CN112720539B - Thin-wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experimental system - Google Patents
Thin-wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experimental system Download PDFInfo
- Publication number
- CN112720539B CN112720539B CN202110100927.2A CN202110100927A CN112720539B CN 112720539 B CN112720539 B CN 112720539B CN 202110100927 A CN202110100927 A CN 202110100927A CN 112720539 B CN112720539 B CN 112720539B
- Authority
- CN
- China
- Prior art keywords
- fixed
- block
- adjusting
- support body
- arc surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0091—Shock absorbers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an experiment system for the operation impact and transfer process of an internal supporting type grabbing manipulator of a thin-wall fragile part, which comprises an experiment table, a manipulator and an experiment workpiece, wherein the experiment table is arranged on a bracket, a control cabinet, a workpiece positioning angle iron, an assembly die holder and a high-speed camera system are arranged on the experiment table, a vertical frame is fixed on the edge of the experiment table, a horizontal linear motion module is fixed on the vertical frame, a vertical longitudinal linear motion module is fixed on a transverse motion block of the horizontal linear motion module, a mounting frame is fixed on a longitudinal motion block of the longitudinal linear motion module, and a manipulator arranged vertically is fixed on the mounting frame; the internal supporting speed of the internal supporting mechanism on the manipulator is adjustable and controllable, the transmission of contact force under different speed impacts is studied, the speed and the acceleration of the upward lifting movement of the workpiece are adjustable and controllable by the movement module through the manipulator, and the change condition of the friction force between the workpiece and the surface of the rubber shock absorption layer under the change of the movement acceleration is studied.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an experimental system for the operation impact and transfer process of an inner supporting type grabbing manipulator for a thin-wall fragile piece.
Background
For industrial robots, material taking and discharging are the most basic functions, but the chucks required for different types of products are different, wherein for cylindrical workpieces, external clamping chucks are generally adopted, namely workpieces are clamped from the outside of the workpieces, and the chucks are used for clamping and moving the cylindrical workpieces by utilizing three clamping jaw groups to form cylindrical holes; for tubular workpieces, an internal supporting type structure manipulator is generally adopted, namely the tubular workpieces are clamped from the inside of the workpieces, a similar cylindrical structure is formed by a plurality of internal supporting bodies and extends into the inside of the tubular workpieces, the grabbing and moving of the tubular workpieces are realized, for example, in the prior art (application number: CN202010355810.4, theme name: internal supporting type operation self-adaptive flexible manipulator of fragile thin-wall cylindrical inner wall workpieces), a plurality of identical and radially simultaneously moving arc-shaped internal supporting bodies extend into the inside of the tubular workpieces, the curvature radius of the internal supporting bodies is matched with the inner diameter of the grabbed workpieces, the workpieces are grabbed in an internal supporting mode, however, the fragile tubular workpieces are relatively sensitive to the acting force ratio, the process of grabbing the workpieces by the manipulator is a complex stress process, and the maximum feasible grabbing speed under the condition of meeting the allowable internal force of the workpieces and the system motion rule of ensuring the rapid and reliable transfer of the workpieces are determined through repeated experimental study and test.
Disclosure of Invention
In order to solve the problems, the invention provides an experimental system for the operation impact and transfer process of the thin-wall fragile piece internal supporting type grabbing manipulator.
The specific contents are as follows: thin wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experiment system, this system include laboratory bench, manipulator and experiment work piece, characterized by:
the experimental bench is arranged on the bracket, a control cabinet, a workpiece positioning angle iron, an assembly die holder and a high-speed camera system are arranged on the experimental bench, a vertical frame is fixed on the edge of the experimental bench, a horizontal transverse linear motion module is fixed on the vertical frame, the transverse linear motion module comprises a servo motor A, the servo motor A is connected with a screw rod through a speed reducer, a transverse motion block is connected on the screw rod through a thread, a vertical longitudinal linear motion module is fixed on the transverse motion block, the transverse linear motion module comprises a servo motor B, the servo motor B is connected with the screw rod through the speed reducer, a longitudinal motion block is connected on the screw rod through the thread, a mounting frame is fixed on the longitudinal motion block, and a vertically arranged manipulator is fixed on the mounting frame;
the manipulator comprises an external cylindrical sleeve, a grabbing device arranged in the sleeve and a self-adaptive connecting device arranged at the upper end of the sleeve, and the sleeve is vertically fixed on the mounting frame;
the grabbing device comprises a disc-shaped main body and at least three identical internal supporting mechanisms which are arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;
the inner supporting mechanism comprises supporting legs which are fixed on the lower surface of the disc-shaped main body and extend outwards perpendicularly, and the maximum distance from the outer side surface of each supporting leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; the sliding block penetrates through the sliding hole at the lower end of the supporting leg along the radial direction of the disc-shaped main body, two ends of the sliding block are respectively connected with a connecting rod between the inner end of the sliding block and a movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged with the inner end of the sliding block; the inner support body is fixed on the lower surface of the outer end of the corresponding sliding block, the middle position of the upper surface of the inner support body is fixed on the lower surface of the outer end of the corresponding sliding block, an arc-shaped elastic adjusting plate is arranged on the outer side of the inner support body, a central stud is connected between the elastic adjusting plate and the inner support body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjusting plate, the inner end of the central stud penetrates through a through hole in the center of the inner support body and is fixed through two clamping nuts, the two clamping nuts are connected on the central stud through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body, a plurality of telescopic adjusting mechanisms for changing the curvature radius of the elastic adjusting plate are also connected between the elastic adjusting plate and the inner support body, the telescopic adjusting mechanisms are symmetrically distributed on two sides of the central stud, rubber shock absorbing layers with uniform thickness are arranged on the outer arc surface of the elastic adjusting plate, and the outer arc surface of each rubber shock absorbing layer on the elastic adjusting plate is on the same cylindrical surface.
Preferably, the sliding block comprises a fixed block and an adjusting block which are connected in a sliding telescopic manner, the inner end of the fixed block is hinged with the lower end of the connecting rod, the outer end of the adjusting block is fixed on the inner supporting body, a square guiding connecting rod which extends outwards horizontally is vertically fixed on the outer end face of the fixed block, a sliding hole which is horizontally communicated with the guiding connecting rod along the length direction of the adjusting block is formed in the adjusting block, the guiding connecting rod is inserted into the sliding hole from the inner end of the adjusting block to form a sliding pair, the cross section profiles of the fixed block and the adjusting block are correspondingly matched, symmetrical threaded holes which are communicated with the sliding hole are formed in two side faces of the adjusting block, and jackscrews which are matched with the threaded holes and tightly propped against the side faces of the guiding connecting rod are connected in each threaded hole.
Preferably, the telescopic adjusting mechanism comprises an adjusting screw, the outer end of the adjusting screw is connected to the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swinging hole on the inner support body and is connected with the inner support body, the swinging holes are horizontally arranged, and the center lines of all the adjusting screws and the center line of the center stud are on the same horizontal plane.
Preferably, the outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swing hole on the inner support body and is fixed by two manual nuts, and the two manual nuts are connected on the adjusting screw through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body.
Preferably, the swing hole is a slotted hole, a spherical washer clung to the inner arc surface of the inner support body is arranged at the inner port of the swing hole, the corresponding adjusting screw rod penetrates through the spherical washer, and the spherical washer is clamped between the clamping nut at the corresponding side and the inner support body.
Preferably, the outer end of the adjusting screw is hinged on a hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.
Preferably, the outer end of the adjusting screw is provided with a circular positioning groove, a clamping ring which is matched with the positioning groove to form a revolute pair is coaxially arranged on the positioning groove, first fixing lugs which are vertically symmetrical are fixed on the clamping ring, each first fixing lug is correspondingly hinged on a second fixing lug which is fixed on the inner arc surface of the elastic adjusting plate through a second hinge shaft, a fixing nut is connected to the adjusting screw through threads, a third fixing lug which is vertically symmetrical is fixed on the fixing nut, each third fixing lug is correspondingly hinged on a fourth fixing lug which is fixed on the outer arc surface of the inner support body through a third hinge shaft, the first hinge shaft is parallel and vertical to the second hinge shaft, and an inner end surface of the adjusting screw is provided with an inner hexagonal adjusting hole.
Preferably, the inner circumferential surface of the adjusting screw is provided with a circular boss with the diameter larger than the outer diameter of the adjusting screw, the outer circumference of the adjusting screw is also provided with a circular clamping groove, the clamping groove is clamped with a clamping spring matched with the clamping spring, and the positioning groove is formed between the clamping spring and the circular boss.
Preferably, the center stud is sleeved with a common washer, and the common washer is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.
Preferably, the outer arc surface of the rubber shock absorption layer is embedded with a pressure sensor, the outer circumference surface of the experimental workpiece is provided with a displacement sensor and an acceleration sensor, the linear motion driver comprises a servo motor C, the servo motor C is connected with a screw rod through a speed reducer, the screw rod is provided with a sliding block in threaded connection, and a moving part hinged with a connecting rod is fixed on the sliding block.
The beneficial technical effects of the invention are as follows: the invention relates to an experimental system for the operation impact and transfer process of an internal supporting type grabbing manipulator for a thin-wall fragile piece, which comprises the following steps that firstly, a linear motion driver in the manipulator adopts a servo motor C, an accelerator and a screw rod sliding block adding mode, the internal supporting speed of the manipulator is changed through the servo motor C speed regulation, and the impact force between a rubber shock absorption layer and an experimental workpiece is measured by a pressure sensor; measuring vibration and motion gesture changes of the contact instantaneous experimental workpiece by adopting a high-speed camera system, an acceleration sensor and a displacement sensor to determine the maximum feasible grabbing impact speed under the condition of meeting the internal force allowance of the workpiece;
in lifting movement, the speed and the acceleration of the lifting process are adjustable, a high-speed camera system, a displacement sensor and an acceleration sensor are adopted to detect the movement change of an experimental workpiece, capture the sliding point of the workpiece, further study the friction force change between the experimental workpiece and a rubber shock absorption layer, seek to ensure the system movement law (including the change of speed, acceleration and the like) of the rapid and reliable transfer of the workpiece, and the key is that theoretical support is provided for a manipulator system for subsequently designing a specific grabbing object by determining the maximum feasible grabbing impact speed under the condition of meeting the internal force allowable of the workpiece and ensuring the system movement law of the rapid and reliable transfer of the workpiece, so that the manipulator system can be greatly optimized, and the working efficiency is improved.
Secondly, the sliding block in the manipulator is formed by combining a fixed block and an adjusting block which are connected in a telescopic way, the whole length of the sliding block is adjusted within a certain range to adapt to the change of the diameter of a workpiece, meanwhile, a telescopic adjusting mechanism is arranged between the inner support body and the elastic adjusting plate, and the curvature radius of the elastic adjusting plate is adjusted by changing the actual acting length of an adjusting screw rod in the telescopic adjusting mechanism, so that the curvature radius of the elastic adjusting plate is matched with the inner diameter of an experimental workpiece, and when the elastic adjusting plate grabs the workpiece, the clamping contact area between a rubber shock-absorbing layer on the outer arc surface of the elastic adjusting plate and the inner wall of the experimental workpiece is maximized, the pressure born by the workpiece is reduced while the stable operation is ensured, and the workpiece is prevented from being damaged; therefore, the manipulator disclosed by the invention can grasp experimental workpieces with different diameters, the operation process is safe and stable, and the experimental efficiency is ensured, so that the experimental system disclosed by the invention can perform operation impact and transportation process experiments on the workpieces with different diameters.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic perspective view of a manipulator;
FIG. 3 is a bottom view of the internal stay mechanism mounted on the disc-shaped body;
FIG. 4 is a schematic diagram of the connection of the inner support body and the elastic adjusting plate;
FIG. 5 is a cross-sectional view taken along the direction A-A in FIG. 4;
FIG. 6 is a schematic diagram showing a specific structure of the connection between the inner support body and the elastic adjusting plate;
FIG. 7 is a cross-sectional view taken in the direction B-B of FIG. 6;
FIG. 8 is a schematic diagram II of a specific structure of the connection between the inner support and the elastic adjusting plate;
FIG. 9 is a cross-sectional view taken along the direction C-C in FIG. 8;
FIG. 10 is a schematic perspective view of the inner support of FIG. 6 or FIG. 8;
FIG. 11 is a schematic diagram III of a specific structure of the connection of the inner support body and the elastic adjusting plate;
FIG. 12 is a cross-sectional view taken along the direction D-D in FIG. 11;
FIG. 13 is a schematic perspective view of the inner support of FIG. 11;
FIG. 14 is a schematic perspective view of the adjusting screw of FIG. 11;
FIG. 15 is a schematic perspective view of the spring adjustment plate of FIG. 11;
FIG. 16 is a schematic perspective view of an experimental work piece;
in the figure: 31. the device comprises a driving module, a driving slide block, a compliant ring, a connecting cylinder, a limit ring, a warning spring, a sleeve and a sleeve, wherein the driving module, the driving slide block, the compliant ring, the connecting cylinder, the limit ring and the limit ring are arranged in sequence, respectively, and the driving module, the driving slide block, the compliant ring, the connecting cylinder, the limit ring, the warning spring, flexible damping ring, 22, return spring, 23, linear motion driver, 25, support leg, 28, sliding block, 29, disk-shaped main body;
101. the hydraulic actuator comprises an inner support body 102, an elastic adjusting plate 103, a rubber shock absorbing layer 104, a telescopic adjusting mechanism 105, an adjusting block 106, a fixed block 107, a central stud 108, a guide connecting rod 109, a jackscrew 112, a threaded hole 113, a sliding hole 114, a clamping nut 115, a common gasket 116, an adjusting screw 117, a manual nut 118, a spherical gasket 119, a hinging seat 120, a first hinging shaft 121, a through hole 122, a swinging hole 123, a second fixing lug 124, a second hinging shaft 125, a first fixing lug 126, a clamping ring 127, a fixing nut 128, a third fixing lug 129, a third hinging shaft 130, a fourth fixing lug 131, an inner hexagonal adjusting hole 132, a locating slot 133, an experiment table 134, a bracket 135, a control cabinet 136, a workpiece locating angle iron 137, an assembling die holder 138, a high-speed camera system 139, a vertical frame 140, a transverse linear motion module 141, a transverse linear motion module 142, a longitudinal linear motion motor 146, a linear motion module 149, a clamping bracket 146, a servo-type displacement transducer 151, a servo-type sensor 150, a servo-type displacement transducer 147, a servo-type sensor 152, a servo-type displacement sensor 147 and a servo-type sensor.
Detailed Description
1-16, an experiment system for the operation impact and transfer process of the thin-wall fragile piece internal-supporting grabbing manipulator comprises an experiment table, a manipulator and an experiment workpiece, wherein the experiment table is arranged on a support, a control cabinet, a workpiece positioning angle iron, an assembly die holder and a high-speed camera system are arranged on the experiment table, a vertical frame is fixed on the edge of the experiment table, a horizontal linear motion module is fixed on the vertical frame, the horizontal linear motion module comprises a servo motor A, the servo motor A is connected with a screw rod through a speed reducer, a horizontal motion block is connected on the screw rod through threads, the horizontal linear motion module is driven by the servo motor, the movement of the horizontal motion block on the module can be realized according to a required movement rule, a vertical longitudinal linear motion module is fixed on the horizontal motion block, the servo motor B is connected with the screw rod through the speed reducer, the longitudinal linear motion module is also driven by the servo motor, the movement of the longitudinal motion block on the module can be realized according to the required movement rule, and the manipulator is fixed on the vertical linear motion module;
the manipulator comprises an external cylindrical sleeve, a grabbing device arranged in the sleeve and a self-adaptive connecting device arranged at the upper end of the sleeve, and the sleeve is vertically fixed on the mounting frame; the specific mechanisms of the undescribed parts such as the sleeve, the self-adaptive connecting device and the grabbing device in the manipulator are not described in detail, and specific reference is made to published patent application documents (application number: CN202010355810.4, theme name: internal support type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpieces);
the grabbing device comprises a disc-shaped main body and at least three identical internal supporting mechanisms which are arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;
the inner supporting mechanism comprises supporting legs which are fixed on the lower surface of the disc-shaped main body and extend outwards perpendicularly, and the maximum distance from the outer side surface of each supporting leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; the sliding block penetrates through the sliding hole at the lower end of the supporting leg along the radial direction of the disc-shaped main body, two ends of the sliding block are respectively connected with a connecting rod between the inner end of the sliding block and a movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged with the inner end of the sliding block; the elastic damping device comprises an arc-shaped inner support body fixed at the outer end of a sliding block, wherein the middle position of the upper surface of the inner support body is fixed on the lower surface corresponding to the outer end of the sliding block, an arc-shaped elastic adjusting plate is arranged at the outer side of the inner support body, a central stud is connected between the elastic adjusting plate and the inner support body, the outer end of the central stud is vertically fixed at the center of an inner arc surface of the elastic adjusting plate, the inner end of the central stud penetrates through a through hole in the center of the inner support body and is fixed through two clamping nuts, the two clamping nuts are connected to the central stud through threads and respectively clamped on the inner arc surface and the outer arc surface of the inner support body, a plurality of telescopic adjusting mechanisms used for changing the curvature radius of the elastic adjusting plate are further connected between the elastic adjusting plate and the inner support body, the curvature radius of the elastic adjusting plate is changed through the length of the telescopic adjusting mechanisms, when the curvature radius of the elastic adjusting plate is changed greatly, the actual action length of the central stud can be adjusted to quickly change the curvature radius of the elastic adjusting plate, the telescopic adjusting mechanisms are symmetrically distributed on two sides of the central stud, rubber layers with uniform thickness are arranged on the outer arc surfaces of the elastic adjusting plate, and the same on the outer arc surface of the elastic adjusting plate, and each rubber layer is arranged on the same damping layer.
The sliding block comprises a fixed block and an adjusting block which are connected in a sliding telescopic manner, the inner end of the fixed block is hinged to the lower end of the connecting rod, the outer end of the adjusting block is fixed to the inner support body, a square guide connecting rod which extends outwards horizontally is vertically fixed to the outer end face of the fixed block, a sliding hole which is horizontally communicated with the guide connecting rod in the length direction of the adjusting block is formed in the adjusting block, the guide connecting rod is inserted into the sliding hole from the inner end of the adjusting block to form a sliding pair, the cross section profiles of the fixed block and the adjusting block are correspondingly matched, symmetrical threaded holes which are communicated with the sliding hole are formed in two side faces of the adjusting block, and jackscrews which are matched with the threaded holes and tightly propped against the side face of the guide connecting rod are arranged in each threaded hole.
The telescopic adjusting mechanism comprises an adjusting screw, the outer end of the adjusting screw is connected to the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swinging hole on the inner support body and is connected with the inner support body, the swinging holes are horizontally arranged, and the center lines of all the adjusting screws and the center line of the center stud are on the same horizontal plane.
The outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swing hole on the inner support body and is fixed by two manual nuts, and the two manual nuts are connected to the adjusting screw through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body.
The swing hole is a slotted hole, a spherical washer clung to the inner arc surface of the inner support body is arranged at the inner port of the swing hole, the corresponding adjusting screw penetrates through the spherical washer, and the spherical washer is clamped between the clamping nut at the corresponding side and the inner support body.
The outer end of the adjusting screw is hinged to a hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.
The outer end of the adjusting screw is provided with a circular positioning groove, a clamping ring matched with the positioning groove to form a revolute pair is coaxially arranged on the positioning groove, first fixing lugs which are vertically symmetrical are fixed on the clamping ring, each first fixing lug is correspondingly hinged on a second fixing lug which is fixed on the inner arc surface of the elastic adjusting plate through a second hinging shaft, a fixing nut is connected to the adjusting screw through threads, a third fixing lug which is vertically symmetrical is fixed on the fixing nut, each third fixing lug is correspondingly hinged on a fourth fixing lug which is fixed on the outer arc surface of the inner support body through a third hinging shaft, the first hinging shaft is parallel and vertical to the second hinging shaft, an inner hexagonal adjusting hole is formed in the inner end surface of the adjusting screw, a circular boss with the diameter larger than the outer diameter of the adjusting screw is arranged on the inner end circumferential surface of the adjusting screw, a circular clamping groove matched with the clamping spring is also arranged on the outer circumference of the adjusting screw, the clamping ring and the clamping ring is detachable, and the clamping ring is convenient to install on the clamping ring according to requirements.
And the center stud is sleeved with a common gasket, and the common gasket is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.
The outer arc surface of the rubber shock absorption layer is embedded with a pressure sensor, and the outer circumference surface of the experimental workpiece is provided with a displacement sensor and an acceleration sensor.
The linear motion driver comprises a servo motor C, the servo motor C is connected with a screw rod through a speed reducer, a sliding block is connected to the screw rod through threads, and a moving part hinged with a connecting rod is fixed on the sliding block.
The working process and principle of the invention are as follows:
clamping, transferring and assembling an experimental workpiece from the position of a positioning angle iron to an assembling die holder through a mechanical arm, wherein a linear motion driver in the mechanical arm adopts a servo motor, an accelerator and a mode of adding a screw rod sliding block, the internal supporting speed of the mechanical arm is changed through speed regulation of the servo motor, and the impact force between a rubber shock absorption layer and the experimental workpiece is measured through a pressure sensor; the high-speed camera system, the acceleration sensor and the displacement sensor are adopted to measure the vibration and the motion gesture change of the experimental workpiece at the contact moment so as to determine the maximum feasible grabbing impact speed under the condition of meeting the internal force allowance of the workpiece.
After lifting, the speed and the acceleration of the manipulator in the lifting process are adjustable through a servo motor and a control system on the transverse linear motion module and the longitudinal linear motion module, a high-speed camera system, a displacement sensor and an acceleration sensor are adopted to detect the motion change of an experimental workpiece, capture the sliding point of the workpiece, further study the friction force change between the experimental workpiece and a rubber shock-absorbing layer, and provide theoretical support for the manipulator system of a specific grabbing object designed subsequently by determining the maximum feasible grabbing impact speed under the condition of meeting the internal force allowable condition of the workpiece and ensuring the system motion law of the rapid and reliable transportation of the workpiece, so that the manipulator system can be greatly optimized, and the operation efficiency is improved.
For a specific process of grabbing a workpiece by the manipulator, please refer to the working process part in published patent application document (application number: CN202010355810.4, theme name: internal support type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpiece).
Claims (7)
1. Thin wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experiment system, this system include laboratory bench, manipulator and experiment work piece, characterized by:
the experimental bench is arranged on the bracket, a control cabinet, a workpiece positioning angle iron, an assembly die holder and a high-speed camera system are arranged on the experimental bench, a vertical frame is fixed on the edge of the experimental bench, a horizontal transverse linear motion module is fixed on the vertical frame, the transverse linear motion module comprises a servo motor A, the servo motor A is connected with a screw rod through a speed reducer, a transverse motion block is connected on the screw rod through a thread, a vertical longitudinal linear motion module is fixed on the transverse motion block, the transverse linear motion module comprises a servo motor B, the servo motor B is connected with the screw rod through the speed reducer, a longitudinal motion block is connected on the screw rod through the thread, a mounting frame is fixed on the longitudinal motion block, and a vertically arranged manipulator is fixed on the mounting frame;
the manipulator comprises an external cylindrical sleeve, a grabbing device arranged in the sleeve and a self-adaptive connecting device arranged at the upper end of the sleeve, and the sleeve is vertically fixed on the mounting frame;
the grabbing device comprises a disc-shaped main body and at least three identical internal supporting mechanisms which are arranged on the lower surface of the disc-shaped main body and uniformly distributed along the circumference;
the inner supporting mechanism comprises supporting legs which are fixed on the lower surface of the disc-shaped main body and extend outwards perpendicularly, and the maximum distance from the outer side surface of each supporting leg to the center of the disc-shaped main body is smaller than the radius of the disc-shaped main body; the sliding block penetrates through the sliding hole at the lower end of the supporting leg along the radial direction of the disc-shaped main body, two ends of the sliding block are respectively connected with a connecting rod between the inner end of the sliding block and a movable part of the linear motion driver through a hinge shaft, and the lower end of the connecting rod is hinged with the inner end of the sliding block; the middle position of the upper surface of the inner support body is fixed on the lower surface corresponding to the outer end of the sliding block, an arc-shaped elastic adjusting plate is arranged on the outer side of the inner support body, a central stud is connected between the elastic adjusting plate and the inner support body, the outer end of the central stud is vertically fixed at the center of the inner arc surface of the elastic adjusting plate, the inner end of the central stud penetrates through a through hole in the central position of the inner support body and is fixed by two clamping nuts, the two clamping nuts are connected on the central stud through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body, a plurality of telescopic adjusting mechanisms for changing the curvature radius of the elastic adjusting plate are also connected between the elastic adjusting plate and the inner support body, the telescopic adjusting mechanisms are symmetrically distributed on two sides of the central stud, rubber shock absorbing layers with uniform thickness are arranged on the outer arc surface of the elastic adjusting plate, and the outer arc surface of each rubber shock absorbing layer on the elastic adjusting plate is on the same cylindrical surface;
the telescopic adjusting mechanism comprises an adjusting screw, the outer end of the adjusting screw is connected to the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swinging hole on the inner support body and is connected with the inner support body, the swinging holes are horizontally arranged, and the center lines of all the adjusting screw and the center line of the center stud are on the same horizontal plane;
the outer arc surface of the rubber shock absorption layer is embedded with a pressure sensor, the outer circumference surface of the experimental workpiece is provided with a displacement sensor and an acceleration sensor, the linear motion driver comprises a servo motor C, the servo motor C is connected with a screw rod through a speed reducer, the screw rod is connected with a sliding block through threads, and a moving part hinged with a connecting rod is fixed on the sliding block;
the outer end of the adjusting screw is fixed on the inner arc surface of the elastic adjusting plate, the inner end of the adjusting screw penetrates through the corresponding swing hole on the inner support body and is fixed by two manual nuts, and the two manual nuts are connected to the adjusting screw through threads and are respectively clamped on the inner arc surface and the outer arc surface of the inner support body.
2. The thin-walled frangible member internal bracing type grasping manipulator operation impact and transfer process experiment system according to claim 1, characterized in that: the sliding block comprises a fixed block and an adjusting block which are connected in a sliding telescopic manner, the inner end of the fixed block is hinged to the lower end of the connecting rod, the outer end of the adjusting block is fixed to the inner support body, a square guide connecting rod which extends outwards horizontally is vertically fixed to the outer end face of the fixed block, a sliding hole which is horizontally communicated with the guide connecting rod in the length direction of the adjusting block is formed in the adjusting block, the guide connecting rod is inserted into the sliding hole from the inner end of the adjusting block to form a sliding pair, the cross section profiles of the fixed block and the adjusting block are correspondingly matched, symmetrical threaded holes which are communicated with the sliding hole are formed in two side faces of the adjusting block, and jackscrews which are matched with the threaded holes and tightly propped against the side face of the guide connecting rod are arranged in each threaded hole.
3. The thin-walled frangible member internal bracing type grasping manipulator operation impact and transfer process experiment system according to claim 1, characterized in that: the swing hole is a slotted hole, a spherical washer clung to the inner arc surface of the inner support body is arranged at the inner port of the swing hole, the corresponding adjusting screw penetrates through the spherical washer, and the spherical washer is clamped between the clamping nut at the corresponding side and the inner support body.
4. The thin-walled frangible member internal bracing type grasping manipulator operation impact and transfer process experiment system according to claim 3, wherein: the outer end of the adjusting screw is hinged to a hinge seat through a vertical first hinge shaft, and the hinge seat is correspondingly fixed on the inner arc surface of the elastic adjusting plate.
5. The thin-walled frangible member internal bracing type grasping manipulator operation impact and transfer process experiment system according to claim 1, characterized in that: the outer end of adjusting screw be equipped with annular constant head tank, coaxial mounting has the snap ring rather than matching formation revolute pair on this constant head tank, is fixed with the first fixed ear of upper and lower symmetry on this snap ring, every first fixed ear all corresponds the articulated on the second fixed ear fixed with the interior cambered surface of elastic adjustment board through the second articulated shaft, has fixation nut through threaded connection on adjusting screw, is fixed with the third fixed ear of upper and lower symmetry on this fixation nut, every third fixed ear all corresponds the articulated on the fourth fixed ear fixed with the outer circular arc surface of internal stay body through the third articulated shaft, and first articulated shaft and second articulated shaft are parallel and vertical, adjusting screw's inner terminal surface be equipped with interior hexagonal regulation hole.
6. The thin-walled frangible member internal bracing type manipulator work impact and transfer process experiment system according to claim 5, wherein: the inner circumferential surface of the adjusting screw is provided with a circular boss with the diameter larger than the outer diameter of the adjusting screw, the outer circumference of the adjusting screw is also provided with a circular clamping groove, the clamping groove is provided with a clamping spring matched with the clamping spring, and the positioning groove is formed between the clamping spring and the circular boss.
7. The thin-walled frangible member internal bracing type grasping manipulator operation impact and transfer process experiment system according to claim 1, characterized in that: and the center stud is sleeved with a common gasket, and the common gasket is clamped between the inner arc surface of the inner support body and the corresponding clamping nut.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110100927.2A CN112720539B (en) | 2021-01-26 | 2021-01-26 | Thin-wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experimental system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110100927.2A CN112720539B (en) | 2021-01-26 | 2021-01-26 | Thin-wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experimental system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112720539A CN112720539A (en) | 2021-04-30 |
| CN112720539B true CN112720539B (en) | 2023-06-16 |
Family
ID=75593959
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110100927.2A Active CN112720539B (en) | 2021-01-26 | 2021-01-26 | Thin-wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experimental system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112720539B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113531338B (en) * | 2021-07-26 | 2022-09-06 | 深圳市天星通科技有限公司 | Speed-adjustable scanning head for three-dimensional scanner |
| CN113967924B (en) * | 2021-10-28 | 2024-02-09 | 郑州轻工业大学 | Self-adaptive compliance characteristic test analysis platform for thin-wall fragile part operation manipulator |
| CN114560304B (en) * | 2022-02-22 | 2024-06-11 | 景林包装机械(常州)有限公司 | Automatic coil stacking device |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA1136676A (en) * | 1977-10-26 | 1982-11-30 | Felix S. Jabsen | Grapple for manipulating end fitting for fuel assembly |
| JP4442694B2 (en) * | 2008-02-29 | 2010-03-31 | ソニー株式会社 | Component mounting apparatus, vibration control apparatus, and vibration control method |
| CN102520672B (en) * | 2011-12-05 | 2014-04-09 | 湖北汽车工业学院 | Method and system for monitoring plastic deformation process and defects |
| CN104764577A (en) * | 2015-04-17 | 2015-07-08 | 重庆长安汽车股份有限公司 | Tire radial impact test device and method |
| CN107116567B (en) * | 2017-05-19 | 2019-08-30 | 郑州轻工业学院 | Dress complete set of equipments is grabbed in the production of diamond pyrophyllite in lumps |
| CN107553516B (en) * | 2017-10-24 | 2023-04-25 | 安徽理工大学 | Internal and external dual-purpose self-adaptive gripper of casting robot |
| CN108645583A (en) * | 2018-05-16 | 2018-10-12 | 西安交通大学 | One kind being fitted to each other face normal direction contact damping high-precision detection device and method |
| CN109915149B (en) * | 2019-03-18 | 2021-05-04 | 中交第二航务工程局有限公司 | Variable-section tunnel excavation construction method based on climbing pilot tunnel |
| CN111300461B (en) * | 2020-04-29 | 2021-05-28 | 郑州轻工业大学 | Internal-support type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpiece |
-
2021
- 2021-01-26 CN CN202110100927.2A patent/CN112720539B/en active Active
Non-Patent Citations (1)
| Title |
|---|
| 吴会波 等.数控机床装调与应用.《数控机床装调与应用》.2014, * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112720539A (en) | 2021-04-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112720539B (en) | Thin-wall fragile piece internal stay formula snatchs manipulator operation impact and transportation process experimental system | |
| KR100516592B1 (en) | Tool head for vertical lathe | |
| CN109732636B (en) | Internal-supporting type grabbing and assembling flexible manipulator for fragile thin-wall cylindrical inner wall workpiece | |
| CN109623448B (en) | Special clamp for circular hardware shell and working method of special clamp | |
| CN111300461B (en) | Internal-support type operation self-adaptive flexible manipulator for fragile thin-wall cylindrical inner wall workpiece | |
| EP2862670B1 (en) | A counterforce mechanism and methods of operation thereof | |
| CN112621791B (en) | Cylinder clamping device with force sensing capability | |
| CN112720557B (en) | Internal support type operation self-adaptive flexible manipulator for special-shaped internal contour fragile thin-wall workpiece | |
| CN112720556B (en) | Internal support type operation self-adaptive flexible manipulator capable of being used for fragile thin-wall cylindrical inner wall workpieces with different operation radiuses | |
| CN110405127B (en) | Forging and pressing machine capable of adjusting pressure | |
| JP2016169943A (en) | Shaft center adjusting device and material test machine | |
| CN116835417A (en) | Aeroengine assembly auxiliary assembly | |
| CN216399236U (en) | Horizontal honing clamping device | |
| CN208117885U (en) | A kind of machinery prefastening electric drive manipulator | |
| CN215281966U (en) | Multi-posture conversion truss clamping manipulator compatible with two engine cylinder bodies | |
| CN114813111A (en) | Coupling seal torque testing device | |
| CN113145706B (en) | Gas spring packaging device | |
| CN114734392A (en) | Flexible clamp and method for measuring shape and position of columnar part | |
| CN110014262B (en) | Axial float adjusting system for cylindrical weldment on welding roller frame | |
| CN220708890U (en) | Universal material testing machine with damping device | |
| CN216138541U (en) | Center positioning and clamping mechanism for rear cantilever of automobile | |
| CN112229725A (en) | Shock-free material tensile testing machine | |
| JP4750743B2 (en) | Shock absorber inspection device and inspection method | |
| CN220260616U (en) | Feeding guide rail structure for machine tool | |
| CN219685150U (en) | Vice jaw |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |