CN114029917A - Two-degree-of-freedom flexible universal end effector for flat plate type parts - Google Patents
Two-degree-of-freedom flexible universal end effector for flat plate type parts Download PDFInfo
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- CN114029917A CN114029917A CN202111311888.7A CN202111311888A CN114029917A CN 114029917 A CN114029917 A CN 114029917A CN 202111311888 A CN202111311888 A CN 202111311888A CN 114029917 A CN114029917 A CN 114029917A
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- Prior art keywords
- back frame
- end effector
- guide rail
- flat plate
- flange
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- 239000012636 effector Substances 0.000 title claims abstract description 48
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 210000000707 wrist Anatomy 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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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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
-
- 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
- B25J19/0025—Means for supplying energy to the end effector
Abstract
The invention discloses a two-degree-of-freedom flexible universal end effector for flat plate parts, which comprises a support back frame, a driving mechanism and a driven mechanism, wherein the support back frame comprises an x-direction support back frame, a back frame connecting piece and a y-direction support back frame as the support back frame is suitable for the sizes of products to be assembled in different directions, the driving mechanism is realized through a linear module, and the driven mechanism is realized through a linear guide rail and a guide rail sliding block. According to the technical scheme, under the conditions of large product quality, high assembly precision and large size difference of parts to be assembled, the matched robot can perform self-adaptive adjustment according to the characteristics and the size of the products, connection and fixation of the products in multiple sizes are realized, the assembly time can be effectively shortened, the assembly quality is improved, and labor force is liberated.
Description
Technical Field
The invention belongs to the technical field of installation and adjustment of end effectors, relates to self-adaptive assembly of multi-size and large-size plate beam parts, and particularly relates to a two-degree-of-freedom flexible universal end effector for flat plate parts.
Background
The hand of an industrial robot, also called an end effector, is a part mounted on the wrist of the industrial robot to directly grip a workpiece or perform a work, and is sometimes called an end effector. The end effector plays a critical role in the completion of the work by the robot. End effectors come in a wide variety of types depending on the function to be performed, and may be of the hand-held type, suction cup type, or electromagnetic type.
The prior art end effector is difficult to meet with the assembly of satellite and aircraft panels. When a satellite and an airplane are assembled, a plurality of structural plate parts and rod-shaped parts with large volumes need to be assembled under a unified coordinate system, and the parts are generally subjected to multiple constraints of the relation of other parts in the assembling process and need to be assembled and adjusted under multiple degrees of freedom. The traditional manual assembly mode has the defects that the product quality is large, the size is large, the precision requirement is high, the manual assembly difficulty is high, the accurate assembly and adjustment of the product is difficult to realize, and the precision is difficult to guarantee. Therefore, in order to clamp and fix products with different sizes, the development of the robot end effector with certain universality is very important.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides a two-degree-of-freedom flexible universal end effector for flat plate parts, which has certain universality and can be adaptively adjusted according to the characteristics and the size of a product so as to realize the connection and fixation of multi-size products. The specific technical scheme of the invention is as follows:
a two-freedom flexible universal end effector facing to flat plate parts comprises a supporting back frame, a driving mechanism and a driven mechanism, wherein,
the support back frame is positioned at the bottom of the end effector, comprises an x-direction support back frame and a y-direction support back frame which are perpendicular to each other and are symmetrical about the center of an intersection point, is used for supporting and fixing parts of the end effector, and bears the self-weight load of a product to be assembled and the end effector;
the driving mechanism comprises a y-direction linear module and a y-direction motor which are arranged on the y-direction support back frame, and an x-direction linear module and an x-direction motor which are arranged on the x-direction support back frame;
the driven mechanism comprises X-direction linear guide rails and Y-direction linear guide rails which are vertically arranged in a Chinese character 'jing' shape, two X-direction guide rail sliding blocks are respectively arranged on each X-direction linear guide rail, two Y-direction guide rail sliding blocks are respectively and correspondingly arranged on each Y-direction linear guide rail, and the X-direction guide rail sliding blocks at the vertical intersection points are connected with the corresponding Y-direction guide rail sliding blocks through product connecting pieces;
the X-direction motor and the Y-direction motor respectively drive the lead screw to rotate through the coupler, so that the lead screw nut is driven to perform opposite linear motion along the axis direction of the lead screw, the X-direction guide rail sliding block and the Y-direction guide rail sliding block move together, and the driving mechanism finally can respectively realize reverse linkage of linear displacement in the X direction and the Y direction, so that the product connecting piece has two linear degrees of freedom and can realize linkage in two directions.
Further, the x-direction support back frame and the y-direction support back frame are connected at the intersection through a back frame connecting piece, the longitudinal section of the back frame connecting piece is in a shape like a Chinese character 'ji', the x-direction support back frame is positioned at the top of the back frame connecting piece, and the y-direction support back frame is attached to the bottom surface of the back frame connecting piece.
Furthermore, the two x-direction linear guide rails are respectively connected with a screw nut of the x-direction linear module through an x-direction guide rail supporting seat; and the two y-direction linear guide rails are respectively connected with the screw nut of the y-direction linear module through a y-direction guide rail supporting seat.
Furthermore, the end effector is connected with the mechanical arm through a flange, two end faces of the flange are respectively provided with a flange boss and a flange notch which are coaxial, and each end face is respectively provided with a through hole which is connected with the y-direction support back frame and the end flange of the mechanical arm.
Furthermore, through holes with the diameter of 5.5mm are uniformly formed in every 50mm on square side lines of 150mm multiplied by 150mm and 200mm multiplied by 200mm on the top plane of the product connecting piece, threaded holes with different positions and sizes on the product to be assembled are connected, and screws are inserted from one side of the mechanical arm to one side of the product to be assembled, so that the product connecting piece is fixed on the end effector.
Further, a boss matched with the flange notch of the flange is arranged at the bottom of the y-direction supporting back frame.
Furthermore, a positioning pin hole and a threaded hole are respectively formed in the x-direction supporting back frame and the y-direction supporting back frame and used for installing the y-direction linear module and the x-direction linear module.
The invention has the beneficial effects that: under the conditions of large product quality, high assembly precision and large size difference of parts to be assembled, the assembly and calling end effector matching robot can carry out self-adaptive adjustment according to the characteristics and the size of the product, realizes the connection and fixation of products with multiple sizes, can effectively shorten the assembly time, improves the assembly quality and liberates labor force.
Drawings
In order to illustrate embodiments of the present invention or technical solutions in the prior art more clearly, the drawings which are needed in the embodiments will be briefly described below, so that the features and advantages of the present invention can be understood more clearly by referring to the drawings, which are schematic and should not be construed as limiting the present invention in any way, and for a person skilled in the art, other drawings can be obtained on the basis of these drawings without any inventive effort. Wherein:
FIG. 1 is a schematic view of the overall structure of an end effector for installation and deployment according to the present invention;
FIG. 2 is a schematic view of the back of the deployment end effector of the present invention;
FIG. 3 is a flange for connection in the present invention;
FIG. 4 is a back frame structure of the end effector of the present invention;
FIG. 5 is a follower mechanism of the end effector of the present invention;
fig. 6 illustrates the end effector of the present invention corresponding to different sizes of parts to be assembled.
The reference numbers illustrate:
1-product connection; a 2-x direction guide rail slider; a 3-y direction linear guide; a 4-x direction motor; a 5-y direction support back frame; a 6-x direction support back frame; 7-a back frame connecting piece; a guide rail supporting seat in the 8-y direction; a 9-x direction guide rail supporting seat; 10-a flange; 11-x direction linear module; a 12-y direction motor; a 13-y direction linear module; 14-x direction linear guide rail; a 15-y direction rail block; 16-a workpiece; 3 a-flange boss; 3 b-flange recess; 3 c-flange hole; 4 a-well; 4 b-boss.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The installation and calling end effector can be adjusted in a self-adaptive mode according to the characteristics and the size of a product, connection and fixation of products in multiple sizes are achieved, and the installation and calling end effector can meet the size requirements of the products to be assembled in different directions and has certain universality as shown in figure 1.
A two-freedom flexible universal end effector facing to flat plate parts comprises a supporting back frame, a driving mechanism and a driven mechanism, wherein,
as shown in fig. 1, 2 and 4, the support back frame is located at the bottom of the end effector, and comprises an x-direction support back frame 6 and a y-direction support back frame 5 which are perpendicular to each other and are symmetrical about the center of the intersection point, and are used for supporting and fixing the components of the end effector and bearing the self-weight load of the product to be assembled and the end effector;
the projections of the two support back frames in the XY plane are vertically distributed, and the flat plate parts with different sizes are required to be connected and fixed, so that a larger adjustment range is required to be ensured in the X direction and the Y direction, and the driving mechanism is required to be fixedly installed by enough length corresponding to the two support back frames.
In order to realize that the installation and adjustment end effector can adapt to sizes with different sizes, the driving mechanism comprises a y-direction linear module 13 and a y-direction motor 12 which are arranged on a y-direction supporting back frame 5, and an x-direction linear module 11 and an x-direction motor 4 which are arranged on an x-direction supporting back frame 6;
the driven mechanism comprises X-direction linear guide rails 14 and Y-direction linear guide rails 3 which are vertically arranged in a 'groined' shape, two X-direction guide rail sliding blocks 2 are respectively arranged on each X-direction linear guide rail 14, and two Y-direction guide rail sliding blocks 15 are respectively and correspondingly arranged on each Y-direction linear guide rail 3, so that the stability of the motion process can be ensured, and the deformation is reduced; the x-direction guide rail sliding block 2 at the vertical intersection point is connected with the corresponding y-direction guide rail sliding block 15 through a product connecting piece 1;
the rotary motion of X direction motor 4 and Y direction motor 12 output drives the lead screw rotation through the shaft coupling respectively, because the lead screw has processed the screw of levogyration and dextrorotation respectively in the symmetric position, consequently, the rotary motion of lead screw can drive two lead screw nuts and carry out opposite linear motion along the lead screw axis direction, thereby drive lead screw nut and carry out opposite linear motion along the lead screw axis direction, and then drive guide rail slider 2 in X direction and the Y direction and go up guide rail slider 15 and move together, actuating mechanism finally can realize the reverse linkage of linear displacement respectively in X and Y direction, thereby make product connecting piece 1 possess two straight line degrees of freedom, and can realize the linkage in two directions, and then can adapt to the screw hole of waiting different positions on the assembly product, realize the commonality of treating the assembly product.
In some embodiments, in order to reduce the mass of the end effector and simultaneously ensure the installation stability of the x-direction linear module 11 and the y-direction linear module 13, the x-direction support back frame 6 and the y-direction support back frame 5 are connected at the intersection point through the back frame connecting piece 7, the longitudinal section of the back frame connecting piece 7 is in a shape like a Chinese character 'ji', the x-direction support back frame 6 is positioned at the top of the back frame connecting piece 7, and the y-direction support back frame 5 is attached to the bottom surface of the back frame connecting piece 7.
In some embodiments, the two x-direction linear guide rails 14 are respectively connected with the screw nuts of the x-direction linear module 11 through the x-direction guide rail supporting seat 9; the two y-direction linear guide rails 3 are respectively connected with a screw nut of the y-direction linear module 13 through a y-direction guide rail supporting seat 8.
The guide rail supporting seat is fixedly connected with a screw nut seat of the driving mechanism through a bolt, linear motion in one direction is formed under the drive of the screw, two guide rails which are perpendicular to each other are connected with corresponding guide rail sliding blocks through the product connecting piece 1 at an intersection point, so that the product connecting piece 1 has two linear degrees of freedom, the linkage in two directions can be realized, the position of the product connecting piece 1 can be adjusted along two directions according to the size of a product to be assembled, in addition, connecting through holes with different sizes are designed at the tail end of the product connecting piece 1, and the product to be assembled is convenient to fix through the bolt.
The product connecting piece 1 is used for connecting products to be assembled on one hand, and is used for connecting guide rail sliding blocks of linear guide rails in the X direction and the Y direction to realize linkage in two directions on the other hand. In order to adapt to more products to be assembled with different sizes and further realize better universality, through holes are uniformly distributed on a plane connected with the products, threaded holes with different positions and sizes on the products to be assembled are conveniently connected, and screws are inserted from one side of a mechanical arm to one side of the products to be assembled.
As shown in fig. 3, in some embodiments, the end effector is connected to the robot arm through a flange 10, two end faces of the flange 10 are respectively provided with a flange boss 3a and a flange recess 3b, which are coaxial, and each end face is provided with a through hole 3c, which is connected to the y-direction support back frame 5 and the end flange of the robot arm. The flange boss 3a and the flange notch 3b play a certain auxiliary positioning role, and are convenient to install.
In some embodiments, through holes with a diameter of 5.5mm are uniformly arranged every 50mm on square boundary lines of 150mm × 150mm and 200mm × 200mm on the top plane of the product connector 1, threaded holes with different positions and sizes on the product to be assembled are connected, and screws are inserted from one side of the mechanical arm to one side of the product to be assembled, so that the product connector is fixed on the end effector.
In some embodiments, the boss 4b matched with the flange notch 3b of the flange 10 is arranged at the bottom of the y-direction supporting back frame 5, so that the assembly precision can be improved; in order to facilitate the installation and fixation, a plurality of holes 4a are respectively arranged on the x-direction supporting back frame 6 and the y-direction supporting back frame 5.
In some embodiments, the x-direction support back frame 6 and the y-direction support back frame 5 are respectively provided with positioning pin holes and threaded holes for mounting the y-direction linear modules 13 and the x-direction linear modules 11.
As shown in fig. 6, in the actual assembly process corresponding to workpieces 16 with different sizes, the assembly and debugging end effector of the present invention is mounted on the corresponding mechanical arm through a flange plate to cooperate with the measurement and detection device, and two motors on the end effector can adjust the relative positions of four product connecting pieces 1 in real time to adapt to the workpieces with different sizes, so as to realize the flexibility of assembly.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the present invention, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The term "plurality" means two or more unless expressly limited otherwise.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A two-freedom flexible universal end effector facing to flat plate parts is characterized by comprising a supporting back frame, a driving mechanism and a driven mechanism, wherein,
the supporting back frame is positioned at the bottom of the end effector, comprises an x-direction supporting back frame (6) and a y-direction supporting back frame (5) which are perpendicular to each other and are symmetrical about the center of an intersection point, is used for supporting and fixing parts of the end effector and bears the self-weight load of a product to be assembled and the end effector;
the driving mechanism comprises a y-direction linear module (13) and a y-direction motor (12) which are arranged on the y-direction supporting back frame (5), and an x-direction linear module (11) and an x-direction motor (4) which are arranged on the x-direction supporting back frame (6);
the driven mechanism comprises X-direction linear guide rails (14) and Y-direction linear guide rails (3) which are vertically arranged in a 'groined' shape, two X-direction guide rail sliding blocks (2) are respectively arranged on each X-direction linear guide rail (14), two Y-direction upper guide rail sliding blocks (15) are respectively and correspondingly arranged on each Y-direction linear guide rail (3), and the X-direction guide rail sliding blocks (2) at the vertical intersection points are connected with the corresponding Y-direction upper guide rail sliding blocks (15) through product connecting pieces (1);
the X-direction motor (4) and the rotary motion output by the Y-direction motor (12) drive a screw to rotate through a coupler respectively, so that a screw nut is driven to perform opposite linear motion along the axis direction of the screw, and then the X-direction guide rail sliding block (2) and the Y-direction guide rail sliding block (15) move together, and finally the driving mechanism can respectively realize linear displacement reverse linkage in the X direction and the Y direction, so that the product connecting piece (1) has two linear degrees of freedom and can realize linkage in two directions.
2. The two-degree-of-freedom flexible universal end effector facing to the flat plate part is characterized in that the x-direction supporting back frame (6) and the y-direction supporting back frame (5) are connected at an intersection point through a back frame connecting piece (7), the longitudinal section of the back frame connecting piece (7) is in a shape like a Chinese character 'ji', the x-direction supporting back frame (6) is positioned at the top of the back frame connecting piece (7), and the y-direction supporting back frame (5) is attached to the bottom surface of the back frame connecting piece (7).
3. The two-degree-of-freedom flexible universal end effector facing to the flat plate part is characterized in that two x-direction linear guide rails (14) are respectively connected with a lead screw nut of the x-direction linear module (11) through an x-direction guide rail supporting seat (9); and the two y-direction linear guide rails (3) are respectively connected with a screw nut of the y-direction linear module (13) through a y-direction guide rail supporting seat (8).
4. The flexible universal end effector with two degrees of freedom facing a flat plate type part according to any one of claims 1-3, characterized in that the end effector is connected with a mechanical arm through a flange (10), two end faces of the flange (10) are respectively provided with a coaxial flange boss (3a) and a flange notch (3b), and each end face is respectively provided with a through hole (3c) which is connected with the y-direction support back frame (5) and the end flange of the mechanical arm.
5. The two-degree-of-freedom flexible universal end effector facing to the flat plate type parts is characterized in that through holes with the diameter of 5.5mm are uniformly arranged on the square side lines of 150mm x 150mm and 200mm x 200mm on the top plane of the product connecting piece (1) every 50mm, threaded holes with different positions and sizes on a product to be assembled are connected, and screws are inserted from one side of a mechanical arm to one side of the product to be assembled, so that the screws are fixed on the end effector.
6. The two-degree-of-freedom flexible universal end effector facing flat plate type parts according to claim 4, characterized in that the bottom of the y-direction support back frame (5) is provided with a boss (4b) which is matched with the flange notch (3b) of the flange (10).
7. The two-degree-of-freedom flexible universal end effector facing a flat plate part according to any one of claims 1-6, wherein the x-direction support back frame (6) and the y-direction support back frame (5) are respectively provided with positioning pin holes and threaded holes for mounting the y-direction linear module (13) and the x-direction linear module (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111311888.7A CN114029917A (en) | 2021-11-08 | 2021-11-08 | Two-degree-of-freedom flexible universal end effector for flat plate type parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111311888.7A CN114029917A (en) | 2021-11-08 | 2021-11-08 | Two-degree-of-freedom flexible universal end effector for flat plate type parts |
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| Publication Number | Publication Date |
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| CN114029917A true CN114029917A (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111311888.7A Pending CN114029917A (en) | 2021-11-08 | 2021-11-08 | Two-degree-of-freedom flexible universal end effector for flat plate type parts |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106737614A (en) * | 2016-12-29 | 2017-05-31 | 东莞市凯尼克自动化设备有限公司 | A kind of soft material intelligent grabbing device |
| CN106829452A (en) * | 2016-12-21 | 2017-06-13 | 东莞市秦智工业设计有限公司 | A kind of two axles movement grasping mechanism |
| US10105853B1 (en) * | 2017-10-05 | 2018-10-23 | GM Global Technology Operations LLC | Flexible robot end-effector for assembling door closure |
| CN111872960A (en) * | 2020-06-18 | 2020-11-03 | 上海电气集团上海电机厂有限公司 | Stator coil gripping device with adjustable size |
| CN112847308A (en) * | 2021-01-04 | 2021-05-28 | 广东长虹电子有限公司 | Mechanism is got to counterpoint clamp based on visual identification |
-
2021
- 2021-11-08 CN CN202111311888.7A patent/CN114029917A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106829452A (en) * | 2016-12-21 | 2017-06-13 | 东莞市秦智工业设计有限公司 | A kind of two axles movement grasping mechanism |
| CN106737614A (en) * | 2016-12-29 | 2017-05-31 | 东莞市凯尼克自动化设备有限公司 | A kind of soft material intelligent grabbing device |
| US10105853B1 (en) * | 2017-10-05 | 2018-10-23 | GM Global Technology Operations LLC | Flexible robot end-effector for assembling door closure |
| CN111872960A (en) * | 2020-06-18 | 2020-11-03 | 上海电气集团上海电机厂有限公司 | Stator coil gripping device with adjustable size |
| CN112847308A (en) * | 2021-01-04 | 2021-05-28 | 广东长虹电子有限公司 | Mechanism is got to counterpoint clamp based on visual identification |
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Application publication date: 20220211 |