CN206982733U - A kind of robot holds device for force feedback tightly - Google Patents
A kind of robot holds device for force feedback tightly Download PDFInfo
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- CN206982733U CN206982733U CN201720649944.0U CN201720649944U CN206982733U CN 206982733 U CN206982733 U CN 206982733U CN 201720649944 U CN201720649944 U CN 201720649944U CN 206982733 U CN206982733 U CN 206982733U
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- tight buffer
- buffer block
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Abstract
The utility model discloses a kind of robot to hold device for force feedback tightly.Including hold-fast body and robot force measuring machine.Hold-fast body includes support and two clamp assemblies, tight buffer block bottom is arranged on the sliding block in guideway in each clamp assembly, tight buffer block side, which is provided with, holds cylinder tightly, hold cylinder tightly and cylinder jacking block is affixed, cylinder jacking block both sides are sleeved on two guide rods, guide rod is connected to tight buffer block, tight buffer block clamping flange disk, depression bar overcoat stage clip；Robot force measuring machine includes force cell, quick change female and fixture, and force cell one end is fixedly connected in flange side surface, and fixture is fixedly attached to force cell by quick change female.The utility model increases the power impact that robot can bear water under high pressure, and the pressurization of water under high pressure can be controlled effectively to avoid high-pressure water pressure is excessive from avoiding overloading.
Description
Technical field
It the utility model is related to a kind of robot and hold device for force feedback tightly, to robot flange chuck clamping so as to reducing high pressure
Impact of the water to mechanical arm, and installation force cell constantly monitors the power on mechanical arm on six armshafts.It also relates to light negative
The application scenarios of weighted load operating mode can be improved after load robot is static.
Background technology
If current robot, by high pressure water impact, must select heavy load machine after static when robot type selecting
Device people carrys out adaptation condition, although can so meet to considerably increase cost.Sometimes heavy load robot has been selected, it is impossible to avoid
Burst be hit load situation so as to terminate work, can not constantly monitor the power on mechanical arm.
Utility model content
The problem of in order to overcome high pressure water impact robot and can not feed back active force that robot is subject to etc., this practicality is newly
The purpose of type provides a kind of robot to robot and holds device for force feedback tightly, to reduce reaction force, while monitors mechanical arm
On power control water under high pressure.
In order to achieve the above object, the technical solution adopted in the utility model is：
The utility model includes six-joint robot and giant, force cell, and there is ring flange six-joint robot end,
Also include hold-fast body and robot force measuring machine.
The hold-fast body includes base and is located at two clamp assemblies of both sides, clamping group respectively on base
Part includes guideway, tight buffer block, stage clip, guide rod, cylinder jacking block and holds cylinder tightly, and the ring flange of six-joint robot moves to
At tight buffer block, support is fixed on the ground, and base is fixed on support, and the guide rail in guideway is arranged on base, is led
On sliding block connection tight buffer block in rail pair, tight buffer block moves along guideway, holds the take-off lever and cylinder top of cylinder tightly
Be fixedly connected in the middle part of block, cylinder jacking block both side ends be sleeved on it is on one end of two guide rods and spacing by the nut of end, two
The other end of root guide rod is fixedly attached to the one side of tight buffer block, and tight buffer block another side clamped contact is in six axle machines
The ring flange outer peripheral face of device people end；Stage clip is cased with outside guide rod, stage clip both ends are connected between tight buffer block and cylinder jacking block.
The robot force measuring machine includes force cell, quick change female and fixture, six-joint robot and is fixed on ground
On, force cell end face is bolted to connection in the flange side surface of six-joint robot end, force cell
Other end is fixed in quick change female, and fixture is fixed in quick change female, and giant is arranged in immediately ahead of fixture.
Described tight buffer block is the cambered surface that is matched with ring flange outer peripheral face in the side contacted with ring flange.
Two of described two clamp assemblies hold cylinder tightly through controlling gas circuit connection source of the gas.
Described control gas circuit includes holding cylinder, one-way throttle valve, middle envelope formula two five-way electromagnetic valves, pressure-reducing valve, gas tightly
Dynamic three linked piece and ball valve, source of the gas are connected with two pressure-reducing valve inputs, each subtracted respectively after ball valve and pneumatic triple piece successively
Pressure valve output end is connected on two holding cylinders with one-way throttle valve through sealing two five-way electromagnetic valves of formula in four.Wherein
One pressure-reducing valve output end is divided into two-way, and two-way connects after middle envelope formula two five-way electromagnetic valves, one-way throttle valves respectively successively
Two to two clamp assemblies are held tightly in cylinder rod chamber；Another pressure-reducing valve output end is divided into two-way, two-way successively in
Two that two clamp assemblies are connected respectively to after envelope formula two five-way electromagnetic valves, one-way throttle valves are held tightly in cylinder rodless cavity.
The utility model has an advantageous effect in that：
1) hold-fast body makes load ratio is more uniform to be applied to six axle machines by the selection of holddown spring and venting pressure
On the ring flange of people.Realize that robot is born compared with big load after being held tightly by hold-fast body.
2) force cell constantly senses force feedback of the apparatus people by high pressure water impact, stops when more than nominal load high
Pressure water pressurizes and is stopped.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model.
Fig. 2 is hold-fast body structure chart.
Fig. 3 is control schematic diagram of gas circuit.
In figure：1st, six-joint robot (containing ring flange), 2, force cell, 3, quick change female, 4, fixture, 5, water under high pressure
Rifle, 6, base, 7, support, 8, guideway, 9, tight buffer block, 10, stage clip, 11, guide rod, 12, cylinder jacking block, 13, hold gas tightly
Cylinder, 14, one-way throttle valve, 15,16,17,18, middle two five-way electromagnetic valves of envelope formula, 19 and 20, pressure-reducing valve, 21, pneumatic three
Part, 22, ball valve.
Embodiment
The utility model is further described with reference to the accompanying drawings and examples.
As shown in figure 1, the utility model includes giant 5, support 7, hold-fast body and robot force measuring machine.
As shown in Fig. 2 hold-fast body is including base 6 and on base 6 and is arranged on six-joint robot 1
The horizontal both sides of ring flange two clamp assemblies, each clamp assembly includes guideway 8, tight buffer block 9, stage clip 10, leads
Bar 11, cylinder jacking block 12 and holding cylinder 13, base 6 are fixed on support 7, and leading in guideway 8 is installed with base 6
Rail, the bottom of tight buffer block 9 are inlaid on the sliding block in guideway 8, and the side of tight buffer block 9 is provided with horizontal holding cylinder
13, the take-off lever for holding cylinder 13 tightly is fixedly connected with the middle part of cylinder jacking block 12, and the both side ends of cylinder jacking block 12 are sleeved on two and led
In one end of bar 11, the other end of two guide rods 11 is fixedly attached to the one side of tight buffer block 9, the periphery of tight buffer block 9
Face and the side that the ring flange on six-joint robot 1 contacts are the cambered surface to match, and the clamping sides of tight buffer block 9 are contacted six
On the outer peripheral face of axle robot ring flange；Stage clip 10 is cased with outside guide rod 13, the both ends of stage clip 10 are compressed in the He of tight buffer block 10
Between cylinder jacking block 12.
As shown in figure 1, robot force measuring machine includes six-joint robot (containing ring flange) 1, force cell 2, quick change mother
First 3 and fixture 4, the one end of force cell 2 be bolted to connection in the flange side surface of six-joint robot 1, quick change female 3
The other end of force cell 2 is fixedly attached to, fixture 4 is fixed in quick change female 3, and fixture 4 clamps workpiece towards water under high pressure
Rifle 5.
As shown in figure 3, two of two clamp assemblies are held tightly cylinder 13 through controlling gas circuit to be connected to source of the gas, gas circuit bag is controlled
Include and formula 3 position-5 way magnetic valve 15,16,17,18, two pressure-reducing valves 19,20, pneumatic triple piece 21 and ball valve 22, gas are sealed in four
Source is connected with two pressure-reducing valves 19,20 inputs respectively after ball valve 22 and pneumatic triple piece 21 successively, the output end of pressure-reducing valve 19
It is connected respectively with sealing the air inlet of formula 3 position-5 way magnetic valve 15,17 in two, the output end of pressure-reducing valve 20 in two respectively with sealing
The air inlet of formula 3 position-5 way magnetic valve 16,18 is connected, and the both ends gas outlet phase of formula 3 position-5 way magnetic valve 15,16 is sealed in two
Lead to all the way after connecting on the rod chamber of the holding cylinder 13 with one-way throttle valve 14, connection saves with unidirectional all the way in addition
Flow on the rodless cavity of holding cylinder 13 of valve 14, the both ends gas outlet phase of formula 3 position-5 way magnetic valve 17,18 is sealed in two other
It is connected to after connecting by connection method above on another cylinder.
Operation principle of the present utility model is as follows：
As shown in figure 3, the holding cylinder pressure source in the utility model hold-fast body passes through middle envelope formula 3 position-5 way electromagnetism
Vavle switching controls the gas circuit of cylinder.
Central envelope formula 3 position-5 way magnetic valve 16 and 18 is in right position and middle envelope formula 3 position-5 way magnetic valve 15 and 17 is in
Middle position, pressure-reducing valve 20 are constantly in low-pressure state, and at this moment hold-fast body slowly holds the ring flange in six-joint robot 1 tightly.
Central envelope formula 3 position-5 way magnetic valve 16 and 18 is in middle position and middle envelope formula 3 position-5 way magnetic valve 15 and 17 is in
Right position, pressure-reducing valve 20 are constantly in high-pressure state, and at this moment hold-fast body increased force holds the ring flange in six-joint robot 1 tightly.
Wait giant 5 after hours, middle envelope formula 3 position-5 way magnetic valve 15 and 17 switches on left position, hold-fast body
Unclamp the ring flange in six-joint robot.
The high-low pressure that the utility model specific implementation is ventilated by the compression of spring and cylinder switches to realize in following
Hold：Cylinder leads to small pressure gas and promotes rod chamber to make tight buffer block is slow flexible to impact on ring flange, then is made by switching
Promote rod chamber to make tight buffer block thoroughly compress with big pressure air pressure to embrace jail, relieving is quickly retracted when high pressure water cleaning finishes
Robot ring flange.
The high-low pressure that whole process is ventilated by the compression of spring and cylinder switches to realize that hold-fast body slowly pressurizes
Hold tightly, robot is held tightly by hold-fast body, the impact of water under high pressure is partially absorbed, protects robot, so as to increase
Robot can bear the impulsive force of water under high pressure.
Robot force measuring machine constantly senses force feedback of the robot by high pressure water impact by force cell 2, to control
The pressurization of water under high pressure processed effectively avoids high-pressure water pressure excessive.
Above-mentioned embodiment is used for illustrating the utility model, rather than the utility model is limited,
Spirit of the present utility model and any modifications and changes in scope of the claims, made to the utility model, all fall
Enter the scope of protection of the utility model.
Claims (4)
1. a kind of robot holds device for force feedback, including six-joint robot (1) and giant (5), force cell (2) tightly,
There is ring flange six-joint robot (1) end, it is characterised in that：Including hold-fast body and robot force measuring machine, wherein：
The hold-fast body includes base (6) and is located at two clamp assemblies of both sides respectively on base (6), clamps
Component includes guideway (8), tight buffer block (9), stage clip (10), guide rod (11), cylinder jacking block (12) and holds cylinder (13) tightly,
Support (7) is fixed on the ground, and base (6) is fixed on support (7), and the guide rail in guideway (8) is arranged on base (6),
On sliding block connection tight buffer block (9) in guideway (8), take-off lever and cylinder jacking block (12) middle part for holding cylinder (13) tightly are solid
Fixed connection, cylinder jacking block (12) both side ends be sleeved on it is on one end of two guide rods (11) and spacing by the nut of end, two
The other end of root guide rod (11) is fixedly attached to the one side of tight buffer block (9), and tight buffer block (9) another side clamps and connect
Touch the ring flange outer peripheral face in six-joint robot (1) end；Stage clip (10) is cased with outside guide rod (11), stage clip (10) both ends are connected to
Between tight buffer block (9) and cylinder jacking block (12)；
The robot force measuring machine includes force cell (2), quick change female (3) and fixture (4), and six-joint robot (1) is solid
Determine on the ground, force cell (2) end face is bolted to connection the flange side surface in six-joint robot (1) end
On, force cell (2) other end is fixed in quick change female (3), and fixture (4) is fixed in quick change female (3), water under high pressure
Rifle (5) is arranged in immediately ahead of fixture (4).
2. a kind of robot according to claim 1 holds device for force feedback tightly, it is characterised in that：Described tight buffer block
(9) it is the cambered surface that is matched with ring flange outer peripheral face in the side contacted with ring flange.
3. a kind of robot according to claim 1 holds device for force feedback tightly, it is characterised in that：Described two clamp assemblies
Two hold tightly cylinders (13) through control gas circuit connection source of the gas.
4. a kind of robot according to claim 3 holds device for force feedback tightly, it is characterised in that：Described control gas circuit bag
Include and hold cylinder (13), one-way throttle valve (14), two five-way electromagnetic valves of middle envelope formula, pressure-reducing valve (19,20), pneumatic triple piece tightly
(21) and ball valve (22), source of the gas are defeated with two pressure-reducing valves (19,20) respectively after ball valve (22) and pneumatic triple piece (21) successively
Enter end connection, one of pressure-reducing valve (19,20) output end is divided into two-way, two-way successively middle two five-way electromagnetic valves of envelope formula,
Two that two clamp assemblies are connected respectively to after one-way throttle valve (14) are held tightly in cylinder (13) rod chamber；Another pressure-reducing valve
(19,20) output end is divided into two-way, and middle two five-way electromagnetic valves of envelope formula, one-way throttle valve connect two-way respectively after (14) successively
Two to two clamp assemblies are held tightly in cylinder (13) rodless cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720649944.0U CN206982733U (en) | 2017-06-06 | 2017-06-06 | A kind of robot holds device for force feedback tightly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720649944.0U CN206982733U (en) | 2017-06-06 | 2017-06-06 | A kind of robot holds device for force feedback tightly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206982733U true CN206982733U (en) | 2018-02-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720649944.0U Active CN206982733U (en) | 2017-06-06 | 2017-06-06 | A kind of robot holds device for force feedback tightly |
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| CN (1) | CN206982733U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390950A (en) * | 2020-04-22 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Robot hand with overload protection function for carrying aircraft part trays |
-
2017
- 2017-06-06 CN CN201720649944.0U patent/CN206982733U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390950A (en) * | 2020-04-22 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Robot hand with overload protection function for carrying aircraft part trays |
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