CN110696039B - Robot tail end grabbing device - Google Patents
Robot tail end grabbing device Download PDFInfo
- Publication number
- CN110696039B CN110696039B CN201911064148.0A CN201911064148A CN110696039B CN 110696039 B CN110696039 B CN 110696039B CN 201911064148 A CN201911064148 A CN 201911064148A CN 110696039 B CN110696039 B CN 110696039B
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- flange
- spline
- claw
- robot
- connecting flange
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- 210000000078 claw Anatomy 0.000 claims abstract description 59
- 230000006835 compression Effects 0.000 claims description 2
- 238000007906 compression Methods 0.000 claims description 2
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000005299 abrasion Methods 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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Classifications
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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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot tail end grabbing device which comprises a first connecting flange, a second connecting flange, an upper limiting block, a lower limiting block, a spline fixing flange, a connecting ring, an elastic element and an air cylinder, wherein the first connecting flange, the second connecting flange, the upper limiting block, the lower limiting block and the spline fixing flange are arranged on a Z shaft of a robot, the connecting ring and the elastic element are sleeved on the Z shaft of the robot and are positioned between the upper limiting block and the lower limiting block, the air cylinder is connected with the connecting ring, the elastic element is positioned between the connecting ring and the upper limiting block, the robot tail end grabbing device further comprises a ball spline pair arranged on the spline fixing flange, an air claw used for picking up electronic components and an air claw connecting flange connected with the air claw, one end of the ball spline pair is connected with the air cylinder, and the other end of the ball spline pair is connected with the air claw connecting flange. The robot tail end grabbing device provided by the invention adopts the ball spline pair, so that the service life is prolonged, the abrasion is extremely small after long-time use, the influence on the precision is extremely small, the maintenance is not needed for a long time, and the working strength is reduced.
Description
Technical Field
The invention belongs to the technical field of industrial robot grabbing, and particularly relates to a robot tail end grabbing device.
Background
A robot special-shaped component inserter is an automatic device which uses a robot and a vision technology to fix a working circuit board and finds a designated hole position for a designated electrical component. The robot special-shaped component inserter mainly comprises a main machine shell, a PCB conveying and fixing device, a vision device and a robot system, wherein a tail end material taking device is installed and fixed on a Z shaft of the robot. The existing market mostly adopts the cylinder to feed materials from top to bottom or adopts the robot to feed materials from top to bottom and adopts the self-made spline pair and the clamping jaw device, wherein the cylinder device can not be accurately controlled and has vibration, so that the feeding limitation is realized, the robot feeds materials and adopts the self-made spline pair and the clamping jaw device to process and assemble the overhigh requirement, and the investment time and the resource are large.
The existing robot tail end grabbing device is mainly composed of pneumatic components such as an air cylinder, an air claw (or a sucker), an electromagnetic valve and the like, pipelines are numerous (the air cylinder needs an air pipe), the air cylinder is uncontrollable in movement, the movement distance cannot be adjusted at any time, when plug-in components are difficult to effectively and quickly feed back and take measures, the air cylinder is too large in transmission vibration, and the problem of insufficient precision caused by looseness of the air claw is easily caused after long-time movement. The other method is that the robot moves along the Z axis, the nonstandard quick-change air gripper (or a sucker) is adopted, the circular precision is guaranteed by adopting a common spline pair structure, although the problem of adopting a pneumatic system is solved, the common spline pair is abraded after being used for a long time, the precision is gradually reduced, the service life is short, and the nonstandard gripper has the defects of difficult maintenance, difficult accessory purchasing and the like.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a robot tail end grabbing device, aiming at prolonging the service life.
In order to achieve the purpose, the invention adopts the technical scheme that: terminal grabbing device of robot, including setting up in the epaxial first flange of robot Z, second flange, last spacing piece, spacing piece and spline mounting flange down, the cover is located the epaxial go-between and the elastic element that just is located spacing piece and spacing piece down of robot Z and the cylinder of being connected with the go-between, and elastic element is located go-between and spacing piece up between, terminal grabbing device of robot still including set up in vice, the gas claw that is used for picking up electronic components of ball spline on the spline mounting flange and the gas claw flange of being connected with the gas claw, the vice one end of ball spline with the cylinder is connected, and the vice other end of ball spline and gas claw flange are connected.
The pneumatic claw connecting flange and the air cylinders are all provided with a plurality of air cylinders, each air cylinder is connected with the pneumatic claw connecting flange through one ball spline pair, and each pneumatic claw connecting flange is provided with one pneumatic claw.
The number of the air claws is four.
The cylinder is fixedly connected with an inner spline of the ball spline pair, and the spline fixing flange is fixedly connected with an outer spline of the ball spline pair.
The pneumatic claw connecting flange is fixedly connected with the internal spline of the ball spline pair, and the internal spline of the ball spline pair is a hollow internal spline.
The robot tail end grabbing device provided by the invention adopts the ball spline pair, so that the service life is prolonged, the abrasion is extremely small after long-time use, the influence on the precision is extremely small, the maintenance is not needed for a long time, and the working strength is reduced.
Drawings
The description includes the following figures, the contents shown are respectively:
FIG. 1 is a schematic structural view of a robot end gripping device of the present invention;
labeled as:
1. a robot Z-axis; 2. a first connecting flange; 3. a second connecting flange; 4. an upper limit block; 5. an elastic element; 6. a connecting ring; 7. a distance sensor; 8. a lower limit ring; 9. a spline fixing flange; 10. a cylinder; 11. a ball spline pair; 12. the pneumatic claw is connected with the flange; 13. air claw.
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
It should be noted that, in the following embodiments, the "first" and "second" do not represent an absolute distinction relationship in structure and/or function, nor represent a sequential execution order, but merely for convenience of description.
As shown in fig. 1, the invention provides a robot end gripping device, which includes a first connecting flange 2, a second connecting flange 3, an upper limit block 4, a lower limit block and a spline fixing flange 9, which are arranged on a Z-axis 1 of a robot, a connecting ring 6 and an elastic element 5, which are sleeved on the Z-axis 1 of the robot and are located between the upper limit block 4 and the lower limit block, an air cylinder 10 connected with the connecting ring 6, a ball spline pair 11 arranged on the spline fixing flange 9, an air claw 13 used for picking up electronic components, and an air claw connecting flange 12 connected with the air claw 13, wherein one end of the ball spline pair 11 is connected with the air cylinder 10, the other end of the ball spline pair 11 is connected with the air claw connecting flange 12, and the elastic element 5 is located between the connecting ring 6 and the upper limit block 4.
Specifically, as shown in fig. 1, a first connecting flange 2 and a second connecting flange 3 are fixedly arranged on a Z-axis 1 of the robot, the first connecting flange 2 is positioned above the second connecting flange 3, an upper limit block 4, the lower limiting block and the spline fixing flange 9 are also fixedly arranged on the Z shaft 1 of the robot, the air cylinder 10 is positioned inside the second connecting flange 3, the spline fixing flange 9 is positioned below the lower limiting block, the air cylinder 10 is positioned above the spline fixing flange 9, the connecting ring 6 is positioned above the lower limiting block, the elastic element 5 is a compression spring, the elastic element 5 applies an elastic acting force to the connecting ring 6 to enable the elastic element to be in contact with the lower limiting block, one end of the elastic element 5 is abutted to the upper limiting block 4, the other end of the elastic element 5 is abutted to the connecting ring 6, the lower limiting block is provided with a distance sensor 7, and the distance sensor 7 is used for detecting the distance between the elastic element 5 and the lower limiting block. The connecting ring 6 is of a circular ring structure, a first groove for embedding the piston rod of the air cylinder 10 is formed in the outer circular surface of the connecting ring 6, and a second groove for embedding the piston rod of the air cylinder 10 is formed in the inner circular surface of the second connecting flange 3, so that the upper and lower purposes of control and control are achieved. The piston rod of the cylinder 10 can move along the axial direction, the axis of the piston rod is vertical to the axis of the robot Z-axis 1, the first groove is an annular groove extending along the whole circumferential direction on the outer circular surface of the connecting ring 6, and the second groove is a reversing groove extending along the whole circumferential direction on the inner circular surface of the second connecting flange 3. When the piston rod of the cylinder 10 is embedded in the first groove, the connecting ring 6 can move along the axial direction synchronously with the cylinder 10; when the piston rod of the cylinder 10 is embedded in the second groove, the cylinder 10 can move synchronously with the robot Z-axis 1.
Preferably, a plurality of air claw connecting flanges 12 and a plurality of air cylinders 10 are provided, the number of the air cylinders 10 is the same as that of the air claw connecting flanges 12, each air cylinder 10 is connected with the air claw 13 connecting flange 12 through a ball spline pair 11, one air claw 13 is respectively arranged on each air claw connecting flange 12, and all the air cylinders 10 are uniformly distributed along the circumferential direction by taking the axis of the robot Z-axis 1 as the center line.
In the present embodiment, as shown in fig. 1, four gas claws 13 are provided in total, and four gas cylinders 10 are provided.
As shown in fig. 1, the cylinder 10 is fixedly connected with the internal spline of the ball spline pair 11, the spline fixing flange 9 is fixedly connected with the external spline of the ball spline pair 11, the air claw connecting flange 12 is fixedly connected with the internal spline of the ball spline pair 11, and the internal spline of the ball spline pair 11 is a hollow internal spline. Four positioning holes for embedding the external splines of the ball spline pair 11 are formed in the spline fixing flange 9, and the four positioning holes are uniformly distributed on the spline fixing flange 9 along the circumferential direction. The gas claw 13 is fixedly connected with a gas claw connecting flange 12, a gas pipe which is arranged in the gas claw connecting flange 12 and is communicated with the inner spline of the ball spline pair 11 and the gas inlet cavity of the gas claw 13 is arranged, gas can flow into the gas claw connecting flange 12 through the inner spline of the cylinder 10 and then flow into the gas claw 13 through the gas pipe and a pipe joint, so that the gas claw 13 performs clamping action. From the above, it can be seen that by controlling the movement of the piston rod of the cylinder 10, the piston rod of the cylinder 10 is embedded in the second groove of the second connecting flange 3 and is fixed, and if the piston rod of the cylinder 10 is embedded in the first groove of the connecting ring 6, the piston rod and the Z-axis 1 of the robot move together to achieve separate control, wherein the ball spline pair 11 ensures the circumferential precision of the whole system. When the position deviation of the plug-in unit occurs, the electronic component does not reach the preset height and contacts the PCB, when the Z-axis 1 of the robot continues to move downwards, the gas claw 13, the gas claw connecting flange 12, the internal spline of the ball spline pair 11 and the cylinder 10 are kept still, the connecting ring 6 is kept still through the piston rod of the cylinder 10, the elastic element 5 is compressed, the distance between the distance sensor 7 and the elastic element 5 is changed, the distance sensor 7 sends a signal to the control system, and the control system makes accurate feedback protection on the PCB and the plug-in unit.
Compared with the scheme that a common spline pair and a non-standard gas claw are adopted in the prior art, the robot tail end grabbing device greatly reduces the assembly difficulty and the processing difficulty, can ensure the period without material storage, and prolongs the service life. The requirement of the ball spline on the spline fixing flange 9 is low compared with the requirement of a common spline pair, the service life is prolonged, the abrasion is extremely low after long-time use, the influence on the precision is extremely low, the maintenance is not needed for long time, and the working strength is reduced. The pneumatic claw is a standard pneumatic clamp, a main pneumatic part manufacturer on the market is selected for the standard pneumatic claw, the quality is guaranteed, the precision and the service life are good, and the requirement on the use environment is low.
The invention is described above with reference to the accompanying drawings. It is to be understood that the specific implementations of the invention are not limited in this respect. Various insubstantial improvements are made by adopting the method conception and the technical scheme of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (1)
1. Terminal grabbing device of robot, including setting up in the epaxial first flange of robot Z, second flange, last spacing piece, spacing piece and spline mounting flange down, the cover is located robot Z epaxial and is located spacing piece and the cylinder of being connected with the go-between spacing piece and the spacing piece down and go-between, and elastic element is located the go-between and last spacing piece, its characterized in that: the robot tail end grabbing device further comprises a ball spline pair arranged on the spline fixing flange, a pneumatic claw used for picking up electronic components and a pneumatic claw connecting flange connected with the pneumatic claw, one end of the ball spline pair is connected with the cylinder, and the other end of the ball spline pair is connected with the pneumatic claw connecting flange;
the air claw connecting flanges and the air cylinders are arranged in plurality, each air cylinder is connected with the air claw connecting flange through one ball spline pair, and each air claw connecting flange is provided with one air claw; the number of the air claws is four;
the cylinder is fixedly connected with an inner spline of the ball spline pair, and the spline fixing flange is fixedly connected with an outer spline of the ball spline pair; the gas claw connecting flange is fixedly connected with an internal spline of the ball spline pair, and the internal spline of the ball spline pair is a hollow internal spline;
the connecting ring is positioned above the lower limiting block, the elastic element is a compression spring, the elastic element applies elastic acting force to the connecting ring to enable the elastic acting force to be in contact with the lower limiting block, one end of the elastic element is abutted against the upper limiting block, the other end of the elastic element is abutted against the connecting ring, the lower limiting block is provided with a distance sensor, and the distance sensor is used for detecting the distance between the distance sensor and the elastic element; the connecting ring is of a circular ring structure, a first groove for embedding a piston rod of the air cylinder is formed in the outer circular surface of the connecting ring, and a second groove for embedding the piston rod of the air cylinder is formed in the inner circular surface of the second connecting flange, so that the purpose of controlling the upper part and the lower part is achieved;
the spline fixing flange is provided with four positioning holes for embedding the external splines of the ball spline pair, and the four positioning holes are uniformly distributed on the spline fixing flange along the circumferential direction; the gas claw is fixedly connected with a gas claw connecting flange, a gas pipe communicated with a gas inlet cavity of the gas claw and arranged in an inner spline of the ball spline pair is arranged in the gas claw connecting flange, and gas can flow into the gas claw connecting flange through the inner spline of the cylinder and then flow into the gas claw through the gas pipe and a pipe joint so that the gas claw performs clamping action; the piston rod of the air cylinder is embedded into the second groove of the second connecting flange and then fixed by controlling the movement of the piston rod of the air cylinder, and if the piston rod of the air cylinder is embedded into the first groove of the connecting ring, the piston rod of the air cylinder moves together with the Z axis of the robot to achieve respective control, wherein the ball spline pair ensures the circumferential precision of the whole system; when the position deviation of the plug-in unit is detected, the electronic component does not reach the preset height and contacts the PCB, when the Z axis of the robot continues to move downwards, the gas claw connecting flange, the internal spline of the ball spline pair and the cylinder are kept still, the connecting ring is kept still through the piston rod of the cylinder, the elastic element is compressed, the distance between the distance sensor and the elastic element is changed, the distance sensor sends a signal to the control system, and the control system makes accurate feedback to protect the PCB and the plug-in unit device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911064148.0A CN110696039B (en) | 2019-11-04 | 2019-11-04 | Robot tail end grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911064148.0A CN110696039B (en) | 2019-11-04 | 2019-11-04 | Robot tail end grabbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110696039A CN110696039A (en) | 2020-01-17 |
| CN110696039B true CN110696039B (en) | 2021-07-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911064148.0A Expired - Fee Related CN110696039B (en) | 2019-11-04 | 2019-11-04 | Robot tail end grabbing device |
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| Country | Link |
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| CN (1) | CN110696039B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660805A (en) * | 2020-12-30 | 2021-04-16 | 芜湖哈特机器人产业技术研究院有限公司 | Water pump blade SCARA robot feeding clamp and feeding process |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009113167A (en) * | 2007-11-08 | 2009-05-28 | Ikd:Kk | Device and method of assembling gear shaft |
| CN201970315U (en) * | 2011-03-16 | 2011-09-14 | 华南理工大学广州汽车学院 | Third and fourth joint mechanisms of planar joint robot |
| CN202622820U (en) * | 2012-05-11 | 2012-12-26 | 东莞市新泽谷机械制造股份有限公司 | Safety protection device for mechanical gripper |
| CN104802164A (en) * | 2015-05-04 | 2015-07-29 | 安徽华创智能装备有限公司 | Six-DOF (Degree Of Freedom) planar joint robot |
| US9868218B2 (en) * | 2015-12-01 | 2018-01-16 | Hongfujin Precision Electronics (Zhengzhou) Co., Ltd. | Gripper mechanism |
| CN207480016U (en) * | 2017-05-18 | 2018-06-12 | 苏州博思特装配自动化科技有限公司 | A kind of screw dismounting mechanism for automatic assembling machine people |
| CN108297120A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of intelligent robot handgrip fixture |
-
2019
- 2019-11-04 CN CN201911064148.0A patent/CN110696039B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009113167A (en) * | 2007-11-08 | 2009-05-28 | Ikd:Kk | Device and method of assembling gear shaft |
| CN201970315U (en) * | 2011-03-16 | 2011-09-14 | 华南理工大学广州汽车学院 | Third and fourth joint mechanisms of planar joint robot |
| CN202622820U (en) * | 2012-05-11 | 2012-12-26 | 东莞市新泽谷机械制造股份有限公司 | Safety protection device for mechanical gripper |
| CN104802164A (en) * | 2015-05-04 | 2015-07-29 | 安徽华创智能装备有限公司 | Six-DOF (Degree Of Freedom) planar joint robot |
| US9868218B2 (en) * | 2015-12-01 | 2018-01-16 | Hongfujin Precision Electronics (Zhengzhou) Co., Ltd. | Gripper mechanism |
| CN207480016U (en) * | 2017-05-18 | 2018-06-12 | 苏州博思特装配自动化科技有限公司 | A kind of screw dismounting mechanism for automatic assembling machine people |
| CN108297120A (en) * | 2018-02-06 | 2018-07-20 | 苏州功业肆点零智能科技有限公司 | A kind of intelligent robot handgrip fixture |
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|---|---|
| CN110696039A (en) | 2020-01-17 |
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Granted publication date: 20210727 |