by a restraining top bead, a top bead spring, a top bead mounting rod and a jacking cylinder;
the constraint top bead is a ball-head cylindrical top bead, and the actuator bottom plate fixes the end actuator at the tail end of the robot in a screw connection mode; the pneumatic soft part of the rigid-soft composite assembly posture sensing and deviation rectifying actuating mechanism is a cylindrical pneumatic soft device with three cylindrical chambers distributed at 120 degrees, and the soft pneumatic part is made of silica gel materials and is connected with the rigid clamping mechanism mounting rod in a glue bonding mode.
Further, the top bead mounting rod is an L-shaped metal rod, and the top bead mounting rod is divided into two types: the device comprises a fixed ejector bead mounting rod and a movable ejector bead mounting rod, wherein two types of rod pieces are fixed on an actuator bottom plate in a screw connection mode through threaded holes formed in the top end of an L shape, and the fixed ejector bead mounting rod is provided with a hole at the right end of the L shape for placing a fixed ejector bead; the right end of the movable ejecting ball mounting rod is provided with two stepped holes for respectively placing the movable ejecting ball and the ejecting ball spring, and the left side of the movable ejecting ball mounting rod is provided with a through hole for mounting a jacking cylinder with a fixed stroke.
Still further, the actuating mechanism that just soft compound assembly gesture perception, rectifies links firmly the central point that puts at the executor bottom plate with the mode that glue bonds, fixed ejector bead installation pole and movable ejector bead installation pole install on the executor bottom plate after installing spring, cylinder and ejector bead part additional and constitute the actuator restraint mechanism that rectifies, and its mounting means is that a fixed ejector bead installation pole and two movable ejector bead installation poles install in the position at the equidistance in executor bottom plate center with 120 intervals to make the cylinder axis of three bulb cylinder ejector bead point to the actuating mechanism axis of rectifying, select suitable installation distance to make fixed ejector bead can push up tightly rigid holder installation pole, and select the cylinder stroke and can promote movable ejector bead and push up tight rigid holder installation pole when making the cylinder ejector pin stretch out.
Furthermore, in order to ensure that each top bead has enough rigidity during component assembly, the ball head part of the top bead is restricted by hard anti-skid rubber, so that the rigidity of the clamp is increased in a mode of improving the pushing friction force, and the hardness is selected so as not to influence the rigidity of the top bead.
The tail end of the rigid-flexible composite clamp mounting rod is provided with different grabbing mechanisms such as parallel clamps, vacuum chucks and the like so as to adapt to different assembling and clamping requirements.
The technical conception of the invention is as follows: the rigidity of the pneumatic soft device is improved by adopting an elastic and rigid constraint method, the sensing of the assembly posture is realized by utilizing the air pressure change when the pneumatic soft device deforms, and the deviation rectification adjustment of the assembly posture is realized by controlling the air pressure of each chamber of the soft pneumatic device to deform the pneumatic soft device.
The rigid-soft composite assembly attitude identification and deviation correction actuator restraint mechanism is composed of a pneumatic ejector rod, a movable ejector ball and an ejector ball spring. Wherein the movable ejector ball can slide in the mounting groove and is tightly ejected on the mounting rod of the clamping mechanism by the ejector ball spring. When the ejector rod of the jacking cylinder extends out, the ejector rod pushes the movable jacking bead to jack the rigid clamp holder mounting rod, at the moment, the constraint mechanism exerts rigid constraint on the rigid-soft composite actuator, and the end effector is a rigid end effector. When the cylinder ejector rod retracts, the movable ejector bead is tightly propped against the rigid clamp holder mounting rod by the elastic force provided by the spring, the constraint device exerts elastic constraint on the rigid-soft composite actuator at the moment, the actuator is a partial flexible end actuator, and the assembly posture of the clamp holder can deviate slightly under the driving of the deformation of the pneumatic soft body device in the state so as to realize the identification and the correction of the assembly posture.
The rigid-soft composite assembly attitude identification and deviation correction actuating mechanism is rigidly constrained due to the fact that the air cylinder pressure rod is tightly pushed in the clamping and carrying stages of the assembly parts, so that the parts are kept in a stable assembly attitude before assembly contact. The tight cylinder of top is relaxed at the stage of assembly contact, just soft compound actuating mechanism receives spring elastic constraint, and the end effector is flexible, because pneumatic software device can produce deformation in the assembly action execution process, the atmospheric pressure of three cavities in the pneumatic software can change, can judge whether appear assembly error through detecting the deviation of three cavity atmospheric pressure variation value and atmospheric pressure variation in the standard assembly process. In addition, the assembly posture under the error condition can be judged through air pressure feedback in the three chambers, and then the assembly posture rectification adjustment is realized through air pressure control of each chamber on the basis.
The invention has the following beneficial effects: based on rigid-soft composite assembly posture recognition and deviation rectification end effectors, active deviation rectification of an assembly posture can be realized based on air pressure feedback of a software device by introducing a pneumatic software device, and the method specifically comprises the following steps:
1) the end effector can be provided with different clamping mechanisms to meet the clamping requirements of assembling different parts.
2) The end effector has strong adaptability to complex assembly contact conditions by adopting a pneumatic soft body and a mode of switchable elastic and rigid constraints.
3) The characteristics of pneumatic software air pressure feedback and controllability are utilized, and the assembly attitude identification and error correction can be realized.
Drawings
FIG. 1 is a schematic structural view of an end effector of the present invention;
FIG. 2 is a cross-sectional view A-A of FIG. 1, wherein 1 represents an actuator base plate, 2 represents a movable bead-ejecting mounting rod, 3 represents a bead-ejecting mounting rod, 4 represents a three-chamber cylindrical pneumatic bladder device, 5 represents a clamping mechanism mounting rod, 6 represents a fixed bead-ejecting, 7 represents a puller cylinder, 8 represents a cylinder mounting plate, 9 represents a bead-ejecting spring, 10 represents a clamping mechanism mounting plate, and 11 represents a clamping mechanism;
FIG. 3 is a schematic structural diagram of a rigid-flexible composite assembly attitude recognition and deviation correction actuator according to the present invention;
FIG. 4 is a cross-sectional view E-E of FIG. 3;
FIG. 5 is a schematic view of a fixed roof bead restraint structure of the present invention;
FIG. 6 is a schematic view of a movable knob restraining structure according to the present invention;
FIG. 7 is a schematic diagram of the assembly attitude deviation rectifying operation of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1-7, a rigid-soft composite end effector for correcting assembly postures of a robot comprises an effector base plate 1, a clamping mechanism, a rigid-soft composite assembly posture sensing and correction actuating mechanism formed by fixedly connecting a pneumatic soft body and a rigid clamping mechanism mounting rod, and a constraint mechanism formed by a constraint top bead, a top bead spring, a top bead mounting rod and a jacking cylinder.
Wherein, just soft compound assembly gesture discernment, the actuator of rectifying includes: as shown in fig. 2, a three chamber cylindrical pneumatic soft body device 4, a fixture mounting rod 5, and a fixture mounting plate 10. One end of the soft device is fixed on the bottom plate 1 of the end effector, the other end of the soft device is provided with a clamping mechanism fixing rod 5, and the clamping mechanism is fixed on the clamping mechanism fixing rod in a screw connection mode through a mounting plate 10. Wherein the pneumatic software device can change the assembly posture of the end effector by changing the air pressure of each chamber to deform the pneumatic software, as shown in fig. 5. During the assembly process, the assembly contact state and the assembly posture can be sensed through the air pressure change of each chamber of the pneumatic soft device. In addition, different clamping mechanisms can be mounted on the clamping mechanism mounting plate 10 to adapt to the grabbing requirements of various parts.
In an embodiment of the present invention, the constraining mechanism includes: as shown in fig. 3, the knob 6 is fixed and the knob mounting bar 3 is fixed. The main function of the fixed top bead restraint device is to provide a rigid reference for elastic restraint and a rigid-soft composite deviation correction actuator.
The constraint top bead is a ball-head cylindrical top bead, and the end effector is fixed at the tail end of the robot by the effector bottom plate in a screw connection mode; the pneumatic soft part of the rigid-soft composite assembly posture sensing and deviation rectifying actuating mechanism is a cylindrical pneumatic soft device with three cylindrical chambers distributed at 120 degrees, and the soft pneumatic part is made of silica gel materials and is connected with the rigid clamping mechanism mounting rod in a glue bonding mode.
Further, the top bead mounting rod is an L-shaped metal rod, and the top bead mounting rod is divided into two types: the device comprises a fixed ejector bead mounting rod and a movable ejector bead mounting rod, wherein two types of rod pieces are fixed on an actuator bottom plate in a screw connection mode through threaded holes formed in the top end of an L shape, and the fixed ejector bead mounting rod is provided with a hole at the right end of the L shape for placing a fixed ejector bead; the right end of the movable ejecting ball mounting rod is provided with two stepped holes for respectively placing the movable ejecting ball and the ejecting ball spring, and the left side of the movable ejecting ball mounting rod is provided with a through hole for mounting a jacking cylinder with a fixed stroke.
In one embodiment, the present invention provides a movable bead-ejecting restraining device comprising: as shown in fig. 4, the movable knock ball mounting rod 2, the knock ball 7, the knock ball spring 9, and the knock cylinder 8. The ejector rod of the jacking cylinder can move in a telescopic mode, when the ejector rod extends out, the ejector beads can provide rigid restraint for the rigid-soft composite actuator, and the actuator is a rigid end actuator at the moment. When the ejector rod retracts, the ejector ball spring provides elastic restraint for the rigid-soft composite actuator, the end actuator in the state is a partial flexible end actuator, and in the state, the assembly posture of the clamping mechanism 5 can be adjusted by the rigid-soft composite assembly posture correction actuator, so that the assembly process when a positioning error occurs can be adapted.
When the puller cylinder retracts to the puller rod, the puller ball spring provides elastic restraint for the rigid-soft composite deviation rectifying actuator, the selection of the spring needs to ensure that the outer diameter of the spring is smaller than the installation aperture of the spring and the clamping force is within the puller force range of the spring, and in addition, the two puller ball springs select the same specification to ensure the stability of elastic puller. And (3) designing a spring index C according to the formula (1), and calculating the free length of the spring according to the formula (2).
C＝D2/d (1)
Wherein D2The pitch diameter of the spring ring and the diameter d of the spring wire.
H＝n·+(n0+1)·d (2)
Wherein H is the free length of the spring, n is the number of working turns of the spring, and n is the number of working turns of the spring0The total number of turns of the spring and the distance between the spring wires are calculated by a formula (3)
＝t-d (3)
Where t is the spring pitch.
When the rigid-soft composite deviation rectifying actuating mechanism is constrained by rigidity and elasticity, the three bead ejecting mounting rods are respectively subjected to the reaction force of cylinder ejection and spring ejection, and the bead ejecting mounting rods need to have enough rigidity to ensure the working performance of the end effector. And (4) calculating the rigidity requirement of the top bead mounting rod according to a formula (4).
6Fl/bh2≤[σ] (4)
In order to reduce the weight of the end effector, the ejector rod mounting plates are made of aluminum alloy materials, namely [ sigma ] ═ 370MPa, F is the maximum jacking force borne by the ejector beads, L is the length of the L-shaped ejector bead mounting plate, and b and h are the length and the width of the cross section of the ejector bead mounting plate respectively.
Those skilled in the art will appreciate that variations may be implemented by those skilled in the art in combination with the prior art and the above-described embodiments, and will not be described in detail herein. Such variations do not affect the essence of the present invention and are not described herein.
The embodiments of the present invention have been described above. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; it will be understood by those skilled in the art that various changes and modifications may be made, or equivalents may be modified, without departing from the spirit of the invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.
Claims (2)
1. A rigid-soft composite end effector for correcting the assembly posture of a robot is characterized by comprising an effector base plate, a clamping mechanism, a rigid-soft composite assembly posture sensing and correcting actuating mechanism and a restraining mechanism, wherein the rigid-soft composite assembly posture sensing and correcting actuating mechanism is formed by fixedly connecting a pneumatic soft body and a rigid clamping mechanism mounting rod, and the restraining mechanism is formed by a restraining top bead, a top bead spring, a top bead mounting rod and a top tightening cylinder;
the constraint top bead is a ball-head cylindrical top bead, and the actuator bottom plate fixes the end actuator at the tail end of the robot in a screw connection mode; the pneumatic soft part of the rigid-soft composite assembly attitude sensing and deviation rectifying actuating mechanism is a cylindrical pneumatic soft device with three cylindrical chambers distributed at 120 degrees, and the pneumatic soft part is made of silica gel materials and is connected with the rigid clamping mechanism mounting rod in a glue bonding mode;
the top bead mounting rod is an L-shaped metal rod and is divided into two types: the device comprises a fixed ejector bead mounting rod and a movable ejector bead mounting rod, wherein two types of rod pieces are fixed on an actuator bottom plate in a screw connection mode through threaded holes formed in the top end of an L shape, and the fixed ejector bead mounting rod is provided with a hole at the right end of the L shape for placing a fixed ejector bead; the right end of the movable ejecting ball mounting rod is provided with two stepped holes for respectively placing a movable ejecting ball and an ejecting ball spring, and the left side of the movable ejecting ball mounting rod is provided with a through hole for mounting a fixed stroke jacking cylinder;
the rigid-soft composite assembly posture sensing and deviation rectifying actuating mechanism is fixedly connected to the central position of an actuator bottom plate in a glue bonding mode, a fixed ejector bead mounting rod and a movable ejector bead mounting rod are mounted on the actuator bottom plate after a spring, an air cylinder and an ejector bead part are additionally mounted to form a deviation rectifying actuator restraint mechanism, the mounting mode of the deviation rectifying actuator restraint mechanism is that the fixed ejector bead mounting rod and the two movable ejector bead mounting rods are mounted at the positions which are equidistant to the center of the actuator bottom plate at intervals of 120 degrees, the cylindrical axes of three ball-head cylindrical ejector beads point to the axis of the deviation rectifying actuating mechanism, the rigid clamping mechanism mounting rod can be tightly propped by the fixed ejector beads through selecting a proper mounting distance, and the rigid clamping mechanism mounting rod can be tightly propped by the movable ejector beads through selecting an air cylinder stroke when an air cylinder;
the ball head part of the restraining top bead is made of hard anti-skid rubber.
2. The rigid-flexible composite end effector for correcting the assembly posture of the robot as claimed in claim 1, wherein the end of the mounting rod of the rigid clamping mechanism is provided with a parallel clamp or a vacuum chuck.
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| CN115167198B (en) * | 2022-06-21 | 2023-03-21 | 沈阳新松机器人自动化股份有限公司 | Wafer deviation rectifying system and method of double-end mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5271686A (en) * | 1992-01-27 | 1993-12-21 | The Budd Company | Robot hand for aligning and isolating a work tool |
| FR2711084B1 (en) * | 1993-10-14 | 1996-01-19 | Renault Automation | Device for inserting a cylindrical part into a bore. |
| CN100460164C (en) * | 2007-02-08 | 2009-02-11 | 上海交通大学 | Safety type rigidity variable mechanical joint |
| US9821475B1 (en) * | 2012-10-26 | 2017-11-21 | Other Lab, Llc | Robotic actuator |
| CN105835084B (en) * | 2015-12-31 | 2017-12-12 | 广东工业大学 | A kind of adjustable multidimensional passive compliance device of rigidity |
| CN105619435B (en) * | 2016-03-31 | 2018-03-02 | 山东大学 | A kind of hard and soft mixed type manipulator, robot and method with exciting function |
| WO2017171303A1 (en) * | 2016-04-01 | 2017-10-05 | 한국기계연구원 | Passive stiffness gripper |
| CN107262833A (en) * | 2017-08-24 | 2017-10-20 | 南通理工智能制造技术有限公司 | A kind of Multifunctional floating dynamic formula surface finishing system actuators |
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