CN110653845A - Variable-pitch end effector and method for carrying elastic thin-walled workpiece - Google Patents
Variable-pitch end effector and method for carrying elastic thin-walled workpiece Download PDFInfo
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- CN110653845A CN110653845A CN201911042490.0A CN201911042490A CN110653845A CN 110653845 A CN110653845 A CN 110653845A CN 201911042490 A CN201911042490 A CN 201911042490A CN 110653845 A CN110653845 A CN 110653845A
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Abstract
The invention provides a variable-pitch end effector and a method for carrying an elastic thin-walled workpiece, which are suitable for stably carrying the elastic thin-walled workpiece. The device comprises a connecting flange, an actuating mechanism and a supporting frame, wherein the connecting flange and the actuating mechanism are arranged on the supporting frame; the actuating mechanism comprises an X-direction double-nut screw rod module, an X-direction double-nut sliding rail mechanism and a Y-direction double-nut screw rod module. The piezoelectric micro-motion mechanism can inhibit vibration of the elastic thin-walled part, which is easy to generate in the carrying process due to low mode, effectively prevent the elastic thin-walled part from deforming and damaging due to vibration in the carrying process, and realize high-precision stable carrying of the elastic thin-walled part.
Description
Technical Field
The invention relates to a variable-pitch end effector and a method for conveying elastic thin-wall parts, in particular to a variable-pitch end effector and a method for conveying elastic thin-wall parts, which are suitable for stably conveying the elastic thin-wall parts.
Background
The transfer robot is more and more widely applied to various machining production in the industrial field, and is mostly used for feeding and discharging of machine tools, automatic production lines, automatic assembly production lines, stacking and carrying and the like. The end effector is mounted at the end of the robot and is a key component for performing corresponding work tasks. The performance of an actuator, which is a part of the robot that directly acts on the work object, largely determines the overall performance of the robot. The light weight of the product is the development trend of the manufacturing industry, and particularly in the aerospace field, the product faces more and more large-scale light-weight elastic thin-wall structures. Due to the weak rigidity of the elastic thin wall, the elastic thin wall part is easy to vibrate in the carrying process. Therefore, the existing stacking and carrying technology with lower precision requirements is difficult to adapt to carrying operation of elastic thin-walled parts. In addition, the end effector of the existing transfer robot has a single structure and function, and is generally only suitable for the transfer operation with a fixed-size structure, which is not beneficial to realizing the universality of the end effector.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a variable-pitch end effector and a variable-pitch end effector method for carrying elastic thin-wall parts, which are simple in structure, have a disturbance compensation function, effectively reduce deformation and damage of the elastic thin-wall parts, have adjustable sucker intervals and are suitable for different structural sizes.
In order to achieve the technical purpose, the variable-pitch end effector for carrying the elastic thin-walled piece comprises a connecting flange, an actuating mechanism and a supporting frame, wherein the connecting flange and the actuating mechanism are arranged on the supporting frame, and a micro-motion compensation mechanism is arranged in the connecting flange;
the connecting flange specifically comprises a flange end part and a flange shell, the flange shell is of a cylindrical hollow structure, and the flange end part and the flange shell are matched with each other and are connected with each other through a screw I;
the micro-motion compensation mechanism is arranged in the flange shell and comprises a driving motor, a transmission lead screw, a transmission nut and a connecting plate, wherein the connecting plate is fixed in the cavity of the flange shell;
the supporting frame specifically comprises a connecting transverse plate and a connecting frame, the connecting transverse plate is arranged on the connecting frame, the flange shell is connected with the connecting transverse plate through a screw II, holes matched with each other are formed in the flange shell and the connecting transverse plate, and the connecting mechanism penetrates through the holes.
The micro-motion mechanism is of a piezoelectric structure, a driving unit of the piezoelectric structure is made of piezoelectric ceramics, the piezoelectric ceramics are connected with a controller through a lead, and the controller is connected with a vibration sensor for detecting the elastic thin-walled part through a collecting card.
Actuating mechanism include X to drive mechanism and Y to drive mechanism, X include X to two nut screw modules and X to two nut slide rail mechanisms to drive mechanism, Y includes Y to two nut screw modules to drive mechanism, X to the transmission opposite direction of two nuts of two nut screw modules, Y is to the transmission opposite direction of two nuts of two nut screw modules.
The X-direction double-nut screw rod module comprises an X-direction driving motor, an X-direction transmission screw rod, an X-direction first transmission nut I and an X-direction first transmission nut II, wherein the X-direction first transmission nut I and the X-direction first transmission nut II are respectively fixed on an X-direction first slide block I and an X-direction first slide block II, and the X-direction first slide block I and the X-direction first slide block II are matched with an X-direction first guide rail;
the X-direction double-nut sliding rail mechanism comprises a sliding guide rod, an X-direction second sliding nut I and an X-direction second sliding nut II, the X-direction second sliding nut I and the X-direction second sliding nut II are respectively fixed on an X-direction second sliding block I and an X-direction second sliding block II, and the X-direction second sliding block I and the X-direction second sliding block II are matched with an X-direction second guide rail;
the Y-direction double-nut screw module comprises a Y-direction driving motor, a Y-direction transmission screw, a Y-direction transmission nut I and a Y-direction transmission nut II, the Y-direction transmission nut I and the Y-direction transmission nut II are respectively fixed on the Y-direction sliding block I and the Y-direction sliding block II, and the Y-direction sliding block I and the Y-direction sliding block II are matched with the Y-direction guide rail.
And a first sucker is arranged on the Y-direction transmission nut I, and a second sucker is arranged on the Y-direction transmission nut II.
The Y-direction double-nut screw rod module comprises a Y-direction first double-nut screw rod module and a Y-direction second double-nut screw rod module, wherein two ends of the Y-direction first double-nut screw rod module are respectively fixed on an X-direction first transmission nut I and an X-direction second sliding nut I;
two ends of the Y-direction second double-nut lead screw module are respectively fixed on an X-direction first transmission nut II and an X-direction second sliding nut II, the Y-direction second double-nut lead screw module comprises a Y-direction second driving motor, a Y-direction second transmission lead screw, a Y-direction second transmission nut I and a Y-direction second transmission nut II, the Y-direction second transmission nut I and the Y-direction second transmission nut II are respectively fixed on a Y-direction second sliding block I and a Y-direction second sliding block II, the Y-direction second sliding block I and the Y-direction second sliding block II are matched with a Y-direction second guide rail, a third sucking disc is installed on the Y-direction second transmission nut I, and a fourth sucking disc is installed on the Y-direction second transmission nut II.
A variable-pitch end execution method for elastic thin-wall piece handling comprises the following steps:
step 1, driving an X-direction double-nut screw module to rotate through an X-direction driving motor, driving an X-direction first transmission nut I and an X-direction first transmission nut II to linearly move through meshing transmission, wherein the moving directions of the X-direction first transmission nut I and the X-direction first transmission nut II are opposite, and adjusting the distance between a Y-direction first double-nut screw module and a Y-direction second double-nut screw module through positive and negative rotation adjustment of the X-direction driving motor, namely changing the distance between a first sucker and a second sucker and between a third sucker and a fourth sucker in the X direction;
the Y-direction first driving screw is driven to rotate by a Y-direction first driving motor, the Y-direction first driving nut I and the Y-direction first driving nut II are driven to linearly move through meshing transmission, the moving directions of the Y-direction first driving nut I and the Y-direction first driving nut II are opposite, and the distance between the Y-direction first driving nut I and the Y-direction first driving nut II is adjusted by positive and negative rotation adjustment of the Y-direction first driving motor, namely the distance between the first sucker and the second sucker in the Y direction is changed; the Y-direction second driving motor drives the Y-direction second driving screw to rotate, the Y-direction second driving nut I and the Y-direction second driving nut II are driven to linearly move through meshing transmission, the moving directions of the Y-direction second driving nut I and the Y-direction second driving nut II are opposite, and the distance between the Y-direction second driving nut I and the Y-direction second driving nut II is adjusted through forward and reverse rotation adjustment of the Y-direction second driving motor, namely the distance between the third sucker and the fourth sucker in the Y direction is changed; after the positions of the first sucker, the second sucker, the third sucker and the fourth sucker are adjusted, the device can be used for the subsequent adsorption action of the workpiece;
step 2, a driving motor is utilized to drive a transmission screw rod to rotate, a transmission nut is driven to do linear motion through meshing transmission, the transmission nut drives a connecting mechanism to do linear motion, so that the position of a micro-motion mechanism at the tail end of the connecting mechanism is driven to be adjusted, the axial feed motion of the micro-motion mechanism is realized through the positive and negative rotation adjustment of the driving motor, and the contact or separation of the micro-motion mechanism and a workpiece is realized;
step 3, after the end effector adsorbs the elastic thin-walled part by using the first sucker, the second sucker, the third sucker and the fourth sucker which are adjusted to proper positions, a driving motor is used for driving a transmission screw rod so as to adjust the position of an upper sliding block of the connecting mechanism on a sliding rail, and therefore the end face of the micro-motion mechanism is ensured to be in fit contact with the surface of the elastic thin-walled part;
and 4, after the operation is started, if the elastic thin-walled part vibrates in the operation, the vibration sensor collects vibration signals and sends the vibration signals to a controller of the micro-motion mechanism through a collection card, the controller determines the voltage of the piezoelectric ceramics required for inhibiting the vibration of the elastic thin-walled part through executing a preset strategy, and the controller sends the determined voltage driving signals to the piezoelectric ceramics to start working and generate corresponding actions so as to drive the micro-motion mechanism to generate corresponding motions and inhibit the vibration of the elastic thin-walled part.
Has the advantages that:
the end effector can actively inhibit the vibration generated by the elastic thin-walled piece in the carrying process, has the disturbance compensation function, effectively prevents the elastic thin-walled piece from deforming and damaging due to the vibration in the carrying process, realizes the high-precision stable carrying of the elastic thin-walled piece, has adjustable suction cup spacing, can adapt to the carrying of the elastic thin-walled pieces with different structural sizes, realizes multifunctional integration, and improves the universality of the end effector.
Drawings
FIG. 1 is an overall block diagram of an end effector of the present invention;
FIG. 2 is a front view of the end effector of the present invention;
FIG. 3 is a cross-sectional view of the coupling flange of the present invention;
FIG. 4 is a block diagram of the fine motion compensation mechanism of the present invention;
FIG. 5 is a top view of the actuator of the present invention;
FIG. 6 is an isometric view of an actuator of the present invention;
FIG. 7 is a schematic diagram of a Y-direction first double-nut lead screw module according to the present invention;
FIG. 8 is a block diagram of a Y-direction second double-nut lead screw module of the present invention;
FIG. 9 is a schematic view of the micro-motion mechanism contacting the workpiece and feedback of disturbance;
FIG. 10 is a schematic view of the end effector during adjustment of the micro-motion mechanism.
In the figure: 100-connecting flange, 110-flange hole, 111-flange end, 112-flange shell, 120-driving motor, 131-coupling I, 132-driving screw rod, 133-driving nut, 134-connecting mechanism, 140-sliding block, 150-sliding rail, 160-connecting plate, 170-micro-motion mechanism, 171-piezoelectric ceramic, 210-connecting transverse plate, 220-connecting frame, 310-Y-direction driving motor, 311-Y-direction driving screw rod, 3121-Y-direction driving nut I, 3122-Y-direction driving nut II, 3131-Y-direction sliding block I, 3132-Y-direction sliding block II, 314-Y-direction first guide rail, 315-third supporting bearing, 320-X-direction driving motor, 321-X-direction driving screw rod, 3221-X-direction first driving nut I, 3222-X to the first driving nut II, 3231-X to the first slider I, 3232-X to the first slider II, 324-X to the first guide rail 325 to the first support bearing, 326-coupler II, 330-Y to the second driving motor, 331-Y to the second driving screw, 3321-Y to the second driving nut I, 3322-Y to the second driving nut II, 3331-Y to the second slider I, 3332-Y to the second slider II, 334-Y to the second guide rail, 341 to the sliding guide, 3421-X to the second sliding nut I, 3422-X to the second sliding nut II, 3431-X to the second slider I, 3432-X to the second slider II, 344-X to the second guide rail, 410 to the first suction cup, 420 to the second suction cup, 430 to the third suction cup, 440-a fourth suction cup, 31-Y direction first double-nut screw rod module, 33-Y direction second double-nut screw rod module, 500-an elastic thin-wall piece, 600-a controller, B01-a screw I, B02-a screw II, B03-a bolt I, B04-a bolt II.
Detailed Description
The technical solution in the embodiments of the present invention will be further explained with reference to the drawings in the embodiments of the present invention
As shown in fig. 1 and fig. 2, the variable-pitch end effector for carrying an elastic thin-walled workpiece of the invention comprises a coupling flange 100, an actuating mechanism and a supporting frame, wherein the coupling flange 100 and the actuating mechanism are mounted on the supporting frame, and a micro-motion compensation mechanism is arranged inside the coupling flange 100;
the coupling flange 100 specifically comprises a flange end 111 and a flange shell 112, the flange shell 112 is a cylindrical hollow structure, and the flange end 111 and the flange shell 112 are matched with each other and connected with each other through a screw IB 01; the flange shell (112) is arranged on the connecting transverse plate 210 through a screw IIB 02;
as shown in fig. 3 and 4, the inching compensation mechanism is disposed in the flange housing 112, and includes a driving motor 120, a driving lead screw 132, a driving nut 133 and a coupling plate 160, the coupling plate 160 is fixed inside the cavity of the flange housing 112, the driving motor 120 is arranged on the connecting plate 160 through a bracket, a rotating shaft of the driving motor 120 is arranged in parallel with the connecting plate 160, the driving motor 120 is connected with the transmission screw 132 through a coupling I131, the coupling I131 is connected with the connecting plate 160 through a bracket, the transmission screw 132 is connected with the top end of the connecting mechanism 134 through a transmission nut 133 in meshing transmission, the tail end of the connecting mechanism 134 is provided with a micro-motion mechanism 170 through a bolt IIB 04, the connecting plate 160 is provided with a sliding rail 150 through a screw IIB 03, the side surface of the connecting mechanism 134 is provided with a sliding block 140, the sliding block 140 is matched with the sliding rail 150, the sliding rail 150 is arranged on the connecting plate 160, and the micro-motion mechanism 170 arranged at the tail end of;
the supporting frame specifically comprises a connecting transverse plate 210 and a connecting frame 220, the connecting transverse plate 210 is arranged on the connecting frame 220, the flange shell 112 is connected with the connecting transverse plate 210 through a screw IIB 02, holes matched with each other are formed in the flange shell 112 and the connecting transverse plate 210, and the connecting mechanism 134 penetrates through the holes.
As shown in fig. 9, the micro-motion mechanism 170 is an integral piezoelectric structure using wire cutting or 3D printing, a driving unit of the piezoelectric structure uses piezoelectric ceramics 171, the piezoelectric ceramics 171 is connected to a controller 600 through a wire, and the controller is connected to a vibration sensor for detecting the elastic thin-walled member 500 through an acquisition card.
As shown in fig. 5 and 6, the actuator includes an X-direction transmission mechanism and a Y-direction transmission mechanism, the X-direction transmission mechanism includes an X-direction double-nut screw module and an X-direction double-nut slide rail mechanism, and the Y-direction transmission mechanism includes a Y-direction double-nut screw module.
The X-direction double-nut lead screw module comprises an X-direction driving motor 320, an X-direction transmission lead screw 321, an X-direction first transmission nut I3221 and an X-direction first transmission nut II 3222, wherein the X-direction driving motor 320 is connected with the X-direction transmission lead screw 321 through a coupler II 326, the X-direction transmission lead screw 321 is in meshing transmission with the X-direction first transmission nut I3221 and the X-direction first transmission nut II 3222, the transmission directions of the X-direction first transmission nut I3221 and the X-direction first transmission nut II 3222 are opposite during meshing transmission, the X-direction first transmission nut I3221 and the X-direction first transmission nut II 3222 are respectively fixed on an X-direction first sliding block I3231 and an X-direction first sliding block II 3232 and are matched with an X-direction first guide rail 324, and the X-direction first guide rail 324 is fixed on one side of a connecting frame 220. In order to improve the smoothness of the transmission, a first supporting bearing 325 is mounted on the X-direction first guide rail 324, and the first supporting bearing 325 is matched with the X-direction transmission lead screw 321.
The X-direction double-nut sliding rail mechanism comprises a sliding guide rod 341, an X-direction second sliding nut I3421 and an X-direction second sliding nut II 3422, the sliding guide rod 341 is in relative sliding fit with the X-direction second sliding nut I3421 and the X-direction second sliding nut II 3422, the X-direction second sliding nut I3421 and the X-direction second sliding nut II 3422 are respectively fixed on an X-direction second sliding block I3431 and an X-direction second sliding block II 3432, the X-direction second sliding block I3431 and the X-direction second sliding block II 3432 are matched with an X-direction second guide rail 344, and the X-direction second guide rail 344 is fixed on the other side of the connecting frame 220. In order to improve the smoothness of the transmission, a second support bearing 345 is mounted on the second X-direction guide rail 344, and the second support bearing 345 is engaged with the sliding guide 341.
As shown in fig. 7 and 8, there are 2Y-direction double-nut lead screw modules, which are a Y-direction first double-nut lead screw module 31 and a Y-direction second double-nut lead screw module 32, the structure of the Y-direction first double-nut lead screw module 31 is the same as that of the Y-direction second double-nut lead screw module 33, each Y-direction double-nut lead screw module includes a Y-direction driving motor 310, a Y-direction driving lead screw 311, a Y-direction driving nut I3121 and a Y-direction driving nut ii 3122, the Y-direction driving motor 310 is connected to the Y-direction driving lead screw 311 through a coupling iii 314, the Y-direction driving lead screw 311 is engaged with the Y-direction driving nut I3121 and the Y-direction driving nut ii 3122 for transmission, the transmission directions of the Y-direction transmission nut I3121 and the Y-direction transmission nut II 3122 are opposite, the Y-direction transmission nut I3121 and the Y-direction transmission nut II 3122 are respectively fixed on the Y-direction slider I3131 and the Y-direction slider II 3132, and the Y-direction slider I3131 and the Y-direction slider II 3132 are matched with the Y-direction guide rail 314. In order to improve the smoothness of transmission, a third support bearing 315 is mounted on the Y-direction guide rail 314, and the third support bearing 315 is matched with the Y-direction transmission lead screw 311. Two ends of the Y-direction first double-nut lead screw module 31 are respectively fixed on the X-direction first transmission nut I3221 and the X-direction second sliding nut I3421, and two ends of the Y-direction second double-nut lead screw module 31 are respectively fixed on the X-direction first transmission nut II 3222 and the X-direction second sliding nut II 3422. A first sucker 410 is arranged on the Y-direction transmission nut I3121, and a second sucker 420 is arranged on the Y-direction transmission nut II 3122.
Two ends of the Y-direction second double-nut lead screw module 33 are respectively fixed on an X-direction first transmission nut II 3222 and an X-direction second sliding nut II 3422, the Y-direction second double-nut lead screw module 33 comprises a Y-direction second driving motor 330, a Y-direction second transmission lead screw 331, a Y-direction second transmission nut I3321 and a Y-direction second transmission nut II 3322, the Y-direction second transmission nut I3321 and the Y-direction second transmission nut II 3322 are respectively fixed on a Y-direction second sliding block I3331 and a Y-direction second sliding block II 3332, the Y-direction second sliding block I3331 and the Y-direction second sliding block II 3332 are matched with a Y-direction second guide rail 334, a third suction cup 430 is installed on the Y-direction second transmission nut I3321, and a fourth suction cup is installed on the Y-direction second transmission nut II 3322.
A variable-pitch end execution method for elastic thin-wall piece handling comprises the following steps:
step 1, driving an X-direction double-nut lead screw module to rotate through an X-direction driving motor 320, driving an X-direction first transmission nut I3221 and an X-direction first transmission nut II 3222 to linearly move through meshing transmission, wherein the moving directions of the X-direction first transmission nut I3221 and the X-direction first transmission nut II 3222 are opposite, and adjusting the distance between a Y-direction first double-nut lead screw module 31 and a Y-direction second double-nut lead screw module 33 through positive and negative rotation adjustment of the X-direction driving motor 320, namely changing the distance between a first sucker 410 and a second sucker 420 and between a third sucker 430 and a fourth sucker 440 in the X direction;
the Y-direction first driving screw 311 is driven to rotate by the Y-direction first driving motor 310, the Y-direction first driving nut I3121 and the Y-direction first driving nut II 3122 are driven to linearly move through meshing transmission, the moving directions of the Y-direction first driving nut I3121 and the Y-direction first driving nut II 3122 are opposite, and the distance between the Y-direction first driving nut I3121 and the Y-direction first driving nut II 3122 is adjusted by forward and reverse rotation adjustment of the Y-direction first driving motor 310, namely the distance between the first suction cup 410 and the second suction cup 420 in the Y direction is changed; the Y-direction second driving screw 331 is driven to rotate by the Y-direction second driving motor 330, the Y-direction second driving nut I3321 and the Y-direction second driving nut II 3322 are driven to linearly move through meshing transmission, the moving directions of the Y-direction second driving nut I3321 and the Y-direction second driving nut II 3322 are opposite, and the distance between the Y-direction second driving nut I3321 and the distance between the Y-direction second driving nut II 3322 are adjusted by forward and reverse rotation adjustment of the Y-direction second driving motor 330, namely the distance between the third sucker 430 and the fourth sucker 440 in the Y direction is changed; after the positions of the first suction cup 410, the second suction cup 420, the third suction cup 430 and the fourth suction cup 440 are adjusted, the suction device can be used for the subsequent suction action of the workpiece;
step 2, the driving motor 120 is used for driving the transmission screw 132 to rotate, the transmission nut 133 is driven to linearly move through meshing transmission, the transmission nut 133 drives the connecting mechanism 134 to linearly move, so that the position of the micro-motion mechanism 170 at the tail end of the connecting mechanism 134 is driven to be adjusted, the axial feeding motion of the micro-motion mechanism 170 is realized through the forward and reverse rotation adjustment of the driving motor 120, and the contact or separation of the micro-motion mechanism 170 and the workpiece 500 is realized;
step 3, as shown in fig. 10, after the end effector adsorbs the elastic thin-walled part 500 by using the first suction cup 410, the second suction cup 420, the third suction cup 430 and the fourth suction cup 440 which are adjusted to appropriate positions, the driving motor 120 is used for driving the transmission screw 132 so as to adjust the position of the upper slide block 140 of the connecting mechanism 134 on the slide rail 150, thereby ensuring that the end surface of the micro-motion mechanism 170 is in contact with the surface of the elastic thin-walled part 500 in a fitting manner, the elastic thin-walled part 500 is provided with a vibration sensor and is connected with the controller 600 through a collection card, and the controller 600 is connected with the piezoelectric ceramic 171 through a lead;
step 4, after the operation is started, if the elastic thin-walled part 500 vibrates in the operation, the vibration sensor collects vibration signals and sends the vibration signals to the controller 600 of the micro-motion mechanism 170 through the collection card, the controller 600 determines the voltage of the piezoelectric ceramics 171 required for inhibiting the vibration of the elastic thin-walled part 500 through executing a preset strategy, and the controller 600 sends the determined voltage driving signals to the piezoelectric ceramics 171 to start working and generate corresponding actions so as to drive the micro-motion mechanism 170 to generate corresponding motions and inhibit the vibration of the elastic thin-walled part 500.
Claims (7)
1. A variable-pitch end effector for the handling of elastic thin-walled parts, characterized by: the device comprises a connecting flange (100), an actuating mechanism and a supporting frame, wherein the connecting flange (100) and the actuating mechanism are arranged on the supporting frame, and a micro-motion compensation mechanism is arranged in the connecting flange (100);
the connecting flange (100) specifically comprises a flange end part (111) and a flange shell (112), the flange shell (112) is of a cylindrical hollow structure, and the flange end part (111) and the flange shell (112) are matched with each other and are connected with each other through a screw I (B01);
the micro-motion compensation mechanism is arranged in a flange shell (112) and comprises a driving motor (120), a transmission lead screw (132), a transmission nut (133) and a connecting plate (160), the connecting plate (160) is fixed in the cavity of the flange shell (112), the driving motor (120) is arranged on the connecting plate (160) through a bracket, a rotating shaft of the driving motor (120) is arranged in parallel with the connecting plate (160), the driving motor (120) is connected with the transmission lead screw (132) through a coupler I (131), the coupler I (131) is connected with the connecting plate (160) through the bracket, the transmission lead screw (132) is connected with the top end of the connecting mechanism (134) through the transmission nut (133) in meshing transmission, the tail end of the connecting mechanism (134) is provided with a micro-motion mechanism (170) through a bolt II (B04), the connecting plate (160) is provided with a slide rail (150) through a bolt II (B03), and the side surface of the connecting mechanism (134) is provided with a slide, the sliding block (140) is matched with the sliding rail (150), the sliding rail (150) is arranged on the connecting plate (160), and a micro-motion mechanism (170) arranged at the tail end of the connecting mechanism (134) extends out of the flange shell (112);
the supporting frame specifically comprises a connecting transverse plate (210) and a connecting frame (220), the connecting transverse plate (210) is arranged on the connecting frame (220), the flange shell (112) is connected with the connecting transverse plate (210) through a screw II (B02), holes which are matched with each other are formed in the flange shell (112) and the connecting transverse plate (210), and the connecting mechanism (134) penetrates through the holes.
2. A variable pitch end effector for the handling of elastic thin walled parts according to claim 1 wherein: the micro-motion mechanism (170) is of a piezoelectric structure, a driving unit of the piezoelectric structure adopts piezoelectric ceramics (171), the piezoelectric ceramics (171) are connected with a controller (600) through a lead, and the controller (600) is connected with a vibration sensor for detecting the elastic thin-walled part (500) through a collecting card.
3. A variable pitch end effector for the handling of elastic thin walled parts according to claim 1 wherein: actuating mechanism include X to drive mechanism and Y to drive mechanism, X include X to two nut screw modules and X to two nut slide rail mechanisms to drive mechanism, Y includes Y to two nut screw modules to drive mechanism, X to the transmission opposite direction of two nuts of two nut screw modules, Y is to the transmission opposite direction of two nuts of two nut screw modules.
4. A variable pitch end effector for the handling of elastic thin walled parts according to claim 3 wherein:
the X-direction double-nut screw rod module comprises an X-direction driving motor (320), an X-direction driving screw rod (321), an X-direction first driving nut I (3221) and an X-direction first driving nut II (3222), wherein the X-direction first driving nut I (3221) and the X-direction first driving nut II (3222) are respectively fixed on an X-direction first sliding block I (3231) and an X-direction first sliding block II (3232), and the X-direction first sliding block I (3231) and the X-direction first sliding block II (3232) are matched with an X-direction first guide rail (324);
the X-direction double-nut sliding rail mechanism comprises a sliding guide rod (341), an X-direction second sliding nut I (3421) and an X-direction second sliding nut II (3422), the X-direction second sliding nut I (3421) and the X-direction second sliding nut II (3422) are respectively fixed on an X-direction second sliding block I (3431) and an X-direction second sliding block II (3432), the X-direction second sliding block I (3431) and the X-direction second sliding block II (3432) are matched with an X-direction second guide rail (344), and the X-direction second guide rail (344) is fixed on the other side of the connecting frame (220). In order to improve the smoothness of transmission, a second supporting bearing (345) is arranged on the X-direction second guide rail (344), and the second supporting bearing (345) is matched with the sliding guide rod (341).
The Y-direction double-nut screw module comprises a Y-direction driving motor (310), a Y-direction transmission screw (311), a Y-direction transmission nut I (3121) and a Y-direction transmission nut II (3122), the Y-direction transmission nut I (3121) and the Y-direction transmission nut II (3122) are respectively fixed on a Y-direction sliding block I (3131) and a Y-direction sliding block II (3132), the Y-direction sliding block I (3131) and the Y-direction sliding block II (3132) are matched with a Y-direction first guide rail (314), a third supporting bearing (315) is installed on the Y-direction first guide rail (314), and the third supporting bearing (315) is matched with the Y-direction transmission screw (311) so as to improve the transmission stability.
5. A variable pitch end effector for the handling of elastic thin walled parts according to claim 4 wherein: a first sucker (410) is arranged on the Y-direction transmission nut I (3121), and a second sucker (420) is arranged on the Y-direction transmission nut II (3122).
6. A variable pitch end effector for the handling of elastic thin walled parts according to claim 4 wherein: the Y-direction double-nut lead screw module comprises 2 groups which are respectively a Y-direction first double-nut lead screw module (31) and a Y-direction second double-nut lead screw module (33), two ends of the Y-direction first double-nut lead screw module (31) are respectively fixed on an X-direction first transmission nut I (3221) and an X-direction second sliding nut I (3421), the Y-direction first double-nut lead screw module (31) comprises a Y-direction first driving motor (310), a Y-direction first transmission lead screw (311), a Y-direction first transmission nut I (3121) and a Y-direction first transmission nut II (3122), the Y-direction first transmission nut I (3121) and the Y-direction first transmission nut II (3122) are respectively fixed on a Y-direction first slide block I (3131) and a Y-direction first slide block II (3132), the Y-direction first slide block I (3131) and the Y-direction first slide block II (3132) are matched with a Y-direction first guide rail (314), and a first sucking disc (410) is arranged on the Y-direction first transmission nut I (3121), a second sucking disc (420) is arranged on the Y-direction first transmission nut II (3122);
two ends of the Y-direction second double-nut lead screw module (33) are respectively fixed on an X-direction first transmission nut II (3222) and an X-direction second sliding nut II (3422), the Y-direction second double-nut lead screw module (33) comprises a Y-direction second driving motor (330), a Y-direction second transmission lead screw (331), a Y-direction second transmission nut I (3321) and a Y-direction second transmission nut II (3322), the Y-direction second transmission nut I (3321) and the Y-direction second transmission nut II (3322) are respectively fixed on a Y-direction second sliding block I (3331) and a Y-direction second sliding block II (3332), the Y-direction second sliding block I (3331) and the Y-direction second sliding block II (3332) are matched with the Y-direction second guide rail (334), a third suction cup (430) is installed on the Y-direction second transmission nut I (3321), and a fourth suction cup (440) is installed on the Y-direction second transmission nut II (3322).
7. A method of performing a variable-pitch end effector for elastic thin-walled part handling according to any of the preceding claims, characterized by the steps of:
step 1, an X-direction driving motor (320) drives an X-direction double-nut lead screw module to rotate, the X-direction first transmission nut I (3221) and the X-direction first transmission nut II (3222) are driven to move linearly through meshing transmission, the moving directions of the X-direction first transmission nut I (3221) and the X-direction first transmission nut II (3222) are opposite, and the distance between a Y-direction first double-nut lead screw module (31) and a Y-direction second double-nut lead screw module (33) is adjusted through forward and reverse rotation adjustment of the X-direction driving motor (320), namely the distance between a first sucker (410) and a second sucker (420) and the distance between a third sucker (430) and a fourth sucker (440) in the X direction are changed;
the Y-direction first driving screw rod (311) is driven to rotate by the Y-direction first driving motor (310), the Y-direction first driving nut I (3121) and the Y-direction first driving nut II (3122) are driven to move linearly through meshing transmission, the moving directions of the Y-direction first driving nut I (3121) and the Y-direction first driving nut II (3122) are opposite, and the distance between the Y-direction first driving nut I (3121) and the Y-direction first driving nut II (3122) is adjusted by forward and reverse rotation adjustment of the Y-direction first driving motor (310), namely the distance between the first sucker (410) and the second sucker (420) in the Y direction is changed; the Y-direction second driving screw rod (331) is driven to rotate by the Y-direction second driving motor (330), the Y-direction second driving nut I (3321) and the Y-direction second driving nut II (3322) are driven to linearly move through meshing transmission, the moving directions of the Y-direction second driving nut I (3321) and the Y-direction second driving nut II (3322) are opposite, and the distance between the Y-direction second driving nut I (3321) and the Y-direction second driving nut II (3322) is adjusted by forward and reverse rotation adjustment of the Y-direction second driving motor (330), namely the distance between the third sucker (430) and the fourth sucker (440) in the Y direction is changed; after the positions of the first suction cup (410), the second suction cup (420), the third suction cup (430) and the fourth suction cup (440) are adjusted, the suction device can be used for the subsequent suction action of the workpiece;
step 2, a driving motor (120) is used for driving a transmission lead screw (132) to rotate, a transmission nut (133) is driven to do linear motion through meshing transmission, the transmission nut (133) drives a connecting mechanism (134) to do linear motion, so that the position of a micro-motion mechanism (170) at the tail end of the connecting mechanism (134) is driven to be adjusted, the axial feed motion of the micro-motion mechanism (170) is realized through the forward and reverse rotation adjustment of the driving motor (120), and the contact or separation of the micro-motion mechanism (170) and a workpiece (500) is realized;
step 3, after the end effector adsorbs the elastic thin-walled part (500) by using the first sucking disc (410), the second sucking disc (420), the third sucking disc (430) and the fourth sucking disc (440) which are adjusted to proper positions, a driving motor (120) is used for driving a transmission lead screw (132) so as to adjust the position of an upper sliding block (140) of a connecting mechanism (134) on a sliding rail (150), so that the end surface of a micro-motion mechanism (170) is ensured to be in contact with the surface of the elastic thin-walled part (500) in a fitting manner, a vibration sensor is arranged on the elastic thin-walled part (500) and is connected with a controller (600) through a collecting card, and the controller (600) is connected with the piezoelectric ceramics (171) through a lead;
and 4, after the operation is started, if the elastic thin-walled part (500) vibrates in the operation, the vibration sensor collects vibration signals and sends the vibration signals to a controller (600) of the micro-motion mechanism (170) through a collection card, the controller (600) determines the voltage of the piezoelectric ceramics (171) required for inhibiting the vibration of the elastic thin-walled part (500) through executing a preset strategy, and the controller (600) sends the determined voltage driving signals to the piezoelectric ceramics (171) to start working and generate corresponding actions so as to drive the micro-motion mechanism (170) to generate corresponding motions and inhibit the vibration of the elastic thin-walled part (500).
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