CN110576442B - Tray grabbing device for reducing teaching difficulty of robot and operation method of tray grabbing device - Google Patents
Tray grabbing device for reducing teaching difficulty of robot and operation method of tray grabbing device Download PDFInfo
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- CN110576442B CN110576442B CN201910859598.2A CN201910859598A CN110576442B CN 110576442 B CN110576442 B CN 110576442B CN 201910859598 A CN201910859598 A CN 201910859598A CN 110576442 B CN110576442 B CN 110576442B
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- tray
- manipulator
- end positioning
- block
- positioning shaft
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0081—Programme-controlled manipulators with master teach-in means
Abstract
The invention discloses a tray grabbing device for reducing teaching difficulty of a robot and an operation method of the tray grabbing device. The tail end of the manipulator is provided with a manipulator end positioning shaft, a wedge-shaped supporting block and other parts, the tray end is provided with a tray end positioning block, a wedge-shaped adjusting block and other parts, the manipulator end positioning shaft and the tray end positioning block are matched in a conical surface mode, the wedge-shaped supporting block and the wedge-shaped adjusting block are matched in an inclined surface mode to achieve clamping and positioning, and the device can achieve picking and placing of the tray in a small space by matching with a corresponding operation method. The device has the advantages of simple structure, convenient teaching, space saving, stability and reliability.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a tray grabbing device for reducing teaching difficulty of a robot and an operation method of the tray grabbing device.
Background
The automatic mode of traditional CNC processing is that the manipulator directly snatchs the work piece and process in the lathe, and this kind of mode then need change different manipulator end effector to the work piece of different grade type, like magnetic chuck, gas claw etc. and change the part at every turn and all need teach the operation position of manipulator again, and consequently the flexibility of this kind of mode is lower. In order to solve the problem, the mode that the mechanical arm grabs the standard tray is adopted, and when a machined workpiece is replaced at each time, only the workpiece jig on the standard tray needs to be replaced, so that the teaching point position and the grabbing device at the tail end of the mechanical arm do not need to be replaced. Meanwhile, the standard tray and the machine tool workbench can be quickly exchanged through a standard interface, the manipulator and the tray can also be quickly exchanged through another set of standard interface, the turnover efficiency of the tray is greatly improved through the standard interfaces, and the non-processing time is shortened. Therefore, the tray grabbing device which is simple in structure, convenient to teach, safe and reliable is designed, and the tray grabbing device has important significance.
The existing tray grabbing mode comprises a quick-change holding claw, a material fork and the like. The quick-change gripper consists of a gripper main disc arranged at the tail end of the manipulator and a gripper tool disc arranged on the side of the tray, and when the gripper is used for gripping, the main disc is inserted into the tool disc and then is locked by the action of air pressure or spring elasticity and the like; when the main disc is separated, the main disc and the main disc are loosened in modes of air pressure and the like, and then the main disc is driven by the mechanical arm to withdraw. The material fork realizes the limiting of the tray through the structure of the material fork, and then the tray is grabbed by the manipulator.
The quick-change gripper has the following disadvantages:
1. the design tolerance of the gripper is generally small, the requirement on teaching point positions is high, and the teaching difficulty is high;
2. the clamping and the loosening of the holding claw generally need power sources such as air pressure and the like, and in order to reliably clamp and loosen, the requirements on the size and the stability of the air pressure are higher, so that the requirements on relevant conditions on site are improved;
3. the structure of the holding claw is complex, the processing is troublesome and the maintenance is inconvenient.
The material fork has the following disadvantages;
1. the position of the tray is not completely limited on the material fork, and the position of the tray can move in the operation process of the manipulator;
2. due to the influence of the structural characteristics of the fork, enough movement space needs to be reserved for the fork when the fork extends into and withdraws from the tray, otherwise, interference can be caused, and therefore the size requirement on the whole structure is increased.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a tray grabbing device for reducing teaching difficulty of a robot and an operation method thereof aiming at the defects in the prior art, and solve the problems that the traditional tray grabbing device is troublesome in teaching and occupies a large space.
The invention adopts the following technical scheme:
a tray grabbing device for reducing teaching difficulty of a robot comprises a manipulator end grabbing device and a tray end grabbing device, wherein the manipulator end grabbing device comprises a manipulator end positioning shaft with a conical surface structure, the lower end of the manipulator end positioning shaft is connected with a tray end positioning block, the tray end positioning block is of a conical hole structure and is used for being matched with the conical surface of the manipulator end positioning shaft for positioning, and a wedge-shaped supporting block is arranged below the tray end positioning block; tray end grabbing device includes the tray, and the tray below is provided with the wedge regulating block, and the wedge regulating block is used for the location through the inclined plane cooperation with the wedge supporting shoe to press from both sides tightly.
Specifically, manipulator end grabbing device includes the manipulator forearm, and the one end and the manipulator of manipulator forearm are connected, and the other end passes through the mount and is connected with manipulator end location axle, and manipulator end location axle sets up in the mount.
Furthermore, the fixing frame comprises an upper connecting plate connected with the front arm of the manipulator, the two ends of the upper connecting plate are respectively connected with a lower connecting plate through supporting columns, the positioning shaft at the end of the manipulator is respectively connected with the upper connecting plate and the lower connecting plate through screws, and the wedge-shaped supporting block is connected with the lower connecting plate.
Furthermore, a detection sensor for detecting whether the grabbing tray exists or not is arranged on the lower connecting plate.
Furthermore, the inner sides of the two support columns are provided with air nozzle mounting seats, and air nozzles are arranged on the air nozzle mounting seats.
Specifically, the manipulator end positioning shaft comprises conical sections at two ends and a middle cylindrical section, the conical sections can be matched with the conical holes of the tray end positioning blocks, the cylindrical section is used for enabling the manipulator end positioning shaft to move to the inner side of the conical holes of the tray end positioning blocks from the opening of the tray end positioning blocks, and conical surface angles are arranged on the manipulator end positioning shaft and the tray end positioning blocks.
Furthermore, the conical sections at the two ends are symmetrically arranged, and the angle of the conical surface ranges from 81 degrees to 89 degrees.
Specifically, tray end locating piece is connected with the tray, and the tray below is provided with eccentric regulating block, and eccentric regulating block sets up the one side at wedge regulating block.
Specifically, the tray end grabbing device further comprises an auxiliary supporting block, and the auxiliary supporting block is connected with the tray and the tray end positioning block respectively.
The invention also provides an operation method of the tray grabbing device for reducing the teaching difficulty of the robot, which comprises the following steps:
s1, adjusting the matching position of the wedge-shaped adjusting block and the wedge-shaped supporting block, and then driving the tail end manipulator end positioning shaft to horizontally move by a manipulator to enable the cylindrical section of the manipulator end positioning shaft to enter the position where the axis of the cylindrical section is overlapped with the axis of the taper hole of the tray end positioning block from the opening of the tray end positioning block;
s2, the manipulator drives the manipulator end positioning shaft at the tail end to vertically move upwards to a position where the conical surface of the manipulator end positioning shaft is just completely attached to the conical hole surface of the tray end positioning block; a detection sensor arranged on the manipulator end grabbing device detects the position of the tray end positioning block to ensure that the grabbing matching position is correct; the positioning shaft at the end of the manipulator and the positioning block at the end of the tray realize positioning and clamping, and the manipulator continues to move in the vertical direction or the horizontal direction to realize the transportation of the tray by the manipulator;
s3, the manipulator drives the manipulator end positioning shaft at the tail end to vertically move downwards for a certain distance, so that the conical surface fit and the inclined surface fit are completely separated, and the cylindrical section of the manipulator end positioning shaft is opposite to the opening of the tray end positioning block in the vertical direction; then the mechanical arm drives the mechanical arm end positioning shaft at the tail end to move horizontally, so that the cylindrical section of the mechanical arm end positioning shaft is completely withdrawn from the opening of the tray end positioning block, and the mechanical arm is separated from the tray.
Compared with the prior art, the invention has at least the following beneficial effects:
according to the tray grabbing device for reducing the teaching difficulty of the robot, the positioning and clamping are realized in the conical surface matching and inclined surface matching modes, the structure is simple, the stability and the reliability are high, and the teaching is convenient; in addition, the gripping device requires less space during movement, and the risk of interference with other devices during movement can be reduced.
Furthermore, the manipulator end positioning shaft is connected with the manipulator forearm through the fixing frame, and the manipulator end positioning shaft and the manipulator forearm are of a split structure, so that the manipulator is convenient to replace and simple to process.
Further, the sensor of installation on the connecting plate down can detect whether have the tray on the manipulator grabbing device, prevents that the manipulator from still moving the unexpected circumstances such as taking place under the condition that fails normally to snatch the tray.
Furthermore, the air faucet arranged on the air faucet mounting seat can clean the matching conical surface of the positioning shaft at the end of the manipulator and the detection sensor, and impurities such as cutting scraps are prevented from influencing matching and detection.
Furthermore, the conical structure of manipulator end location axle can realize locate function on the one hand, and on the other hand can realize the direction function, reduces the teaching degree of difficulty, and specific conical surface angle and the specific inclined plane angle cooperation between wedge supporting shoe and the wedge regulating block between manipulator end location axle and the tray end locating piece for form mechanical auto-lock structure between the two, ensure that the tray can not take place to drop at the motion in-process.
Furthermore, the conical sections at the two ends are completely symmetrical, and the conical surface at one end can be replaced by the conical surface at the other end for continuous use after being worn.
Furthermore, workpieces of various specifications and types can be replaced on the tray according to actual production requirements without teaching point positions again, so that the flexibility of the system is improved; through rotatory eccentric adjusting block, can adjust the front and back position of installing the wedge adjusting block on the tray, ensure that wedge adjusting block and wedge supporting shoe laminate completely, its error that can compensate parts machining and assembly reduces the processing degree of difficulty.
Furthermore, the auxiliary supporting block is connected with the tray and the tray end positioning block through screws, so that the rigidity of the whole structure can be improved.
The invention also discloses an operation method of the tray grabbing device for reducing the teaching difficulty of the robot, which can realize the picking and placing of the tray in a very small space, can fully utilize the existing space and cannot generate interference.
In conclusion, the invention has simple structure, convenient processing and maintenance, adopts a pure mechanical structure and does not need to be externally connected with other power devices; the teaching difficulty is greatly reduced by adopting a conical surface guide matching mode; the size of the structure and the space required for the action are small.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a tray structure according to the present invention;
FIG. 3 is a schematic diagram of the bevel engagement of the present invention;
FIG. 4 is a schematic view of the eccentric adjustment block adjustment of the present invention;
FIG. 5 is a schematic view of the taper fit of the present invention.
Wherein: 1. a manipulator end positioning shaft; 2. a tray end positioning block; 3. a detection sensor; 4. a tray; 5. a forearm of the manipulator; 6. an upper connecting plate; 7. a support pillar; 8. a lower connecting plate; 9. a wedge-shaped adjusting block; 10. a wedge-shaped support block; 11. an eccentric adjusting block; 12. an auxiliary support block; 13. an air tap mounting seat; 14. an air tap.
Detailed Description
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The invention provides a tray grabbing device for reducing teaching difficulty of a robot, which realizes positioning and clamping by adopting a structural form of conical surface matching and inclined surface matching, the teaching difficulty is reduced by adopting a conical surface guiding and positioning structure, a positioning shaft at the end of a manipulator is designed into an up-and-down symmetrical form, when the conical surface at one end is seriously abraded, the conical surface at the other end can be quickly replaced for continuous use, and later maintenance is facilitated; the front and back positions of the wedge-shaped adjusting block are adjusted in a mode of rotating the eccentric adjusting block, and compared with a traditional screw jacking mode, the mode saves space and is convenient to operate; install two detection sensor for whether the terminal tray that snatchs that has of detection manipulator, and can prevent that a single sensor from breaking down or detect unusual condition.
Referring to fig. 1 and 3, the tray grabbing device for reducing teaching difficulty of the robot comprises a manipulator end grabbing device and a tray end grabbing device, wherein the manipulator end grabbing device comprises a manipulator end positioning shaft 1 with a conical surface structure, the tray end grabbing device comprises a tray end positioning block 2, a wedge-shaped adjusting block 9 and a wedge-shaped supporting block 10, the tray end positioning block 2 is of a conical hole structure and is used for being matched with the conical surface of the manipulator end positioning shaft 1 for positioning, the wedge-shaped adjusting block 9 is matched with the inclined surface of the wedge-shaped supporting block 10 in an inclined plane mode, the conical surface angle between the manipulator end positioning shaft 1 and the tray end positioning block 2 is 81-89 degrees, and the inclined surface angle between the wedge-shaped adjusting block 9 and the wedge-shaped supporting block 10 is 80-85 degrees.
The manipulator end grabbing device comprises a manipulator end positioning shaft 1, a detection sensor 3, a manipulator front arm 5, an upper connecting plate 6, a supporting column 7, a lower connecting plate 8 and a wedge-shaped supporting block 10.
The manipulator end location axle 1 is connected with upper junction plate 6 and lower junction plate 8 through the screw, and support column 7 is installed to both sides, installs on the lower junction plate 8 to be used for detecting the detection sensor 3 that has or not snatchs the tray, and upper junction plate 6 is connected with the manipulator through manipulator forearm 5.
The air nozzle mounting seat 13 is fixed on the support column 7, and the air nozzle 14 is mounted on the air nozzle mounting seat 13.
Referring to fig. 1 and 5, a wedge-shaped support block 10 is connected to the lower connection plate 8 by a screw. The manipulator end positioning shaft 1 is composed of conical sections at two ends and a middle cylindrical section, the conical section at one end is matched with a conical hole of the tray end positioning block 2, the conical sections at two ends are completely symmetrical, the conical surface at one end can be replaced to be the other end to be continuously used after being worn, and the cylindrical section is used for the manipulator end positioning shaft 1 to move to the inner side of the conical hole from an opening of the tray end positioning block 2.
Referring to fig. 2, the tray end grabbing device includes a tray end positioning block 2, a tray 4, a wedge-shaped adjusting block 9, an eccentric adjusting block 11, and an auxiliary supporting block 12.
The tray end positioning block 2 is connected with the tray 4 through a screw and a positioning pin, and the wedge-shaped adjusting block 9, the eccentric adjusting block 11 and the auxiliary supporting block 12 are respectively connected with the tray 4 through screws.
Referring to fig. 4, the wedge-shaped adjusting block 9 and the eccentric adjusting block 11 are respectively connected with the tray 4 through screws and the tray 4 through screws, the front and rear positions of the wedge-shaped adjusting block 9 can be adjusted by rotating the wedge-shaped adjusting block, the wedge-shaped adjusting block 9 is completely attached to the wedge-shaped supporting block 10, the eccentric adjusting block 11 is in an eccentric form, and the auxiliary supporting block 12 is connected with the tray 4 and the tray end positioning block 2 through screws.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. 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.
The action process is as follows:
when the manipulator grabs, firstly, the manipulator drives the manipulator end positioning shaft 1 at the tail end to move horizontally, so that the cylindrical section part of the manipulator end positioning shaft 1 enters the position where the axis of the cylindrical section is superposed with the axis of the taper hole of the tray end positioning block 2 from the opening of the tray end positioning block 2;
then the manipulator drives the manipulator end positioning shaft 1 at the tail end to vertically move upwards, and the manipulator end positioning shaft 1 moves to a position where the conical surface of the manipulator end positioning shaft 1 is just completely jointed with the conical hole surface of the tray end positioning block 2 (in the earlier stage, the wedge-shaped adjusting block 9 and the wedge-shaped supporting block 10 are also just completely jointed by adjusting the eccentric adjusting block 11);
then the detection sensor 3 detects the position of the positioning block 2 at the tray end to ensure that the grabbing matching position is correct;
at the moment, the positioning and clamping between the manipulator end positioning shaft 1 and the tray end positioning block 2 are realized, and the manipulator continues to move in the vertical direction or the horizontal direction, so that the carrying of the manipulator to the tray is realized.
When the manipulator is withdrawn, firstly, the manipulator drives the manipulator end positioning shaft 1 at the tail end to vertically move downwards for a certain distance, so that the conical surface matching and the inclined surface matching are completely separated, and the cylindrical section of the manipulator end positioning shaft 1 is opposite to the opening of the tray end positioning block 2 in the vertical direction;
then the manipulator drives the manipulator end positioning shaft 1 at the tail end to move horizontally, so that the cylindrical section of the manipulator end positioning shaft 1 is completely withdrawn from the opening of the tray end positioning block 2, and the separation action of the manipulator and the tray is completed at the moment.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (1)
1. An operation method of a gripping device is characterized in that the gripping device comprises a manipulator end gripping device and a tray end gripping device, the manipulator end gripping device comprises a manipulator end positioning shaft (1) with a conical surface structure and a manipulator front arm (5), the manipulator end positioning shaft (1) comprises conical sections at two ends and a middle cylindrical section, the conical sections at two ends are symmetrically arranged, the conical surface angle is 81-89 degrees, the conical sections can be matched with the conical hole of the tray end positioning block (2), the cylindrical section is used for enabling the manipulator end positioning shaft (1) to move to the inner side of the conical hole from the opening of the tray end positioning block (2), the manipulator end positioning shaft (1) and the tray end positioning block (2) are provided with conical surface angles, one end of the manipulator front arm (5) is connected with a manipulator, the other end of the manipulator end positioning shaft (1) is connected with a fixing frame through the fixing frame, the manipulator end positioning shaft (1) is arranged in the fixing frame, the fixing frame comprises an upper connecting plate (6) connected with a front arm (5) of the manipulator, two ends of the upper connecting plate (6) are respectively connected with a lower connecting plate (8) through supporting columns (7), a detection sensor (3) for detecting whether a grabbing tray exists or not is arranged on the lower connecting plate (8), air nozzle mounting seats (13) are arranged on the inner sides of the two supporting columns (7), air nozzles (14) are arranged on the air nozzle mounting seats (13), a manipulator end positioning shaft (1) is respectively connected with the upper connecting plate (6) and the lower connecting plate (8) through screws, wedge-shaped supporting blocks (10) are connected with the lower connecting plate (8), the lower end of the manipulator end positioning shaft (1) is connected with a tray end positioning block (2), the tray end positioning block (2) is of a conical hole structure and is used for being matched with a conical surface of the manipulator end positioning shaft (1) for positioning, a wedge-shaped supporting block (10) is arranged below the tray end positioning block (2); the tray end grabbing device comprises a tray (4) and an auxiliary supporting block (12), a wedge-shaped adjusting block (9) is arranged below the tray (4), the wedge-shaped adjusting block (9) is matched with a wedge-shaped supporting block (10) arranged below the manipulator end positioning shaft (1) through an inclined plane to be used for positioning and clamping, and the auxiliary supporting block (12) is connected with the tray (4) and the tray end positioning block (2) respectively; the tray end positioning block (2) is connected with the tray (4), an eccentric adjusting block (11) is arranged below the tray (4), and the eccentric adjusting block (11) is arranged on one side of the wedge-shaped adjusting block (9);
the method comprises the following steps:
s1, adjusting the matching position of the wedge-shaped adjusting block and the wedge-shaped supporting block, and then driving the tail end manipulator end positioning shaft to horizontally move by a manipulator to enable the cylindrical section of the manipulator end positioning shaft to enter the position where the axis of the cylindrical section is overlapped with the axis of the taper hole of the tray end positioning block from the opening of the tray end positioning block;
s2, the manipulator drives the manipulator end positioning shaft at the tail end to vertically move upwards to a position where the conical surface of the manipulator end positioning shaft is just completely attached to the conical hole surface of the tray end positioning block; a detection sensor arranged on the manipulator end grabbing device detects the position of the tray end positioning block to ensure that the grabbing matching position is correct; the positioning shaft at the end of the manipulator and the positioning block at the end of the tray realize positioning and clamping, and the manipulator continues to move in the vertical direction or the horizontal direction to realize the transportation of the tray by the manipulator;
s3, the manipulator drives the manipulator end positioning shaft at the tail end to vertically move downwards for a certain distance, so that the conical surface fit and the inclined surface fit are completely separated, and the cylindrical section of the manipulator end positioning shaft is opposite to the opening of the tray end positioning block in the vertical direction; then the mechanical arm drives the mechanical arm end positioning shaft at the tail end to move horizontally, so that the cylindrical section of the mechanical arm end positioning shaft is completely withdrawn from the opening of the tray end positioning block, and the mechanical arm is separated from the tray.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910859598.2A CN110576442B (en) | 2019-09-11 | 2019-09-11 | Tray grabbing device for reducing teaching difficulty of robot and operation method of tray grabbing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910859598.2A CN110576442B (en) | 2019-09-11 | 2019-09-11 | Tray grabbing device for reducing teaching difficulty of robot and operation method of tray grabbing device |
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| CN110576442A CN110576442A (en) | 2019-12-17 |
| CN110576442B true CN110576442B (en) | 2021-12-14 |
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| CN114536034B (en) * | 2022-04-22 | 2022-07-15 | 沈阳和研科技有限公司 | XYZ-axis three-direction precision compensation structure suitable for precision carrying mechanism |
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| WO2019054880A1 (en) * | 2017-09-14 | 2019-03-21 | Kjell Buind | Quick robot arm tool changer |
| CN109551506A (en) * | 2018-11-13 | 2019-04-02 | 北京新立机械有限责任公司 | A kind of plumb joint assembling and disassembling device |
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|---|---|---|---|---|
| CN101932406A (en) * | 2007-11-14 | 2010-12-29 | 施托布利技术系统公司 | Tool holder device |
| CN205255020U (en) * | 2016-01-11 | 2016-05-25 | 东莞市昌玖数控科技有限公司 | Glass cnc engraving and milling machine's manipulator suction disc |
| CN107433484A (en) * | 2017-09-13 | 2017-12-05 | 西安精雕软件科技有限公司 | A kind of pallet exchange system standard grabbing device |
| WO2019054880A1 (en) * | 2017-09-14 | 2019-03-21 | Kjell Buind | Quick robot arm tool changer |
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