CN116673989A - Flexible assembly gripper and method suitable for industrial Internet of things manufacturing - Google Patents
Flexible assembly gripper and method suitable for industrial Internet of things manufacturing Download PDFInfo
- Publication number
- CN116673989A CN116673989A CN202310758497.2A CN202310758497A CN116673989A CN 116673989 A CN116673989 A CN 116673989A CN 202310758497 A CN202310758497 A CN 202310758497A CN 116673989 A CN116673989 A CN 116673989A
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- China
- Prior art keywords
- workpiece
- photoelectric switch
- groove
- flexible assembly
- gripper
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 24
- 238000003860 storage Methods 0.000 claims description 18
- 238000003825 pressing Methods 0.000 claims description 16
- 239000013307 optical fiber Substances 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 8
- 230000006835 compression Effects 0.000 claims description 7
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 2
- 230000008447 perception Effects 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims description 2
- 230000006698 induction Effects 0.000 claims 1
- 238000005056 compaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a flexible assembly gripper and a method suitable for manufacturing an industrial Internet of things, the flexible assembly gripper comprises a fixed part, a moving part and a grabbing part, and is characterized in that the fixed part comprises a flange plate (1), the flange plate (1) is connected with a mechanical arm (2), the moving part and the fixed part are connected in a mode that the moving part is matched with a sliding block through a guide rail, a groove-type photoelectric switch baffle (3) is arranged on the moving part, a groove-type photoelectric switch receiver (4) is arranged on the fixed part, the groove-type photoelectric switch receiver (4) is used for sensing relative sliding of the moving part and the fixed part, and the grabbing part is fixed at the bottom of the moving part. The application provides a flexible assembly gripper and a method suitable for industrial Internet of things manufacturing, and aims to solve the technical problems that a traditional rigid gripper is poor in adaptability, a workpiece is easy to damage and the installation efficiency is low.
Description
Technical Field
The application relates to the technical field of mechanical arm end effectors, in particular to a flexible assembly gripper and a method suitable for manufacturing of industrial Internet of things.
Background
The mechanical arm is mainly responsible for structural, repeated and heavy work in an industrial field and is developed towards high positioning precision, high flexibility, high speed and the like. The dexterous hand has more degrees of freedom and accurate force control, but the control is also more complicated. With the development of the industrial Internet of things, the problems of poor interactivity, poor adaptability to complex environments, inflexibility and the like of the traditional mechanical arm are exposed. New requirements are placed on mechanical grippers, so flexible mechanical grippers have attracted considerable attention in recent years.
In the robot automatic assembly process, if there are fixture errors and errors of assembled parts, the conditions of incomplete assembly are possibly caused, if a mechanical hard connection mode is adopted, the conditions of tool damage, part damage, robot overload alarm and the like are possibly caused, and therefore, the conditions can be avoided by adopting the flexible adjustable tool, and the utilization rate of equipment is improved.
Disclosure of Invention
The application provides a flexible assembly gripper and a method suitable for industrial Internet of things manufacturing, and aims to solve the technical problems that a traditional rigid gripper is poor in adaptability, a workpiece is easy to damage and the installation efficiency is low.
In order to solve the problems, the application adopts the following technical scheme:
the utility model provides a flexible assembly tongs suitable for industry thing networking is made, includes fixed part, movable part and snatchs the portion, its characterized in that, the fixed part is the ring flange, the ring flange is connected with the arm, the movable part passes through guide rail and slider complex form with the fixed part and is connected, set up groove type photoelectric switch separation blade on the movable part, set up groove type photoelectric switch receiver perception movable part and fixed part relative slip on the fixed part, the bottom at the movable part is fixed to the portion of snatching.
Further, the groove-shaped photoelectric switch baffle and the groove-shaped photoelectric switch receiver form a groove-shaped photoelectric switch, and the groove-shaped photoelectric switch is connected with a robot control system.
Further, a spring mounting seat is arranged at the rear end of the bottom of the flange plate, a spring is arranged on the spring mounting seat, guide rails are arranged on the left side and the right side of the flange plate, and the spring is located between the two guide rails.
Further, both sides set up the slider about the top of removal portion, the slider cooperates with the guide rail on the ring flange, removal portion top front end sets up the dog, the dog is connected and makes the spring be in compression state with the other end of spring, the front end of fixed part is provided with the stopper, the stopper is accomplished spacingly with the dog contact.
Further, the movable part is further provided with a pressing cylinder, the pressing cylinder is vertically arranged, and the acting direction of a piston rod of the pressing cylinder is perpendicular to the grabbing part.
Further, the tail end of a piston rod of the compaction cylinder is connected with a pressing block matched with the shape of the object to be grabbed.
Further, the grabbing part is provided with a storage groove, and the size of the storage groove is matched with the shape of the object to be grabbed.
Further, limit rods are arranged on the left side and the right side of the rear end of the storage groove.
Further, an optical fiber sensor is embedded and installed in the storage groove.
A grabbing method and an assembling method of a flexible assembling gripper suitable for industrial Internet of things manufacturing comprise the following steps:
s1, starting a robot, driving a flexible gripper to move to a workpiece loading station by a mechanical arm, and clamping a workpiece into a storage groove;
s2, the sensing element optical fiber sensor judges whether the workpiece is clamped in place or not, if the workpiece is not clamped in place, the flexible gripper moves to the next station to grasp, and if the workpiece is identified to be clamped in place, the compressing cylinder moves downwards to compress the workpiece, so that the grasping of the workpiece is completed;
s3, after grabbing, the clamped workpiece moves to a battery cover installation station to be installed, the flexible gripper adopts a spring to match with the groove type photoelectric switch to judge whether the workpiece is installed in place, if the groove type photoelectric switch cannot be triggered by normal installation, if the workpiece is not completed, the mechanical arm pushes the gripper to lead the spring to continue to compress, the groove type photoelectric switch receiver is blocked by the groove type photoelectric switch blocking piece, so that the fact that the workpiece is not installed in place is identified, the mechanical arm is controlled to be installed for the second time, and if the spring is still compressed, the workpiece is not installed in place, the gripper is controlled to throw away the clamped workpiece, and a new workpiece is clamped again to be installed.
Based on the technical scheme, the following technical effects can be produced:
the application provides a flexible assembly gripper and a method suitable for manufacturing an industrial Internet of things, wherein a fixed part and a moving part of the flexible assembly gripper are in sliding connection, and the moving part is ejected out and kept at a stable position under the action of a spring; the optical fiber sensor arranged on the grabbing part can judge whether grabbing is successful or not; the flexible gripper adopts the spring to match with the groove type photoelectric switch to identify whether the installation of the workpiece is finished, under normal conditions, the robot pushes the flexible gripper to drive the gripping part to be embedded into the installation part to finish the installation, when the workpiece is not accurately finished in installation, the robot pushes the gripper to lead to the compression of the spring, when the groove type photoelectric switch senses the compression of the spring, the battery cover is not installed in place, the robot is controlled to carry out the second installation, if the spring is still compressed, the workpiece is still not installed in place, the gripper is controlled to throw away the clamped workpiece, and a new workpiece is clamped again to carry out the installation; the application can make up the problems of low efficiency and easy damage to the workpiece and equipment caused by adopting the traditional rigid gripper, and only notifying the manual processing in a sensing and alarming mode when the workpiece cannot be accurately installed.
Drawings
FIG. 1 is a schematic view of the flexible gripper structure of the present application;
FIG. 2 is a schematic diagram of the installation of a slot type optoelectronic switch of the present application;
FIG. 3 is a schematic view of the spring installation of the present application.
In the figure: the device comprises a 1-flange plate, a 2-mechanical arm, a 3-groove type photoelectric switch baffle, a 4-groove type photoelectric switch receiver, a 5-spring mounting seat, a 6-spring, a 7-stop block, an 8-compression cylinder, a 9-storage groove, a 10-limiting rod, an 11-optical fiber sensor, a 12-battery cover and a 13-limiting block.
Description of the embodiments
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
As shown in fig. 1-3, a flexible assembly handle suitable for industrial internet of things manufacturing comprises a fixing part, a moving part and a grabbing part, wherein the fixing part is a flange plate 1, the flange plate 1 is connected with a mechanical arm 2, the moving part is connected with the fixing part in a form of matching with a sliding block through a guide rail, a groove-type photoelectric switch baffle 3 is arranged on the moving part, the fixing part is provided with the groove-type photoelectric switch receiver 4, the moving part and the fixing part can be perceived to slide relatively, the grabbing part is fixed at the bottom of the moving part, the fixing part is connected with the moving part through the guide rail sliding block, and when the relative sliding occurs between the fixing part and the moving part, the groove-type photoelectric switch baffle 3 arranged on the moving part can move to shield the groove-type photoelectric switch receiver 4 arranged on the fixing part, so that the perceived sliding of the moving part and the fixing part can be realized.
Alternatively or preferably, the slot-type photoelectric switch baffle 3 and the slot-type photoelectric switch receiver 4 form a slot-type photoelectric switch, and the slot-type photoelectric switch is connected with a robot control system.
As an alternative or preferred scheme, the bottom rear end of the flange plate 1 is provided with a spring mounting seat 5, the spring mounting seat 5 is provided with a spring 6, the left and right sides of the flange plate 1 are provided with guide rails, and the spring 6 is positioned between the two guide rails.
As an alternative or preferred scheme, the top left and right sides of mobile part sets up the slider, the slider cooperates with the guide rail on the ring flange 1, mobile part top front end sets up dog 7, dog 7 is connected and makes spring 6 be in compression state with the other end of spring 6, the front end of fixed part is provided with stopper 13, stopper 13 and dog 7 contact is accomplished spacing, makes can slide relatively between mobile part and the fixed part, but because mobile part and fixed part need keep relatively still under normal circumstances, so set up spring 6 between the two, with mobile part dog 7 top to stopper 13 through the elasticity of spring 6, and can take place to slide through compression spring 6 again when the mobile part receives the exogenic action, and then can trigger groove type photoelectric switch.
As an alternative or preferred scheme, the movable part is further provided with a pressing cylinder 8, the pressing cylinder 8 is vertically arranged, and the acting direction of a piston rod of the pressing cylinder 8 is perpendicular to the grabbing part.
As an alternative or preferred scheme, the tail end of a piston rod of the pressing cylinder 8 is connected with a pressing block matched with the shape of the object to be grabbed, and the pressing cylinder 8 is pressed down to longitudinally limit the workpiece.
As an alternative or preferred scheme, the grabbing part is provided with a storage groove 9, and the size of the storage groove is matched with the shape of the object to be grabbed, so that the object to be grabbed can be conveniently and smoothly clamped into the storage groove 9.
As an alternative or preferred scheme, both the left and right sides of the rear end of the storage groove 9 are provided with limiting rods 10, and the workpiece is transversely limited in the storage groove 9 through the limiting rods 10.
As an alternative or preferred solution, the optical fiber sensor 11 is embedded and installed in the storage slot 9, and due to the characteristics of the optical fiber sensor 11, when the workpiece to be taken is successfully taken, the optical fiber sensor 11 is blocked, and the optical fiber sensor 11 gives out a signal to judge whether the workpiece is successfully taken.
A grabbing method and an assembling method of a flexible assembling gripper suitable for industrial Internet of things manufacturing comprise the following steps:
s1, starting a robot, and driving a flexible gripper to move to a workpiece loading station by a mechanical arm 2 to clamp a workpiece into a storage groove 9;
s2, the sensing element optical fiber sensor 11 judges whether a workpiece is clamped in place (the optical fiber sensor 11 is shielded after the workpiece is installed in place, the optical fiber sensor 11 sends a signal to a robot control system and judges that the workpiece is clamped in place, otherwise, the workpiece is not clamped in place), if the workpiece is not clamped in place, the flexible gripper moves to the next station for grabbing, and if the clamping in place is recognized, the workpiece is tightly pressed by the downward stroke of the clamping in place pressing cylinder 8, so that the grabbing of the workpiece is completed;
s3, after grabbing is completed, the clamping workpiece is moved to a battery cover installation station to be installed, the flexible gripper adopts the spring 6 to match with the groove type photoelectric switch to judge whether the workpiece is installed in place (when the workpiece is installed in place, relative movement between the moving part and the fixed part cannot occur, namely, the groove type photoelectric switch receiver 4 cannot be judged to be installed in place by the groove type photoelectric switch baffle 3), if the groove type photoelectric switch cannot be triggered by normal installation, if the workpiece is not completed in installation, the mechanical arm pushes the gripper to move the part to bear force to cause the spring 6 to continuously compress, the groove type photoelectric switch receiver 4 is blocked by the groove type photoelectric switch baffle 3, the groove type photoelectric switch gives a signal, so that the fact that the workpiece is not installed in place is identified, the mechanical arm is controlled to be installed for the second time, and if the spring 6 is still compressed, the groove type photoelectric switch receiver 4 is blocked by the groove type photoelectric switch baffle 3, and when the workpiece is not installed in place, the mechanical arm is controlled to throw away the clamped workpiece, and new workpiece is clamped again to be installed.
The working principle of the application is described below by taking automatic assembly of a battery cover of a gas meter control box as an example:
according to the flexible assembly gripper provided by the application, the flange plate 1 of the flexible assembly gripper suitable for industrial Internet of things manufacturing is fixedly connected with the mechanical arm 2, the mechanical arm 2 drives the flexible gripper to move to the loading station of the battery cover 12, the battery cover 12 is clamped into the storage groove 9, and the compression cylinder 8 downwardly moves to compress the battery cover 12, so that the grabbing of a workpiece is completed. The sensing element optical fiber sensor 11 can identify whether the battery cover 12 is successfully clamped, and when the battery cover 12 is not successfully clamped, the control mechanical arm drives the flexible gripper to move to the next station to clamp the battery cover 12, and the flexible gripper moves to a battery cover installation station to install after clamping the battery cover 12; the flexible gripper adopts the spring 6 to match with the groove type photoelectric switch to identify whether the installation of the battery cover 12 is completed, and under normal conditions, the mechanical arm pushes the flexible gripper to drive the installation part of the battery cover 12 to be embedded into the control box side connection part, so that the installation is completed. When the battery cover 12 is not accurately installed, the mechanical arm pushes the gripper to cause the spring 6 to continue to compress, the groove-type photoelectric switch receiver 4 is blocked by the groove-type photoelectric switch blocking piece 3, so that the situation that the cell cover is not installed in place is recognized, the mechanical arm is controlled to be installed for the second time, if the spring 6 is still compressed, the cell cover 12 is still not installed in place, the gripper is controlled to throw away the clamped battery cover 12, and a new battery cover 12 is clamped again for installation.
The present application has been described in detail with reference to the drawings and the embodiments, but the present application is not limited to the embodiments described above, and various changes can be made within the scope of those skilled in the art without departing from the spirit of the present application. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a flexible assembly tongs suitable for industry thing networking is made, includes fixed part, mobile part and snatchs the portion, its characterized in that, the fixed part includes ring flange (1), ring flange (1) are connected with arm (2), the mobile part with the fixed part passes through guide rail and slider complex form and is connected, set up groove type photoelectric switch separation blade (3) on the mobile part, set up groove type photoelectric switch receiver (4) on the fixed part, groove type photoelectric switch receiver (4) are used for the relative slip of perception mobile part and fixed part, snatch the portion and fix the bottom of mobile part.
2. The flexible assembly gripper applicable to industrial internet of things manufacturing according to claim 1, wherein the groove-shaped photoelectric switch baffle (3) and the groove-shaped photoelectric switch receiver (4) form a groove-shaped photoelectric switch, and the groove-shaped photoelectric switch is connected with a robot control system.
3. The flexible assembly gripper suitable for manufacturing the industrial internet of things according to claim 1, wherein a spring mounting seat (5) is arranged at the rear end of the bottom of the flange plate (1), springs (6) are arranged on the spring mounting seat (5), guide rails are arranged on the left side and the right side of the flange plate (1), and the springs (6) are located between the two guide rails.
4. The flexible assembly gripper suitable for manufacturing the industrial internet of things according to claim 1, wherein sliding blocks are arranged on the left side and the right side of the top of the moving part and matched with guide rails on the flange plate (1), a stop block (7) is arranged at the front end of the top of the moving part, the stop block (7) is connected with the other end of the spring (6) and enables the spring (6) to be in a compressed state, a limiting block (13) is arranged at the front end of the fixing part, and the limiting block (13) is in contact with the stop block (7) to complete limiting.
5. The flexible assembly gripper suitable for manufacturing of the industrial internet of things according to claim 1, wherein the moving part is further provided with a pressing cylinder (8), the pressing cylinder (8) is vertically arranged, and the acting direction of a piston rod of the pressing cylinder (8) is perpendicular to the grabbing part.
6. The flexible assembly gripper applicable to industrial Internet of things manufacturing according to claim 5, wherein the tail end of a piston rod of the compression cylinder (8) is connected with a pressing block matched with the shape of the object to be gripped.
7. The flexible assembly gripper applicable to industrial internet of things manufacturing according to claim 1, wherein the gripping portion is provided with a storage groove (9), and the size of the storage groove (9) is matched with the shape of a gripped object.
8. The flexible assembly gripper applicable to industrial Internet of things manufacturing according to claim 7, wherein limit rods (10) are arranged on the left side and the right side of the rear end of the storage groove (9).
9. The flexible assembly gripper applicable to industrial internet of things manufacturing according to claim 7, wherein the object placing groove (9) is internally embedded with an optical fiber sensor (11).
10. A grabbing method and an assembling method of a flexible assembling gripper suitable for manufacturing an industrial internet of things, characterized in that the grabbing method is realized based on the flexible assembling gripper suitable for manufacturing the industrial internet of things according to any one of claims 1-9, and the grabbing method comprises the following steps:
s1, starting a robot, and driving a flexible assembly gripper to move to a workpiece loading station by a mechanical arm (2) to clamp a workpiece into a storage groove (9);
s2, an induction element optical fiber sensor (11) judges whether the workpiece is clamped in place, and if the workpiece is not clamped in place, the flexible gripper moves to the next station to grasp; if the workpiece is clamped in place, the pressing cylinder (8) presses the workpiece in a downward stroke manner, so that the workpiece is grabbed;
s3, after the grabbing is completed, the clamping workpiece moves to a battery cover installation station for installation, the flexible assembly gripper adopts a spring (6) to be matched with a groove type photoelectric switch to judge whether the workpiece is installed in place, and if the workpiece is installed in place, the groove type photoelectric switch is not triggered; if the workpiece is not installed in place, the mechanical arm (2) can push the flexible assembly gripper to continue to travel, the moving part is stressed and then compresses the spring (6) and slides relative to the fixed part, the groove type photoelectric switch receiver (4) is blocked by the groove type photoelectric switch blocking piece (3), so that the fact that the workpiece is not installed in place is recognized, the mechanical arm (2) is controlled to be reinstalled, if the spring (6) is still compressed and the workpiece is not installed in place, the flexible assembly gripper is controlled to loosen the workpiece, and a new workpiece is clamped again for installation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310758497.2A CN116673989A (en) | 2023-06-26 | 2023-06-26 | Flexible assembly gripper and method suitable for industrial Internet of things manufacturing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310758497.2A CN116673989A (en) | 2023-06-26 | 2023-06-26 | Flexible assembly gripper and method suitable for industrial Internet of things manufacturing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116673989A true CN116673989A (en) | 2023-09-01 |
Family
ID=87783679
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310758497.2A Pending CN116673989A (en) | 2023-06-26 | 2023-06-26 | Flexible assembly gripper and method suitable for industrial Internet of things manufacturing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116673989A (en) |
-
2023
- 2023-06-26 CN CN202310758497.2A patent/CN116673989A/en active Pending
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